CN-121999646-A - Unmanned aerial vehicle cluster coordinated command vehicle communication relay and task planning system

CN121999646ACN 121999646 ACN121999646 ACN 121999646ACN-121999646-A

Abstract

The invention relates to the technical field of unmanned aerial vehicle cluster cooperative control, and discloses a communication relay and task planning system of a command vehicle with unmanned aerial vehicle cluster cooperation. The system realizes cooperative control in a layered manner, wherein a communication relay and fusion module builds a multi-hop network and generates a global situation map, a task decision module performs optimization solution and dynamic task allocation according to the multi-hop network, a track coordination module plans a conflict-free cooperative track and a time window, and a monitoring and rescheduling module realizes closed-loop feedback and dynamic adjustment. The four modules form a complete control loop from sensing, decision making and planning to monitoring execution, and high-efficiency collaborative command of the unmanned aerial vehicle cluster is realized. The invention realizes efficient task allocation, conflict-free flight path planning and dynamic self-adaptive re-planning, and remarkably improves the execution efficiency and flight safety of the cluster tasks.

Inventors

NI JIANZHONG
BAI RIJIAN
Zhou Yaocai
HOU YUHANG

Assignees

广州唯邦特种车辆有限公司

Dates

Publication Date: 20260508
Application Date: 20260227

Claims (10)

