【摘要】 针对多无人机执行编队飞行任务过程中在时间、空间、姿态多维度协同配合的问题，提出了一致性算法和领航跟随法相结合的无人机编队控制方法。基于领航跟随法将无人机分为领航机和跟随机，领航机和跟随机共同组成无人机编队。在此基础上设计了无人机运动学模型和基于一致性算法的编队控制器。实现了无人机编队飞行控制系统，控制多无人机执行协同探测编队飞行任务。最后，使用三台无人机开展飞行实验，验证了该编队飞行控制方法的有效性，为使用无人机模拟卫星来测试星载有效载荷设备提供了支持。更多还原

【Abstract】 The UAV formation control method based on consistency algorithm and pilot following method is applied to study the multi-dimensional cooperation of time, space and attitude in the process of multi UAV formation flying mission. Based on the pilot following method, the UAV is divided into pilot aircraft and follower random, and the pilot aircraft and follower random together form a UAV formation. On this basis, the UAV kinematics model and formation controller based on consistency algorithm are designed. The UAV formation flight control system is deployed to control multiple UAVs for performing cooperative detection formation flight mission. Finally, three UAVs are used to carry out flight experiments, which verifies the effectiveness of the formation flight control method and provides support for the use of UAV simulation satellites to test spaceborne payload equipment.更多还原