Manned person/unmanned aerial vehicle co-fusion cluster formation control method based on cluster space framework

Abstract

The invention discloses a manned / unmanned aerial vehicle co-fusion cluster formation control method based on a cluster space framework. The method comprises the steps of 1, building a six-degree-of-freedom nonlinear manned aerial vehicle simulation model; 2, establishing a simplified simulation model of the unmanned aerial vehicle; 3, building a manned / unmanned aerial vehicle co-fusion cluster space framework; 4, designing a second-order manned / unmanned aerial vehicle cluster space controller; 5, designing an unmanned aerial vehicle cluster space control instruction based on a backstepping method; and step 6, a manned aerial vehicle operator inputs a control instruction, and the operator can change the flight state of the whole manned / unmanned aerial vehicle co-fusion cluster only by changing a single variable. The method disclosed by the invention is oriented to a more complex six-degree-of-freedom nonlinear manned aircraft model, and has a practical application value; according to the method, a manned aerial vehicle operator is promoted to supervise and control an unmanned aerial vehicle cluster motion system more simply and efficiently, the workload of intervention decision making of the operator is reduced, the decision making time is shortened, and the cooperative combat capability of the manned aerial vehicle / the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention designs a manned / unmanned aerial vehicle fusion cluster formation control method based on the cluster space framework, and belongs to the field of manned / unmanned combat aircraft cooperative operations. Background technique [0002] Manned-Unmanned Integration Teaming (MUIT) refers to two or more manned aircraft (Manned Aerial Vehicle, MAV) and unmanned aerial vehicle (Unmanned AirVehicle, UAV) To achieve the same mission goal and to arrange the organization mode with a certain structure and formation, including formation design of cluster formation, formation maintenance during formation flight, and formation change in response to unexpected situations or task changes. [0003] The manned-machine platform has the advantages of thinking and judgment of the human brain, but the cost is high and the number of sensors and other equipment equipped on a single platform is limited and the functions are limited; the unmanned aerial vehicle has t...

AI Technical Summary

Problems solved by technology

[0006] In the existing manned / unmanned aerial vehicle formation control research, the manned machine usually adopts a simplified six-degree-of-freedom model, as the leader in the cluster, and executes the pre-set task process together with the unmanned aerial vehicle according to fixed rules. Unable to really utilize the wisdom and experience of the operator in the decision-making process

In addition, one operator simultaneously controls and commands multiple drones with a high workload, which will affect the normal performance of decision-making

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