CN107094314A - Optimal communication Topology g eneration method and device in multiple no-manned plane collaboration formation - Google Patents
Optimal communication Topology g eneration method and device in multiple no-manned plane collaboration formation Download PDFInfo
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Abstract
Optimal communication Topology g eneration method and device in being formed into columns the invention provides a kind of collaboration of multiple no-manned plane.Methods described includes：The flight pattern for needing the three-dimensional constituted persistently to form into columns according to unmanned plane obtains formation traffic diagram and its corresponding tax power non-directed graph；The three-dimensional optimal rigidity figure for assigning power non-directed graph is calculated according to three-dimensional optimal rigid picture capturing method；Three-dimensional optimal lasting figure is obtained according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting picture capturing method；The optimal lasting figure of three-dimensional is the optimal communication topology of the formation if it can make the in-degree of unmanned plane corresponding node in the optimal lasting figure of the three-dimensional of pilotage people in the presence of one for 0, and the unmanned plane is the pilotage people of the formation.Described device is realized based on method as described above.The lasting formation communication cost during keeping rank of forming into columns of three-dimensional that the present invention can constitute multiple no-manned plane is minimum.
Description
Technical field
Optimal communication topology in being formed into columns the present invention relates to communication technical field, more particularly to a kind of collaboration of multiple no-manned plane is raw
Into method and device.
Background technology
In cruising phase of taking off, all unmanned planes (UAV) generally pass through point-to-point communication linkage
(communicationlinks) carry out information exchange, with formed certain flight pattern (formationshape or
Formationgeometry), and keep this flight pattern continue towards target area flight.Wherein used communication linkage quilt
The communication topology that referred to as many UAV collaborations are formed into columns, meanwhile, the collection of all available communication linkages between UAV is collectively referred to as many UAV and assisted
With the formation traffic diagram (FormationCommunicationGraph) formed into columns.
Because the communication distance between any two positions UAV in communication topology is different, cause in communication topology difference UAV it
Between communication linkage there are different communication costs and the corresponding battery electric quantities of UAV or fuel can be consumed.In practical application, two
The communication cost of communication linkage is influenceed by several factors between UAV, for example, mission requirements, communication distance, flying quality, peace
Full property 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 by optimizing multiple no-manned plane
Formation communication topology is cooperateed with, reducing the consumption of the electricity or fuel of UAV battery becomes the technical problem of urgent need to resolve.
The content of the invention
For defect of the prior art, the optimal communication topology in being formed into columns the invention provides a kind of collaboration of multiple no-manned plane
Generation method and device, for it is three-dimensional persistently form into columns in only part unmanned plane can as the formation pilotage people and whether there is
It is man-machine to cause three-dimensional formation communication cost during flight pattern safe flight is kept of persistently forming into columns when not breaking down
It is minimum.
In a first aspect, the optimal communication Topology g eneration side in being formed into columns the embodiments of the invention provide a kind of collaboration of multiple no-manned plane
Method, methods described includes：
Formation traffic diagram and its corresponding tax are obtained according to the flight pattern that unmanned plane needs the three-dimensional constituted persistently to form into columns
Weigh non-directed graph；
The three-dimensional optimal rigidity figure for assigning power non-directed graph is calculated according to three-dimensional optimal rigid picture capturing method；
Three-dimensional optimal lasting figure is obtained according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting picture capturing method；
If it can make the in-degree of unmanned plane corresponding node in the optimal lasting figure of the three-dimensional of pilotage people in the presence of one for 0
The optimal lasting figure of three-dimensional is the optimal communication topology of the formation, and the unmanned plane is the pilotage people of the formation.
Alternatively, methods described also includes：
If the in-degree of corresponding node is in the optimal lasting figure of the three-dimensional in the absence of a unmanned plane that can make pilotage people
0, then judge whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of three-dimensional in-degree
For 1；If so, the node vj that another in-degree is less than 3 is then found in the optimal lasting figure of the three-dimensional, node vj and node
There is the road of a fewest number of hops between vi；All arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal hold after reverse
Figure is the optimal communication topology of the formation long, and the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, then judging whether a unmanned plane that can make pilotage people correspondence section in the optimal lasting figure of the three-dimensional
Point vi in-degree is 2；
If so, then finding the node vj that another in-degree is less than 3 in the optimal lasting figure of the three-dimensional, node vj is arrived
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the three-dimensional
Being found in optimal lasting figure between the node vk that another in-degree is less than 3, node vk to node vi has a least hops
Several roads；It is the optimal of the formation that all arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal lasting figure after reverse
Communication topology, the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, the unmanned plane of pilotage people can be made by then finding any one, unmanned plane correspondence in the optimal lasting figure of three-dimensional
Node vi in-degree is 3, and node vj, node vj that an in-degree is less than 3 are then found in the optimal lasting figure of the three-dimensional
To the road between node vi with a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue described three
Tie up and the node vk that another in-degree is less than 3 is found in optimal lasting figure, there is one at least between node vk to node vi
The road of hop count；All arcs on the road of above-mentioned fewest number of hops is reverse；Continuation finds other one in the optimal lasting figure of the three-dimensional
Individual in-degree is less than the road between 3 node vl, node vl to node vi with a fewest number of hops；By above-mentioned fewest number of hops
The optimal communication topology that new three-dimensional optimal lasting figure is the formation, the corresponding nothings of node vi are obtained after all arcs are reverse on road
The man-machine pilotage people for the formation.
Alternatively, the optimal lasting picture capturing method of the three-dimensional includes：
The optimal rigid figure of the three-dimensional 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
Three 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 T1；
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 T2；
All arcs and its corresponding opposite arc in correspondence second shortest arborescence is deleted in the 4th digraph to obtain
To the 6th digraph；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes virtual described in the 3rd shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph obtain the 8th digraph T and
The quantity m of arc in the 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes meets m=3n-6 for n and m, then the 8th digraph T
For the optimal lasting figure of three-dimensional；
When meeting m<When (3n-6), the corresponding two articles of arcs in the l articles side in the optimal rigid figure of three-dimensional, symbol l are obtained
Initial value be 1；
If two articles of arcs are not in the 8th 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 3, in-degree in two nodes is less than to 3 node
The arc that enters of connection that node in addition be added in the 8th digraph and obtain the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
Alternatively, the optimal lasting picture capturing method of the three-dimensional also includes：
When the in-degree of corresponding two node in the l articles side is equal to 3, the corresponding one article of arc in the l articles side is added to
The 9th digraph is obtained in eight digraphs；The arc is that first node corresponding to the l articles side enters arc；
In-degree is less than 3 one is found in the 9th digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section 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 tenth digraph；
If the quantity m of arc is equal to (3n-6) in the tenth digraph, the tenth digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the tenth digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 8th digraph T.
