Collaborative interaction method for unmanned plane cluster and visual navigation system of unmanned plane

Abstract

The invention discloses a collaborative interaction method for an unmanned plane cluster and a visual navigation system of an unmanned plane. The collaborative interaction method for the unmanned plane cluster comprises the following steps of: determining unmanned planes satisfying a collaborative condition in a communication coverage area of a certain unmanned plane by the unmanned plane in the unmanned plane cluster, and establishing an unmanned plane collaboration group according to the unmanned planes satisfying the collaborative condition; determining inter-plane routes of multiple unmanned planes in the unmanned plane collaboration group; allocating collaborative tasks to multiple unmanned planes in the unmanned plane collaboration group according to link state information of the inter-plane routes; and evaluating the link state according to the motion state of multiple unmanned planes in the unmanned plane collaboration group, and updating unmanned planes in the unmanned plane collaboration group and the collaborative task of each unmanned plane according to an evaluation result. The collaborative interaction method for the unmanned plane cluster is good in real-time, strong in reliability and high in communication quality, and can better adapt to an unmanned plane cluster communication environment during visual navigation.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle communication, in particular to a collaborative interaction method for an unmanned aerial vehicle cluster and a visual navigation system for an unmanned aerial vehicle. Background technique [0002] UAVs are widely used in reconnaissance / surveillance, communication relay, electronic countermeasures, disaster prevention, emergency search and other application fields. The traditional UAV control method is to control the UAV through an external data communication link, and at the same time GPS (Global Positioning System, Global Satellite Positioning System) provides positioning information. The problem with this method is that, on the one hand, in Under conditions such as intentional interference, near the ground or in a canyon, covered by buildings, or even indoors (for micro drones), the communication link and GPS signal are easily blocked or lost, which will cause the drone to lose...

AI Technical Summary

Problems solved by technology

The traditional UAV control method is to control the UAV through an external data communication link, and at the same time GPS (Global Positioning System, Global Satellite Positioning System) provides positioning information. The problem with this method is that, on the one hand, in Under conditions such as intentional interference, near the ground or in a canyon, covered by buildings, or even indoors (for micro drones), the communication link and GPS signal are easily blocked or lost, which will cause the drone to lose or temporarily lose Control, on the other hand, UAVs can only adapt to the requirements of a relatively structured task environment, and cannot solve autonomous control problems in dynamic, unorganized environments, such as sudden unexpected obstacles, flight environments lacking geographic information, etc.

However, there are also problems in this method. The UAV needs to carry many sensing devices, and the amount of data to be processed is large. At the same time, the data fusion processing has high real-time performance. UAVs have small payloads and limited resources and information processing capabilities

[0004] In view of the problems existing in a single UAV, multiple UAV clusters are used to cooperate to complete the task. This method has been greatly applied in visual navigation, which greatly improves the ability to perform tasks. In the existing technology, WiFi is used , ZigBee and other methods to implement the network communication of UAV clusters. The problem with this method is that the high dynamic movement of UAVs will cause frequent changes in the network topology, destroy existing routing information, cause packet loss, and destroy service quality.

Specifically, one method is to adopt a centralized system to control each UAV at a central planning point. The problem with this method is that it brings a large number of communication and computing requirements, and it has the disadvantages of real-time and flexibility. What is lacking

Another method is to adopt a decentralized co-standard system, and each UAV is independently planned. The problem with this method is that the planning is based on information sharing under SLAM data fusion, the association is complex, and the information lags behind. Both need to communicate with each other at a certain time interval, and the problem of large resource consumption is not easy to adapt to the high dynamic UAV cluster environment

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