Research on UAV Formation Simulation and Evaluation Technology

UAV formation technology will be widely and importantly applied in military and civil fields. In this paper, the formation control strategy was based on the virtual structure method and PID control law. By constructing the hardware-in-the-loop simulation environment and injecting it into a UAV model, it was verified that the formation control strategy and operation logic meet the design requirements. The formation simulation system could achieve the functions of formation assembly, maintenance and transformation, link failure disposal, etc. The evaluation of formation time indicators and distance indicators were achieved by means of a herringbone - diamond - diamond turn simulation profile that verified the rapidity and positional accuracy of the formation. Finally, the evaluation scheme of UAV formation was constructed, which provided users with a comprehensive evaluation method for the performance of UAV. Thus, it provided an important basis for the safe and effective flight test of UAV formation.