无人机集群编队控制演示验证系统

为验证无人机集群编队控制算法在实际环境中的有效性，基于四旋翼无人机平台和双数据链、双地面站冗余设计，搭建了分布式控制的无人机集群编队控制演示验证系统。基于分层控制和封装的思想，将无人机控制系统分为执行层和决策层。执行层采用PIX自驾仪进行封装，只需修改自驾仪参数，不需针对不同无人机平台开发相应的控制策略，就能实现对异构集群的控制。需要验证不同的编队控制算法时，只需对决策层的控制算法进行修改即可，使系统具有较强的适应性和扩展性。演示验证系统采用双地面站和数据链，可实现在多种网络拓扑或通信失败情况下的无人机集群控制，具有较高的稳定性和安全性。应用领导-跟随协同编队控制算法，验证了本文演示验证系统的功能和性能。

Demonstration and verification system for UAV swarm formation control

In order to verify the effectiveness of the formation control algorithms of UAV swarm in the actual environment, a distributed UAV swarm formation control demonstration and verification system consisting of UAV platform, two sets of ground station and data link was built under outdoor conditions. The control system of UAV was divided into executive layer and decision layer on the basis of the idea of hierarchical control and encapsulation. The PIX autopilot was encapsulated in the executive layer, and the control strategy of heterogeneous swarm can be realized only with autopilot parameter modification and without corresponding control strategy development for different UAV platforms. When the different control algorithms need to be verified, control algorithm for decision layer can be modified so that the system has strong adaptability and scalability. Two sets of ground control stations and data links are adopted, which can achieve the multi-UAV control under a variety of interaction topology or in the case of communication failure and ensure the system's robustness and security. The demonstration and verification system's function and performance are verified with the leader-follower synergy formation control algorithm.