CN109460060A - It is unmanned to equip intelligent coordinated control assembly and control method - Google Patents
It is unmanned to equip intelligent coordinated control assembly and control method Download PDFInfo
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- CN109460060A CN109460060A CN201811480582.2A CN201811480582A CN109460060A CN 109460060 A CN109460060 A CN 109460060A CN 201811480582 A CN201811480582 A CN 201811480582A CN 109460060 A CN109460060 A CN 109460060A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention discloses a kind of unmanned intelligent coordinated control assemblies of equipment, including control algolithm operation platform and coupled communication module, RTK Differential positioning, UVB relative positioning, air pressure relative positioning；Communication module is non-stop layer ad hoc network data-link module, realizes the Collaborative Control data communication between various components by non-stop layer ad hoc network data-link module；RTK satellite difference locating module measures for realizing the high precision position of various components；UWB realizes the range measurement of various components with respect to range finder module；High-precision air pressure module realizes the measurement of the height above sea level of various components；Computing platform realizes the processing and transmission of various measurement data；Computing platform operation is distributed collaboration control algolithm, to realize the collaborative planning to combat duty.The present invention also provides the unmanned intelligent coordinated control methods of equipment.The present invention can effectively improve the Collaborative Control ability of unmanned equipment.
Description
Technical field
The present invention relates to a kind of control equipment, and in particular to a kind of unmanned intelligent coordinated control assembly of equipment belongs to intelligence
Control technology field.
Background technique
Intelligent unmanned battle equipment is the Main way of countries in the world future military development, at present mainly includes aerial nothing
People's equipment, the unmanned equipment in ground, the unmanned equipment of the water surface and underwater unmanned equipment.The development speed of various single Intelligent unattended equipments
Degree is very fast, has applied in actual combat, and the application of especially unmanned plane, vehicle and unmanned submarine is the most universal.Exactly base
In the trend and status of the rapid developments such as unmanned combat aircraft, unmanned Ground Combat Vehicle, unmanned ground machine soldier and machine animal,
The concept of intelligent unmanned machine cluster fight system starts to be concerned.The portion that U.S. army announces, which is reported, to be thought, " cluster " tactics
With very high investment repayment potentiality, U.S. army should accelerate development ability relevant to this important warfighting concepts.How to allow single
, the unmanned equipment cooperation of different type, different manufacturers, different performance, generate bigger fight capability and be one and compel in eyebrow
The problem of eyelash.
Existing unmanned Military Equipment Battling is primarily present following problem:
(1) unmanned battle equipment lacks autonomous Cooperative Engagement Capability.Various unmanned battle equipments rest on list mostly at present
The function and performance of a equipment, even have cooperative ability be also by the method in " people is in circuit ", it is artificial backstage into
Then having planned for task is distributed to each single equipment by communication system, as " puppet " by row cooperated computing.This side
Formula real-time is poor, is easy that disturbed, synergy is poor, is not autonomous collaboration truly.
(2) the distributed freedom collaboration equipment studied is mostly isomorphism equipment, and fighting effect is poor.Isomorphism equipment has
The unmanned battle of identical fight capability is equipped.Isomorphism type equipment can be only done certain specific combat duty, the nothing of isomorphism type
Method realizes a variety of comprehensive combat duties.The operation for realizing the following unmanned equipment must be aerial, ground, the various isomeries of the water surface
Unmanned equipment combined operation are just able to achieve.
(3) the autonomous Collaborative Control of the unmanned equipment of isomery needs to break technical barrier.Realize the association of the unmanned equipment of isomery
With control it should be understood that the technical implementation way of various unmanned equipments, these unmanned equipments are the products of not commensurate, it is directed to
To the core technology of respective unit, Yao Shixian technology intercommunication difficulty is larger.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned equipments that can be realized the unmanned mutual cooperation of equipment intelligently to assist
Same control assembly cannot will mutually cooperate with work by installing " the unmanned intelligent coordinated control assembly of equipment " on unmanned equipment originally
War unmanned equipment become can mutually cooperation weapon system-of-systems.
