CN109104237A - A kind of setting of unmanned plane cluster flight control node and management method - Google Patents
A kind of setting of unmanned plane cluster flight control node and management method Download PDFInfo
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- CN109104237A CN109104237A CN201811045418.9A CN201811045418A CN109104237A CN 109104237 A CN109104237 A CN 109104237A CN 201811045418 A CN201811045418 A CN 201811045418A CN 109104237 A CN109104237 A CN 109104237A
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- 238000007726 management method Methods 0.000 title claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 94
- 238000011217 control strategy Methods 0.000 claims abstract description 28
- 239000000178 monomer Substances 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
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- 230000008054 signal transmission Effects 0.000 abstract description 3
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- 241000257161 Calliphoridae Species 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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Abstract
The present invention relates to a kind of setting of unmanned plane cluster flight control node and management method, including equipment assembly, control strategy is set, node sets distribution and with four steps such as newly replacing.One aspect of the present invention can effectively realize while control the ability of more unmanned plane work compounds, and realize that album is dedicated in work compound, effectively improve unmanned machine equipment reliability of operation, another aspect can effectively realize the flexibility and convenience of flight coordinated control between each unmanned plane, remote data communication is improved simultaneously and controls the efficiency and quality of signal transmission, to effectively improve the reliability of data communication and unmanned plane manipulation operation, simultaneously, it can also be according to each unmanned plane during flying situation, failure unmanned plane is effectively replaced, greatly improve the flight control of a unmanned plane group of planes, data acquisition and data transmit operation fault-resistant ability, and the reliability and stability of system overall operation.
Description
Technical field
The present invention relates to a kind of setting of unmanned plane cluster flight control node and management method, belongs to air vehicle technique field.
Background technique
It is at present important one of the application field of current unmanned machine equipment by unmanned plane device clusters flight operation, currently
When carrying out cluster information Collecting operation to unmanned plane, it is often all made of traditional flight control and information delivery format, that is, is existed
Cluster flies and sets at least one main control unmanned plane in each unmanned machine equipment, and several controls are then set in entire cluster
Node unmanned plane, then by main control unmanned plane while carrying out information collection operation, another realize passes control signal relaying
It is defeated, integrated machine swarming row is controlled by each control node unmanned plane, while by main control unmanned plane in a group of planes
Each acquisition information data carries out remote transmission feedback, although this control mode relative maturity, and to unmanned plane cluster have compared with
Good control ability, but in operation, on the one hand there is each main control unmanned plane, control node unmanned plane and remaining each unmanned plane
Between lack rationally effective flight attitude adjustment capability when dividing shape, each unmanned plane equipment autonomously service ability is poor in a group of planes, association
Row scarce capacity is allocated and transported, another party easily occurs to break down because of any one in main control unmanned plane, control node unmanned plane
When equal abnormal operations, relevant multiple UAVs are caused also to break down therewith, fault-resistant inferior capabilities, thus serious shadow
The stability and reliability of current unmanned plane cluster flight and information collection operation are rung, simultaneously, current unmanned plane is set
When standby cluster operation, especially control unmanned plane, the data processing amount of control node unmanned plane at runtime are big, and communicate operation
Flexibility is poor, cannot meet effectively control group of planes flight simultaneously and carry out the needs of data communication operation in optimum position, from
And also cause the currently signal communication reliability when carrying out unmanned plane group operation and control precision relatively poor, for this
One status, there is an urgent need to develop a kind of completely new mining personal managements and data communication system and application method, to meet reality
The needs used.
Summary of the invention
In order to solve some shortcomings on existing sorting technique, the present invention provides a kind of unmanned plane cluster flight control node
Setting and management method.
