CN109669477A - A kind of cooperative control system and control method towards unmanned plane cluster - Google Patents
A kind of cooperative control system and control method towards unmanned plane cluster Download PDFInfo
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- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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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
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Abstract
本发明公开了一种面向无人机集群的协同控制系统，包括无人机集群和地面站；无人机集群是由多架异构无人机组成的集群；地面站包括硬件部分和软件部分；硬件部分包括AR人机交互模块、数据处理模块、无线传输模块；数据处理模块分别与AR人机交互模块、无线传输模块连接；其中，AR人机交互模块用于人机交互；数据处理模块用于数据处理；无线传输模块用于地面站与无人机集群之间的数据传输；软件部分采用模块化设计，并为各个功能模块提供统一的通信方式和监测管理服务；本发明地面站系统增加AR人机交互功能，通过叠加在真实环境中的虚拟场景给无人机集群下达飞行任务，给用户提供自然友好、具有沉浸感的操作体验。
The invention discloses a cooperative control system oriented to an unmanned aerial vehicle swarm, comprising an unmanned aerial vehicle swarm and a ground station; the unmanned aerial vehicle swarm is a swarm composed of multiple heterogeneous unmanned aerial vehicles; the ground station includes a hardware part and a software part The hardware part includes an AR human-computer interaction module, a data processing module, and a wireless transmission module; the data processing module is respectively connected with the AR human-computer interaction module and the wireless transmission module; among them, the AR human-computer interaction module is used for human-computer interaction; the data processing module It is used for data processing; the wireless transmission module is used for data transmission between the ground station and the UAV cluster; the software part adopts a modular design, and provides a unified communication method and monitoring and management services for each functional module; the ground station system of the present invention The AR human-computer interaction function is added, and the drone swarms are assigned flight tasks through virtual scenes superimposed on the real environment, providing users with a natural, friendly and immersive operating experience.
Description
Technical field
The present invention relates to the research field of unmanned air vehicle technique, in particular to a kind of Collaborative Control system towards unmanned plane cluster
System and control method.
Background technique
In recent years, unmanned plane is widely used, take photo by plane, agricultural plant protection, express transportation, disaster relief, geography
The every field such as mapping, resource exploration, electric inspection process, military combat have all played effect.Due to the operation energy of single unmanned plane
Power is limited, and people have been no longer limited to using single unmanned plane, but begins to focus in the synergistic application of unmanned plane cluster.
Earth station is the command and control center of entire UAV system, can be monitored to the state of flight of unmanned plane, and unmanned plane is controlled
Complete flight job task.Corresponding with unmanned plane cluster, earth station is also from the form of " one machine of a station " towards " a station multimachine "
Direction develop.
But there is also some problems in the prior art.First, man-machine interaction mode is single.Existing system, earth station
System usually only provides the mode of operation of graphic user interface for user, and user's operation is got up inflexible and convenient, operating experience
It is not good enough.Second, the Time Inconsistency problem between earth station and unmanned plane cluster.Time synchronization can guarantee earth station and nothing
Length of a game's consistency of man-machine cluster provides time reference to the Collaborative Control of unmanned plane cluster.Lack this time reference,
Unmanned plane cluster just can not mutually coordinated, work compound.And using GPS, (Global Positioning System, the whole world are fixed
Position system) the unified time is provided for unmanned plane cluster, can have that anti-shielding is poor, safety is low, gentle vulnerable to magnetic field
The problem of time etc. influences.Third supports the ability of unmanned plane cluster work compound poor.Existing earth station is usually to nobody
The winged control of machine is directly controlled, in the autonomous flight of unmanned plane cluster, real-time task distribution, Collaborative Control and intelligence
Lack preferable support in terms of decision data.
Summary of the invention
The shortcomings that it is a primary object of the present invention to overcome the prior art and insufficient, provides a kind of towards unmanned plane cluster
Cooperative control system.
Another object of the present invention is to provide a kind of cooperative control methods towards unmanned plane cluster.