The present invention is implemented as follows:
A kind of unmanned intelligent coordinated control assembly of equipment, including communication module, RTK Differential positioning, UVB relative positioning, gas
Relative positioning, control algolithm operation platform are pressed, wherein communication module, RTK Differential positioning, UVB relative positioning, air pressure relative positioning
It is connected respectively with control algolithm operation platform；
The communication module is non-stop layer ad hoc network data-link module, is realized by non-stop layer ad hoc network data-link module each
Collaborative Control data communication between a component；
The RTK satellite difference locating module measures for realizing the high precision position of various components；
The UWB realizes the range measurement of various components with respect to range finder module；
The high-precision air pressure module realizes the measurement of the height above sea level of various components；
The computing platform realizes the processing and transmission of various measurement data；Computing platform operation is distributed collaboration control
Algorithm processed, to realize the collaborative planning to combat duty；Finally realize next period when various unmanned equipment cooperations
It cooperates with track to generate, realizes the collaborative work of more unmanned equipments.
Further scheme is:
The unmanned intelligent coordinated control assembly of equipment has the power supply and communication interface being connected with unmanned equipment.
Further scheme is:
The control algolithm operation platform, including information fusion application module, situation generation module, assignment decisions mould
Block, flight path programming module and bullet group's formation Collaborative Control module；
Wherein, information fusion application module mutually transmits various information for various components intermodule, and carries out to information
The information sharing in group is realized in processing；
Situation generation module for being acquired shared information in real time, the real-time update of realization group inside and outside state,
Specify strength distribution and state distribution of the both sides under the conditions of shared information；
Assignment decisions module carries out each group for being distributed by real-time situation, according to the superior command that external commander sends
Part module executes the decomposition and clear, the result that each assembly module passes through assignment decisions module acquisition execution specific tasks of task；
Flight path programming module is distributed for each assembly module according to specific tasks, the situation of execution, carries out implementation task
The generation of course of action and action time；
Bullet group's formation Collaborative Control module for formation component module installation unmanned equipment carry out form into columns collaboration when according to
The motion control instruction of the motion feature of itself unmanned equipment.
It is nobody for being provided with the aforementioned unmanned intelligent coordinated control assembly of equipment the present invention also provides a kind of unmanned equipment
Equipment.
The unmanned intelligent coordinated control assembly of equipment is the electronic equipment an of opposition with unmanned equipment, is had with unmanned equipment
The interface of power supply and data transmission can obtain unmanned equipment relative motion ability information, unmanned equipment intelligence by data transmission
Energy Collaborative Control component combines the locomitivity of unmanned equipment that can provide execution task for unmanned equip according to higher level's combat duty
Movement track and attitude command, the movement track and attitude command that unmanned equipment mounting assembly provides carry out local control, real
The coordination operation of now more unmanned equipments.
The unmanned intelligent coordinated control assembly of equipment be integrated with intelligence resolve component, group-net communication module, Differential positioning component,
Wireless location component and software systems, software systems are based on ROS operating system combination traffic signal coordination and are packaged in intelligent solution
Calculate component.
The present invention also provides the unmanned equipments based on the intelligent coordinated control assembly of unmanned equipment and unmanned equipment intelligently to assist
Same control method, specifically:
1) intelligent coordinated control assembly is mounted on unmanned equipment according to the power supply and communication interface of regulation, it is intelligent coordinated
Control assembly is started to work.
