Study and Practice on Control Strategy of Leader-Follower Manned-Unmanned Aerial Vehicle Formation Based on PIXHAWK Flight Control System

This article takes the control strategy and practical method of Leader-Follower Manned-Unmanned Aerial Vehicle Formation for research purposes, choose PIXHAWK flight control system and Multi-rotor unmanned aerial vehicle (UAV) for verification platform. It analyzed the dynamic equation, the control algorithm and the process of the Leader-Follower formation flight control system. The platform applied XBeeS3B communication module structures to set up machine communication and realize the data interaction. And on the basis of setting the formation distance between aircraft, four following control strategies including following position, following speed, receiving target position signal and waiting for receiving target position signal were adopted to complete formation flight engineering verification.