Research On Technologies Of UAV Cluster Control System And Data Resource Sharing

Unmanned aerial vehicle(UAV)is widely used in more and more military and civilian fields due to its strong mobility,good concealment,low cost and high efficiency.However,with the diversification of task scenarios and the complication of application requirements,it becomes difficult for traditional UAV control system to meet the development needs of application scenario migrating and multi-UAV cluster constructing.In response to this problem,this paper studies the technologies of UAV cluster control system and data resource sharing.The main work includes the following three aspects:1)A hierarchical control system for UAV cluster based on software bus is designed.After comparing and analyzing the classical control system architecture,the software bus structure is selected as the basic framework,then a modular system is designed with the structure stratification and system partitioning method,to meet the needs of rapid migration and flexible expansion for different mission scenarios,and also to provide theoretical support and technical foundation for the construction of multi-UAV cluster.2)The module of control encapsulating and instruction scheduling is implemented,as well as the construction and maintenance of the data resource pool.In order to solve the contention conflict for flight control between multiple functional modules or other UAVs,a unified control interface and an instruction scheduling algorithm are designed,decoupling the control implication.In addition,a data resource pool is realized to make data shared between modules and UAVs and to decouple the data dependency.3)The algorithm of sharing and synchronously updating the data resource for UAV cluster is studied.Based on the cluster communicating technology designed in this paper,a model for releasing and propagating the data resource is established,and then an algorithm based on time decay is designed for synchronously updating data,which is to make data resources shared among the UAV cluster and to guarantee the data timeliness in a certain extent,fully utilizing the advantages of UAV cluster cooperation.Finally,the feasibility and effectiveness of the designed control system and data resource sharing technology for UAV cluster are verified by simulated and practical experiments.