The main object of the present invention is realized by the following technical solution:
A kind of cooperative control system towards unmanned plane cluster, including unmanned plane cluster and earth station；The unmanned plane collection
The cluster that group is made of multi rack isomery unmanned plane；The earth station includes hardware components and software section；
The hardware components include AR human-computer interaction module, data processing module, wireless transport module；The data processing
Module is connect with AR human-computer interaction module, wireless transport module respectively；Wherein, the AR human-computer interaction module is used for man-machine friendship
Mutually；The data processing module is used for data processing；The wireless transport module is used between earth station and unmanned plane cluster
Data transmission；
The software section uses modularized design, and unified communication mode and monitoring pipe are provided for each functional module
Reason service, wherein functional module includes: graphical user interface module, human-computer interaction proxy module, time synchronization module, cluster are logical
Believe module, data memory module, Intelligent data analysis module, mission planning module, swarm intelligence module, formation control module.
Further, the AR human-computer interaction module are as follows: AR human-computer interaction device provides for user based on the multi-modal of AR
Man-machine interaction mode provides the user with a kind of nature by the combination of voice, vision, movement, true environment etc. and virtual scene
Friendly, immersion experience.
Further, the data processing module is portable computer.
Further, the software section provides unified communication mode and prison for each functional module by software bus
Survey management service.
Another object of the present invention is achieved through the following technical solutions:
A kind of cooperative control method towards unmanned plane cluster, which comprises the following steps:
S1, earth station and unmanned plane, which are established, to be communicated to connect, and obtains unmanned machine information and state；
S2, user assign unmanned plane cluster by earth station and assign aerial mission；
S3, cotasking planning is carried out to aerial mission demand, to every unmanned plane distribution collaboration in unmanned plane cluster
Task；
S4, Collaborative Control instruction is generated for every unmanned plane in unmanned plane cluster, sends Collaborative Control and instructs to unmanned plane
Cluster, unmanned plane cluster receive Collaborative Control and instruct and start to execute aerial mission；
S5, unmanned plane cluster return to unmanned plane relevant information in real time, and earth station handles unmanned plane relevant information；Institute
Stating unmanned plane relevant information includes: status information, load information, image information, task execution information；
S6, judge whether to need to carry out dynamic adjustment to the aircraft task of unmanned plane cluster, if desired, then follow the steps
S3, it is no to then follow the steps S7；
S7, judge whether to need to instruct Collaborative Control to carry out dynamic adjustment, if desired, then follow the steps S4, otherwise hold
Row step S8；
S8, judge whether aerial mission is finished, finished if being not carried out, then follow the steps S5, otherwise execute S9；
After S9, flight, user checks the unmanned plane relevant information stored in database on a graphical user interface.
It further, further include that cooperative control system uses the Time synchronization algorithm based on IEEE1588, when synchronizing the overall situation
Between；Specifically: using earth station system clock as the system clock of each unmanned plane in master clock, unmanned plane cluster as from when
Clock determines ground station owner's clock and unmanned plane from the time deviation between clock by periodical exchange message；
The periodical exchange message process is as follows:
Sync sync message is sent to Y1, earth station's master clock cycle from clock to unmanned plane, unmanned plane is received from clock
The accurate arrival time t of the message under to Sync sync message postscript2；
Y2, earth station's master clock send Follow_Up from clock then to unmanned plane and follow message, which carries Sync
The accurate sending instant t of sync message1；
Y3, unmanned plane send a Delay_Req from clock ground station master clock and postpone request message, and record the report
Literary accurately sending instant t3；
Y4, earth station's master clock record Delay_Req postpone the accurate arrival time t of request message4, then pass through
Delay_Resp postpones response message t4Unmanned plane is sent back to from clock.
Further, the step S2 specifically:
S201, human-computer interaction proxy module obtain unmanned cluster information and state, and send AR human-computer interaction module, according to
The state of virtual unmanned plane cluster in the information and state real-time update AR scene of unmanned plane cluster；
S202, user specify unmanned plane cluster by AR human-computer interaction module and assign aerial mission；
AR scene video and AR interaction results are sent to human-computer interaction proxy module by S203, human-computer interaction module, then are turned
It is sent to the other function module of earth station.
Further, in the step S3, cotasking planning includes offline mission planning and online mission planning；It is described
Offline mission planning is that preflight mission assignment distributes initial scheme；The online mission planning be unmanned plane cluster flight course in into
The adjustment of Mobile state task.
