A drone show

GPS+ barometer

The two-dimensional plane position of UAV is obtained by GPS, and then the height is calculated by combining barometer and ultrasonic module, and finally the spatial position of the aircraft is obtained. Aircraft usually use ultrasonic module to obtain altitude information when flying at low altitude, with high accuracy, and use barometer when flying at high altitude.

Image recognition and positioning

Three-dimensional space images of the environment are obtained by multiple cameras, and the images are processed by image recognition technology, and the flight space is modeled mathematically. By integrating the identified UAV position information of different dimensions, the UAV position in three-dimensional spce can be obtained. This method has a large amount of data computation in the process of image recognition, and it can only fly in the environment with cameras because of geographical restrictions.

Anti-collision trajectory planning

In order to prevent UAVs from colliding when changing formation, we set a certain safe distance for each UAV. As shown in the figure, a sphere with a fixed distace and a radius is set as its safe area, and other drones are not allowed to enter. If it is necessary to pass through the safe area of other UAVs during the flight, the UAV must detour to reach the target position, and cannot travel in a straight line to avoid collision.

Location information sharing

If UAVs want to complete orderly formation actions, they must plan the real-time flight positions of all UAVs as a whole. To this end, we set a drone as the main machine and the rest as the auxiliary machines. The host computer is responsible for receiving the control information of the beacon, and then solving it. The position of each UAV in the predetermined path is transmitted to the auxiliary computer through the long-distance communication module, and the appropriate information format is set. After receiving the position information of the host computer, the auxiliary computer flies to it as its own target position, thus realizing the overall path planning of all UAVs.

The innovations of the project are as follows

1. Break the traditional mode of single UAV to perform tasks and improve the efficiency of task execution.

2. The positioning method of GPS+ barometer+ultrasonic wave is adopted to realize the positioning of UAV when flying in a large area outdoors.

3. Use the long-distance communication module to realize the overall flight path planning of all UAVs, and take certain safety measures to avoid collisions between UAVs.

Finally, after some hard struggle, I made some small achievements. A total of four UAVs have been assembled and debugged by themselves, and each UAV can realize outdoor large-area positioning. The main machine can send the target position information to other auxiliary machines in real time, and the auxiliary machines will fly to the target position after receiving it without collision. Four UAVs can realize the function of changing formation in the air, including straight lines and triangles, and then they can keep their formation flying forward continuously.