2) performance for equipping itself is uploaded to intelligent coordinated control assembly according to communication protocol requirements by unmanned equipment；
3) intelligent coordinated control assembly carries out the parameter configuration of Collaborative Control algorithm according to the performance of unmanned equipment；
4) the unmanned equipment progress system group network after intelligent coordinated control assembly is installed；
5) the various measurement modules of each intelligent coordinated control assembly, which are started to work, carries out, carry out unmanned equipment positioning and
Ranging；
6) the unmanned change system of Collaborative Control is started to work；
7) when ground system to unmanned change system send specific combat duty after, each intelligent coordinated control assembly according to
Mission requirements carry out distributed operation according to the configuration parameter of Collaborative Control algorithm and equipment itself, obtain unmanned equipment
Motion profile and posture information；
8) each unmanned equipment is good as a result, realizing unmanned dress according to unified Collaborative Control algorithm execution distributed arithmetic
Standby cooperation.
The advantages of the present invention over the prior art are that:
(1) currently, unmanned combat system lacks the intelligent coordinated control that can specially realize isomery unmanned systems cooperation
Component processed.
(2) the present invention relates to intelligent coordinated control assembly opposition and unmanned equipment itself, having versatility can use
In the collaborative work of the unmanned equipment of a variety of a large amount of isomeries.
(3) the present invention relates to intelligent coordinated control assembly have the movenent performance self study function of equipment unmanned to installation
Can, pass through the optimum synergistic state for learning to realize the unmanned equipment of different performance with information input.
(4) the present invention relates to intelligent coordinated control assembly have the ability of each node relative positioning, not exclusively rely on
In GPS positioning, suitable environment is wider.
Detailed description of the invention
Fig. 1 is the intelligent coordinated control assembly composition schematic diagram of unmanned equipment of the invention.
Fig. 2 is electrical system programme of work figure of the invention
Fig. 3 is system data flow graph of the invention
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
As shown in Fig. 1, intelligent coordinated control assembly of the invention composition is as follows:
It include: 1) non-stop layer ad hoc network data-link module, for the Collaborative Control data communication between various components；2)RTK
Satellite difference locating module, the high precision position for various components measure；3) UWB is with respect to range finder module, for realizing each
The range measurement of component；4) high-precision air pressure module, for realizing the measurement of the height above sea level of various components；5) control algolithm is transported
Row platform realizes the collaborative planning according to combat duty for distributed collaboration control algolithm.
Workflow combination Fig. 2, Fig. 3's of the invention is described as follows:
In current or future, the various unmanned equipments of domestic development itself all have independent fight capability, including movement
Ability, striking capabilities, detectivity etc. complete a unmanned systems combat duty and need the characteristics of playing each equipment, to reach
It must mutual alignments be shared, information sharing, state tying and (calculate in unified operational principle to various unmanned equip of this purpose
Method) under the conditions of realize optimal collaborative work.
Workflow is as follows:
1) intelligent coordinated control assembly is mounted on unmanned equipment according to the power supply and communication interface of regulation, it is intelligent coordinated
Control assembly is started to work.
2) performance for equipping itself is uploaded to intelligent coordinated control assembly according to communication protocol requirements by unmanned equipment；
3) intelligent coordinated control assembly carries out the parameter configuration of Collaborative Control algorithm according to the performance of unmanned equipment；
4) the unmanned equipment progress system group network after intelligent coordinated control assembly is installed；
5) the various measurement modules of each intelligent coordinated control assembly, which are started to work, carries out, carry out unmanned equipment positioning and
Ranging；
6) the unmanned change system of Collaborative Control is started to work；
7) when ground system to unmanned change system send specific combat duty after, each intelligent coordinated control assembly according to
Mission requirements carry out distributed operation according to the configuration parameter of Collaborative Control algorithm and equipment itself, obtain unmanned equipment
Motion profile and posture information；
8) each unmanned equipment is good as a result, realizing unmanned dress according to unified Collaborative Control algorithm execution distributed arithmetic
Standby cooperation.
Although reference be made herein to invention has been described for explanatory embodiment of the invention, and above-described embodiment is only this hair
Bright preferable embodiment, embodiment of the present invention are not limited by the above embodiments, it should be appreciated that those skilled in the art
Member can be designed that a lot of other modification and implementations, these modifications and implementations will fall in principle disclosed in the present application
Within scope and spirit.