The third aspect, the optimal communication Topology g eneration dress in being formed into columns the embodiments of the invention provide a kind of collaboration of multiple no-manned plane
Put, described device includes：
Power non-directed graph acquisition module is assigned, the flight pattern for needing the three-dimensional constituted persistently to form into columns according to unmanned plane is obtained
Formation traffic diagram and its corresponding tax power non-directed graph；
Three-dimensional optimal rigid figure acquisition module, it is undirected for calculating the tax power according to the optimal rigid picture capturing method of three-dimensional
The three-dimensional optimal rigidity figure of figure；
Three-dimensional optimal lasting figure acquisition module, for being obtained according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting figure
Method obtains three-dimensional optimal lasting figure；
Optimal communication topology acquisition module, for being held in the presence of a unmanned plane that can make pilotage people the three-dimensional is optimal
Determine that the optimal communication that the optimal lasting figure of the three-dimensional is the formation is topological when the in-degree of corresponding node is 0 in long figure, and the nothing
The man-machine pilotage people for the formation.
Alternatively, if in the absence of a unmanned plane that can make pilotage people in the optimal lasting figure of the three-dimensional corresponding node
In-degree is 0, and the topological acquisition module of the optimal communication is additionally operable to：
Judge whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of the three-dimensional
In-degree is 1；
If so, then found in the optimal lasting figure of the three-dimensional another in-degree be less than 3 node vj, node vj with
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional most after reverse
Excellent lasting figure is the optimal communication topology of the formation, and the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, then judging whether a unmanned plane that can make pilotage people correspondence section in the optimal lasting figure of the three-dimensional
Point vi in-degree is 2；
If so, then finding the node vj that another in-degree is less than 3 in the optimal lasting figure of the three-dimensional, node vj is arrived
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the three-dimensional
Being found in optimal lasting figure between the node vk that another in-degree is less than 3, node vk to node vi has a least hops
Several roads；It is the optimal of the formation that all arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal lasting figure after reverse
Communication topology, the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, the unmanned plane of pilotage people can be made by then finding any one, unmanned plane correspondence in the optimal lasting figure of three-dimensional
Node vi in-degree is 3, and node vj, node vj that an in-degree is less than 3 are then found in the optimal lasting figure of the three-dimensional
To the road between node vi with a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue described three
Tie up and the node vk that another in-degree is less than 3 is found in optimal lasting figure, there is one at least between node vk to node vi
The road of hop count；All arcs on the road of above-mentioned fewest number of hops is reverse；Continuation finds other one in the optimal lasting figure of the three-dimensional
Individual in-degree is less than the road between 3 node vl, node vl to node vi with a fewest number of hops；By above-mentioned fewest number of hops
The optimal communication topology that new three-dimensional optimal lasting figure is the formation, the corresponding nothings of node vi are obtained after all arcs are reverse on road
The man-machine pilotage people for the formation.
Alternatively, the optimal lasting figure acquisition module of the three-dimensional performs following steps and obtains the optimal lasting figure bag of three-dimensional
Include：
The optimal rigid figure of the three-dimensional 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
Three 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 T1；
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 T2；
All arcs and its corresponding opposite arc in correspondence second shortest arborescence is deleted in the 4th digraph to obtain
To the 6th digraph；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes virtual described in the 3rd shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph obtain the 8th digraph T and
The quantity m of arc in the 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes meets m=3n-6 for n and m, then the 8th digraph T
For the optimal lasting figure of three-dimensional；When meeting m<When (3n-6), the l articles side obtained in the optimal rigid figure of three-dimensional is corresponding two articles
Arc, symbol l initial value is 1；
If two articles of arcs are not in the 8th 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 3, in-degree in two nodes is less than to 3 node
The arc that enters of connection that node in addition be added in the 8th digraph and obtain the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
Alternatively, the optimal lasting figure acquisition module of the three-dimensional, which is additionally operable to execution following steps, includes：
When the in-degree of corresponding two node in the l articles side is equal to 3, the corresponding one article of arc in the l articles side is added to
The 9th digraph is obtained in eight digraphs；The arc is that first node corresponding to the l articles side enters arc；
In-degree is less than 3 one is found in the 9th digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section 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 tenth digraph；
If the quantity m of arc is equal to (3n-6) in the tenth digraph, the tenth digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the tenth digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 8th digraph T.
Compared with correlation technique, the present invention can calculate the three-dimensional of multiple no-manned plane composition persistently within the shorter time
The optimal communication topology of formation, and disclosure satisfy that the constraint bar of " only part unmanned plane can be as the pilotage people formed into columns "
Part so that the formation communication cost that the three-dimensional of multiple no-manned plane composition is persistently 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
There is the accompanying drawing used required in technology description to be 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 of the optimal communication Topology g eneration method during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns
Schematic diagram；
Fig. 2 (a)~(b) is the three-dimensional formation and relative position persistently formed into columns of 5 frame UAV compositions in the embodiment of the present invention
Schematic diagram；Wherein, No. 1, No. 2, No. 3, No. 4 and No. 5 position of UAV1, UAV2, UAV3, UAV4 and UAV5 respectively in formation, and
And only UAV2 and UAV4 can be used as the pilotage people formed into columns；
Fig. 3 (a)~(g) is that the optimal communication that the three-dimensional for obtaining 5 frame UAV compositions in Fig. 2 using Fig. 1 methods is persistently formed into columns is opened up
The process schematic flutterred；It is final to use UAV2 as the pilotage people of formation, therefore " only UAV2 and UAV4 can be used as volume to satisfaction
The constraints of the pilotage people of team "；
Fig. 4 is the topological schematic diagram of the three-dimensional optimal communication persistently formed into columns of 5 frame UAV compositions in Fig. 2 that prior art is obtained；
Using UAV5 as the pilotage people of formation, therefore the pact of " only UAV2 and UAV4 can be as the pilotage people formed into columns " can not be met
Beam condition；
Fig. 5 (a)~(b) is the formation and relative position that the three-dimensional of 16 frame UAV compositions in the embodiment of the present invention is persistently formed into columns
Put schematic diagram；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, No. 8,9
Number, No. 10, No. 11, No. 12, No. 13, No. 14, No. 15 and No. 16 positions, and only UAV5 and UAV9 can be used as form into columns neck
Boat person；
Fig. 6 (a)~(h) is to obtain the three-dimensional optimal communication persistently formed into columns that 16 frame UAV in Fig. 5 are constituted using Fig. 1 methods
The process schematic of topology；It is final to use UAV5 as the pilotage people of formation, therefore " only UAV5 and UAV9 can conduct for satisfaction
The constraints of the pilotage people of formation "；
Fig. 7 is the three-dimensional optimal communication topology signal persistently formed into columns of 16 frame UAV compositions in Fig. 5 that prior art is obtained
Figure；Using unmanned plane UAV13 as the pilotage people of formation, thus can not meet " only UAV5 and UAV9 can as formation
The constraints of pilotage people "；
Fig. 8 is the optimal communication Topology g eneration device block diagram during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns.