Further, the step S4 specifically: it is instructed according to swarm intelligence and formation control strategy generating Collaborative Control,
Swarm intelligence generates complicated group behavior by unmanned plane cluster using relatively simple individual member's rule and Local Interaction, compiles
Team's control uses pilotage people-follower strategy, including formation is formed, formation is kept, evolution, and unmanned plane collection group energy is made to exist
Scheduled formation is showed during execution task.
Further, the step S5 specifically: the data that unmanned plane cluster is returned by multisource data fusion technology
It is efficiently merged, including data prediction, data fusion, data mining, data storage, is task distribution, the association of earth station
Intelligent decision making with control provides support.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, the present invention provides the mode of operation of graphic user interface for user, also provides for user's operation earth station system
AR interactive function assigns aerial mission to unmanned plane cluster by the virtual scene being superimposed upon in true environment, increases user
The flexibility of operation provide the user a kind of naturally friendly, operating experience with feeling of immersion；
2, the present invention use time synchronization module, according to earth station's system time come to each of unmanned plane cluster nobody
Machine carries out time synchronization, avoids GPS and synchronizes that existing anti-shielding is poor, safety is low, vulnerable to the influence such as magnetic field and weather
The problem of, have the advantages that fast convergence rate, synchronization accuracy are high, improves unmanned plane cluster Collaborative Control, data fusion etc.
Real-time；
3, the present invention realizes the mission planning and collaboration of unmanned plane cluster by mission planning module, swarm intelligence module
Control carries out dynamic adjustment to aerial mission and control command under emergency case, and is task point by data intelligence processing
Match, the intelligent decision making of Collaborative Control provides support, substantially reduce the calculation amount of unmanned aerial vehicle onboard system, effectively realize pair
The intelligent Collaborative Control of unmanned plane cluster.
Detailed description of the invention
Fig. 1 is a kind of hardware structure diagram of cooperative control system towards unmanned plane cluster of the present invention；
Fig. 2 is a kind of each functional module information interaction of cooperative control system towards unmanned plane cluster of the present invention
Figure；
Fig. 3 is a kind of method flow diagram of cooperative control method towards unmanned plane cluster of the present invention；
Fig. 4 is AR human-computer interaction flow chart in embodiment of the present invention；
Fig. 5 is the Time synchronization algorithm flow chart in embodiment of the present invention based on IEEE1588.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1:
A kind of cooperative control system towards unmanned plane cluster, including unmanned plane cluster and earth station；The unmanned plane collection
The cluster that group is made of multi rack isomery unmanned plane；The earth station, i.e. earth station system, including hardware components and software portion
Point；
The hardware components, as shown in Figure 1, including AR human-computer interaction module, data processing module, wireless transport module；
The data processing module is connect with AR human-computer interaction module, wireless transport module respectively；Wherein, the AR human-computer interaction module
For AR human-computer interaction device, it to be used for human-computer interaction；The data processing module is portable computer, is used for data processing；Institute
Stating wireless transport module is radio transmission apparatus, for the data transmission between earth station and unmanned plane cluster；
The software section uses modularized design, and unified communication mode and monitoring pipe are provided for each functional module
Reason service, wherein functional module includes: graphical user interface module, human-computer interaction proxy module, time synchronization module, cluster are logical
Believe module, data memory module, Intelligent data analysis module, mission planning module, swarm intelligence module, formation control module.
AR human-computer interaction module and portable computer are attached by wireless network, for providing for user based on AR
Man-machine interaction mode, HoloLens glasses, Leap Motion motion sensing control device are used in the present embodiment.HoloLens glasses
It is a wear-type augmented reality equipment, virtual image can be added in true environment, hologram is provided, perceives user
Sound and movement.Leap Motion motion sensing control device can identify a variety of different gestures, be incorporated in HoloLens glasses
It is used together the deficiency that can make up HoloLens glasses on gesture operation, the operation of more convenient user.It is man-machine by AR
Interactive module, user can assign aerial mission to unmanned plane cluster by the virtual scene being superimposed upon in true environment.
Portable computer be run unmanned plane cluster earth station system software program electronic equipment, have it is small in size,
Light-weight feature, it is easy to carry, it can be convenient user and operated in outdoor.