In order to realize effect above-mentioned, a kind of unmanned plane cluster flight control node setting and manager are proposed
Method comprising following steps:
A kind of setting of unmanned plane cluster flight control node and management method, comprising the following steps:
The first step, equipment assembly, according to the needs of use, initially sets up the data processing based on cloud data processing platform (DPP)
Server, the data processing server based on cloud data processing platform (DPP) pass through communication network and an at least unmanned plane remote control
Terminal is connected with each other, then by sum be odd number and quantity be no less than 11 unmanned machine equipments respectively with unmanned plane remote control
Terminal room establishes wireless data connection, to constitute unified cluster flight system, and in video information acquisition hardware system
Each unmanned machine equipment distribute mutually independent data communication address and data communication protocol；
Second step sets control strategy, after completing first step operation, first at the data based on cloud data processing platform (DPP)
Manage each unmanned plane during flying Attitude Control Strategies of typing, terrestrial information acquisition control strategy, remote information communication strategy in server
And failure emergency substitute strategy, then by unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information
Communication strategy and failure emergency substitute strategy are sent in unmanned plane remote control terminal, then by unmanned plane remote control terminal
It is replaced according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy and failure emergency
It mends strategy and compiles and edit each unmanned machine equipment remote control program respectively, and unmanned machine equipment remote control program downloaded to each corresponding
Unmanned machine equipment in it is spare；
Third step, node sets distribution are set from each unmanned machine equipment in cluster flight system after completing second step
At least two data communications relay monomer unmanned plane out, then by remaining unmanned machine equipment mean allocation at least two work
Group, then sets at least one sub- communication relaying unmanned plane in each working group, parallel with one another between each sub- communication relaying unmanned plane,
And relay monomer unmanned plane with data communication respectively and be connected with each other, event is set separately according to specified sequence in each communication relaying unmanned plane
Barrier replacement operation serial number；Son communication relaying unmanned plane constitutes an operation group, phase between each operation group at least remaining unmanned plane
Mutually in parallel, each unmanned machine equipment around son communication relaying unmanned plane in same operation group is operation unmanned plane, and operation without
It is man-machine that failure replacement operation serial number is set separately according to specified sequence；
4th step in group of planes operational process, on the one hand adjusts needs according to group of planes flight attitude with newly replacing, another
It is pending first when the failure occurred during aspect relays monomer unmanned plane according to data communication, sub- communication relaying unmanned plane is run
Replace in the operation group of operation successively selects one of them as current according to failure replacement operation serial number from operation unmanned plane
Son communication relaying unmanned plane be replaced, after being then replaced son communication relaying unmanned plane to data communication relaying monomer nobody
Machine is replaced, and unmanned plane group of planes state of flight and each unmanned plane during flying state are adjusted and are replaced from prior realization.
Further, in the first step operation, respectively every unmanned machine equipment is equipped with video capture device and remote
Journey information communication device.
Further, in the second step, unmanned plane during flying Attitude Control Strategies include unmanned plane landing control parameter,
Flying speed control parameter, flight altitude control parameter, in-flight two neighboring unmanned plane equipment room spacing parameter；Terrestrial information
Acquisition control strategy includes time interval parameter between time parameter when recording a video operation, video recording focal length parameter, adjacent video recording twice, claps
According to focal length parameter, the adjacent spacing parameter of photo opporunity twice and video recording and unmanned plane assignment parameters of taking pictures；Remote information communicates plan
Unmanned machine equipment flying height and between remote data communication time when slightly including remote data communication frequency, remote data communication
Every；Failure emergency substitute strategy includes separate unit unmanned plane equipment fault rear perimeter edge unmanned plane formation control again in operational process
Parameter.
Further, in the third step, rectangular array, just more between the son communication relaying unmanned plane in each working group
Side shape array structure is distributed, the operation unmanned plane in each operation group, and the son communication relaying unmanned plane around the operation group is in rectangle
Array, the distribution of regular polygon array structure.
Further, two data communications relay monomer unmanned plane in the third step, one of them is located at each information
Right above collecting work group, another is located at immediately below each information collection working group, and two data communications relaying monomers nobody
Machine is distributed in the same rectilinear direction with horizontal plane distribution, and each information collection working group is around two data communication relayings
Monomer unmanned plane connecting line rectangular array, regular polygon array any one structure distribution, and the operation in each operation group without
Man-machine flying height is not higher than the data communication being located above each information collection working group and relays monomer unmanned plane, flight minimum point
Not less than 1-10 meters below the data communication relaying monomer unmanned plane below each information collection working group.
