The UAV Formations Research Based On Probability Calculations And State Predicted

Multiple UAVs (Unmanned Aerial Vehicles, UAV) must follow a certain track in the process of implementation of tasks in order to avoid a collision, and plan a reasonable track. UAV formation flying or task tracking must be kept at a safe distance and height difference, but due to the actual various factors, the separation distance between the aircraft and the height difference could not have been held constant,if improper that will be handlingcaused by collision, the collision problem in cluster flight is worthy of attention and study in one direction, to maintain formation interval distance, height difference relative stability is an important prerequisite to prevent the formation of unmanned aerial vehicles collided. At present, domestic and foreign experts and scholars have depth study on the flying collision.UAV cluster analysis shows that the size and density of the fleet decided its ability to be able to solve the task, as the cluster density increases, rational planning of the flight path of the aircraft, and to avoid conflicts between the flight path becomes unconditionalman-machine clusters’s key issues. The traditional means of control is in the air monitored by radar or position reports to detect potential conflicts, and then manually command to change the flight path of the aircraft, including altitude, heading, speed, etc., to avoid any conflict of path planing’s purpose.In this paper, we againest at the UAV flight path conflict’s problem, analysis of the the UAV collision, and the scope of the task space constraints and the task needed the number of aircraft required constraints, to introduce the time protected areas and the space state protected areas, establish a hierarchical flightwith the threat of collision prediction model.In cluster formation flying mode, Planning algorithm based on artificial potential field track,we reference satellite anti-collision probability calculation method,and with the local and global communication under two conditions at the same time,against the UAV communications interference and delaystatus information bias problem, proposed a consistent estimator based on the UAV state information of the Kalman filter compensation strategy, and ultimately the planning of the flight path of aircraft clusters, state estimation and the probability of collision is calculated to avoid cluster formation UAV during flightpath conflict. Finally, the experimental simulation verify the correctness and effectiveness of this method in the multi-UAV formation flight route planning.