Radio transmission apparatus uses in the present embodiment for realizing the communication between earth station system and unmanned plane cluster
4G wireless communication module is equipped with 4G wireless communication module for each of earth station and unmanned plane cluster unmanned plane.By
It has been obtained and is widely applied in 4G communication, the base station 4G coverage rate is big, has between earth station system and unmanned plane cluster very big
Communication range.By radio transmission apparatus, the control instruction of earth station system can be sent to unmanned plane cluster, meanwhile, nothing
Cluster information, state of flight information, load information, video image etc. can also be sent to earth station system by man-machine cluster.
The present embodiment is analyzed by the specific requirements to unmanned plane cluster Collaborative Control, using modular method into
Row earth station system Functional Design, and the communication mode and prison of publish/subscribe are provided by software bus for each functional module
Survey management service.Two functional modules of communication are communicated using topic, and the module to give out information is specific towards one by message
Topic issued, the functional module for having subscribed same topic can receive the message of publication.
The functional module of the present embodiment includes: graphical user interface module, human-computer interaction proxy module, time synchronization mould
Block, cluster communication module, data memory module, Intelligent data analysis module, mission planning module, swarm intelligence module and formation
Control module.According to the analysis of the specific operation flow to earth station system, described between these functional modules as shown in Figure 2
Information exchange.Each functional module is described as follows:
Graphical user interface module provides patterned mode of operation for user；Human-computer interaction proxy module is used for and AR people
Machine interactive device is attached, and provides AR interactive function for earth station system；Time synchronization module is responsible for earth station system and nothing
The time synchronization of each of man-machine cluster UAV system, to maintain the globally consistent time；Cluster communication module is used for
Realize the message communicating between earth station system and unmanned plane cluster；Data memory module is used for the status number of unmanned plane cluster
According to the storage of the data persistences such as, task data into database, to facilitate user is subsequent to check；The Intelligent data analysis module
Data for returning to unmanned plane cluster carry out data fusion, data mining, thus for task distribution, the intelligence of Collaborative Control
Change decision and support is provided；The overall aerial mission that mission planning module is used to assign user carries out planning decomposition, is unmanned plane
The specific collaboration subtask of each of cluster unmanned plane distribution；Swarm intelligence module generates group for controlling unmanned plane cluster
Body behavior；Formation control module carries out marshalling flight according to certain formation for controlling unmanned plane cluster.
The present embodiment carries out the exploitation of graphic user interface using Qt technology.The function of graphic user interface includes single machine prison
Control, cluster monitoring, electronic map, AR interaction and data storage.Specifically, single machine monitoring function includes single machine control, single machine shape
State is shown and real-time video shows that user can select to be controlled in unmanned plane cluster nothing according to unmanned plane identification number
It is man-machine；Cluster monitoring function includes that the management of cluster unmanned plane, mission planning, clustered control, cluster state show that user can be right
Unmanned plane cluster is managed, and affiliated cluster is specified for each unmanned plane；Electronic map function includes map denotation, destination volume
It collects and real-time Target track displaying；AR interactive function include AR scene show and AR interaction results show that AR scene is HoloLens
The video flowing of scene in mirror, the controlled unmanned plane cluster and flight that AR interaction results, which are users, to be selected by human-computer interaction device
Task destination；Data storage function includes data storage and data readback.
Embodiment 2:
A kind of cooperative control method towards unmanned plane cluster, as shown in Figure 3, comprising the following steps:
S1, earth station and unmanned plane, which are established, to be communicated to connect, and obtains unmanned machine information and state；Specifically, unmanned plane
Status information mainly has electricity, state, longitude, latitude, height, roll angle, pitch angle, yaw angle, X to linear velocity, Y-direction linear speed
Degree, Z-direction linear velocity, yaw rate, X are to acceleration, Y-direction acceleration, Z-direction acceleration etc.；
S2, user assign unmanned plane cluster by earth station and assign aerial mission；Unmanned plane cluster passes through cluster identity
Number carry out unique identification, each unmanned plane has cluster identity number for distinguishing which cluster the unmanned plane belongs to, and user can refer to
Determine the cluster identity number of unmanned plane；The content of aerial mission includes task type, cluster identity number, destination coordinate, task time；
As shown in figure 4, specifically:
S201, human-computer interaction proxy module obtain unmanned cluster information and state, and send AR human-computer interaction module, according to
The state of virtual unmanned plane cluster in the information and state real-time update AR scene of unmanned plane cluster；
S202, user specify unmanned plane cluster by AR human-computer interaction module and assign aerial mission；
AR scene video and AR interaction results are sent to human-computer interaction proxy module by S203, human-computer interaction module, then are turned
It is sent to the other function module of earth station.
