本文基于对单架无人机系统的定位、通信及控制,引入双无人机的跟踪飞行,进而引伸为无人机集群控制。通过分析双无人机通信方法以及无人机定位的手段,搭建双无人机硬件平台,软件构建协同算法,以无线通信的方式,将主机信息共享给从机,实现从机的跟踪飞行。本文设计的双无人机跟踪飞行系统,具有较强可行性、可靠性,能够实现双无人机快速响应、协同飞行,为日后研究发展多无人机集群控制打下基础。 Based on the positioning, communication and control of single UAV system, this paper introduces the tracking flight of dual UAVs, and then leads to UAV cluster control. By analyzing the dual UAV communication method and the means of UAV positioning, a dual UAV hardware platform is set up and the software builds a collaborative algorithm to share the host information to the slave in a wireless communication manner so as to realize follow-up flight of the slave. The dual UAV tracking flight system designed in this paper has strong feasibility and reliability, which can realize the rapid response and cooperative flight of dual UAVs and lay the foundation for the future research and development of multi-UAV cluster control.