Further, failure replacement operation serial number sortord is successively to be arranged according to clock-wise order in the third step
Sequence, sequence counter-clockwise successively sort and successively sort according to each unmanned machine equipment Current fuel surplus from height to low.
Present system constitutes that structure is simple, and flexible and convenient to use, versatility is good, expansion capability and fault-resistant ability are strong,
High degree of automation is run, on the one hand can effectively realize while control the ability of more unmanned plane work compounds, and make in collaboration
Realize that album is dedicated, effectively improves unmanned machine equipment reliability of operation, on the other hand can effectively realize each unmanned plane in industry
Between flight coordinated control flexibility and convenience, while improve remote data communication and control signal transmission efficiency and matter
Amount simultaneously, can also fly to effectively improve the reliability of data communication and unmanned plane manipulation operation according to each unmanned plane
Market condition effectively replaces failure unmanned plane, greatly improves unmanned plane group of planes flight control, data acquisition and data
Transmit the reliability and stability of operation fault-resistant ability and system overall operation.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is the method for the present invention flow chart；
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
A kind of unmanned plane cluster flight control node setting as described in Figure 1 and management method, comprising the following steps:
The first step, equipment assembly, according to the needs of use, initially sets up the data processing based on cloud data processing platform (DPP)
Server, the data processing server based on cloud data processing platform (DPP) pass through communication network and an at least unmanned plane remote control
Terminal is connected with each other, then by sum be odd number and quantity be no less than 11 unmanned machine equipments respectively with unmanned plane remote control
Terminal room establishes wireless data connection, to constitute unified cluster flight system, and in video information acquisition hardware system
Each unmanned machine equipment distribute mutually independent data communication address and data communication protocol；
Second step sets control strategy, after completing first step operation, first at the data based on cloud data processing platform (DPP)
Manage each unmanned plane during flying Attitude Control Strategies of typing, terrestrial information acquisition control strategy, remote information communication strategy in server
And failure emergency substitute strategy, then by unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information
Communication strategy and failure emergency substitute strategy are sent in unmanned plane remote control terminal, then by unmanned plane remote control terminal
It is replaced according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy and failure emergency
It mends strategy and compiles and edit each unmanned machine equipment remote control program respectively, and unmanned machine equipment remote control program downloaded to each corresponding
Unmanned machine equipment in it is spare；
Third step, node sets distribution are set from each unmanned machine equipment in cluster flight system after completing second step
At least two data communications relay monomer unmanned plane out, then by remaining unmanned machine equipment mean allocation at least two work
Group, then sets at least one sub- communication relaying unmanned plane in each working group, parallel with one another between each sub- communication relaying unmanned plane,
And relay monomer unmanned plane with data communication respectively and be connected with each other, event is set separately according to specified sequence in each communication relaying unmanned plane
Barrier replacement operation serial number；Son communication relaying unmanned plane constitutes an operation group, phase between each operation group at least remaining unmanned plane
Mutually in parallel, each unmanned machine equipment around son communication relaying unmanned plane in same operation group is operation unmanned plane, and operation without
It is man-machine that failure replacement operation serial number is set separately according to specified sequence；
4th step in group of planes operational process, on the one hand adjusts needs according to group of planes flight attitude with newly replacing, another
It is pending first when the failure occurred during aspect relays monomer unmanned plane according to data communication, sub- communication relaying unmanned plane is run
Replace in the operation group of operation successively selects one of them as current according to failure replacement operation serial number from operation unmanned plane
Son communication relaying unmanned plane be replaced, after being then replaced son communication relaying unmanned plane to data communication relaying monomer nobody
Machine is replaced, and unmanned plane group of planes state of flight and each unmanned plane during flying state are adjusted and are replaced from prior realization.
In the present embodiment, in the first step operation, respectively every unmanned machine equipment be equipped with video capture device and
Remote information communication apparatus.