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.
Optimal communication Topology g eneration method in a kind of multiple no-manned plane collaboration formation that Fig. 1 provides for one embodiment of the invention
Schematic flow sheet.It should be noted that only part unmanned plane can be with during multiple no-manned plane collaboration is formed into columns in the embodiment of the present invention
As the pilotage people of formation, and used under the scene that does not all break down of whole unmanned planes.As shown in figure 1, this method includes：
S1, the flight pattern for needing the three-dimensional constituted persistently to form into columns according to unmanned plane obtain formation traffic diagram and its corresponding
Assign power non-directed graph.
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
Formation traffic diagram.Wherein, the distance between any two unmanned plane is within the communication range of unmanned plane, then two unmanned plane
Between there is two-way communication linkage, the communication cost of each communication linkage determines by corresponding communication distance.
Assuming that n framves UAV by the one-way communication between UAV to form and keep the flight pattern that a three-dimensional is persistently formed into columns
S.It is { 1,2 ..., n } that n position is numbered respectively in flight pattern S, and the height of each position is not exclusively.What this formed into columns
Formation traffic diagram can be represented with a weighted and directed diagraph D=(V, A, W, P)：
(1) V={ vi, 1≤i≤n is the node set in figure, and wherein vi represents UAVi.
(2)It is the arc set 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 (UAVPositionConfiguration).It is { 1,2 ..., n } that wherein n position in flight pattern S is numbered respectively,
Then 1≤pi≤ n represents particular locations of the UAVi in flight pattern S.
In order to keep needing to use corresponding communication linkage progress information exchange to keep them between flight pattern, UAV
Between constant distance, but be not necessarily required to use all communication linkages, that is, form into columns for the communication topology T=kept rank
(V,A*,W*, P) be formation traffic diagram D=(V, A, W, P) a subgraph, whereinRepresent that UAVi needs to send certainly
Body information allows UAVj to adjust inherent parameters according to the information received to keep the constant distance with UAVi to UAVj, i.e.,
UAVj has the distance restraint of one and UAVi.In communication topology T, node viIn-degree represent that UAVi is needed from how many other
UAV receive informations, that is, the quantity with other UAV distance restraint having, are designated as d-(i)；Node viOut-degree represent UAVi need
Information is sent to how many other UAV, be designated as d+(i)。
S2, the three-dimensional optimal rigidity for weighing non-directed graph according to the three-dimensional optimal rigid picture capturing method calculating tax are schemed.
The several concepts used below to the embodiment of the present invention are explained.
Three-dimensional Rigidity figure refers to：Make pi(t)∈R3UAVi is represented in the position of t, it is assumed that in formation between the UAV of part
By two-way communication to keep the distance between them constant.If any two UAV is at any time in formation motion process
Constant distance can be kept, i.e.,WithAll meet | | pi(t)-pj(t) | |=dij(d thereinijTo be normal
Amount, represent UAVi and UAVj between need keep distance), then this form into columns communication topology T=(V, E*,W*, P) and it is three-dimensional firm
Property figure, it is on the contrary then for 3-d deformable figure.
It should be noted that the different Three-dimensional Rigidity figures with same node point may not be unique.
Three-dimensional minimum rigidity figure refers to：If a Three-dimensional Rigidity figure arbitrarily deletes a line and is unable to maintain its firm
Property, then this Three-dimensional Rigidity figure is called three-dimensional minimum rigidity figure.Or, nodes are n, and the Three-dimensional Rigidity figure that side number is 3n-6 is three
Tie up minimum rigidity figure.It should be noted that the three-dimensional minimum rigidity figure with same node point may not also be unique.
Three-dimensional optimal rigid figure refers to：If each side right value sum of a three-dimensional minimum rigidity figure is with same node point
All Three-dimensional Rigidity figures in it is minimum, then this three-dimensional minimum rigidity figure is three-dimensional optimal rigidity figure (Three-
DimensionalOptimalRigidGraph,3DORG)。
Obtained in the embodiment of the present invention using the existing three-dimensional optimal rigid picture capturing method based on three-dimensional stiffness matrix
Three-dimensional optimal rigidity figure, this algorithm is operated in formation in each UAV.It is as shown in table 1 the step of this algorithm by taking UAVi as an example.
Table 1
It should be noted that the time complexity of three-dimensional optimal rigid picture capturing method is mainly determined by Step4 shown in table 1
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.Because during three-dimensional optimal rigid picture capturing method operation, best situation is each shown in table 1
Add MCNewline can meet the requirement in Step6.Now in table 1 Step4 only need to calculate n=3 × | V | -6 times, and i-th
M line number m during secondary calculatingi=i, therefore the time complexity of three-dimensional optimal rigid picture capturing method is at least：
S3, three-dimensional optimal lasting figure obtained according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting picture capturing method.
