Multi-unmanned aerial vehicle multi-load cooperative reconnaissance method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle task planning, and discloses a multi-unmanned aerial vehicle multi-load cooperative reconnaissance method, and the method comprises the steps: carrying out the offline flight path planning of unmanned aerial vehicles according to the given number of unmanned aerial vehicles, the detection radius of each load, and a task area; in the cruising process of the unmanned aerial vehicle, if a moving target enters the load detection range of the unmanned aerial vehicle, the unmanned aerial vehicle performs online track planning, continuously tracks the target, and returns to the original track to continue cruising after tracking is finished. According to the invention, on the premise that the tracking precision is not lost, the unmanned aerial vehicles executing reconnaissance tasks are enabled to carry loads with different functional characteristics, so that a brand-new multi-unmanned aerial vehicle cooperation mode is realized. The target is found more quickly, the time for completing the task is greatly shortened, and the task execution efficiency is obviously improved. The region division algorithm, the tracking filtering algorithm and the like involved in the method are not unique, the algorithms can be replaced according to actual conditions, and the effect of the collaborative mode provided by the invention is not affected.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle mission planning, and in particular relates to a multi-unmanned aerial vehicle and multi-load cooperative reconnaissance method. Background technique [0002] At present, with the rapid development of communications, microcomputers and various types of airborne sensors, unmanned aerial vehicles (UAVs) are more and more used in various fields. The advantages are widely used in tasks such as target reconnaissance, communication relay, and military strikes. Among them, multi-UAV cooperative reconnaissance is one of the important tasks of UAVs, which can generally be divided into two parts: offline track planning and online track planning. [0003] For offline track planning, if the prior position information of the target is known, the position information of the target is usually directly used as input, and some heuristic algorithms, such as genetic algorithm, bat algorithm, harmony...

AI Technical Summary

Problems solved by technology

[0005] Through the above analysis, the existing problems and defects of the existing technology are as follows: Although the existing methods also use the way of multi-UAVs to complete the task cooperatively to improve the efficiency of reconnaissance, they only consider all UAVs equipped with the same Different types of payloads are used for reconnaissance, and the coordination mode is only the coordination between UAVs carrying the same type of payloads. It does not consider allowing UAVs to carry payloads with different functional characteristics to perform tasks cooperatively.

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