Claims (4)
1. a kind of unmanned intelligent coordinated control assembly of equipment, it is characterised in that: including communication module, RTK Differential positioning, UVB phase
To positioning, air pressure relative positioning, control algolithm operation platform, wherein communication module, RTK Differential positioning, UVB relative positioning, gas
Pressure relative positioning is connected with control algolithm operation platform respectively；
The communication module is non-stop layer ad hoc network data-link module, realizes each group by non-stop layer ad hoc network data-link module
Collaborative Control data communication between part；
The RTK satellite difference locating module measures for realizing the high precision position of various components；
The UWB realizes the range measurement of various components with respect to range finder module；
The high-precision air pressure module realizes the measurement of the height above sea level of various components；
The computing platform realizes the processing and transmission of various measurement data；Computing platform operation is that distributed collaboration control is calculated
Method, to realize the collaborative planning to combat duty；Finally realize the collaboration of next period when various unmanned equipment cooperations
Track generates, and realizes the collaborative work of more unmanned equipments.
2. the unmanned intelligent coordinated control assembly of equipment according to claim 1, it is characterised in that: the unmanned equipment intelligence association
There is the power supply and communication interface being connected with unmanned equipment with control assembly.
3. the unmanned intelligent coordinated control assembly of equipment according to claim 1 or claim 2, it is characterised in that:
The control algolithm operation platform, including information fusion application module, situation generation module, assignment decisions module, boat
Mark planning module and bullet group's formation Collaborative Control module；
Wherein, information fusion application module mutually transmits various information for various components intermodule, and handles information,
Realize the information sharing in group；
Situation generation module is realized the real-time update of group inside and outside state, is defined for being acquired shared information in real time
Strength distribution and state distribution of the both sides under the conditions of shared information；
Assignment decisions module carries out each assembly mould for being distributed by real-time situation, according to the superior command that external commander sends
Block executes the decomposition and clear, the result that each assembly module passes through assignment decisions module acquisition execution specific tasks of task；
Flight path programming module is distributed for each assembly module according to specific tasks, the situation of execution, carries out the action of implementation task
The generation of route and action time；
Bullet group's formation Collaborative Control module form into columns for the unmanned equipment of formation component module installation when cooperateing with according to itself
The motion control instruction of the motion feature of unmanned equipment.
4. a kind of unmanned intelligent coordinated control method of equipment, it is characterised in that:
1) intelligent coordinated control assembly is mounted on unmanned equipment according to the power supply and communication interface of regulation, intelligent coordinated control
Component is started to work；
2) performance for equipping itself is uploaded to intelligent coordinated control assembly according to communication protocol requirements by unmanned equipment；
3) intelligent coordinated control assembly carries out the parameter configuration of Collaborative Control algorithm according to the performance of unmanned equipment；
4) the unmanned equipment progress system group network after intelligent coordinated control assembly is installed；
5) the various measurement modules of each intelligent coordinated control assembly, which are started to work, carries out, and carries out the positioning and survey of unmanned equipment
Away from；
6) the unmanned change system of Collaborative Control is started to work；
7) after ground system sends specific combat duty to unmanned change system, each intelligent coordinated control assembly is according to task
It is required that carrying out distributed operation according to the configuration parameter of Collaborative Control algorithm and equipment itself, the movement of unmanned equipment is obtained
Track and posture information；
8) each unmanned equipment is good as a result, realizing unmanned equipment according to unified Collaborative Control algorithm execution distributed arithmetic
Cooperation.
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Cited By (3)
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| CN110682298A (en) * | 2019-09-20 | 2020-01-14 | 浙江派尼尔科技股份有限公司 | Control method for multiple sets of cooperative control software of unmanned intelligent robot on water |
| CN111796315A (en) * | 2020-06-30 | 2020-10-20 | 中国人民解放军军事科学院国防科技创新研究院 | Indoor and outdoor positioning method and device for unmanned aerial vehicle |
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