Obtain three-dimensional optimal using three-dimensional optimal rigidity figure and three-dimensional optimal lasting picture capturing method in the embodiment of the present invention
The specific steps of lasting figure include：
S31, by the three-dimensional it is optimal rigidity figure R be converted into the first digraph；
S32, increase virtual pilotage people's node in first digraph and obtain the second digraph；The virtual pilotage people
Three are provided between each node go out arc, and every of virtual pilotage people's node in node and first digraph
The weights for going out arc are identical and more than the weights sum of whole arcs in first digraph；
S33, the first shortest arborescence for obtaining second digraph, and delete described in first shortest arborescence
Virtual pilotage people's node and its it is corresponding go out arc obtain the 3rd digraph；
S34, delete in second digraph in correspondence first shortest arborescence all arcs and its it is corresponding reversely
Arc obtains the 4th digraph；
S35, the second shortest arborescence for obtaining the 4th digraph, and delete described in second shortest arborescence
Virtual pilotage people's node and its it is corresponding go out arc obtain the 5th digraph；
S36, delete in the 4th digraph in correspondence second shortest arborescence all arcs and its it is corresponding reversely
Arc obtains the 6th digraph；
S37, the 3rd shortest arborescence for obtaining the 6th digraph, and delete described in the 3rd shortest arborescence
Virtual pilotage people's node and its it is corresponding go out arc obtain the 7th digraph；S38, merging the 3rd digraph, the described 5th have
The quantity m of arc in the 8th digraph and the 8th digraph T is obtained to figure and the 7th digraph；
When S39, the number of nodes for rigidly scheming R when the three-dimensional is optimal are n and m meets m=3n-6, then the described 8th is oriented
It is three-dimensional optimal lasting figure to scheme T.
In one embodiment of the invention, three-dimensional optimal lasting picture capturing method also obtains three-dimensional optimal hold using the in-degree of node
The specific steps of long figure also include：
When the number of nodes of the optimal rigid figure of the three-dimensional is n and m meets m<When (3n-6), the three-dimensional is obtained optimal just
The corresponding two articles of arcs in the l articles side in property figure；Symbol l initial value is 1
If two articles of arcs are not in the 8th 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 3, in-degree in two nodes is less than to 3 node
The arc that enters of connection that node in addition be added in the 8th digraph and obtain the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
In one embodiment of the invention, three-dimensional optimal lasting picture capturing method also obtains three-dimensional optimal hold using the in-degree of node
The specific steps of long figure also include：
When the in-degree of corresponding two node in the l articles side is equal to 3, the corresponding one article of arc in the l articles side is added to
The 9th digraph is obtained in eight digraphs；The arc is that first node corresponding to the l articles side enters arc；
In-degree is less than 3 one is found in the 9th digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section 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 tenth digraph；
If the quantity m of arc is equal to (3n-6) in the tenth digraph, the tenth digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the tenth digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 8th digraph T
Based on described above, the embodiments of the invention provide one kind based on three-dimensional optimal rigidity figure and shortest arborescence
The three of (Three-DimensionalOptimalRigidGraphandMinimumCostArboresc ence, 3DORG_MCA)
Optimal lasting picture capturing method is tieed up, this algorithm is operated in formation in each UAV.By taking UAVi as an example, this algorithm steps such as institute of table 2
Show.
Table 2
It should be noted that shortest arborescence (MinimumCostArborescence, MCA) is referred in the present embodiment
The minimum spanning tree of one weighted digraph.The first algorithm for solving MCA problems is Edmonds algorithms, its time complexity
For O (E × V), later Gabow et al. has also been proposed a faster realization for being directed to Edmonds algorithms, and its time complexity is
O(|E|+|V|×log|V|)。
It will be appreciated that the three-dimensional optimal lasting picture capturing method main time by Step3, Step5 and Step7 in table 2
Complexity is determined.For example, Step3, Step5 and Step7 employ Gabow et al. propositions in table 2 in the embodiment of the present invention
Edmonds algorithms realize so that the time complexity for obtaining the algorithm be about O (3 × (| A |+| V | × log | V |)).
The Step1 in table 2 | A |=2 × | E*|, and three-dimensional optimal rigidity is understood by the characteristic of three-dimensional optimal rigid figure
Scheme R=(V, E*,W*, P) side number | E*| equal to 3 × | V | -6, so the time complexity of above-mentioned algorithm again about O (3 × (6 ×
|V|+|V|×log|V|))。
It is three-dimensional optimal in the embodiment of the present invention compared with three-dimensional optimal lasting figure generating algorithm best in correlation technique
The time complexity of lasting picture capturing method is lower, because prior art algorithm needs the order of calculating matrix, therefore its time is multiple
Miscellaneous degree at least O (| V |3)。
If S4, in the presence of a unmanned plane that can make pilotage people, the in-degree of corresponding node is in the optimal lasting figure of the three-dimensional
0 optimal lasting figure of three-dimensional is the optimal communication topology of the formation, and the unmanned plane is the pilotage people of the formation.
Judge whether a unmanned plane that can make pilotage people in the optimal lasting figure of the three-dimensional in the embodiment of the present invention
The in-degree of middle corresponding node is 0；If so, then the optimal lasting figure of the three-dimensional is the optimal communication topology of the formation, and the nothing
The man-machine pilotage people for the formation；
If the in-degree of corresponding node is in the optimal lasting figure of the three-dimensional in the absence of a unmanned plane that can make pilotage people
0, then judge whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of three-dimensional in-degree
For 1；
If so, then found in the optimal lasting figure of the three-dimensional another in-degree be less than 3 node vj, node vj with
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional most after reverse
Excellent lasting figure is the optimal communication topology of the formation, and the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, then judging whether a unmanned plane that can make pilotage people correspondence section in the optimal lasting figure of the three-dimensional
Point vi in-degree is 2；
If so, then finding the node vj that another in-degree is less than 3 in the optimal lasting figure of the three-dimensional, node vj is arrived
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the three-dimensional
Being found in optimal lasting figure between the node vk that another in-degree is less than 3, node vk to node vi has a least hops
Several roads；It is the optimal of the formation that all arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal lasting figure after reverse
Communication topology, the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, the unmanned plane of pilotage people can be made by then finding any one, unmanned plane correspondence in the optimal lasting figure of three-dimensional
Node vi in-degree is 3, and node vj, node vj that an in-degree is less than 3 are then found in the optimal lasting figure of the three-dimensional
To the road between node vi with a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue described three
Tie up and the node vk that another in-degree is less than 3 is found in optimal lasting figure, there is one at least between node vk to node vi
The road of hop count；All arcs on the road of above-mentioned fewest number of hops is reverse；Continuation finds other one in the optimal lasting figure of the three-dimensional
Individual in-degree is less than the road between 3 node vl, node vl to node vi with a fewest number of hops；By above-mentioned fewest number of hops
The optimal communication topology that new three-dimensional optimal lasting figure is the formation, the corresponding nothings of node vi are obtained after all arcs are reverse on road
The man-machine pilotage people for the formation.
