Research On Navigation And Control System Of Uavs Formation

Unmanned aerial vehicle (UAV) takes advantages of light weight, low cost,good concealment, etc. which has been widely applied in military and civilian fields.The UAV formation flight based on one individual UAV and greatly broadens thescope of application of UAVs, and which has been becoming a trend of UAVtechnology in recent years and attracting a lot of attention around the world. In thispaper, we focus on the navigation and control methods of UAV formation. The mainwork includes:Firstly, we define the coordinate systems relating to UAV and its formation,and give out a description and the relevant transforming relationship of the attitudeof UAV drones. Then the relative velocity equation is derived and a UAV formationmathematical modeling is also established.Secondly, we design a low-pass filter and a Kalman filter for IMUmeasurement data to eliminate measurement noise stemming from the existence ofthe gyro and accelerometer; also we develop SINS solver principles and navigationerror propagation models in geographic coordinate system; moreover, we design"leader-wingman" pattern UAV formation navigation scheme and give a detailedleader and wingman integrated navigation system program.Afterwards, in view of the mission requirements, we put forward someordinary UAV formation configurations. And according to the relative motionequation of the UAV formation, we design one formation controller based on PIDcontrol law and another formation controller based on adaptive fuzzy PID controllaw; in order to solve the multiple UAV formation consistency problem withcommunication time delay, we design a type of feasible control protocol and discussthe stability condition of the system.Finally, we do plenty of mathematical simulation and physical experiments forthe theory and algorithms assessment in this paper. The simulation results andexperimental results show that the algorithm is feasible; we also have a clear focusand direction in the future research.