CN106940567A - Unmanned plane formation optimal information interacts Topology g eneration method and device - Google Patents
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Abstract
Topology g eneration method and device is interacted the invention provides a kind of unmanned plane formation optimal information, this method includes：The flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane obtains communication network topology and its corresponding tax power non-directed graph；The two-dimentional optimal rigidity figure for assigning power non-directed graph is calculated according to the optimal rigid figure generating algorithm of two dimension；The optimal lasting figure of two dimension is obtained according to the optimal rigidity figure of the two dimension and the optimal lasting figure generating algorithm of two dimension, the optimal lasting figure of two dimension is the optimal information interaction topology of the formation.Device provided in an embodiment of the present invention is realized based on method as discussed above.The present invention can make the two-dimentional formation communication cost persistently formed into columns during flight pattern is kept minimum.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of unmanned plane formation optimal information interaction Topology g eneration method
And device.
Background technology
In cruising phase of taking off, all unmanned planes (UAV) generally pass through point-to-point communication linkage (communication
Links information exchange) is carried out, to form certain flight pattern (formation shape or formation
Geometry), and keep this flight pattern continue towards target area flight.Wherein used communication linkage is referred to as UAV volumes
The information exchange of team topological (information exchange topology), communication topology (communication
Topology topological (connection topology), message structure (Information Structure) or letter), are connected
Breath is topological (Information Topology), and they are the part in all available communication linkage set between UAV.
For unified presentation, " information exchange topology " this title used below.Meanwhile, by all available communication linkages between UAV
Collection be collectively referred to as UAV formation communication network topology (Communication Network Topology).
Because the communication distance between any two positions UAV in information exchange topology is different, cause in information exchange topology
Communication linkage has different communication costs and can consume the corresponding battery electric quantities of UAV or fuel between different UAV.Practical application
In, the communication cost of communication linkage is influenceed by several factors between two UAV, for example, mission requirements, communication distance, flight
Performance, security etc..To simplify explanation, above-mentioned communication cost is directly represented using communication distance.
Meanwhile, the every available battery electric quantities of frame UAV or fuel are limited again.Therefore, how to be compiled by optimizing unmanned plane
Team's information exchange topology, reducing the consumption of UAV battery electric quantity or fuel becomes the technical problem of urgent need to resolve.
The content of the invention
For defect of the prior art, Topology g eneration side is interacted the invention provides a kind of unmanned plane formation optimal information
Method and device, it is minimum for realizing the two-dimentional formation communication cost persistently formed into columns during flight pattern flight is kept.
In a first aspect, interacting Topology g eneration method, institute the embodiments of the invention provide a kind of unmanned plane formation optimal information
The method of stating includes：
The flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane obtains communication network topology and its corresponding
Assign power non-directed graph；
The two-dimentional optimal rigidity figure for assigning power non-directed graph is calculated according to the optimal rigid figure generating algorithm of two dimension；
The optimal lasting figure of two dimension is obtained according to the optimal rigidity figure of the two dimension and the optimal lasting figure generating algorithm of two dimension, it is described
The optimal lasting figure of two dimension is the optimal information interaction topology of the formation.
Alternatively, the optimal lasting figure generating algorithm of the two dimension includes：
The optimal rigid figure of the two dimension is converted into the first digraph；
Increase virtual pilotage people's node in first digraph and obtain the second digraph；Virtual pilotage people's node
Two are provided between each node in first digraph and goes out arc, and every of virtual pilotage people's node goes out arc
Weights it is identical and more than the weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes virtual described in first shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph；
All arcs and its corresponding opposite arc in correspondence first shortest arborescence is deleted in second digraph to obtain
To the 4th digraph；
The second shortest arborescence of the 4th digraph is obtained, and deletes virtual described in second shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 5th digraph；
Merge the 3rd digraph and the 5th digraph is obtained in the 6th digraph and the 6th digraph
The quantity m of arc；
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m=2n-3, then the 6th digraph is
The optimal lasting figure of two dimension.
Alternatively, the optimal lasting figure generating algorithm of the two dimension also includes：
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m<When (2n-3), the two dimension is obtained optimal just
Property figure in the corresponding two articles of arcs in the l articles side, symbol l initial value is 1；
If two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
When the in-degree of corresponding two node in the l articles side is not equal to 2, any one in-degree in two nodes is less than
The arc that enters of the connection of 2 node that node in addition is added in the 6th digraph and obtains the 7th digraph；
If the quantity m of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 7th digraph.
Alternatively, the optimal lasting figure generating algorithm of the two dimension also includes：
When the in-degree of corresponding two node in the l articles side is equal to 2, the corresponding one article of arc in the l articles side is added to
The 7th digraph is obtained in six digraphs；The arc is that first node corresponding to the l articles side enters arc；
The second section that in-degree is less than 2 is found in the 7th digraph in the way of in-degree 0 after first in-degree 1
Point, and obtain the path between the Section Point and the first node with fewest number of hops；
The corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
If the quantity m of arc is equal to (2n-3) in the 8th digraph, the 8th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 8th digraph.
