无线紫外光协作无人机编队快速集结算法研究  

Research on the rapid assembly algorithm of wireless ultraviolet cooperative UAV formation

作　　者：赵太飞[1,2] 张港 容开新 王璐 ZHAO Taifei;ZHANG Gang;RONG Kaixin;WANG Lu(Faculty of Automation and Information Engineering,Xi’an University of Technology,Xi’an 710048,China;Shaanxi Civil-Military Integration Key Laboratory of Intelligence Collaborative Networks,Xi’an 710048,China)

机构地区：[1]西安理工大学自动化与信息工程学院,西安710048 [2]陕西省智能协同网络军民共建重点实验室,西安710048

出　　处：《激光杂志》2022年第12期8-14,共7页Laser Journal

基　　金：国家自然科学基金(No.61971345);陕西省重点研发计划一般项目(No.2021GY-044);西安市碑林区科技计划项目(No.GX1921);榆林市科技计划项目(No.2019-145);西安市科学计划项目(No.CXY1835(4))资助课题。

摘　　要：针对强电磁干扰环境使无人机编队通信受限,进而影响无人机编队快速集结的问题,提出无线紫外光协作无人机编队快速集结算法,实现无人机编队在空域中定点集结。首先,采用紫外信标模型实现无人机编队信息交互;其次,利用紫外四节点定位算法实现无人机编队三维定位,并给出快速集结算法势场函数;最后,将一致性理论与领航跟随法相结合,使无人机编队在集结时速度可以达成一致。仿真结果表明,当参考节点大于6个时,三维空间定位准确率可达96%;集结算法能实现无人机编队的定点集结,并且可以实现集结完成后保持圆周运动轨迹。Aiming at the problem that the strong electromagnetic interference environment restricts the communication of the UAV(Unmanned Aerial Vehicle)formation,which affects the rapid assembly of the UAV formation,a wireless ultraviolet cooperative UAV formation rapid assembly algorithm is proposed to realize the fixed-point assembly of the UAV formation in the airspace.First,the UV(Ultraviolet Light)beacon model is used to realize the information interaction of the UAV formation;secondly,the UV four-node positioning algorithm is used to realize the three-dimensional positioning of the UAV formation,and the potential field function of the fast assembly algorithm is given;Combined with the method,the UAV formation can reach a consensus speed when assembling.The simulation results show that when there are more than 6 reference nodes,the three-dimensional space positioning accuracy can reach 96%;the assembly algorithm can realize the fixed-point assembly of the UAV formation,and can maintain the circular motion trajectory after the assembly is completed.

关 键 词：无线紫外光 无人机编队 领航者-跟随者 电磁干扰 

分 类 号：TN23[电子电信—物理电子学]