Optimal communication Topology g eneration method in multiple no-manned plane collaboration formation provided in an embodiment of the present invention has following excellent
Point：
(1) time complexity is lower.
(2) most suitable unmanned plane can be automatically selected as the pilotage people of formation according to " formation pilotage people constraint ".
Optimal communication Topology g eneration side in the multiple no-manned plane collaboration formation provided in an embodiment of the present invention of citing checking below
The superiority and validity of method.
1st, the communication topology optimization that the small-scale three-dimensional of multiple no-manned plane composition is persistently formed into columns.
Assuming that small-scale three-dimensional persistently forms into columns is made up of 5 frame UAV, each UAV communication range is 1600m and not
Can occur any failure, they are needed to be formed and keep a three dimensions formation as shown in Figure 2, and all positions are numbered respectively
For { 1,2,3,4,5 }, they are shown in relative position Fig. 2 (a) of three dimensions.For example, with above-mentioned three in the embodiment of the present invention
No. 4 positions in dimension space formation are as formation reference point, then above-mentioned three-dimensional persistently flight pattern S such as Fig. 2 (b) is shown.Wherein,
No. 1, No. 2, No. 3, No. 4 and No. 5 position of UAV1, UAV2, UAV3, UAV4 and UAV5 respectively in formation, and only UAV2 and
UAV4 can be used as the pilotage people formed into columns.
In the embodiment of the present invention, the algorithm according to Fig. 1, make first initial UAV positions be configured to P=1,2,3,4,
5 }, corresponding formation traffic diagram D=(V, A, W, P) is built；Arc in D is converted into side and obtains corresponding tax power non-directed graph G=
(V,E,W,P)；The three-dimensional optimal rigidity figure R for assigning power non-directed graph G is generated then in conjunction with algorithm shown in table 1 (shown in such as Fig. 3 (a)).
The corresponding optimal lasting figure T of three-dimensional of the optimal rigidity figure R of above-mentioned three-dimensional are generated using algorithm shown in table 2.Wherein, algorithm shown in table 2
Shortest arborescence T obtained by middle Step31' as shown in Fig. 3 (b)；Shortest arborescence T in algorithm shown in table 2 obtained by Step52' such as
Shown in Fig. 3 (c)；Shortest arborescence T in algorithm shown in table 2 obtained by Step73' as shown in Fig. 3 (d).Again by shortest arborescence
T1'、T2' and T3' in virtual pilotage people's node v0And v0Go out arc delete respectively obtain digraph T1、T2And T3.It has been then combined with
To figure T1、T2And T3Shown in obtained digraph T such as Fig. 3 (e).Due to the sum of arc in digraph T and three-dimensional optimal rigidity figure
Side is total identical in R, meets the condition of the Step9 of algorithm shown in table 2, therefore T is that the corresponding three-dimensional of R is optimal persistently
Figure.
Now, the UAV2 and UAV4 of pilotage people the corresponding node v in T can be made2And v4In-degree be 2, that is, be unsatisfactory for " compile
Team's pilotage people's constraint ", therefore the present invention will be adjusted to T to meet " formation pilotage people constraint ", detailed process is as follows：
(1) UAV2 of pilotage people can be made by finding first, UAV2 corresponding node v in T2In-degree be 2, then sought in T
The node v for looking for an in-degree to be less than 31So that the node of this in T v1To node v2Between there is the road (v of fewest number of hops1,v2)；
By all arcs reversely, are obtained shown in new T such as Fig. 3 (f), now T interior joints v on the road of above-mentioned fewest number of hops in T2In-degree
Through being changed into 1；
(2) continue to find the node v that another in-degree is less than 3 in T1So that the node of this in T v1To node v2Between
Road (v with a fewest number of hops1,v3,v2)；By all arcs reversely, obtain new T such as figure on the road of above-mentioned fewest number of hops in T
3 (g) is shown, now T interior joints v2In-degree have been changed to 0；Again because v2Representative UAV2 can be as formation pilotage people
T meets " formation pilotage people constraint ", therefore three-dimensional optimal lasting figure T is exactly the optimal communication topology that this three-dimensional is persistently formed into columns, right
The formation communication cost answered is 8640.
Contrastively, the optimal communication topology that the optimal communication topology optimized algorithm of effect is obtained in the prior art is such as Fig. 4 institutes
Show, its corresponding formation communication cost is also 8640, but due to not considering " formation pilotage people constraint ", therefore existing algorithms selection
UAV5 is unsatisfactory for the constraints of " only UAV2 and UAV4 can be as the pilotage people formed into columns " as formation pilotage people；Separately
Time complexity of the outer its time complexity also than generation method provided in an embodiment of the present invention is higher.
2nd, the communication topology optimization that the extensive three-dimensional of multiple no-manned plane composition is persistently formed into columns.
Assuming that extensive three-dimensional persistently forms into columns is made up of 16 frame UAV, each UAV communication range be 1600m and
Will not occur any failure, above-mentioned 16 frame UAV needs to be formed and keeps three dimensions formation S as shown in Figure 5, all positions point
Bian Hao not be { 1,2 ..., 16 }, they are shown in relative position Fig. 5 (a) of three dimensions.For example, in the embodiment of the present invention with
No. 10 positions in above-mentioned three dimensions formation are as formation reference point, then above-mentioned three-dimensional persistently flight pattern S such as Fig. 5 (b) institutes
Show.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, No. 8, No. 9, No. 10,
No. 11, No. 12, No. 13, No. 14, No. 15 and No. 16 positions, and only UAV5 and UAV9 can be used as the pilotage people formed into columns.
In one embodiment of the invention, the algorithm according to Fig. 1, make first initial UAV positions be configured to P=1,2 ...,
16 }, corresponding formation traffic diagram D=(V, A, W, P) is built；Arc in D is converted into side and obtains corresponding tax power non-directed graph G=
(V,E,W,P)；The three-dimensional optimal rigidity figure R for assigning power non-directed graph G is generated then in conjunction with algorithm shown in table 1 (shown in such as Fig. 6 (a)).