Alternatively, the optimal lasting figure generating algorithm of the two dimension also includes：
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 6th digraph.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane formation optimal information interaction Topology g eneration device,
Described device includes：
Power non-directed graph acquisition module is assigned, the flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane is obtained
Communication network topology and its corresponding tax power non-directed graph；
The optimal rigid figure acquisition module of two dimension, it is undirected for calculating the tax power according to the optimal rigid figure generating algorithm of two dimension
The two-dimentional optimal rigidity figure of figure；
The topological acquisition module of optimal information interaction, for being given birth to according to the optimal rigidity figure of the two dimension and the optimal lasting figure of two dimension
The optimal lasting figure of two dimension is obtained into algorithm, the optimal lasting figure of two dimension is the optimal information interaction topology of the formation.
Alternatively, the topological acquisition module of optimal information interaction obtains two dimension using the optimal lasting figure generating algorithm of two dimension
The step of optimal lasting figure, includes：
The optimal rigid figure of the two dimension is converted into the first digraph；
Increase virtual pilotage people's node in first digraph and obtain the second digraph；Virtual pilotage people's node
Two are provided between each node in first digraph and goes out arc, and every of virtual pilotage people's node goes out arc
Weights it is identical and more than the weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes virtual described in first shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph；
All arcs and its corresponding opposite arc in correspondence first shortest arborescence is deleted in second digraph to obtain
To the 4th digraph；
The second shortest arborescence of the 4th digraph is obtained, and deletes virtual described in second shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 5th digraph；
Merge the 3rd digraph and the 5th digraph is obtained in the 6th digraph and the 6th digraph
The quantity m of arc；
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m=2n-3, then the 6th digraph is
The optimal lasting figure of two dimension.
Alternatively, the topological acquisition module of optimal information interaction obtains two dimension using the optimal lasting figure generating algorithm of two dimension
The step of optimal lasting figure, also includes：
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m<When (2n-3), the two dimension is obtained optimal just
Property figure in the corresponding two articles of arcs in the l articles side, symbol l initial value is 1；
If two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
When the in-degree of corresponding two node in the l articles side is not equal to 2, any one in-degree in two nodes is less than
The arc that enters of the connection of 2 node that node in addition is added in the 6th digraph and obtains the 7th digraph；
If the quantity m of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 7th digraph.
Alternatively, the topological acquisition module of optimal information interaction obtains two dimension using the optimal lasting figure generating algorithm of two dimension
The step of optimal lasting figure, also includes：
When the in-degree of corresponding two node in the l articles side is equal to 2, the corresponding one article of arc in the l articles side is added to
The 7th digraph is obtained in six digraphs；The arc is that first node corresponding to the l articles side enters arc；
The second section that in-degree is less than 2 is found in the 7th digraph in the way of in-degree 0 after first in-degree 1
Point, and obtain the path between the Section Point and the first node with fewest number of hops；
The corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
If the quantity m of arc is equal to (2n-3) in the 8th digraph, the 8th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 8th digraph.
Alternatively, the topological acquisition module of optimal information interaction obtains two dimension using the optimal lasting figure generating algorithm of two dimension
The step of optimal lasting figure, also includes：
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 6th digraph.
As shown from the above technical solution, the flight pattern that the present invention needs the two dimension constituted persistently to form into columns according to unmanned plane is obtained
Communication network topology and its corresponding tax is taken to weigh non-directed graph；Then above-mentioned tax is calculated according to the optimal rigid figure generating algorithm of two dimension to weigh
The two-dimentional optimal rigidity figure of non-directed graph；Obtained finally according to the optimal rigidity figure of the two dimension and the optimal lasting figure generating algorithm of two dimension
The optimal lasting figure of two dimension, the optimal lasting figure of two dimension is the optimal information interaction topology of the formation.Compared with prior art
Compared with the present invention can calculate the optimal information interaction topology that two dimension is persistently formed into columns within the shorter time so that two dimension is persistently
The formation communication cost formed into columns during keeping rank is minimum.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these figures.
