UAV formation flying system

The performance effect of UAV formation is well known, which can not only meet people's visual requirements, but also be expected to replace fireworks display to achieve zero emission environmental protection requirements. In addition, as far as shooting is concerned, formation flying can quickly collect multi-angle image data in three-dimensional space and provide information support in search and rescue; For logistics, formation flight can flexibly deliver goods and cooperate to transport heavy objects; For the military, formation flying can penetrate intensively and improve the mission success rate. Therefore, its uses are quite extensive.

1. Basic flight control principle of UAV.

This basic control algorithm has been rotten in the street, and it is basically used. Let me briefly talk about it here. The smooth flight of a single UAV is the basis for the formation flight of UAVs. The following figure shows the key technical principle of UAV's stable flight. The CPU collects the data of attitude sensor in real time, including three-axis gyroscope, three-axis accelerometer and three-axis magnetometer. The attitude information of these nine axes is used for attitude calculation and fusion to obtain quaternion and Euler angle. The information collected by the sensor is used as the current attitude, and the target attitude is determined by the channel information of the remote controller. The deviation between them is used as the input control of PID. The attitude control is controlled by cascade PID, outer-loop angle loop, inner-loop angular velocity loop, and output after tuning the inner-loop and outer-loop PID.

2. UAV positioning

(1) ranging and positioning

Install a distance sensor on each UAV, calculate the relative distance between UAVs, then build a mathematical model, and get the position of UAVs according to the corresponding algorithm. Its advantage is that the calculated position is more accurate, but the amount of calculation is relatively high, and there are few types of distance sensors in three-dimensional space.