The corresponding optimal lasting figure T of three-dimensional of the optimal rigidity figure R of above-mentioned three-dimensional are generated using algorithm shown in table 2.Wherein, algorithm shown in table 2
Shortest arborescence T obtained by middle Step31' as shown in Fig. 6 (b)；Shortest arborescence T in algorithm shown in table 2 obtained by Step52' such as
Shown in Fig. 6 (c)；Shortest arborescence T in algorithm shown in table 2 obtained by Step73' as shown in Fig. 6 (d).By T1' in v0And v0's
Go out the T obtained after arc is deleted1, by T2' in v0And v0Go out arc delete after T2, by T3' in v0And v0Go out arc delete after
T3, by above-mentioned shortest arborescence T1、T2And T3Merge shown in obtained digraph T such as Fig. 6 (e).Due to arc in digraph T
Sum and three-dimensional optimal rigidity scheme the total identical of side in R, meet the condition of the Step9 of algorithm shown in table 2, therefore T is R pairs
The optimal lasting figure of a three-dimensional answered.
Now, the UAV5 and UAV9 of pilotage people the corresponding node v in T can be made5And v9In-degree be 3, that is, be unsatisfactory for " compile
Team's pilotage people's constraint ", therefore the present invention will be adjusted to T to meet " formation pilotage people constraint ", detailed process is as follows：
(1) UAV5 of pilotage people can be made by finding first, UAV5 corresponding node v in T5In-degree be 3, then sought in T
The node v for looking for an in-degree to be less than 31So that the node of this in T v1To node v5Between there is the road (v of fewest number of hops1,v3,
v5)；By all arcs reversely, are obtained shown in new T such as Fig. 6 (f), now T interior joints v on the road of above-mentioned fewest number of hops in T5Enter
Degree has been changed to 2；
(2) continue to find the node v that another in-degree is less than 3 in T1So that the node of this in T v1To node v5Between
Road (v with a fewest number of hops1,v6,v5)；By all arcs reversely, obtain new T such as figure on the road of above-mentioned fewest number of hops in T
6 (g) is shown, now T interior joints v5In-degree have been changed to 1；
(3) continue to find the node v that another in-degree is less than 3 in T1So that the node of this in T v1To node v5Between
Road (v with a fewest number of hops1,v4,v13,v8,v5)；By all arcs on the road of above-mentioned fewest number of hops it is reverse after obtain new T
As shown in Fig. 6 (h), now T interior joints v5In-degree have been changed to 0；Again because v5Representative UAV5 can navigate as forming into columns
Person is that T meets " formation pilotage people constraint ", therefore three-dimensional optimal lasting figure T is exactly that this three-dimensional optimal communication persistently formed into columns is opened up
Flutter, corresponding formation communication cost is 32102.
Contrastively, the optimal communication topology that the optimal communication topology optimized algorithm of effect is obtained in the prior art is such as Fig. 7 institutes
Show, its corresponding formation communication cost is also 32102, but due to not considering " formation pilotage people constraint ", therefore existing algorithm is selected
UAV13 is selected as formation pilotage people, that is, is unsatisfactory for the constraints of " only UAV5 and UAV9 can be as the pilotage people formed into columns "；
Other time complexity of its time complexity also than generation method provided in an embodiment of the present invention is higher.
The embodiment of the present invention additionally provides the optimal communication Topology g eneration device during a kind of multiple no-manned plane collaboration is formed into columns, and is applicable
In it is described it is three-dimensional persistently form into columns in part unmanned plane can as the formation pilotage people, remainder unmanned plane cannot function as this
The scene of the pilotage people of formation.As shown in figure 8, described device includes：
Power non-directed graph acquisition module M1 is assigned, the flight pattern for needing the three-dimensional constituted persistently to form into columns according to unmanned plane is obtained
Formation traffic diagram and its corresponding tax is taken to weigh non-directed graph；
Three-dimensional optimal rigid figure acquisition module M2, nothing is weighed for calculating described assign according to the optimal rigid picture capturing method of three-dimensional
To the three-dimensional optimal rigidity figure of figure；
Three-dimensional optimal lasting figure acquisition module M3, for being obtained according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting figure
Method is taken to obtain three-dimensional optimal lasting figure；
Optimal communication topology acquisition module M4, for optimal in the three-dimensional in the presence of a unmanned plane that can make pilotage people
The optimal communication topology that the optimal lasting figure of the three-dimensional is the formation is determined when the in-degree of corresponding node is 0 in lasting figure, and is somebody's turn to do
Unmanned plane is the pilotage people of the formation.
Alternatively, the unmanned plane of the pilotage people corresponding node in the optimal lasting figure of the three-dimensional can made in the absence of one
When in-degree is 0, the topological acquisition module of the optimal communication is additionally operable to：
Judge whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of the three-dimensional
In-degree is 1；
If so, then found in the optimal lasting figure of the three-dimensional another in-degree be less than 3 node vj, node vj with
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional most after reverse
Excellent lasting figure is the optimal communication topology of the formation, and the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, then judging whether a unmanned plane that can make pilotage people correspondence section in the optimal lasting figure of the three-dimensional
Point vi in-degree is 2；
If so, then finding the node vj that another in-degree is less than 3 in the optimal lasting figure of the three-dimensional, node vj is arrived
There is the road of a fewest number of hops between node vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the three-dimensional
Being found in optimal lasting figure between the node vk that another in-degree is less than 3, node vk to node vi has a least hops
Several roads；It is the optimal of the formation that all arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal lasting figure after reverse
Communication topology, the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, the unmanned plane of pilotage people can be made by then finding any one, unmanned plane correspondence in the optimal lasting figure of three-dimensional
Node vi in-degree is 3, and node vj, node vj that an in-degree is less than 3 are then found in the optimal lasting figure of the three-dimensional
To the road between node vi with a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue described three
Tie up and the node vk that another in-degree is less than 3 is found in optimal lasting figure, there is one at least between node vk to node vi
The road of hop count；All arcs on the road of above-mentioned fewest number of hops is reverse；Continuation finds other one in the optimal lasting figure of the three-dimensional
Individual in-degree is less than the road between 3 node vl, node vl to node vi with a fewest number of hops；By above-mentioned fewest number of hops
The optimal communication topology that new three-dimensional optimal lasting figure is the formation, the corresponding nothings of node vi are obtained after all arcs are reverse on road
The man-machine pilotage people for the formation.