S3, cotasking planning is carried out to aerial mission demand, to every unmanned plane distribution collaboration in unmanned plane cluster
Task；Specifically, cotasking planning includes offline mission planning and online mission planning；
Offline mission planning is before flight according to relationship between initial unmanned plane quantity, state, task status, task with most
Smallization unmanned plane total path is optimization aim, and the initial scheme of go out on missions distribution and execution sequence can be given by genetic algorithm；
Online mission planning is to encounter the temporary lost contact of unmanned plane failure, unmanned plane, new in unmanned plane cluster flight course
Situations such as task is added carries out each unmanned plane according to the task execution situation of each unmanned plane and the mission requirements newly increased
Task adjustment；
S4, Collaborative Control instruction is generated for every unmanned plane in unmanned plane cluster, sends Collaborative Control and instructs to unmanned plane
Cluster, unmanned plane cluster receive Collaborative Control and instruct and start to execute aerial mission；
Specifically, being instructed according to swarm intelligence and formation control strategy generating Collaborative Control；
Swarm intelligence generates complicated group by unmanned plane cluster using relatively simple individual member's rule and Local Interaction
Body behavior mainly has aggregation, swarms, looks for food and surround and seize behavior；According to task allocation result, group behavior algorithm and each unmanned plane
State is that each of unmanned plane cluster unmanned plane generates specific Collaborative Control instruction；
Formation control uses pilotage people-follower strategy；According to the result and formation of mission planning, formation shape is calculated
At when cluster in each unmanned plane target position and be packaged into control instruction and be sent to unmanned plane cluster, to form formation；
After formation is formed, need to be adjusted in real time according to the physical location of unmanned plane, posture and target position, posture, to keep
Formation；In flight course, the formation for the unmanned plane cluster chosen can be adjusted, it is each in new formation by generating
The target point of unmanned plane is simultaneously packaged into control instruction and is sent to unmanned plane cluster to change its formation；
S5, unmanned plane cluster return to unmanned plane relevant information in real time, and earth station handles unmanned plane relevant information；Institute
Stating unmanned plane relevant information includes: status information, load information, image information, task execution information；
Specifically, data processing efficiently melts the data that unmanned plane cluster returns by multisource data fusion technology
It closes, including data prediction, data fusion, data mining, data storage, thus for the distribution of earth station system task, collaboration control
The intelligent decision making of system provides support；Data prediction mainly verifies the data that unmanned plane cluster returns, is cleaned, being gone
It makes an uproar, conversion process；Data fusion is to be sorted out to the data from each unmanned plane, matched；Data mining is to after fusion
Data excavate effective information using cluster, neural network, decision tree, support vector machines scheduling algorithm and determine to make intelligence
Plan；Data storage is that the data returned to unmanned plane and data mining results store, using MySQL database；
S6, judge whether to need to carry out dynamic adjustment to the aircraft task of unmanned plane cluster, if desired, then follow the steps
S3, it is no to then follow the steps S7；Specifically, being needed when there is the temporary lost contact of unmanned plane failure, unmanned plane, new task is added
Dynamic adjustment is carried out to aerial mission；
S7, judge whether to need to instruct Collaborative Control to carry out dynamic adjustment, if desired, then follow the steps S4, otherwise hold
Row step S8；Specifically, needing to be adjusted Collaborative Control instruction when there is formation change, group behavior change；
S8, judge whether aerial mission is finished, finished if being not carried out, then follow the steps S5, otherwise execute S9；
After S9, flight, user checks the unmanned plane relevant information stored in database on a graphical user interface.