In the present embodiment, in the second step, unmanned plane during flying Attitude Control Strategies include unmanned plane landing control ginseng
Number, flying speed control parameter, flight altitude control parameter, in-flight two neighboring unmanned plane equipment room spacing parameter；Ground
Time interval is joined between time parameter, video recording focal length parameter, adjacent video recording twice when information collection control strategy includes video recording operation
Number, focal length parameter of taking pictures, the adjacent spacing parameter of photo opporunity twice and video recording and unmanned plane assignment parameters of taking pictures；Remote information is logical
News strategy unmanned machine equipment flying height and remote data communication time when including remote data communication frequency, remote data communication
Interval；Failure emergency substitute strategy includes in operational process, and separate unit unmanned plane equipment fault rear perimeter edge unmanned plane is formed into columns control again
Parameter processed.
In the present embodiment, in the third step, rectangular array, just between the son communication relaying unmanned plane in each working group
Polygonal arrays structure distribution, the operation unmanned plane in each operation group, the son communication relaying unmanned plane around the operation group is in square
Shape array, the distribution of regular polygon array structure.
In the present embodiment, two data communications relay monomer unmanned plane in the third step, one of them is located at each letter
Cease right above collecting work group, another is located at immediately below each information collection working group, and two data communications relaying monomers without
Man-machine to be distributed in the same rectilinear direction with horizontal plane distribution, each information collection working group is in two data communications
After monomer unmanned plane connecting line rectangular array, regular polygon array any one structure distribution, and the operation in each operation group
Drone flying height is not higher than the data communication being located above each information collection working group and relays monomer unmanned plane, flies minimum
Point is not less than 1-10 meters below the data communication relaying monomer unmanned plane below each information collection working group.
Further, failure replacement operation serial number sortord is successively to be arranged according to clock-wise order in the third step
Sequence, sequence counter-clockwise successively sort and successively sort according to each unmanned machine equipment Current fuel surplus from height to low.
Present system constitutes that structure is simple, and flexible and convenient to use, versatility is good, expansion capability and fault-resistant ability are strong,
High degree of automation is run, on the one hand can effectively realize while control the ability of more unmanned plane work compounds, and make in collaboration
Realize that album is dedicated, effectively improves unmanned machine equipment reliability of operation, on the other hand can effectively realize each unmanned plane in industry
Between flight coordinated control flexibility and convenience, while improve remote data communication and control signal transmission efficiency and matter
Amount simultaneously, can also fly to effectively improve the reliability of data communication and unmanned plane manipulation operation according to each unmanned plane
Market condition effectively replaces failure unmanned plane, greatly improves unmanned plane group of planes flight control, data acquisition and data
Transmit the reliability and stability of operation fault-resistant ability and system overall operation.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of unmanned plane cluster flight control node setting and management method, it is characterised in that: the unmanned plane collection swarming
Row control node setting and management method the following steps are included:
The first step, equipment assembly, according to the needs of use, initially sets up the data processing service based on cloud data processing platform (DPP)
Device, the data processing server based on cloud data processing platform (DPP) pass through communication network and an at least unmanned plane remote control terminal
Be connected with each other, then by sum be odd number and quantity be no less than 11 unmanned machine equipments respectively with unmanned plane remote control terminal
Between establish wireless data connection, to constitute unified cluster flight system, and be each in video information acquisition hardware system
Unmanned machine equipment distributes mutually independent data communication address and data communication protocol；
Second step sets control strategy, after completing first step operation, first to the data processing clothes based on cloud data processing platform (DPP)
Each unmanned plane during flying Attitude Control Strategies of typing, terrestrial information acquisition control strategy, remote information communication strategy and event in business device
Barrier emergency substitute strategy, then communicates unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information
Strategy and failure emergency substitute strategy be sent in unmanned plane remote control terminal, then by unmanned plane remote control terminal according to
Unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy and failure emergency substitute plan
Each unmanned machine equipment remote control program is slightly compiled and edit respectively, and unmanned machine equipment remote control program is downloaded into each corresponding nothing
It is spare in man-machine device；
Third step, node sets distribution, complete second step after, set out from each unmanned machine equipment in cluster flight system to
Few two data communications relay monomer unmanned planes, then by remaining unmanned machine equipment mean allocation at least two working groups,
Then at least one sub- communication relaying unmanned plane is set in each working group, it is parallel with one another between each sub- communication relaying unmanned plane, and
It is connected with each other respectively with data communication relaying monomer unmanned plane, failure is set separately according to specified sequence in each communication relaying unmanned plane
Replace operation serial number；Son communication relaying unmanned plane constitutes an operation group at least remaining unmanned plane, between each operation group mutually
Parallel connection, each unmanned machine equipment around son communication relaying unmanned plane in same operation group are operation unmanned plane, and operation nobody
Failure replacement operation serial number is set separately according to specified sequence in machine；
4th step in group of planes operational process, on the one hand adjusts needs according to group of planes flight attitude, on the other hand with newly replacing
When according to the failure occurred in data communication relaying monomer unmanned plane, sub- communication relaying unmanned plane operation, replacement pending first
It successively selects one of from operation unmanned plane as current son according to failure replacement operation serial number in the operation group of operation to lead to
News relaying unmanned plane be replaced, after being then replaced son communication relaying unmanned plane to data communication relay monomer unmanned plane into
Row replacement is adjusted and replaces to unmanned plane group of planes state of flight and each unmanned plane during flying state from prior realization.
