Each layer of the hierarchical system has a relatively independent functional division, and information is shared among the layers through reciprocating transmission. The further down, the closer to the specific execution layer, the higher the degree of specificity and layout of the control algorithm and the speed of execution; the more upward, the more comprehensive the content of information and decision-making, and the time scale of decision-making will also change To be longer. Due to the sharing of information, in fact, each layer has a considerable "global view", which is conducive to the development of appropriate inference and decision algorithms relative to each layer when necessary, thereby improving the level of intelligence and autonomy of the entire system.
Hierarchical intelligent control structure diagram is a layered structure of control and coordination based on the design of unmanned combat aircraft, which has a certain representation. This control structure is divided into four layers: mission control layer, strategy layer, tactical layer and regulation planning layer. The following three layers are located on each individual durable agriculture drone UAV, and the uppermost layer is the mission control layer, which is located at the intelligent station or On the plane. Under this structure, it is also easy to coordinate and cooperate with other drones to complete the task.
The control structure of a single durable agriculture drone UAV is shown in the figure, where the control layer is the highest level of autonomous control. It determines and plans the system's mission objectives, mission sequences, and maneuver trajectories based on the perception of the system state. Navigation and guidance are adaptive layers. The adaptive layer generates corresponding guidance schemes and specific guidance instructions according to the mission planning results and the status of the durable agriculture drone, and controls the execution layer to generate various control efficiency mechanisms of the aircraft (including aerodynamic efficiency mechanisms and thrust efficiency mechanisms) Control instructions.
