Research On The Design Of Fixed-wing UAV Control Unit And Its Group Flight Control Technology

Nowadays,the technology of UAV that is widely used in military,agriculture,forestry and other fields has gotten a greatly development.The technology of single UAV is becoming more and more mature at present and can meet the requirements of simple flight tasks well.But it cannot meet the needs of heavy-duty and complex mission tasks.In order to solve the problems of single UAV used in various sectors of the application deficiencies,many research institutions have begun to study UAV formation flight.Since the single UAV cannot accomplish complicated tasks,this paper adopts the formation flight strategy of Leader-Follower to research and analysis the Overall plan on the basis of the research of formation flight control technology that have been researched by various scientific research institutes and universities.The dissertation finished the following works:adopted Nuttx operating system to design the software control system of single UAV,used the same function sensor module to back up the sensors redundantly,filtered the data collected from sensors to ensure the UAV flight stability,used ZigBee wireless module to form UAV communication link network.This article adopted Mavlink communication agreement and the ring type token communication strategy to guarantee the data transmission shabbily and used the ant colony algorithm to plan the leader plane's mission Path.Wingman followed the leader in accordance with the cluster formation algorithm.The dissertation also used safety ball strategy to avoid machine-machine collision problem.This article made one fixed-wing UAV and three quad-rotor UAVs to test the basic functions,flight stability,and wireless communications links of the UAV.The test indicates that the UAV software and hardware system can be applied in cluster formation flight.Finally,three quadrotor UAVs are used to test the fixed-wing UAV cluster formation flight algorithm.Test results indicate that the cluster-formation flight algorithm in this paper can realize Leader-Follower group flight.The algorithm can be a useful reference for the research on the design of fixed wing UAV and its group flight control technology.