METHOD OF CONTROLLING GROUP OF MANEUVERABLE UNMANNED AERIAL VEHICLES Russian patent published in 2024 - IPC F41J9/08 B64C39/02 

FIELD: aviation.

SUBSTANCE: invention relates to methods of controlling a group of air targets (AT) based on unmanned aerial vehicles (UAV) and can be used in development of control systems based on UAV from universal target-training complex (UTTC). Method consists in the fact that at the first stage, all aerial targets based on UAVs of the future group are output by UTTC operators to the specified area of space, in which transition to control of the whole group is supposed to be carried out with the help of the AT-leader. Flight task (FT) is entered into the AT autopilot in advance. At the second stage, in the OXYZ coordinate system, the current spatial position of the group driven AT in a rectangular coordinate system is determined. At the third stage, the required heading and pitch angles of each AT group are determined. At the fourth stage, the results of numerical solution of the system of equations presented in operator form by the corresponding scheme depending on time are determined for the horizontal plane of motion of the AT-leader. Similarly, for the vertical plane of motion of the AT-leader, the values of the control signal are determined from the results of the numerical solution of the system of equations presented in operator form by the corresponding circuit. At the fifth stage, the current data from the control structure of the AT-leader are used to determine in the control systems of the slave AT values of their angular mismatches relative to the AT-leader. In the pitch control systems of slave ATs, similarly to the control system of the AT-leader, a transition from pitch angle to height control is provided. Sixth stage consists in control of the value of the current inclined distance of the AT-leader to the control point of the FT. Determination of the spatial position of each subsequent control point of the FT is carried out during the time of guidance of the group of AT to the current control point of the required trajectory when performing the manoeuvre corresponding to the given FT.

EFFECT: enabling control of a group of AT based on UAVs from one ground control station, which increases simulation capabilities of the UTTC.

1 cl, 8 dwg