1. The communication relay and task planning system of the command vehicle coordinated with the unmanned aerial vehicle cluster is characterized by comprising the command vehicle serving as a ground core node and a plurality of unmanned aerial vehicle units which are in wireless communication with the command vehicle; the command car is internally integrated with: The communication relay and fusion module is configured to receive and fuse the state information and the perceived data uploaded by each unmanned aerial vehicle unit through a multi-hop network, and generate a global air traffic situation map; The task decision module is configured to dynamically allocate task targets, time and traffic priorities to each unmanned aerial vehicle unit through optimization solution based on the situation map and task demands, and generate a task instruction set; The flight path coordination module is configured to coordinate flight path planning and space-time conflict for each unmanned aerial vehicle unit based on the task instruction set, and generate a conflict-free coordination flight path and a time window; The monitoring and rescheduling triggering module is configured to monitor the track execution deviation and the environment change of the unmanned aerial vehicle unit and trigger the local adjustment or the global rescheduling of the current plan according to the track execution deviation and the environment change.
2. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 1, wherein the communication relay and fusion module comprises: a communication relay unit configured to establish and maintain a dynamic adaptive wireless communication network with the command vehicle as a center node; the data fusion unit is configured to receive heterogeneous data packets which are uploaded by each unmanned aerial vehicle unit and contain self navigation states, airborne sensor origin point clouds and image features, perform timestamp synchronization, coordinate system unified conversion, data validity verification and outlier rejection processing on the data packets, and generate the fused global air traffic situation map through point cloud registration, target association and track filtering algorithms.
3. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 1, wherein the mission decision module comprises: The collision prediction unit is configured to simulate the motion states of all unmanned aerial vehicle units and obstacles in a future preset time based on the position, speed and course information of all unmanned aerial vehicle units and the obstacles in the global air traffic situation map, calculate the estimated minimum approaching distance and approaching time between any two in a three-dimensional space and evaluate the collision risk; and the optimization solving unit is configured to construct a multi-objective optimization problem, the multi-objective optimization problem comprehensively considers the total time cost for completing the task, the total energy consumption cost, the task priority and the conflict risk output by the conflict predicting unit, the decision variables are which unmanned plane unit is used for executing each task, the planning starting and ending time and the right of way attribution at each potential conflict point, and the optimal or suboptimal task instruction set is generated by solving the problem.
4. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 3, wherein the collision prediction unit, when evaluating collision risk, comprises: the conflict prediction unit is further configured to compare the calculated estimated minimum approach distance with the safe buffer distance corresponding to the airspace rule in combination with the unmanned aerial vehicle unit type, and determine that the flight state of the unmanned aerial vehicle unit belongs to one of safety, early warning or danger; Meanwhile, the overlapping property of the approach time is analyzed, and whether the conflict is instantaneous interleaving or continuous accompanying is judged; mapping to a predefined conflict type library according to a combination of a security state and a time overlap type, wherein the conflict type library comprises no conflict, potential conflict, urgent conflict and emergency collision risks; when the mapping result belongs to potential collision, urgent collision or emergency collision risk, the collision prediction unit marks the unmanned aerial vehicle unit pair or the unmanned aerial vehicle unit and obstacle pair as an operation collision pair, and outputs the characteristic parameters thereof to the optimization solving unit.
5. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system according to claim 4, wherein the optimization solving unit, when constructing an optimization problem, comprises: the optimization solving unit is further configured to screen out candidate unit sets which have corresponding capacities and are in a schedulable state from all unmanned aerial vehicle units according to the geographic position of a task target point, the load type required by task execution and the task timeliness requirement; For each candidate unit, estimating estimated flight time, energy consumption and potential influence on other tasks required by the candidate unit to go to each candidate task target point from the current position, comprehensively considering historical reliability data and current remaining endurance capacity of the candidate unit, and calculating comprehensive cost of executing each task by the candidate unit; Converting the running conflict pair into a constraint condition in an optimization problem; the optimization solving unit takes the total comprehensive cost of all the allocated tasks as a main target and takes the minimized residual conflict risk as an auxiliary target to carry out solving operation.
6. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 5, wherein the track coordination module, when generating a coordination track and time window, comprises: The flight path coordination module is further configured to calculate an initial collision-free geometric path from a starting point to a task target point for each unmanned aerial vehicle unit according to the dynamic performance of each unmanned aerial vehicle unit and the global static obstacle map after receiving the task instruction set, and estimate a reference time section of flight along the path; The track coordination module is further configured to establish a space-time joint scheduling model, place the initial paths and the time profiles of all unmanned aerial vehicle units in a unified space-time coordinate system for analysis, and detect crossing points and meeting points of all paths in space and overlapping intervals of planned arrival time at the points; for each detected space-time conflict point, according to the traffic priority defined in the task instruction set, the track coordination module designs a conflict resolution strategy for a low-priority unit, wherein the strategy comprises the steps of inserting a hover waiting navigation point with specified duration in a low-priority unit path, and performing controllable speed adjustment or planning a local fly-around path in a specific navigation section; Calculating and generating a coordinated time window for each space-time conflict point based on the conflict resolution strategy, wherein the window prescribes a time range of each related unmanned aerial vehicle unit to be allowed to enter and leave a conflict area, and the conflict area is occupied by one unmanned aerial vehicle unit at most at any moment; The flight path coordination module is further configured to package and issue the adjusted path generated for each unmanned aerial vehicle unit, including the possibly inserted waiting or speed regulating instructions, along with all relevant time windows, to the corresponding unmanned aerial vehicle unit.
7. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 6, wherein the monitoring and re-planning triggering module, when monitoring track execution deviations, comprises: the monitoring and rescheduling triggering module is further configured to continuously receive the actual flight state fed back by each unmanned aerial vehicle unit, including real-time position, speed, altitude and residual electric quantity; Calculating the lateral, longitudinal and vertical direction deviation of the actual flight track and the planned track at each navigation point, and calculating the time deviation of the actual flight time and the planned time; Meanwhile, evaluating an abnormal state reported by the unmanned aerial vehicle unit; And comprehensively judging the grade and the property of the current deviation event according to the magnitude of the deviation, the increasing trend of the deviation and the self state of the unmanned aerial vehicle unit, and distinguishing the grade and the property into acceptable normal fluctuation, slight deviation needing to be monitored, obvious deviation needing active intervention and serious faults or environmental drafts which cause that a task target cannot be achieved according to an original plan.
8. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 7, wherein the monitoring and rescheduling triggering module triggers different responses according to the level and nature of the departure event, comprising: The monitoring and rescheduling triggering module is further configured to only record and track if the monitoring and rescheduling triggering module is judged to deviate slightly and the unmanned aerial vehicle unit is predicted to be corrected in a subsequent voyage section through a controller of the unmanned aerial vehicle unit or speed adjustment in a preset range, and not trigger rescheduling; If the deviation is determined to be significant, but only a single unmanned aerial vehicle unit or a few unmanned aerial vehicle units are affected, and the airspace conflict pattern is not changed fundamentally, the flight path coordination module is instructed to conduct rapid re-planning of local tracks and time windows aiming at the affected units, and update results are directly issued to the corresponding unmanned aerial vehicle units; If serious faults or environmental rapid changes are judged to cause the failure of the original task allocation and track coordination scheme, the monitoring and rescheduling triggering module declares the current plan invalid and instructs the task decision module and the track coordination module to restart the whole-flow plan from task allocation to track coordination based on the latest global situation.
9. The system for communication relay and mission planning of a command vehicle coordinated with a cluster of unmanned aerial vehicles according to claim 2, wherein the data fusion unit, when generating a global air traffic situation map, comprises: the data fusion unit is further configured to correlate and check perceived data from different unmanned aerial vehicle units on the same airspace or the same moving target, and form a moving target track list through a data fusion algorithm by utilizing multi-view observation information; Splicing, fusing and three-dimensional reconstructing the static obstacle point clouds uploaded by each unmanned aerial vehicle unit, removing the repeated observation part, supplementing the blind area information, and generating a digital global static obstacle map which covers the whole task airspace and has multi-scale precision information; And integrating the moving target track list, the global static obstacle map and the real-time state vectors of all the friend unmanned aerial vehicle units after filtering treatment under a unified space-time frame to form the global air traffic situation map for decision making and planning.
10. The unmanned aerial vehicle cluster-coordinated command vehicle communication relay and mission planning system of claim 6, wherein the track coordination module, when designing a conflict resolution strategy for a low priority unit, comprises: the track coordination module is further configured to evaluate the space geometrical characteristics and the airspace type of the conflict point; Analyzing the maneuverability margin of the low priority unit in the current voyage section, wherein the maneuverability margin comprises maximum acceleration and deceleration capacity, minimum turning radius and acceptable extra voyage; Meanwhile, considering the timeliness requirement of the task executed by the low-priority unit, calculating the available elasticity of the low-priority unit task in time; based on the evaluation, selecting a strategy which has least influence on the completion of the low-priority unit task and is most in line with the dynamics characteristics of the low-priority unit from a plurality of candidate strategies of inserting hover waiting, navigational speed adjustment and local diversion; if the insertion hover wait is selected, calculating the starting position, the waiting time length and the engagement point for restoring the flight of the wait; If the navigational speed is selected, a smooth speed adjustment section is generated, and the starting point of acceleration or deceleration and a target speed value are determined; If the local diversion is selected, planning a replacement flight for bypassing a conflict area for the low-priority unit, wherein the replacement flight is required to meet the maneuvering performance constraint of the low-priority unit, and the flight time of the low-priority unit is required to be within the available elastic range on the task time; The selected policy is specifically parameterized and integrated into the adjusted path description of the low priority element.

