CN111857145A - Reconnaissance type unmanned aerial vehicle and unmanned armored vehicle combined formation system - Google Patents
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Abstract
The utility model provides an unmanned aerial vehicle and unmanned armored vehicle formation system, contains a reconnaissance unmanned aerial vehicle and four unmanned armored vehicles, and wherein at least one armored vehicle contains the guarantee module to unmanned aerial vehicle. The intelligent, networking and cooperative degrees of the armored vehicle cluster in the operation area are improved through the cooperation of the unmanned aerial vehicle and the unmanned armored vehicle cluster. By improving the sensing capability of the battle formation to the surrounding complex environment, the integration and flexible action capability of the formation are improved, the flexibility of formation ground-air coordination battle is further improved, the rapid collection and analysis of battlefield information and the rapid issuing of a battle strategy are realized, and the unmanned battle flexibility of a battle field is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles and unmanned vehicle systems, in particular to a reconnaissance type unmanned aerial vehicle and unmanned armored vehicle combined formation system.
Background
The drone is an unmanned aircraft controlled by a remote control device or a self-contained program. With the large-scale application of high and new technologies, more and more new technologies are applied to the military field, and the functions of information reconnaissance, military striking, information countermeasure, communication relay, logistics guarantee and the like can be realized. Wherein the rotorcraft may be used for intelligence reconnaissance or communication relaying. When in a complex terrain environment, the visual field of the armored vehicle is influenced by the environment and limited, and the unmanned aerial vehicle can improve the perception of the vehicle to the surrounding environment through the real-time observation of the terrain and the ground conditions in the low altitude, thereby being beneficial to making a decision quickly. When the communication between the vehicle and the command center is influenced by the terrain or the communication between the vehicles is damaged, the communication network can be replaced to quickly recover.
Unmanned vehicles and unmanned vehicles have become indispensable military forces in the future battlefield. As one important combat force, the unmanned armored vehicle can sense the surrounding environment by using the sensing equipment arranged on the vehicle body, so that the surrounding road information and the combat environment information can be rapidly acquired in an all-around manner, and the flexible maneuverability of combat formation is improved.
Disclosure of Invention
The invention relates to an unmanned aerial vehicle-unmanned armored vehicle formation system, which comprises a reconnaissance unmanned aerial vehicle, four unmanned armored vehicles (at least one armored vehicle is provided with an unmanned aerial vehicle guarantee module), an unmanned aerial vehicle-unmanned vehicle coordination control module, an environmental information integration processing module and a communication module. Unmanned aerial vehicle mainly undertakes the reconnaissance task, equips high definition digtal camera and radar. Unmanned aerial vehicle has the information transmission module, can give the piloting vehicle in the unmanned armored vehicle formation with the image information transmission who gathers in real time to can carry out preliminary treatment synchronous transmission to the piloting vehicle with radar information collection. Unmanned armored vehicle formation has at least one vehicle and loads unmanned aerial vehicle take-off and landing platform and guarantee module, can guarantee that unmanned aerial vehicle can in time take off when needing to can return and charge.
The unmanned aerial vehicle keeps the specified height with the virtual pilot at all times, and the mapping position and the mapping speed are synchronous. The unmanned aerial vehicle transmits image information to a piloting vehicle, and the piloting vehicle collects and processes information collected by vehicle formation. The formation piloting vehicles process the summary information to generate an environment information map and upload the environment information map to the control center, commands are directly issued to other formation vehicles and the unmanned aerial vehicles for common information such as simple obstacle avoidance, formation keeping, route decision and the like, and important decision instructions are issued by the control center. When the communication is blocked, the ground unmanned vehicle formation is difficult to receive the information of the control center. The unmanned aerial vehicle is used as a communication node to receive the instruction and transmit the instruction to the ground formation. The formation of the ground vehicle and the formation keeping method are realized by combining a behavior-based method with a virtual navigator method.
And step one, keeping an unmanned position at a fixed height position above the piloting vehicle, and keeping the advancing speed consistent with the advancing speed of the vehicle.
In order to ensure that the formation can still advance according to the formation when partial vehicle signals are lost, a virtual pilot method is utilized, namely a virtual vehicle is automatically generated to serve as a pilot of the formation, the virtual vehicle can be generated by any vehicle of the formation, and the generation authority can be switched to any vehicle or unmanned aerial vehicle or command center so as to ensure that the internal time of the formation is controllable. The unmanned aerial vehicle is constantly kept at a designated position above the virtual pilot, and the speed of the unmanned aerial vehicle is constantly kept consistent with that of the pilot vehicle.
