Research On Formation Control Technology Of Carrier-based Unmanned Aerial Vehicle

Unmanned aerial vehicle(UAV)formation research is becoming a hot spot in many countries for its unique advantage.And differ from the general UAV formation,Carrier-based unmanned aerial vehicle formation has its unique difficulties in taking off,turning back and so on.This paper mainly make research in taking off,formation flight and turning back.And designed for carrier-based unmanned aerial vehicle formation of organizational strategy,process and formation control system,has certain reference value for the realization of Carrier-based unmanned aerial vehicle formation.Firstly,the take-off phase is divided into the deck of the out of the segment,after the departure of the waiting section and the formation of the formation of three stages.Based on the T-Petri net model,the ship maneuvering process of the Carrier-based unmanned aerial vehicle(UAV)is designed and simulated on the deck.Waiting for the assembly section of the design of a time-sharing track and field waiting for the route.And the flight route strategy from the assembly state to the formation state is given in the formation stage.Secondly,in the Carrier-based UAV formation flight stage,this paper designed several common transformation strategies between teams.And introduced the concept of Dubins route.Making the carrier-based UAV in the route plan can take into account the direction and route.Thirdly in Carrier-based UAV formation of the return stage,Reference ship carrying man-machine Marshall waiting route,the difference in the time of landing of each UAV in the formation.Designed for Carrier-based UAV Marshall waiting route.In addition to that,But also on the ship when the possible go-around situation designed a missed approach to wait for the route.To ensure the Carrier-based UAV landing process safe and orderly.At last,this paper designed the control system of Carrier-based UAV with time constraints.And the simulation is carried out.Contrast analysis by simulation,validates the feasibility of the flight organization strategy,flight route and formation control system of the Carrier-based UAV formation.