Fig. 1 is the flow signal that unmanned plane formation optimal information provided in an embodiment of the present invention interacts Topology g eneration method
Figure；
Fig. 2 (a)~(b) is the formation that the two dimension that 5 frame unmanned planes are constituted in the embodiment of the present invention is persistently formed into columns and relative
Position view；No. 1, No. 2, No. 3, No. 4 and No. 5 position of unmanned plane UAV1, UAV2, UAV3, UAV4 and UAV5 respectively in formation
Put；
Fig. 3 (a)~(d) is to obtain the two-dimentional optimal letter persistently formed into columns that 5 frame unmanned planes in Fig. 2 are constituted using Fig. 1 methods
The process schematic of breath interaction topology；Finally UAV1 is used as formation pilotage people；
Fig. 4 is the topological schematic diagram of optimal information interaction that correlation technique is obtained, and formation pilotage people is used as using UAV5；
Fig. 5 (a)~(b) is the formation that the two dimension that 16 frame unmanned planes are constituted in the embodiment of the present invention is persistently formed into columns and relative
Position view；Wherein, unmanned plane UAV1, UAV2, UAV3, UAV4, UAV5, UAV6, UAV7, UAV8, UAV9, UAV10,
UAV11, UAV12, UAV13, UAV14, UAV15 and UAV16 respectively in formation No. 1, No. 2, No. 3, No. 4, No. 5, No. 6, No. 7,8
Number, No. 9, No. 10, No. 11, No. 12, No. 13, No. 14, No. 15 and No. 16 positions；
Fig. 6 (a)~(h) is to obtain the two-dimentional optimal letter persistently formed into columns that 16 frame unmanned planes in Fig. 5 are constituted using Fig. 1 methods
The process schematic of breath interaction topology；Finally UAV1 is used as formation pilotage people；
Fig. 7 is the topological schematic diagram of optimal information interaction that correlation technique is obtained, and formation pilotage people is used as using UAV13；
Fig. 8 is that unmanned plane formation optimal information provided in an embodiment of the present invention interacts Topology g eneration device block diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 interacts the flow of Topology g eneration method for a kind of unmanned plane formation optimal information that one embodiment of the invention is provided
Schematic diagram.As shown in figure 1, this method includes：
101st, the flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane obtains communication network topology and its right
The tax power non-directed graph answered.
In practical application, the embodiment of the present invention according to the formation of the default formation and the communication range of unmanned plane, it is determined that
Available communication link in formation between unmanned plane, using unmanned plane as node, using available communication link as arc, builds and forms into columns
Communication network topology.Wherein, the distance between any two unmanned plane is within the communication range of unmanned plane, then this two nobody
There is two-way communication linkage, the communication cost of each communication linkage is determined by corresponding communication distance between machine.
Assuming that n UAV by the one-way communication between UAV to form and keep a two-dimentional flight pattern S.The formation
It is { 1,2 ..., n } that n position is numbered respectively in formation S, and the height of each position is just the same.This communication network formed into columns is opened up
An available weighted and directed diagraph D=(V, A, W, P) is flutterred to represent：
(1) V={ vi, 1≤i≤n is the node set in figure, and wherein vi represents UAVi.
(2)1≤i, j≤n are the arc sets in figure, wherein arc aij=(vi,vj) represent from UAVi to
UAVj has an available communication linkage so that UAVi can send information to UAVj.
(3) W={ w (aij)},aij∈ A are the weights set of all arcs in figure, wherein w (aij) represent from UAVi to UAVj
Communication linkage aijCost.
(4) P={ pi, 1≤i≤n is particular location set of each UAV in flight pattern S, and referred to as UAV positions are matched somebody with somebody
Put (UAV Position Configuration).Wherein n position in flight pattern S is numbered respectively be 1,2 ...,
N }, then 1≤pi≤ n represents particular locations of the UAVi in flight pattern S.
In order to keep needing to use corresponding one-way communication link progress information exchange to keep between flight pattern, UAV
The distance between they are constant, but are not necessarily required to link using all one-way communications, that is, form into columns for the letter kept rank
Breath interaction topology T=(V, A*,W*, P) be communication network topology D=(V, A, W, P) a subgraph, whereinTable
Show UAVi need to send self information allow UAVj to adjust inherent parameters according to the information that receives to UAVj with keep with
UAVi constant distance, i.e. UAVj have the distance restraint of one and UAVi.In information exchange topology T, node viIn-degree table
Show UAVi needs from how many other UAV receive informations, that is, the quantity with other UAV distance restraint having is designated as d-
(i)；Node viOut-degree represent that UAVi needs to send information to how many other UAV, be designated as d+(i)。
102nd, the two-dimentional optimal rigidity for assigning power non-directed graph is calculated according to the optimal rigid figure generating algorithm of two dimension to scheme.
It should be noted that the optimal rigid figure of two dimension is defined as follows in the embodiment of the present invention：
If during each side right value sum of a two-dimentional minimum rigidity figure is all two-dimensional rigid figures with same node point
Minimum, then this two-dimentional minimum rigidity figure is optimal rigidity figure (the Two-Dimensional Optimal Rigid of two dimension
Graph,2DORG)。
The optimal rigidity figure of two dimension, this calculation are obtained using the optimal rigid figure generating algorithm of existing two dimension in the embodiment of the present invention
The basic step of method is as shown in table 1.
Table 1
It should be noted that the time complexity of the optimal rigid figure generating algorithm of two dimension shown in table 1 is mainly determined by Step4
It is fixed.And Step4 at most needs to calculate | E | it is secondary, and the time complexity of ith calculating matrix M order isWherein mi
M line number when being calculated for ith.During rigid figure generating algorithm operation optimal due to two dimension shown in table 1, best situation is each
Add MCNewline can meet the requirement in Step6.Now Step4 only need to calculate n=2 × | V | -3 times, and ith meter
M line number m during calculationi=i, therefore the time complexity of two-dimentional optimal rigid figure generating algorithm is at least shown in table 1：
103rd, the optimal lasting figure of two dimension is obtained according to the optimal rigidity figure of the two dimension and the optimal lasting figure generating algorithm of two dimension.