Step one, the ground unmanned vehicle formation uses the method based on the behavior and the virtual navigator to merge and carry out formation of the formation and switching of the formation
A the unmanned vehicle has the own maximum speed, which is recorded as vmaxAnd the speed control of the vehicle is carried out to ensure that the vehicle runs in a safe speed range under certain braking capacity:
the B ground unmanned vehicle formation comprises three types of rapid-traveling straight line formation, triangular formation and rhombic formation
Using a virtual navigator method, the control center generates a virtual navigator to calibrate the traveling speed of the formation and the positions of the vehicles, R0Denoted as virtual pilot, Ri(i＝1, 2, 3, 4) are represented as four vehicles in formation. The formation matrix is represented as SX0Where the standard matrix is denoted S. The matrix describes the angle and distance of each position in the formation relative to the virtual pilot.
β0iIs a vector Xi0＝XRi-XR0Angle to the x-axis of the plane coordinate,/0iIs the distance of the offset.
SX0Expressed as the respective vehicle position matrix, the first behavior is the virtual pilot himself, without deviation, the parameters are constant as [0, 0 ]]。
Where θ ∈ R, k > 0 is the formation S relative to the standard formation SX0The target position is:
the invention provides a method for realizing three formation types, wherein the corresponding vehicle position matrix is linear SLOTriangular formation STORhombus formation SHO。
C combining behavior-based method with virtual navigator method to realize formation and switching
I. And at the initial moment, the vehicles are positioned at random positions, the positions of all vehicles of the target formation are issued and broadcast according to the position of the virtual pilot as a standard, and the formation vehicles start to search the target positions to form the formation.
II. The vehicle searches for a target location according to a behavior-based method and arrives at the target location under speed control conditions. The behavior-based approach utilizes a formula F ═ am for the combination of multiple forces to achieve control of vehicle acceleration and thus vehicle control input. Control input of the vehicle is uiAs shown in formula (9)
ui＝FTi+FDi+FIi+FRi+FAi#(10)
FTiThe force for attracting the vehicle to the target position is shown in the formula (11)
Wherein
Is a position vector between the vehicle i and the target position Bi. The magnitude of the attractive force is only related to the distance between the target positions. Take f (| | s)ijI) is a linear function of one degree, as shown in formula (12), taking ksAs a piecewise function related only to distance, as shown in equation (13):
FDithis is a force for ensuring that the vehicle always travels toward the target position, as shown in equation (14). Using a judgment functioniS is as shown in formula (15)iPosition vector of target position, v, for vehicle pairiIs the current velocity vector of the vehicle. k is a radical ofdIs a constant.
FIiTo avoid targeting the same target location by multiple vehicles, equation (16) shows. When two vehicles i and k approach the same target position j at the same time, the distance d between the two vehicles relative to the target position is determinedij、dKjAs a determination criterion, where kiIs a constant.
FRiTo ensure the vehicle reaches the target position at a steady speed, the formula (17) shows. Radius R when the vehicle enters the target positionrAfter the region, the deceleration by the drag force, krIs a constant value vBjIs the virtual navigator speed.
FAiIn order to avoid the force of collision between vehicles, as shown in equation (19).
vpFor vehicles PiSpeed of RsafeTo a safe radius, sikIs the position vector between adjacent vehicles, theta is the angle between the velocity vector and the position vector, kαConstant for collision avoidance coefficient, N (R)i) To enter into RiThe safe radius of all vehicles.
When the vehicle i already occupies a target position, the collision avoidance is performed as a static obstacle, and the target position is also not used as a position to be searched continuously.
Step three, keeping the formation of the unmanned vehicle formation to advance is realized by the following method:
and when all the target positions are occupied and the speeds of all the vehicles and the virtual navigator are the same, switching to a formation keeping control method to enable the vehicles to follow the virtual navigator according to the formed formation to advance. Designing a following strategy by using a guiding-following method according to a relation matrix S of a virtual pilot and a target vehicle, broadcasting a next-moment target position to the formation vehicles within a stable time interval, and enabling the vehicle to continuously reduce the target position as shown in a formula (20), wherein eta is0iIs the target position of the vehicle, ηiIs the current position of the vehicle.
Drawings
FIG. 1 is a schematic diagram of the named formation structure
FIG. 2 is a flow chart of the implementation of the formation switching and formation holding functions of the present invention
Detailed Description
And step one, keeping an unmanned position at a fixed height position above the piloting vehicle, and keeping the advancing speed consistent with the advancing speed of the vehicle.
