【作者】 王林； 张庆杰； 朱华勇； 沈林成；

【Author】 WANG Lin~1,ZHANG Qing-jie~1,ZHU Hua-yong~1,SHEN Lin-cheng~1 1.College of Mechatronics Engineering and Automation,National Univ.of Defense Technology,Changsha 410073,China

【机构】 国防科学技术大学机电工程与自动化学院；

【摘要】 多平台相互协同执行任务逐渐成为无人机参与作战的主要样式.多无人机系统可以通过信息化数据链路实现平台之间的互连互通,以此为基础的多无人机系统远程异地控制需要解决的主要问题是如何远程控制多个异地无人机系统资源完成协作任务.该文分析多无人机系统远程协作控制的控制权切换问题;给出多无人机系统中多任务控制单元之间控制权切换的控制流程;对控制权切换中的控制权分配规则、协商分配模块和切换协议进行设计;给出了基于通用任务控制站实现控制权切换的典型应用模式,并结合作战想定对其进行仿真实现;仿真结果验证了控制权切换流程的有效性.更多还原

【Abstract】 A method to operate the resources of decentralized Multiple Unmanned Aircraft Systems(Multi-UAS) was proposed.Firstly,the issues for the transfer control about remote cooperative control in Multi-UAS were discussed;secondly, the process of the transfer control among multiple mission control elements was suggested;then,the rules to assign the privilege of control among the process,the cooperative assignment module and the transfer protocol were designed; next,basic operation modes for the transfer control were presented with the basis of Common Ground Control Station; and finally,a corresponding simulation scenario for cooperative multi-UAS was realized to validate the effectiveness of the proposed process of transfer control.更多还原