无人机变尺度协同监视编队飞行控制方法

Multi-Rotor UAV Variable-Scale Cooperative Monitoring Formation Flight Control Method

针对非合作高机动目标的高分辨率监视和可靠跟踪的问题,在无人机协同搜索探测目标过程中,需要根据单个无人机视场范围的变化,动态调整各无人机的位置和姿态关系。提出一种多旋翼无人机变尺度协同监视编队飞行控制方法,利用多个无人机探测视场的协同来扩大监视的覆盖范围。通过多无人机编队视场始终自动衔接来可靠覆盖机动目标,以可变分辨率和可缩放的观测尺度实现对快速机动目标的广域探测、可靠详查和监视跟踪。仿真结果显示了方法有效性。

Considering the problem about high-resolution monitoring and reliable tracking of non-cooperative high maneuvering targets,the position and orientation of UVA need to be dynamically adjusted according to the field of view scope in the process of cooperative search.Therefore,we put forward a method for controlling multi-rotor UAV variable-scale collaborative surveillance formation flight.At first,it was necessary to use the coordination of detection viewing fields of UVAs to expand the coverage area of surveillance.The multi-UAV formation viewing fields were always automatically connected,so the maneuvering target could be covered reliably.Finally,the wide-field exploration,reliable detailed investigation,monitoring and tracking of fast maneuvering target were achieved by variable resolution and scalable observation scale.The simulation result proves the effectiveness of the proposed method.