It should be noted that the optimal lasting figure of two dimension is defined as follows in the embodiment of the present invention：
In two-dimensional space, if the in-degree of each node of a digraph is both less than equal to 2, and its corresponding nothing
It is the optimal rigidity figure of two dimension to figure, then this digraph is optimal lasting figure (the Two-Dimensional Optimal of two dimension
Persistent Graph,2DOPG)。
Obtain two-dimentional optimal using the optimal rigid figure of two dimension and the optimal lasting figure generating algorithm of two dimension in the embodiment of the present invention
The specific steps of lasting figure include：
1031st, the optimal rigid figure of two dimension is converted into the first digraph.
1032nd, increase virtual pilotage people's node in the first digraph and obtain the second digraph；Virtual pilotage people's section
Two are provided with point and first digraph between each node and goes out arc, and every of virtual pilotage people's node goes out
The weights of arc are identical and more than the weights sum of whole arcs in first digraph.
1033rd, the first shortest arborescence of second digraph is obtained, and deletes institute in first shortest arborescence
State virtual pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph.
1034th, delete in second digraph in correspondence first shortest arborescence all arcs and its it is corresponding reversely
Arc obtains the 4th digraph.
1035th, the second shortest arborescence of the 4th digraph is obtained, and deletes institute in second shortest arborescence
State virtual pilotage people's node and its it is corresponding go out arc obtain the 5th digraph.
1036th, merge the 3rd digraph and the 5th digraph and obtain the 6th digraph and described 6th oriented
The quantity m of arc in figure.
1037th, when the number of nodes of the optimal rigid figure of the two dimension is n and m meets m=2n-3, then the described 6th is oriented
Figure is the optimal lasting figure of two dimension.
Obtain two-dimentional optimal using the optimal rigid figure of two dimension and the optimal lasting figure generating algorithm of two dimension in the embodiment of the present invention
The specific steps of lasting figure include：
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m<When (2n-3), the two dimension is obtained optimal just
Property figure in the corresponding two articles of arcs in the l articles side, symbol l initial value is 1；
If two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
When the in-degree of corresponding two node in the l articles side is not equal to 2, any one in-degree in two nodes is less than
The arc that enters of the connection of 2 node that node in addition is added in the 6th digraph and obtains the 7th digraph；
If the quantity m of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 7th digraph.
Based on described above, the embodiments of the invention provide one kind based on the optimal rigidity figure of two dimension and shortest arborescence
(Two-Dimensional Optimal Rigid Graph and Minimum Cost Arborescence, 2DORG_MCA)
Two-dimentional optimal lasting figure generating algorithm, this algorithm steps is as shown in table 2.
Table 2
It should be noted that shortest arborescence (Minimum Cost Arborescence, MCA) refers in the present embodiment
It is the minimum spanning tree of a weighted and directed diagraph.The first algorithm for solving MCA problems is Edmonds algorithms, and it calculates complicated
Spend for O (| A | × | V |), it is therein | A | and | V | be respectively weighted and directed diagraph in arc quantity and the quantity of node, later
Gabow et al. have also been proposed one be directed to Edmonds algorithms faster realization, its computation complexity be O (| A |+| V | × log
|V|)。
It will be appreciated that the main time complexity by Step3 and Step5 of the optimal lasting figure generating algorithm of two dimension in table 2
Determine.For example, Step3 and Step5 employ the Edmonds algorithms reality of Gabow et al. propositions in table 2 in the embodiment of the present invention
It is existing, thus the time complexity for obtaining the algorithm be about O (2 × (| A |+| V | × log | V |)).
From Step1 in table 2 | A |=2 × | E*|, and two-dimentional optimal rigidity is understood by the characteristic of the optimal rigid figure of two dimension
Scheme R=(V, E*,W*, P) side number | E*| equal to 2 × | V | -3, so the time complexity of above-mentioned algorithm again about O (2 × (4 ×
|V|+|V|×log|V|))。
Best two-dimentional optimal lasting figure generating algorithm needs the order of calculating matrix in the prior art, therefore its time is complicated
Degree at least O (| V |3), the time complexity of the optimal lasting figure generating algorithm of two dimension is more in contrast, in the embodiment of the present invention
It is low.
Assume that all UAV can serve as formation pilotage people in forming into columns in the embodiment of the present invention, therefore above-mentioned two dimension is optimal
Lasting figure is the optimal information interaction topology of the formation.
The unmanned plane formation optimal information provided in an embodiment of the present invention of citing checking below interacts the excellent of Topology g eneration method
More property and validity.
1st, the optimal information interaction topology that the small-scale two dimension of unmanned plane composition is persistently formed into columns.
Assuming that a small-scale two dimension persistently form into columns by 5 frame unmanned planes (UAV1, UAV2, UAV3, UAV4, UAV5) constitute,
The communication range of each aircraft is 1600m.They need to be formed and keep a two-dimensional space formation as shown in Fig. 2 (a), its
In to number respectively be { 1,2,3,4,5 } for flight pattern position, UAV1, UAV2, UAV3, UAV4 and UAV5 are respectively the 1 of formation
Number, No. 2, No. 3, No. 4 and No. 5 positions；The distance between they are as shown in Fig. 2 (a)；If using No. 4 positions in formation as
Shown in coordinate such as Fig. 2 (b) of each position in the origin of plane coordinate system, then the formation S that the two dimension is persistently formed into columns.