Alternatively, the optimal lasting figure M3 acquisition modules of the three-dimensional perform following steps and obtain the optimal lasting figure of three-dimensional
Including：
The optimal rigid figure of the three-dimensional 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
Three 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 T1；
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 T2；
All arcs and its corresponding opposite arc in correspondence second shortest arborescence is deleted in the 4th digraph to obtain
To the 6th digraph；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes virtual described in the 3rd shortest arborescence
Pilotage people's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph obtain the 8th digraph T and
The quantity m of arc in the 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes meets m=3n-6 for n and m, then the 8th digraph T
For the optimal lasting figure of three-dimensional；When meeting m<When (3n-6), the l articles side obtained in the optimal rigid figure of three-dimensional is corresponding two articles
Arc, symbol l initial value is 1；
If two articles of arcs are not in the 8th 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 3, in-degree in two nodes is less than to 3 node
The arc that enters of connection that node in addition be added in the 8th digraph and obtain the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the 9th digraph.
Alternatively, the optimal lasting figure acquisition module M3 of the three-dimensional, which is additionally operable to execution following steps, includes：
When the in-degree of corresponding two node in the l articles side is equal to 3, the corresponding one article of arc in the l articles side is added to
The 9th digraph is obtained in eight digraphs；The arc is that first node corresponding to the l articles side enters arc；
In-degree is less than 3 one is found in the 9th digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1
Individual Section 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 tenth digraph；
If the quantity m of arc is equal to (3n-6) in the tenth digraph, the tenth digraph is held for three-dimensional is optimal
Scheme long；Otherwise data in 8th digraph are updated to the data in the tenth digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding
Whether two articles of arcs are in the 8th digraph T.
It should be noted that the optimal communication Topology g eneration during multiple no-manned plane collaboration provided in an embodiment of the present invention is formed into columns is filled
Put and be equally applicable to said apparatus, the embodiment of the present invention with the one-to-one relation of the above method, the implementation detail of the above method
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 or step listed in the claims.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 substitution；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 (8)
1. a kind of optimal communication Topology g eneration method in multiple no-manned plane collaboration formation, it is characterised in that methods described includes：
The flight pattern for needing the three-dimensional constituted persistently to form into columns according to unmanned plane obtains formation traffic diagram and its corresponding tax power nothing
Xiang Tu；
The three-dimensional optimal rigidity figure for assigning power non-directed graph is calculated according to three-dimensional optimal rigid picture capturing method；
Three-dimensional optimal lasting figure is obtained according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting picture capturing method；
It is described if it can make the in-degree of unmanned plane corresponding node in the optimal lasting figure of the three-dimensional of pilotage people in the presence of one for 0
Three-dimensional optimal lasting figure is the optimal communication topology of the formation, and the unmanned plane is the pilotage people of the formation.
2. the optimal communication Topology g eneration method in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
Methods described also includes：
If the in-degree in the absence of a unmanned plane that can make pilotage people corresponding node in the optimal lasting figure of the three-dimensional is 0,
The in-degree for judging whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of the three-dimensional is 1；
If so, the node vj that another in-degree is less than 3 is then found in the optimal lasting figure of the three-dimensional, node vj and node
There is the road of a fewest number of hops between vi；All arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal hold after reverse
Figure is the optimal communication topology of the formation long, and the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, then judging whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of the three-dimensional
In-degree be 2；
If so, then finding node vj, node vj to node that another in-degree is less than 3 in the optimal lasting figure of the three-dimensional
There is the road of a fewest number of hops between vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue optimal in the three-dimensional
Found in lasting figure between the node vk that another in-degree is less than 3, node vk to node vi with fewest number of hops
Road；All arcs on the road of above-mentioned fewest number of hops are obtained into the optimal communication that new three-dimensional optimal lasting figure is the formation after reverse
Topology, the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, the unmanned plane of pilotage people can be made by then finding any one, unmanned plane corresponding node in the optimal lasting figure of three-dimensional
Vi in-degree is 3, and the node vj that an in-degree is less than 3, node vj to section are then found in the optimal lasting figure of the three-dimensional
There is the road of a fewest number of hops between point vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the three-dimensional most
Being found in excellent lasting figure between the node vk that another in-degree is less than 3, node vk to node vi has a fewest number of hops
Road；All arcs on the road of above-mentioned fewest number of hops is reverse；Continuation is found another in the optimal lasting figure of the three-dimensional and entered
There is the road of a fewest number of hops between degree the node vl less than 3, node vl to node vi；By on the road of above-mentioned fewest number of hops
The optimal communication topology that new three-dimensional optimal lasting figure is the formation, the corresponding unmanned planes of node vi are obtained after all arcs are reverse
For the pilotage people of the formation.
3. the optimal communication Topology g eneration method in multiple no-manned plane collaboration formation according to claim 1, it is characterised in that
The optimal lasting picture capturing method of three-dimensional includes：
The optimal rigid figure of the three-dimensional 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 three in the first digraph between each node 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 T1；
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 T2；
Delete in the 4th digraph all arcs and its corresponding opposite arc in correspondence second shortest arborescence and obtain the
Six digraphs；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes and is virtually navigated described in the 3rd shortest arborescence
Person's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph and obtain the 8th digraph T and described
The quantity m of arc in 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes is n and m meets m=3n-6, then the 8th digraph T is three
Tie up optimal lasting figure；
When meeting m<When (3n-6), the corresponding two articles of arcs in the l articles side in the optimal rigid figure of three-dimensional are obtained, symbol l's is first
Initial value is 1；
If two articles of arcs are not in the 8th 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 3, in-degree in two nodes is less than to the company of 3 node
The arc that enters for connecing that other node is added in the 8th digraph and obtains the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is three-dimensional optimal lasting figure；
Otherwise data in 8th digraph are updated to the data in the 9th digraph.