Further, using the Time synchronization algorithm based on IEEE1588, using earth station system clock as master clock, nothing
The system clock of each unmanned plane is used as from clock in man-machine cluster, and ground station owner's clock is determined by periodical exchange message
And unmanned plane is from the time deviation between clock.The present embodiment by clock_gettime () function under linux system come
The system time for being accurate to nanosecond is obtained, system time is arranged by clock_settime () function.As shown in figure 5, base
In the Time synchronization algorithm of IEEE1588 message switching procedure the following steps are included:
Sync sync message is sent to Y1, earth station's master clock cycle (generally 2s) from clock to unmanned plane, nobody
Machine receives the accurate arrival time t of the message under Sync sync message postscript from clock2；
Y2, earth station's master clock send Follow_Up from clock then to unmanned plane and follow message, which carries Sync
The accurate sending instant t of sync message1；
Y3, unmanned plane send a Delay_Req from clock ground station master clock and postpone request message, and record the report
Literary accurately sending instant t3；
Y4, earth station's master clock record Delay_Req postpone the accurate arrival time t of request message4, then pass through
Delay_Resp postpones response message t4Unmanned plane is sent back to from clock.
Assuming that message by earth station's master clock to unmanned plane from the propagation delay time of clock and message by unmanned plane from clock to
The propagation delay time of earth station's master clock is identical and is indicated with Delay, and earth station's master clock and unmanned plane are from the time between clock
Deviation is Offset, can be obtained according to above-mentioned steps:
t2=t1+Offset+Delay (1)
t4=t3-Offset+Delay (2)
According to formula (1) and formula (2), unmanned plane from clock can calculate transmission delay Delay between master-salve clock and
Time deviation Offset:
Delay=((t2-t1)+(t4-t3))/2 (3)
Offset=((t2-t1)-(t4-t3))/2 (4)
According to the time deviation Offset that formula (4) is calculated, unmanned plane can adjust its system time from clock, from
And complete once with the time synchronization of earth station system.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of cooperative control system towards unmanned plane cluster, which is characterized in that including unmanned plane cluster and earth station；It is described
The cluster that unmanned plane cluster is made of multi rack isomery unmanned plane；The earth station includes hardware components and software section；
The hardware components include AR human-computer interaction module, data processing module, wireless transport module；The data processing module
It is connect respectively with AR human-computer interaction module, wireless transport module；Wherein, the AR human-computer interaction module is used for human-computer interaction；Institute
Data processing module is stated for data processing；The wireless transport module is passed for the data between earth station and unmanned plane cluster
It is defeated；
The software section uses modularized design, and unified communication mode and monitoring management clothes are provided for each functional module
Business, wherein functional module includes: graphical user interface module, human-computer interaction proxy module, time synchronization module, cluster communication mould
Block, data memory module, Intelligent data analysis module, mission planning module, swarm intelligence module, formation control module；
The graphical user interface module provides patterned mode of operation for user；The human-computer interaction proxy module be used for
AR human-computer interaction module is attached, and provides AR interactive function for earth station system；The time synchronization module is responsible for earth station
The time synchronization of each of system and unmanned plane cluster UAV system；The cluster communication module is for realizing earth station
Message communicating between system and unmanned plane cluster；The data memory module is used for the status data of unmanned plane cluster, appoints
The storage of the data persistences such as data of being engaged in is into database；The Intelligent data analysis module is used for the number returned to unmanned plane cluster
According to progress data fusion, data mining, and the intelligent decision making for task distribution, Collaborative Control provides support；The task rule
It draws the overall aerial mission that module is used to assign user and carries out planning decomposition, be each of unmanned plane cluster unmanned plane point
With specific collaboration subtask；The swarm intelligence module generates group behavior for controlling unmanned plane cluster；The formation control
Molding block carries out marshalling flight according to certain formation for controlling unmanned plane cluster.
2. a kind of cooperative control system towards unmanned plane cluster according to claim 1, which is characterized in that the AR people
Machine interactive module is AR human-computer interaction device.
3. a kind of cooperative control system towards unmanned plane cluster according to claim 1, which is characterized in that the data
Processing module is portable computer.
4. a kind of cooperative control system towards unmanned plane cluster according to claim 1, which is characterized in that the software
Part provides unified communication mode and monitoring management service for each functional module by software bus.