Based on above-mentioned optimization method, make PLANE positions be configured to P={ 1,2,3,4,5 } first, then build corresponding logical
Communication network topology D=(V, A, W, P), then the arc in D is converted into side, obtain corresponding assign and weigh non-directed graph G=(V, E, W, P).
Two-dimentional optimal rigid picture capturing method according to table 1 is obtained shown in G two-dimentional optimal rigidity figure R, such as Fig. 3 (a).According to table
Two-dimentional optimal lasting picture capturing method shown in 2 obtains the optimal lasting figure T of the corresponding two dimensions of R.Wherein, obtained by Step3 in table 2
Shortest arborescence T '1As shown in Fig. 3 (b)；As the shortest arborescence T ' obtained by Step5 in table 22As shown in Fig. 3 (c)；Finally will
T′1In v0And v0Go out arc delete after obtain T1, by T '2In v0And v0Go out arc delete after obtain T2, then by T1And T2Merge
Shown in obtained digraph T such as Fig. 3 (d).Because the sum of arc in T is identical with the sum on side in R, the bar of Step7 in table 2 is met
Part, therefore T is the corresponding optimal lasting figures of a two dimension of R.Again because the in-degree of the node v1 in T is this two maintenance for 0, i.e. T
The optimal information interaction topology formed into columns long, UAV1 is as formation pilotage people, and corresponding formation communication cost is 4912.
Contrastively, the optimal information interaction topology that now best two-dimentional optimal lasting figure generating algorithm is obtained in the art is such as
Shown in Fig. 4, UAV5 is as formation pilotage people, and its corresponding formation communication cost is also 4912, but its time complexity is than above-mentioned
The time complexity of two-dimentional optimal lasting picture capturing method shown in table 2 is higher.
2nd, the optimal information interaction topology that the extensive two dimension of unmanned plane composition is persistently formed into columns.
Assuming that two dimension persistently form into columns by 16 frame unmanned planes (UAV1, UAV2, UAV3, UAV4, UAV5, UAV6, UAV7,
UAV8, UAV9, UAV10, UAV11, UAV12, UAV13, UAV14, UAV15 and UAV16) composition, the communication range of each aircraft
It is 1600m, the formation needs to be formed and keeps two-dimensional space formation as shown in Figure 5.Compile respectively flight pattern position therein
Number be { 1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16 }, UAV1, UAV2, UAV3, UAV4, UAV5, UAV6,
UAV7, UAV8, UAV9, UAV10, UAV11, UAV12, UAV13, UAV14, UAV15 and UAV16 respectively in formation No. 1, No. 2,
No. 3, No. 4, No. 5, No. 6, No. 7, No. 8, No. 9, No. 10, No. 11, No. 12, No. 13, No. 14, No. 15 and No. 16 positions；Each aircraft
It is shown in relative position such as Fig. 5 (a) of two-dimensional space, if using No. 10 positions as the origin of plane coordinate system, it is every in formation
Shown in the coordinate of individual position such as Fig. 5 (b).
Based on above-mentioned optimization method, make first PLANE positions be configured to P=1,2,3,4,5,6,7,8,9,10,11,12,
13,14,15,16 }, corresponding communication network topology D=(V, A, W, P) is then built, then the arc in communication network topology D is turned
Change side into, obtain corresponding assign and weigh non-directed graph G=(V, E, W, P), the two-dimentional optimal rigid picture capturing method according to table 1 is obtained
It is shown to two-dimentional optimal rigidity the figure R, such as Fig. 6 (a) for assigning power non-directed graph G.Two-dimentional optimal lasting figure acquisition side according to table 2
Method obtains the optimal lasting figure T of the corresponding two dimensions of R, and detailed process is as follows：
(1) as the shortest arborescence T ' obtained by Step31As shown in Fig. 6 (b).
(2) as the shortest arborescence T ' obtained by Step52As shown in Fig. 6 (c).
(3) as obtained by Step6 by T1And T2Shown in the digraph T such as Fig. 6 (d) merged.Wherein, T1It is by T '1In
V0And v0Go out obtained digraph, T after arc is deleted2It is by T '2In v0And v0Go out obtained digraph after arc is deleted.
(4) due to the side e in R39Corresponding two arc a39And a93Not in T, and v in T3And v9In-degree be equal to
2, that is, Step11 condition is met, therefore：First by a39It is added in T, as a result as shown in the arc of the dotted line type in Fig. 6 (e)；So
The node v that in-degree is less than 2 is found afterwards2So that from v2To v9There is a road (v with fewest number of hops2,v9)；Then by this road
On all arcs reversely, as a result as shown in the arc of the dot-dash line style in Fig. 6 (f).
