Implementation Of UAV Cluster Control And Trajectory Analysis Platform

The UAV cluster has been more and more widely used in the civilian life and military confrontation with the continuous improvement of UAV cluster's level.In order to verify the effectiveness of the UAV cluster collaborative control strategy in the real environment,this article built a real-time,high-precision and distributed heterogeneous UAV cluster flight control platform.The real-time of the system ensured efficient communication within the cluster.The high-precision positioning system could provide accurate coordinate information for the cluster.The distributed heterogeneous features ensured that each drone could implement different control strategies.Thus,the requirements for high-speed flight,cluster track planning and collaborative work of the UAV cluster were satisfied as a whole.This paper focuses on the requirements of the existing UAV cluster control strategy verification platform,and designs and implements a real-time,high-precision and distributed heterogeneous UAV cluster control and trajectory analysis platform.The main research contents are as follows:(1)A new modular UAV cluster control and trajectory analysis platform implementation scheme was proposed for the real-time,high-precision and distributed heterogeneous requirements of the cluster platform.The scheme adopted the wireless communication structure of dual data link,which solved the problem of data communication blocking between drones and ground stations.The scheme adopted multi-sensor fusion positioning technology to solve the problem of low accuracy of current positioning system.The scheme designed and implemented a ground station with multi-thread processing capability,which solved the problem of high data concurrent acquisition and delivery,thereby improving the collaborative work efficiency of the cluster drone.(2)The development of software and hardware for the UAV cluster platform was completed.Multi-thread concurrency technology was used to design a ground station capable of handling high concurrency events.UWB,laser,barometer and other multi-sensor fusion positioning technologies were used to realize data fusion within the flight control,and the platform positioning scheme was developed.,The data interaction with the UAV cluster was completed through the n RF24L01+PA+LNA wireless transmission technology combined with the defined data protocol.(3)The testing and verification of the drone cluster control and trajectory analysis platform was completed.The test verifies the performance of each subsystem from the performance of the subsystem,and could provide high-precision positioning and low-latency wireless transmission network for the system.Through the overall test of the platform,it was verified that the platformhad the capability of distributed heterogeneity and could support multiple UAVs to work together.According to the test results,the wireless transmission delay of the system is less than 10 us,and the packet loss rate is less than 1‰.The positioning error of the wireless positioning system in the static and dynamic modes of the UAV is less than 15 cm,and the ground station can quickly deliver multiple different missions to each UAV,realizing real-time,high-precision and distributed.Heterogeneous UAV cluster control and trajectory analysis platform.