In order to ensure that the formation can still advance according to the formation when partial vehicle signals are lost, a virtual pilot method is utilized, namely a virtual vehicle is automatically generated to serve as a pilot of the formation, the virtual vehicle can be generated by any vehicle of the formation, and the generation authority can be switched to any vehicle or unmanned aerial vehicle or command center so as to ensure that the internal time of the formation is controllable. The unmanned aerial vehicle is constantly kept at a designated position above the virtual pilot, and the speed of the unmanned aerial vehicle is constantly kept consistent with that of the pilot vehicle.
Step one, the ground unmanned vehicle formation uses the method based on the behavior and the virtual navigator to merge and carry out formation of the formation and switching of the formation
A unmanned vehicle has the maximum of selfVelocity, denoted vmaxAnd the speed control of the vehicle is carried out to ensure that the vehicle runs in a safe speed range under certain braking capacity:
the B ground unmanned vehicle formation comprises three types of rapid-traveling straight line formation, triangular formation and rhombic formation
Using a virtual navigator method, the control center generates a virtual navigator to calibrate the traveling speed of the formation and the positions of the vehicles, R0Denoted as virtual pilot, Ri(i ═ 1, 2, 3, 4) indicates four vehicles in formation. The formation matrix is represented as SX0Where the standard matrix is denoted S. The matrix describes the angle and distance of each position in the formation relative to the virtual pilot.
β0iIs a vector Xi0＝XRi-XR0Angle to the x-axis of the plane coordinate,/0iIs the distance of the offset.
SX0Expressed as the respective vehicle position matrix, the first behavior is the virtual pilot himself, without deviation, the parameters are constant as [0, 0 ]]。
Where θ ∈ R, k > 0 is the formation S relative to the standard formation SX0The target position is:
the invention provides a method for realizing three formation types, wherein the corresponding vehicle position matrix is linear SLOTriangular formation STORhombus formation SHO。
C combining behavior-based method with virtual navigator method to realize formation and switching
I. And at the initial moment, the vehicles are positioned at random positions, the positions of all vehicles of the target formation are issued and broadcast according to the position of the virtual pilot as a standard, and the formation vehicles start to search the target positions to form the formation.
II. The vehicle searches for a target location according to a behavior-based method and arrives at the target location under speed control conditions. The behavior-based approach utilizes a formula F ═ am for the combination of multiple forces to achieve control of vehicle acceleration and thus vehicle control input. Control input of the vehicle is uiAs shown in formula (9)
ui＝FTi+FDi+FIi+FRi+FAi#(10)
FTiThe force for attracting the vehicle to the target position is shown in the formula (11)
Wherein
Is a position vector between the vehicle i and the target position Bi. The magnitude of the attractive force is only related to the distance between the target positions. Take f (| | s)ijI) is a linear function of one degree, as shown in formula (12), taking ksAs a piecewise function related only to distance, as shown in equation (13):
FDithis is a force for ensuring that the vehicle always travels toward the target position, as shown in equation (14). Using a judgment functioniS is as shown in formula (15)iPosition vector of target position, v, for vehicle pairiIs the current velocity vector of the vehicle. k is a radical ofdIs a constant.
FIiTo avoid targeting the same target location by multiple vehicles, equation (16) shows. When two vehicles i and k approach the same target position j at the same time, the distance d between the two vehicles relative to the target position is determinedij、dKjAs a determination criterion, where kiIs a constant.
FRiTo ensure the vehicle reaches the target position at a steady speed, the formula (17) shows. Radius R when the vehicle enters the target positionrAfter the region, the deceleration by the drag force, krIs a constant value vBjIs the virtual navigator speed.
FAiIn order to avoid the force of collision between vehicles, as shown in equation (19).
vpFor vehicles PiSpeed of RsafeTo a safe radius, sikIs the position vector between adjacent vehicles, theta is the angle between the velocity vector and the position vector, kαConstant for collision avoidance coefficient, N (R)i) To enter into RiThe safe radius of all vehicles.
When the vehicle i already occupies a target position, the collision avoidance is performed as a static obstacle, and the target position is also not used as a position to be searched continuously.
