Unmanned aerial vehicle dense formation safety envelope construction method

Abstract

The invention provides an unmanned aerial vehicle dense formation safety envelope construction method, and the construction comprises the following steps: S1 collecting flight state parameters of all n unmanned aerial vehicles in a formation, including the maximum length, width and height of a fuselage, the maximum forward flight speed, the maximum backward flight speed, the maximum climbing speed, the maximum descending speed and the maximum lateral movement speed; S2 solving a sphere center position and a sphere radius of a minimum enveloping sphere S capable of enveloping spatial position points of all unmanned aerial vehicles in the formation in the space; S3 calculating the maximum flight distance that the unmanned aerial vehicle formation can reach in each direction within the given safety response time; S4 resolving a diagonal matrix Mj according to the maximum length, width and height of the fuselage, the radius of the minimum envelope ball S and the maximum flight distance in each direction; and S5 constructing an unmanned aerial vehicle safety envelope model. The method comprehensively considers the spatial position distribution, the flight state and the response speed of the unmanned aerial vehicles in the formation, is low in model complexity, and can be effectively used for low-altitude conflict prediction and obstacle avoidance planning of the dense formation composed of multiple unmanned aerial vehicles.

Description

technical field [0001] The invention relates to the technical field of aircraft safety area modeling, in particular to a method for constructing a safety envelope of a dense formation of unmanned aerial vehicles. Background technique [0002] A dense formation composed of multiple UAVs occupies a larger flight airspace than individual UAVs, and it is necessary to adjust the formation form dynamically and in real time according to changes in tasks and the environment during the flight. This has led to a greater possibility of flight conflicts for UAV formations, and flight safety has been greatly threatened. [0003] There are few researches on the flight safety area of ​​UAV formations in the world. The existing research mainly focuses on a single UAV, and most of the ideas are close to the research on the safety area of ​​civil aviation aircraft. Among them, the Dutch National Defense Research Institute and Delft University of Technology in the Netherlands proposed the co...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is how to construct a safe area model of a dense formation composed of multiple unmanned aerial vehicles. Effectively used for UAV formation low-altitude conflict prediction and obstacle avoidance planning

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