5. a kind of cooperative control method towards unmanned plane cluster, which comprises the following steps:
S1, earth station and unmanned plane, which are established, to be communicated to connect, and obtains unmanned machine information and state；
S2, user assign unmanned plane cluster by earth station and assign aerial mission；
S3, cotasking planning is carried out to aerial mission demand, to every unmanned plane distribution collaboration subtask in unmanned plane cluster；
S4, Collaborative Control instruction being generated for every unmanned plane in unmanned plane cluster, transmission Collaborative Control, which instructs, gives unmanned plane cluster,
Unmanned plane cluster receives Collaborative Control and instructs and start to execute aerial mission；
S5, unmanned plane cluster return to unmanned plane relevant information in real time, and earth station handles unmanned plane relevant information；The nothing
Man-machine relevant information includes: status information, load information, image information, task execution information；
S6, judge whether to need to carry out dynamic adjustment to the aircraft task of unmanned plane cluster, if desired, S3 is thened follow the steps, it is no
Then follow the steps S7；
S7, judge whether to need to instruct Collaborative Control to carry out dynamic adjustment, if desired, then follow the steps S4, otherwise execute step
Rapid S8；
S8, judge whether aerial mission is finished, finished if being not carried out, then follow the steps S5, otherwise execute S9；
After S9, flight, user checks the unmanned plane relevant information stored in database on a graphical user interface.
6. a kind of cooperative control method towards unmanned plane cluster according to claim 5, which is characterized in that further include,
Cooperative control system uses the Time synchronization algorithm based on IEEE1588, synchronous length of a game；Specifically: when by earth station system
Clock is used as the system clock of each unmanned plane in master clock, unmanned plane cluster from clock, by periodical exchange message come
Determine ground station owner's clock and unmanned plane from the time deviation between clock；
The periodical exchange message process is as follows:
Sync sync message is sent to Y1, earth station's master clock cycle from clock to unmanned plane, unmanned plane is received from clock
The accurate arrival time t of the message under Sync sync message postscript2；
Y2, earth station's master clock send Follow_Up from clock then to unmanned plane and follow message, and it is synchronous which carries Sync
The accurate sending instant t of message1；
Y3, unmanned plane send a Delay_Req from clock ground station master clock and postpone request message, and record message standard
True sending instant t3；
Y4, earth station's master clock record Delay_Req postpone the accurate arrival time t of request message4, then pass through Delay_
Resp postpones response message t4Unmanned plane is sent back to from clock.
7. a kind of cooperative control method towards unmanned plane cluster according to claim 5, which is characterized in that the step
S2 specifically:
S201, human-computer interaction proxy module obtain unmanned cluster information and state, and send AR human-computer interaction module, according to nobody
The state of virtual unmanned plane cluster in the information and state real-time update AR scene of machine cluster；
S202, user specify unmanned plane cluster by AR human-computer interaction module and assign aerial mission；
AR scene video and AR interaction results are sent to human-computer interaction proxy module by S203, human-computer interaction module, then are forwarded to
The other function module of earth station.
8. a kind of cooperative control method towards unmanned plane cluster according to claim 5, which is characterized in that the step
In S3, cotasking planning includes offline mission planning and online mission planning；The offline mission planning is preflight mission assignment
Distribute initial scheme；The online mission planning is that dynamic task adjustment is carried out in unmanned plane cluster flight course.
9. a kind of cooperative control method towards unmanned plane cluster according to claim 5, which is characterized in that the step
S4 specifically: instructed according to swarm intelligence and formation control strategy generating Collaborative Control, swarm intelligence utilizes relatively simple
Body member rule and Local Interaction generate complicated group behavior by unmanned plane cluster, and formation control uses pilotage people-follower
Strategy, including formation formed, formation keep, evolution, show unmanned plane collection group energy during execution task
Scheduled formation.
10. a kind of cooperative control method towards unmanned plane cluster according to claim 5, which is characterized in that the step
Rapid S5 specifically: the data that unmanned plane cluster returns efficiently are merged by multisource data fusion technology, including data are pre-
Processing, data fusion, data mining, data storage provide branch for the task distribution of earth station, the intelligent decision making of Collaborative Control
It holds.
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