基于长机—僚机模式的无人机编队方法及飞行实验研究

Formation Method and Flight Test of Multiple UAVs Based on Leader-Follower Pattern

针对目前无人机编队方法无法在实际飞行实验中应用的问题,设计了基于长机—僚机跟踪模式的双机协同编队算法,以双机的空间距离为控制对象,将所有的控制指令转化为速度、航向和高度指令.为实现实际编队飞行,基于实验室自行研发的小型无人机,建立双串口地面控制系统硬件平台,重点解决了双串口的实现及双机数据同步问题.地面跑车实验和实际飞行实验表明:该地面控制系统可以很好地实现双机的数据通信,控制指令实时上传准确,协同算法正确有效.

To solve the problem that none of UAV（unmanned aerial vehicle） formation algorithms can be used in the real flight,a cooperative formation flight algorithm for two UAVs based on the leader-follower pattern is designed.Taking the distance between two UAVs as control object,the control orders are transformed into velocity,course and altitude orders.For the real formation flight,a ground control station（GCS） with double-serial ports is developed with the self-developed MUAV（mini-UAV） to implement double-serial ports and synchronize two UAVs’ data.Tests on the ground and in the sky show that data transfer between two UAVs can be realized with the GCS,control orders can be sent precisely in real time,and the designed cooperative algorithm is valid.