Step three, keeping the formation of the unmanned vehicle formation to advance is realized by the following method:
and when all the target positions are occupied and the speeds of all the vehicles and the virtual navigator are the same, switching to a formation keeping control method to enable the vehicles to follow the virtual navigator according to the formed formation to advance. Designing a following strategy by using a guiding-following method according to a relation matrix S of a virtual pilot and a target vehicle, broadcasting a next-moment target position to the formation vehicles within a stable time interval, and enabling the vehicle to continuously reduce the target position as shown in a formula (20), wherein eta is0iIs the target position of the vehicle, ηiIs the current position of the vehicle.
Claims (4)
1. An unmanned aerial vehicle-unmanned armored vehicle formation system is characterized by comprising a reconnaissance unmanned aerial vehicle and four unmanned armored vehicles, wherein at least one armored vehicle is provided with an unmanned aerial vehicle guarantee module, an unmanned aerial vehicle-unmanned vehicle coordination control module, an environmental information integration processing module and a communication module, the unmanned aerial vehicle mainly undertakes reconnaissance tasks and is provided with a high-definition camera and a radar, the unmanned aerial vehicle is provided with an information transmission module and can transmit acquired image information to a pilot vehicle in the unmanned armored vehicle formation in real time and can carry out primary processing on the radar acquired information and synchronously transmit the radar acquired information to the pilot vehicle, the unmanned armored vehicle formation is provided with at least one vehicle-mounted unmanned aerial vehicle take-off and landing platform and a guarantee module, the unmanned aerial vehicle can be ensured to take off timely when needed and can be charged when returning, and a dynamic model is established for the unmanned armored vehicle, and realizing the cooperative positioning and communication to keep the formation and the switching control of the formation.
2. The unmanned aerial vehicle-unmanned armored vehicle formation system of claim 1, wherein the unmanned armored vehicle motion model adopts a quadratic integral model as shown in formula (1)
With RiDenotes an unmanned vehicle, i ═ 1, 2, 3, 4, vi，xi，uiAnd m is the speed, position, control input amount and quality of the unmanned vehicle respectively.
3. The unmanned aerial vehicle-unmanned armored vehicle formation system according to claim 1, wherein the unmanned aerial vehicle transmits image information to a piloting vehicle, the piloting vehicle collects and processes information collected by the formation of vehicles, the formation piloting vehicle processes the collected information to generate an environmental information map and uploads the environmental information map to the control center, commands are directly issued to other vehicles and unmanned aerial vehicles in the formation for common information such as simple obstacle avoidance, formation maintenance, route decision and the like, important decision commands are issued by the control center, and when communication is blocked, the formation of the ground unmanned vehicles is difficult to receive the information of the control center. The unmanned aerial vehicle is used as a communication node to receive the instruction and transmit the instruction to the ground formation.
4. The unmanned aerial vehicle-unmanned armored vehicle formation and formation switching control method of claim 1, which is realized by the following steps:
step one, the position of an unmanned aerial vehicle is kept at a fixed height position above a piloting vehicle, and the advancing speed is consistent with the advancing speed of the vehicle;
in order to ensure that the formation can still advance according to the formation when partial vehicle signals are lost, a virtual pilot method is utilized, namely a virtual vehicle is automatically generated to serve as a pilot of the formation, the virtual vehicle can be generated by any vehicle of the formation, and the generation authority can be switched to any vehicle or unmanned aerial vehicle or command center so as to ensure that the internal time of the formation is controllable. The unmanned aerial vehicle is constantly kept at a designated position above the virtual pilot and constantly keeps the speed consistent with that of the pilot vehicle;
step two, the ground unmanned vehicle formation uses a behavior-based method and a virtual navigator method to perform formation of the formation and switching of the formation
A the unmanned vehicle has the own maximum speed, which is recorded as vmaxAnd the speed control of the vehicle is carried out to ensure that the vehicle runs in a safe speed range under certain braking capacity:
b, the ground unmanned vehicle formation comprises three types of rapid advancing straight line formation, triangular formation and diamond formation, a virtual navigator method is used, a control center generates a virtual navigator to calibrate the advancing speed of the formation and each vehicle position, and R0Denoted as virtual pilot, Ri(i ═ 1, 2, 3, 4) as four vehicles in formation, and the formation matrix is denoted SX0Wherein the standard matrix is denoted as S, and the matrix describes the angle and distance of each position in the formation relative to the virtual pilot;