Description

Unmanned aerial vehicle cluster coordinated command vehicle communication relay and task planning system Technical Field The invention relates to the technical field of unmanned aerial vehicle cluster cooperative control, in particular to a command vehicle communication relay and task planning system for unmanned aerial vehicle cluster cooperative control. Background The unmanned aerial vehicle cluster cooperation technology is a technology for jointly completing complex tasks through networking communication and cooperative control, has the advantages of wide operation range, high execution efficiency, strong system robustness and the like, and is widely applied to the fields of reconnaissance, logistics, emergency communication and the like. The collaborative performance of the drone clusters is highly dependent on reliable data interactions and unified command planning. However, the conventional cluster command system has a plurality of key bottlenecks that firstly, communication distance is limited and is easy to be blocked by terrain, unmanned aerial vehicles in an edge or shielding area are easy to be connected, cluster cooperation range and stability are limited, secondly, traditional task allocation and track planning are often static or decoupled, sudden task conflict and real-time airspace conflict are difficult to be dynamically handled, air line intersection or internal resource consumption is easy to be caused, and furthermore, the system generally lacks an effective online monitoring and self-adaptive adjustment mechanism, and when part of unmanned aerial vehicles deviate or have environmental mutation, re-planning is difficult to be quickly and cooperatively implemented, so that task interruption or safety risk can be caused. Therefore, it is necessary to design a command vehicle system integrating communication relay and intelligent planning, so as to solve the problems of insufficient communication coverage, stiff task planning, frequent cooperative conflict and weak dynamic response of the system in the prior art. Disclosure of Invention In view of the above, the invention provides an unmanned aerial vehicle cluster coordinated command vehicle communication relay and task planning system, which aims to solve the problems of insufficient communication coverage, task planning rigidification, frequent coordination conflict and weak dynamic response of the system in the prior art. The invention provides a command vehicle communication relay and task planning system coordinated with an unmanned aerial vehicle cluster, which comprises a command vehicle serving as a ground core node and a plurality of unmanned aerial vehicle units in wireless communication with the command vehicle; the command car is internally integrated with: The communication relay and fusion module is configured to receive and fuse the state information and the perceived data uploaded by each unmanned aerial vehicle unit through a multi-hop network, and generate a global air traffic situation map; The task decision module is configured to dynamically allocate task targets, time and traffic priorities to each unmanned aerial vehicle unit through optimization solution based on the situation map and task demands, and generate a task instruction set; The flight path coordination module is configured to coordinate flight path planning and space-time conflict for each unmanned aerial vehicle unit based on the task instruction set, and generate a conflict-free coordination flight path and a time window; The monitoring and rescheduling triggering module is configured to monitor the track execution deviation and the environment change of the unmanned aerial vehicle unit and trigger the local adjustment or the global rescheduling of the current plan according to the track execution deviation and the environment change. Further, the communication relay and fusion module includes: The communication relay unit is configured to establish and maintain a dynamic self-adaptive wireless communication network taking the command vehicle as a central node, ensure the reliability and instantaneity of the instruction and data links between all unmanned aerial vehicle units in a multi-hop relay mode, and automatically perform route repair and optimization when the network topology changes; the data fusion unit is configured to receive heterogeneous data packets which are uploaded by each unmanned aerial vehicle unit and contain self navigation states, airborne sensor origin point clouds and image features, perform timestamp synchronization, coordinate system unified conversion, data validity verification and outlier rejection processing on the data packets, and generate the fused global air traffic situation map through point cloud registration, target association and track filtering algorithms. Further, the task decision module includes: The collision prediction unit is configured to simulate the motion states of all unmanned aerial vehicle units a