Joint Formation System of Reconnaissance Unmanned Aerial Vehicle and Unmanned Aerial Vehicle

An unmanned aerial vehicle and unmanned armored vehicle formation system comprises a reconnaissance unmanned aerial vehicle and four unmanned armored vehicles, wherein at least one armored vehicle comprises a support module for the unmanned aerial vehicle. According to the invention, the intelligence, networking and coordination degree of the armored vehicle cluster in the combat area are improved through the cooperation of the unmanned aerial vehicle and the unmanned armored vehicle cluster. By improving the perception ability of combat formation to the surrounding complex environment, improving the integration and flexible action ability of formation, and then improving the flexibility of ground-air coordinated combat of formation, the battlefield information can be collected and analyzed quickly, the combat strategy can be issued quickly, and the flexibility of unmanned combat on the battlefield can be improved. -21 Figure 1 Vehicle position and UAV position are random, Giveorders for forming formations Unmanned aerial vehicle pursues the mapping position ofvirtual pilot R, and unmanned aerial vehicle Ri(i= 1, 2, 3, 4) searches for the target position point Formation formation is realized by the combination ofbehavior-based method and virtual leader methods Ui=Fn+Fm±F+Fa+FA to get the vehicle acceleration control input Achieve the target formation, and the vehicle speed in the formation is consistent with the According to the position matrices SLO, virtual pilot speed SHo and Sm, the triangle formation, the straight line formation and the diamond formation are switched Switch to vehicle formation maintenance , Tracking target trajectory using virtual navigator methods Switch formati o! or noti Yes Figure 2