β0iis a vector Xi0＝XRi-XR0Angle to the x-axis of the plane coordinate,/0iIs the distance of the offset;
SX0expressed as individual vehicle positionsSetting matrix, the first behavior is the virtual pilot, and if there is no deviation, the parameters are constant as 0, 0]。
Where θ ∈ R, k > 0 is the formation S relative to the standard formation SX0The target position is:
the invention provides a method for realizing three formation types, wherein the corresponding vehicle position matrix is linear SLOTriangular formation STORhombus formation SHO；
C combining behavior-based method with virtual navigator method to realize formation and switching
I. At the initial moment, the vehicles are located at random positions, the positions of all vehicles of a target formation are issued and broadcast according to the position of a virtual navigator, and the formation vehicles start to search for the target positions to form the formation;
II. The vehicle searches for a target position according to a behavior-based method and reaches the target position under a speed control condition; the behavior-based method is used for realizing the control of the acceleration of the vehicle by combining various acting forces by using a formula F ═ am so as to realize the control of the control input of the vehicle; control input of the vehicle is uiAs shown in formula (9)
ui＝FTi+FDi+FIi+FRi+FAi# (10)
FTiThe force for attracting the vehicle to the target position is shown in the formula (11)
Wherein
Is a position vector between the vehicle i and the target position Bi. The magnitude of the attractive force is only related to the distance between the target positions. Take f (| | s)ijI) is a linear function of one degree, as shown in formula (12), taking ksAs a piecewise function related only to distance, as shown in equation (13):
FDiis a force for ensuring that the vehicle always travels toward the target position, as shown in equation (14), using a judgment functioniS is as shown in formula (15)iPosition vector of target position, v, for vehicle pairiIs the current velocity vector of the vehicle, kdIs a constant number of times, and is,
FIito avoid targeting the same target location by multiple vehicles, as shown in equation (16), when two vehicles i and k are approaching the same target location j simultaneously, the distance d between the two vehicles with respect to the target location is determined according to the distance between the two vehiclesij、dKjAs a determination criterion, where kiIs a constant number of times, and is,
FRito ensure the steady speed of the vehicle to reach the target position, as shown in equation (17), the radius R is measured when the vehicle enters the target positionrAfter the region, the deceleration by the drag force, krIs a constant value vBjFor the virtual navigator speed, the speed of the navigator is,
FAiin order to avoid the force of collision between vehicles, as shown in equation (19),
vpfor vehicles PiSpeed of RsafeTo a safe radius, sikIs the position vector between adjacent vehicles, theta is the angle between the velocity vector and the position vector, kαConstant for collision avoidance coefficient, N (R)i) To enter into RiThe set of all vehicles of the safe radius of (c),
when the vehicle i already occupies a target position, the vehicle i is taken as a static obstacle for collision avoidance, and the target position is not taken as a position to be searched continuously,
step three, keeping the formation of the unmanned vehicle formation to advance is realized by the following method:
when all the target positions are occupied and the speeds of all the vehicles and the virtual navigator are the same, switching to a formation keeping control method to enable the vehicles to follow the virtual navigator to move forward according to the formed formation, and according to the closing of the virtual navigator and the target vehicleAnd (5) designing a following strategy by using a guiding-following method, broadcasting a next target position to the formation vehicles within a stable time interval, and enabling the vehicle traveling target to be a continuously reduced target position, wherein eta is shown in a formula (20)0iIs the target position of the vehicle, ηiIs the current position of the vehicle,
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| CN112783211A (en) * | 2021-01-06 | 2021-05-11 | 中国人民解放军陆军装甲兵学院 | Subdivision theory-based unmanned aerial vehicle and ground armor formation cooperative control method |
| CN113515121A (en) * | 2021-04-27 | 2021-10-19 | 东风汽车集团股份有限公司 | Intelligent driving fleet formation support system and method based on unmanned aerial vehicle |
| CN114115289A (en) * | 2021-12-07 | 2022-03-01 | 湖南大学 | Autonomous unmanned cluster reconnaissance system |
| CN114281109A (en) * | 2021-11-12 | 2022-04-05 | 北京特种机械研究所 | Multi-machine cooperation control system guided by unmanned aerial vehicle |
| CN115033016A (en) * | 2022-05-17 | 2022-09-09 | 浙江大学 | Heterogeneous unmanned cluster formation obstacle avoidance method and system |
| US11774973B2 (en) * | 2019-04-23 | 2023-10-03 | Kawasaki Motors, Ltd. | Storage device, movement assistance system, and movement assistance method |
| CN118629284A (en) * | 2024-08-02 | 2024-09-10 | 徐州九鼎机电总厂 | Multi-first-class vehicle train driving tactical simulation training system |
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