Research Of The Uav Cluster System Based On UWB

With the maturity of UAV technology,the trend of UAV application is gradually changing from single-aircraft to multi-aircraft cooperative task.Besides,it is developing rapidly in the direction of clustering and has broad application prospects in both military and civil fields.The first key point of the UAV cluster is to realize the precise positioning of the UAV.At present,most of them adopt the positioning scheme of GNSS or binocular vision.However,in complex indoor scenes,it is still difficult to obtain high-precision and high-stability positioning information.Therefore,UWB positioning and UAV cluster formation technology are studied in this paper.A scheme of UAV cluster system based on UWB positioning is proposed and has independently designed a miniature quadrotor UAV for UWB positioning in software and hardware.It mainly includes the following aspects:(1)The technical characteristics of UWB are analyzed,especially its advantages in UAV positioning.Several commonly used UWB positioning methods are studied.(2)Several common wireless networking communication technologies are analyzed,and a WiFi networking communication scheme suitable for micro UAV is proposed.The effectiveness of the scheme is verified by experiments.(3)It is mainly studies the motion model and cluster formation model of UAV.the feasibility of applying artificial potential field algorithm to UAV cluster formation is studied for the formation and maintenance of UAV formation.And the simulation test results show that the method can ensure that the drone formation is tracked by the virtual drone and keeps track of its trajectory and maintains a stable formation.(4)Designing micro four-rotor UAV for UWB positioning in software and hardware.The attitude calculation algorithm and PID control algorithm of UAV are studied,which provides a platform for the research of UAV cluster based on UWB positioning.(5)Systematic comprehensive testing and analysis are carried out for the basic flight functions of UAVs,UWB-based UAV positioning effects,and cluster formation to verify the feasibility of this method.Based on the research and analysis of the UAV cluster formation technology,proposing an indoor positioning solution for UWB.After a lot of experiments,showing that this scheme has the characteristics of high reliability and high precision,which provides a certain reference value for the study of UAV cluster in indoor environment.