(5) due to the side e in R815Corresponding two arc a815And a158Not in T, and v in T8And v15In-degree all
Equal to 2, that is, Step11 condition is met, therefore：First by a815It is added in T, as a result such as the arc institute of the dotted line type in Fig. 6 (g)
Show；Then the node v that in-degree is less than 2 is found5So that from v5To v15There is a road (v with fewest number of hops5,v7,v8,v15)；
Then by all arcs on this road reversely, as a result as shown in the arc of the dot-dash line style in Fig. 6 (h).Due to the number of arc in now T
Amount is identical with the quantity on side in R, meets Step12 condition, therefore T is R two-dimentional optimal lasting figure.Again because of the node in T
v1In-degree for 0, i.e. T be exactly optimal information interaction topology that this two dimension is persistently formed into columns, UAV1 is corresponding as formation pilotage people
Formation communication cost is 17714.
Contrastively, the optimal information interaction topology that best two-dimentional optimal lasting figure generating algorithm is obtained in the prior art is such as
Shown in Fig. 7, UAV13 is as formation pilotage people, and its corresponding formation communication cost is also 17714, but its time complexity is than upper
The time complexity for stating two-dimentional optimal lasting picture capturing method shown in table 2 is higher.
The embodiment of the present invention additionally provides a kind of unmanned plane formation optimal information interaction Topology g eneration device, as shown in figure 8,
Including：
Power non-directed graph acquisition module M1 is assigned, the flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane is obtained
Communication network topology and its corresponding tax is taken to weigh non-directed graph；
The optimal rigid figure acquisition module M2 of two dimension, nothing is weighed for calculating described assign according to the optimal rigid figure generating algorithm of two dimension
To the two-dimentional optimal rigidity figure of figure；
The topological acquisition module M3 of optimal information interaction, for according to the optimal rigidity figure of the two dimension and the optimal lasting figure of two dimension
Generating algorithm obtains the optimal lasting figure of two dimension, and the optimal lasting figure of two dimension is the optimal information interaction topology of the formation.
Alternatively, the topological acquisition module M3 of optimal information interaction obtains two using the optimal lasting figure generating algorithm of two dimension
The step of tieing up optimal lasting figure includes：
The optimal rigidity figure R of the two dimension is converted into the first digraph DR；
In first digraph DRThe middle virtual pilotage people's node V of increase0Obtain the second digraph DR’；The virtual navigator
Person's node V0With first digraph DRIn be provided with two between each node and go out arc, and virtual pilotage people's node
V0Every weights for going out arc it is identical and more than the weights sum of whole arcs in first digraph；
Obtain second digraph DR' the first shortest arborescence T1', and delete the first shortest arborescence T1' in
Virtual pilotage people's node V0And its it is corresponding go out arc obtain the 3rd digraph T1；
Delete second digraph DR' in correspondence the first shortest arborescence T1' in all arcs and its it is corresponding reversely
Arc obtains the 4th digraph DR”；
Obtain the 4th digraph DR" the second shortest arborescence T2', and delete the second shortest arborescence T2' in
Virtual pilotage people's node V0And its it is corresponding go out arc obtain the 5th digraph T2；
Merge the 3rd digraph T1With the 5th digraph T2Obtain the 6th digraph T and described 6th oriented
Scheme the quantity m of arc in T；
When the optimal rigidity figure R of two dimension number of nodes meets m=2n-3 for n and m, then the 6th digraph T
For the optimal lasting figure of two dimension.
Alternatively, the topological acquisition module M3 of optimal information interaction obtains two using the optimal lasting figure generating algorithm of two dimension
The step of tieing up optimal lasting figure also includes：
The number of nodes for rigidly scheming R when the two dimension is optimal is n and m meets m<When (2n-3), the two dimension is obtained optimal
The corresponding two articles of arcs in the l articles side in rigidity figure R, symbol l initial value is 1；
If two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
When the in-degree of corresponding two node in the l articles side is not equal to 2, any one in-degree in two nodes is less than
The arc that enters of the connection of 2 node that node in addition is added in the 6th digraph and obtains the 7th digraph；
If the quantity m of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 7th digraph.
Alternatively, the topological acquisition module M3 of optimal information interaction obtains two using the optimal lasting figure generating algorithm of two dimension
The step of tieing up optimal lasting figure also includes：
When the in-degree of corresponding two node in the l articles side is equal to 2, the corresponding one article of arc in the l articles side is added to
The 7th digraph is obtained in six digraphs；The arc is that first node corresponding to the l articles side enters arc；
The second section that in-degree is less than 2 is found in the 7th digraph in the way of in-degree 0 after first in-degree 1
Point, and obtain the path between the Section Point and the first node with fewest number of hops；
The corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
If the quantity m of arc is equal to (2n-3) in the 8th digraph, the 8th digraph is held for two dimension is optimal
Scheme long；Otherwise data in 6th digraph are updated to the data in the 8th digraph.
Alternatively, the topological acquisition module M3 of optimal information interaction obtains two using the optimal lasting figure generating algorithm of two dimension
The step of tieing up optimal lasting figure also includes：
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 6th digraph T.
