Design And Implementation Of Aircrafts Cooperative Flight Control System

Distributed artificial intelligence is an important content in the field of artificial intelligence,in which collaborative flight control of aircraft has become the key technology of distributed artificial intelligence at the status quo.Multi aircraft achieve multi-agent mutual perception in a complex environment.They detect surrounding environment,achieve information sharing.They fulfill collaborative flight and complete a complex mission.This is a hot research direction in current military,civil areas.The prerequisite of aircraft co-flight is to be able to determine the position of the quadcopter in the three-dimensional space.In this paper,an Ultra-Wideband(UWB)technology is used for hardware and algorithm,and an indoor positioning system fulfilled.The hardware is divided into two parts:the anchors which is include six fixed nodes and a tag mounted on the aircraft.The anchor designed with controller STM32 and DWM1000 UWB module.The tag designed with DWM1000 module,controlled by the master chip on aircraft.Those hardware provide a basic situation for multi-aircraft collaborative flight.The aircraft motion model,the sensor model and the state estimation model are established.The distance between the aircraft and the anchor point is obtained by the Time of Arrival(TOA)and the Time Difference of Arrival(TDOA).The spatial position of the aircraft is calculated from the model.The data of the gyroscope and accelerometer,prediction of status of aircraft by Kalman state estimation algorithm.As the two-way arrival time method can not achieve one-way anonymous signal transmission,the introduction of Time Division Multiple Access(TDMA)to achieve one-way signal transmission.Using the improved TOA and the TDOA to calculate the position of the aircraft,with the path planning and long wingman co-control strategy to achieve the double quadcopter co-flight.Through the flight experiment,the aircraft collaborative flight control system was tested.The TOA,TDMA-based TOA and TDOA ranging algorithms are tested,and the ranging error is analyzed.The space coordinate system is established,and the position of the aircraft is estimated from the Kalman estimator,and the estimation accuracy of the Kalman estimator is analyzed.Respectively,on the single-aircraft fixed-point flight,path planning and dual-aircraft fixed-point flight,path planning,long wingman flight to do the test.Experiments show that the aircraft collaborative flight control system can achieve single and double aircraft co-flight,to complete a simple collaborative flight mission.