4. the optimal communication Topology g eneration method in multiple no-manned plane collaboration formation according to claim 3, it is characterised in that
The optimal lasting picture capturing method of three-dimensional also includes：
When the in-degree of corresponding two node in the l articles side is equal to 3, the corresponding one article of arc in the l articles side is added into the 8th has
The 9th digraph is obtained into figure；The arc is that first node corresponding to the l articles side enters arc；
In-degree is found in the 9th digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1 and is less than one of 3 the
Two nodes, 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 tenth digraph；
If the quantity m of arc is equal to (3n-6) in the tenth digraph, the tenth digraph is three-dimensional optimal lasting figure；
Otherwise data in 8th digraph are updated to the data in the tenth digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding two articles
Whether arc is in the 8th digraph T.
5. the optimal communication Topology g eneration device in a kind of multiple no-manned plane collaboration formation, it is characterised in that described device includes：
Power non-directed graph acquisition module is assigned, the flight pattern for needing the three-dimensional constituted persistently to form into columns according to unmanned plane, which is obtained, forms into columns
Traffic diagram and its corresponding tax power non-directed graph；
Three-dimensional optimal rigid figure acquisition module, non-directed graph is weighed for calculating described assign according to three-dimensional optimal rigid picture capturing method
Three-dimensional optimal rigidity figure；
Three-dimensional optimal lasting figure acquisition module, for according to the optimal rigidity figure of the three-dimensional and three-dimensional optimal lasting picture capturing method
Obtain three-dimensional optimal lasting figure；
Optimal communication topology acquisition module, for the unmanned plane of pilotage people can be made in the optimal lasting figure of the three-dimensional in the presence of one
The in-degree of middle corresponding node determines that the optimal communication that the optimal lasting figure of the three-dimensional is the formation is topological when being 0, and the unmanned plane
For the pilotage people of the formation.
6. the optimal communication Topology g eneration device in multiple no-manned plane collaboration formation according to claim 5, it is characterised in that
It is described if be 0 in the absence of the in-degree of a unmanned plane that can make pilotage people corresponding node in the optimal lasting figure of the three-dimensional
Optimal communication topology acquisition module is additionally operable to：
Judge whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of three-dimensional in-degree
For 1；
If so, the node vj that another in-degree is less than 3 is then found in the optimal lasting figure of the three-dimensional, node vj and node
There is the road of a fewest number of hops between vi；All arcs on the road of above-mentioned fewest number of hops are obtained into new three-dimensional optimal hold after reverse
Figure is the optimal communication topology of the formation long, and the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, then judging whether a unmanned plane that can make pilotage people corresponding node vi in the optimal lasting figure of the three-dimensional
In-degree be 2；
If so, then finding node vj, node vj to node that another in-degree is less than 3 in the optimal lasting figure of the three-dimensional
There is the road of a fewest number of hops between vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue optimal in the three-dimensional
Found in lasting figure between the node vk that another in-degree is less than 3, node vk to node vi with fewest number of hops
Road；All arcs on the road of above-mentioned fewest number of hops are obtained into the optimal communication that new three-dimensional optimal lasting figure is the formation after reverse
Topology, the corresponding unmanned planes of node vi are the pilotage people of the formation；
If it is not, the unmanned plane of pilotage people can be made by then finding any one, unmanned plane corresponding node in the optimal lasting figure of three-dimensional
Vi in-degree is 3, and the node vj that an in-degree is less than 3, node vj to section are then found in the optimal lasting figure of the three-dimensional
There is the road of a fewest number of hops between point vi；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the three-dimensional most
Being found in excellent lasting figure between the node vk that another in-degree is less than 3, node vk to node vi has a fewest number of hops
Road；All arcs on the road of above-mentioned fewest number of hops is reverse；Continuation is found another in the optimal lasting figure of the three-dimensional and entered
There is the road of a fewest number of hops between degree the node vl less than 3, node vl to node vi；By on the road of above-mentioned fewest number of hops
The optimal communication topology that new three-dimensional optimal lasting figure is the formation, the corresponding unmanned planes of node vi are obtained after all arcs are reverse
For the pilotage people of the formation.
7. the optimal communication Topology g eneration device in multiple no-manned plane collaboration formation according to claim 5 or 6, its feature exists
In the optimal lasting figure acquisition module of three-dimensional, which performs the following steps acquisition optimal lasting figure of three-dimensional, to be included：
The optimal rigid figure of the three-dimensional 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 three in the first digraph between each node 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 T1；
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 T2；
Delete in the 4th digraph all arcs and its corresponding opposite arc in correspondence second shortest arborescence and obtain the
Six digraphs；
The 3rd shortest arborescence of the 6th digraph is obtained, and deletes and is virtually navigated described in the 3rd shortest arborescence
Person's node and its it is corresponding go out arc obtain the 7th digraph T3；
Merge the 3rd digraph, the 5th digraph and the 7th digraph and obtain the 8th digraph T and described
The quantity m of arc in 8th digraph T；
When the optimal rigidity figure R of three-dimensional number of nodes is n and m meets m=3n-6, then the 8th digraph T is three
Tie up optimal lasting figure；When meeting m<When (3n-6), the corresponding two articles of arcs in the l articles side in the optimal rigid figure of three-dimensional are obtained,
Symbol l initial value is 1；
If two articles of arcs are not in the 8th 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 3, in-degree in two nodes is less than to the company of 3 node
The arc that enters for connecing that other node is added in the 8th digraph and obtains the 9th digraph；
If the quantity m of arc is equal to (3n-6) in the 9th digraph, the 9th digraph is three-dimensional optimal lasting figure；
Otherwise data in 8th digraph are updated to the data in the 9th digraph.
8. multiple no-manned plane according to claim 7 cooperates with formation optimal communication Topology g eneration device, it is characterised in that described
Three-dimensional optimal lasting figure acquisition module, which is additionally operable to execution following steps, to be included：
When the in-degree of corresponding two node in the l articles side is equal to 3, the corresponding one article of arc in the l articles side is added into the 8th has
The 9th digraph is obtained into figure；The arc is that first node corresponding to the l articles side enters arc；
In-degree is found in the 9th digraph in the way of the last in-degree 0 of first 2 degree of reentering of in-degree 1 and is less than one of 3 the
Two nodes, 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 tenth digraph；
If the quantity m of arc is equal to (3n-6) in the tenth digraph, the tenth digraph is three-dimensional optimal lasting figure；
Otherwise data in 8th digraph are updated to the data in the tenth digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (3n-6), continuation judges that the l articles side is corresponding two articles
Whether arc is in the 8th digraph T.
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