It should be noted that unmanned plane formation optimal information provided in an embodiment of the present invention interaction Topology g eneration device with it is upper
The method of stating is one-to-one relation, and the implementation detail of the above method is equally applicable to said apparatus, and the embodiment of the present invention is no longer
Said system is described in detail.
In the specification of the present invention, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can be with
Put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that disclose to simplify the present invention and help to understand one or many in each inventive aspect
It is individual, above in the description of the exemplary embodiment of the present invention, each feature of the invention is grouped together into single sometimes
In embodiment, figure or descriptions thereof.It is intended to however, should not explain the method for the disclosure in reflection is following：Want
Seek the application claims features more more than the feature being expressly recited in each claim of protection.More precisely, such as
As following claims reflect, inventive aspect is all features less than single embodiment disclosed above.
Therefore, it then follows thus claims of embodiment are expressly incorporated in the embodiment, wherein each right will
Ask itself all as separate embodiments of the invention.
It will be understood by those skilled in the art that can adaptively be changed to the module in the equipment in embodiment
And they are provided in the different one or more equipment of the embodiment.Can the module or unit in embodiment or
Component is combined into a module or unit or component, and can be divided into multiple submodule or subelement or subgroup in addition
Part.Except at least some in such feature and/or process or unit are mutually exclusive parts, any combinations can be used
To all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and such disclosed any side
All processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint right will
Ask, make a summary and accompanying drawing) disclosed in each feature can be by offer is identical, equivalent or the alternative features of similar purpose are replaced.
Although in addition, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of be the same as Example does not mean in of the invention
Within the scope of and form different embodiments.For example, in the following claims, times of embodiment claimed
One of meaning mode can be used in any combination.
The present invention all parts embodiment can be realized with hardware, or with one or more processor run
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that can use in practice
In the equipment of microprocessor or digital signal processor (DSP) to realize a kind of browser terminal according to embodiments of the present invention
Some or all parts some or all functions.The present invention is also implemented as being used to perform side as described herein
The some or all equipment or program of device (for example, computer program and computer program product) of method.It is such
Realizing the program of the present invention can store on a computer-readable medium, or can have the shape of one or more signal
Formula.Such signal can be downloaded from internet website and obtained, and either be provided or with any other shape on carrier signal
Formula is provided.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not
Element listed in the claims or step.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and coming real by means of properly programmed computer
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (10)
1. a kind of unmanned plane formation optimal information interacts Topology g eneration method, it is characterised in that methods described includes：
The flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane obtains communication network topology and its corresponding tax power
Non-directed graph；
The two-dimentional optimal rigidity figure for assigning power non-directed graph is calculated according to the optimal rigid figure generating algorithm of two dimension；
The optimal lasting figure of two dimension, the two dimension are obtained according to the optimal rigidity figure of the two dimension and the optimal lasting figure generating algorithm of two dimension
Optimal lasting figure is the optimal information interaction topology of the formation.
2. unmanned plane formation optimal information according to claim 1 interacts Topology g eneration method, it is characterised in that described two
Tieing up optimal lasting figure generating algorithm includes：
The optimal rigid figure of the two dimension is converted into the first digraph；
Increase virtual pilotage people's node in first digraph and obtain the second digraph；Virtual pilotage people's node and institute
State and be provided with the first digraph between each node two and go out arc, and every of the virtual pilotage people's node power for going out arc
Value is identical and more than the weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes and is virtually navigated described in first shortest arborescence
Person's node and its it is corresponding go out arc obtain the 3rd digraph；
Delete in second digraph all arcs and its corresponding opposite arc in correspondence first shortest arborescence and obtain the
Four digraphs；
The second shortest arborescence of the 4th digraph is obtained, and deletes and is virtually navigated described in second shortest arborescence
Person's node and its it is corresponding go out arc obtain the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains arc in the 6th digraph and the 6th digraph
Quantity m；
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m=2n-3, then the 6th digraph is two dimension
Optimal lasting figure.
3. unmanned plane formation optimal information according to claim 2 interacts Topology g eneration method, it is characterised in that described two
Tieing up optimal lasting figure generating algorithm also includes：
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m<When (2n-3), the optimal rigidity figure of the two dimension is obtained
In the corresponding two articles of arcs in the l articles side, symbol l initial value is 1；
If two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
When the in-degree of corresponding two node in the l articles side is not equal to 2, any one in-degree in two nodes is less than 2
The arc that enters of the connection of node that node in addition is added in the 6th digraph and obtains the 7th digraph；
If the quantity m of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is the optimal lasting figure of two dimension；
Otherwise data in 6th digraph are updated to the data in the 7th digraph.
4. unmanned plane formation optimal information according to claim 3 interacts Topology g eneration method, it is characterised in that described two
Tieing up optimal lasting figure generating algorithm also includes：
When the in-degree of corresponding two node in the l articles side is equal to 2, the corresponding one article of arc in the l articles side is added into the 6th has
The 7th digraph is obtained into figure；The arc is that first node corresponding to the l articles side enters arc；
The Section Point that in-degree is less than 2 is found in the 7th digraph in the way of in-degree 0 after first in-degree 1, and
Obtain the path between the Section Point and the first node with fewest number of hops；
The corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
If the quantity m of arc is equal to (2n-3) in the 8th digraph, the 8th digraph is the optimal lasting figure of two dimension；
Otherwise data in 6th digraph are updated to the data in the 8th digraph.