2. a kind of unmanned plane cluster flight control node setting according to claim 1 and management method, it is characterised in that:
In the first step operation, respectively every unmanned machine equipment is equipped with video capture device and remote information communication apparatus.
3. a kind of unmanned plane cluster flight control node setting according to claim 1 and management method, it is characterised in that:
In the second step, unmanned plane during flying Attitude Control Strategies include unmanned plane landing control parameter, flying speed control parameter,
Flight altitude control parameter, in-flight two neighboring unmanned plane equipment room spacing parameter；Terrestrial information acquisition control strategy includes
Record a video operation when time parameter, video recording focal length parameter, it is adjacent record a video twice between time interval parameter, focal length parameter of taking pictures, adjacent
Photo opporunity spacing parameter and video recording and unmanned plane assignment parameters of taking pictures twice；Remote information communication strategy includes that teledata is logical
Unmanned machine equipment flying height and remote data communication time interval when news frequency rate, remote data communication；Failure emergency substitute plan
It slightly include separate unit unmanned plane equipment fault rear perimeter edge unmanned plane formation control parameter again in operational process.
4. a kind of unmanned plane cluster flight control node setting according to claim 1 and management method, it is characterised in that:
In the third step, rectangular array, the distribution of regular polygon array structure between the son communication relaying unmanned plane in each working group,
Operation unmanned plane in each operation group, around son communication relaying the unmanned plane rectangular array, regular polygon array of the operation group
Structure distribution.
5. a kind of unmanned plane cluster flight control node setting according to claim 1 and management method, it is characterised in that:
Two data communications relay monomer unmanned plane in the third step, one of them is located at right above each information collection working group,
Another is located at immediately below each information collection working group, and two data communications relaying monomer unmanned planes be distributed in it is same with it is horizontal
In the rectilinear direction of face vertical distribution, each information collection working group is in around two data communication relaying monomer unmanned plane connecting lines
Rectangular array, regular polygon array any one structure distribution, and the operation drone flying height in each operation group is not higher than
Data communication above each information collection working group relays monomer unmanned plane, and flight minimum point is not less than each information collection work
1-10 meters are organized below the data communication relaying monomer unmanned plane of lower section.
6. a kind of unmanned plane cluster flight control node setting according to claim 1 and management method, it is characterised in that:
In the third step failure replacement operation serial number sortord be successively sorted according to clock-wise order, sequence counter-clockwise successively
It sorts and successively sorts according to each unmanned machine equipment Current fuel surplus from height to low.
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| CN114698049A (en) * | 2022-03-30 | 2022-07-01 | 中国人民解放军陆军工程大学 | An end-to-end resonant communication method for multi-unmanned system collaboration |
| CN116795141A (en) * | 2023-08-16 | 2023-09-22 | 西安天成益邦电子科技有限公司 | Unmanned aerial vehicle cluster collaborative operation system |
| CN119179333A (en) * | 2024-07-23 | 2024-12-24 | 国网四川省电力公司电力应急中心 | Unmanned aerial vehicle networking control system for electric power inspection |
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