5. the unmanned plane formation optimal information interaction Topology g eneration method according to claim 3 or 4, it is characterised in that institute
Stating the optimal lasting figure generating algorithm of two dimension also includes：
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judges that the l articles side is corresponding two articles
Whether arc is in the 6th digraph.
6. a kind of unmanned plane formation optimal information interacts Topology g eneration device, it is characterised in that described device includes：
Power non-directed graph acquisition module is assigned, the flight pattern for needing the two dimension constituted persistently to form into columns according to unmanned plane, which is obtained, to communicate
Network topology and its corresponding tax power non-directed graph；
The optimal rigid figure acquisition module of two dimension, non-directed graph is weighed for calculating described assign according to the optimal rigid figure generating algorithm of two dimension
The optimal rigidity figure of two dimension；
The topological acquisition module of optimal information interaction, for being calculated according to the optimal rigidity figure of the two dimension and the optimal lasting figure generation of two dimension
Method obtains the optimal lasting figure of two dimension, and the optimal lasting figure of two dimension is the optimal information interaction topology of the formation.
7. unmanned plane formation optimal information according to claim 6 interacts Topology g eneration device, it is characterised in that it is described most
The step of topological acquisition module of excellent information exchange obtains two-dimentional optimal lasting figure using the optimal lasting figure generating algorithm of two dimension includes：
The optimal rigid figure of the two dimension is converted into the first digraph；
Increase virtual pilotage people's node in first digraph and obtain the second digraph；Virtual pilotage people's node and institute
State and be provided with the first digraph between each node two and go out arc, and every of the virtual pilotage people's node power for going out arc
Value is identical and more than the weights sum of whole arcs in first digraph；
The first shortest arborescence of second digraph is obtained, and deletes and is virtually navigated described in first shortest arborescence
Person's node and its it is corresponding go out arc obtain the 3rd digraph；
Delete in second digraph all arcs and its corresponding opposite arc in correspondence first shortest arborescence and obtain the
Four digraphs；
The second shortest arborescence of the 4th digraph is obtained, and deletes and is virtually navigated described in second shortest arborescence
Person's node and its it is corresponding go out arc obtain the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains arc in the 6th digraph and the 6th digraph
Quantity m；
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m=2n-3, then the 6th digraph is two dimension
Optimal lasting figure.
8. unmanned plane formation optimal information according to claim 7 interacts Topology g eneration device, it is characterised in that it is described most
The step of topological acquisition module of excellent information exchange obtains two-dimentional optimal lasting figure using the optimal lasting figure generating algorithm of two dimension is also wrapped
Include：
When the number of nodes of the optimal rigid figure of the two dimension is n and m meets m<When (2n-3), the optimal rigidity figure of the two dimension is obtained
In the corresponding two articles of arcs in the l articles side, symbol l initial value is 1；
If two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
When the in-degree of corresponding two node in the l articles side is not equal to 2, any one in-degree in two nodes is less than 2
The arc that enters of the connection of node that node in addition is added in the 6th digraph and obtains the 7th digraph；
If the quantity m of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is the optimal lasting figure of two dimension；
Otherwise data in 6th digraph are updated to the data in the 7th digraph.
9. unmanned plane formation optimal information according to claim 8 interacts Topology g eneration device, it is characterised in that it is described most
The step of topological acquisition module of excellent information exchange obtains two-dimentional optimal lasting figure using the optimal lasting figure generating algorithm of two dimension is also wrapped
Include：
When the in-degree of corresponding two node in the l articles side is equal to 2, the corresponding one article of arc in the l articles side is added into the 6th has
The 7th digraph is obtained into figure；The arc is that first node corresponding to the l articles side enters arc；
The Section Point that in-degree is less than 2 is found in the 7th digraph in the way of in-degree 0 after first in-degree 1, and
Obtain the path between the Section Point and the first node with fewest number of hops；
The corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
If the quantity m of arc is equal to (2n-3) in the 8th digraph, the 8th digraph is the optimal lasting figure of two dimension；
Otherwise data in 6th digraph are updated to the data in the 8th digraph.
10. unmanned plane formation optimal information interaction Topology g eneration device according to claim 8 or claim 9, it is characterised in that institute
State the step of topological acquisition module of optimal information interaction obtains two-dimentional optimal lasting figure using the optimal lasting figure generating algorithm of two dimension
Also include：
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judges that the l articles side is corresponding two articles
Whether arc is in the 6th digraph.
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| CN112904847A (en) * | 2021-01-18 | 2021-06-04 | 中国人民解放军海军航空大学 | Two-dimensional formation communication topology generation and expression method based on minimum weak rigidity |
| CN112904847B (en) * | 2021-01-18 | 2022-12-13 | 中国人民解放军海军航空大学 | Two-dimensional formation communication topology generation and expression method based on minimum weak rigidity |
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