CN107135104A - Nobody has man-machine formation information interaction Topology Optimization Method and device - Google Patents
Nobody has man-machine formation information interaction Topology Optimization Method and device Download PDFInfo
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- CN107135104A CN107135104A CN201710318874.5A CN201710318874A CN107135104A CN 107135104 A CN107135104 A CN 107135104A CN 201710318874 A CN201710318874 A CN 201710318874A CN 107135104 A CN107135104 A CN 107135104A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L41/12—Discovery or management of network topologies
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
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Abstract
The invention provides one kind, nobody has man-machine formation information interaction Topology Optimization Method and device.Methods described includes：When nobody has man-machine formation to occur communication failure, the type of communication failure is obtained；According to the type of communication failure, deleting communication failure arc or communication failure node optimize formation traffic diagram to obtain in formation traffic diagram；Obtain the two-dimentional optimal lasting figure of optimization formation traffic diagram；If being 0 in the presence of an in-degree for having the man-machine corresponding node in the optimal lasting figure of two dimension, it is determined that the optimal lasting figure of two dimension be that nobody have the optimization information exchange of man-machine formation topological this；Otherwise, the optimal lasting figure of two dimension is adjusted by arc reverse operating, it is determined that the two-dimentional optimal lasting figure after adjustment is that nobody have the optimization information exchange of man-machine formation topological this.The present invention can make the two dimension of unmanned someone's machine composition persistently form into columns after occurring communication failure rapid Optimum information exchange topology to avoid crashing and recover flight pattern.
Description
Technical field
The present invention relates to communication technical field, more particularly to it is a kind of nobody-have man-machine formation information interaction topological optimization side
Method and device.
Background technology
In cruising phase of taking off, nobody-there is in man-machine formation each aircraft generally by point-to-point communication linkage
(communication links) carries out information exchange, with formed certain flight pattern (formation shape or
Formation geometry), and keep this flight pattern to continue towards target area flight.Wherein used communication linkage
Set is referred to as information exchange topological (information exchange topology), the communication topology formed into columns
(communication topology), connection topological (connection topology), message structure (Information
Structure) or information topology (InformationTopology), they be nobody-there are in man-machine formation any two to fly
A part between machine in all available communication linkage set.For unified presentation, " information exchange topology " used below this
One title.Meanwhile, by nobody-collection that has all available communication linkages of man-machine formation is collectively referred to as the formation traffic diagram formed into columns
(Formation Communication Graph)。
Due to any two positions unmanned plane in information exchange topology and/or have it is man-machine between communication distance it is different, cause
Communication linkage has different communication costs and can consume the corresponding battery electricity of aircraft between different aircrafts in information exchange topology
Amount or fuel.In practical application, the communication cost of communication linkage is by several factors between two airplanes (unmanned plane has man-machine)
Influence, for example, mission requirements, communication distance, flying quality, security etc..To simplify explanation, above-mentioned communication cost is directly used
Communication distance is represented.Meanwhile, it is limited again per airplane (unmanned plane has man-machine) available battery electric quantity or fuel.This
Outside, communication failure may occur for some or multiple aircrafts during formation flight so that current information interacts certain in topology
A little communication linkages can not be used, so as to cause aircraft to continue to keep flight pattern, aircraft is resulted even in when serious
Collision accident.Therefore, how by optimize nobody-there is man-machine formation information to interact topology, to avoid occurring aircraft collision accident
And recover flight pattern, while reducing the consumption of the battery electric quantity or fuel of aircraft becomes the technical problem of urgent need to resolve.
The content of the invention
For the defect in correlation technique, the invention provides it is a kind of nobody-have man-machine formation information interaction topological optimization
Method and device, for nobody-someone's machine composition two dimension persistently form into columns occur communication failure after optimize this two dimension persistently
The information exchange topology of formation, to avoid occurring aircraft collision accident and recover flight pattern, while reducing the battery electricity of aircraft
The consumption of amount or fuel.
In a first aspect, the embodiments of the invention provide it is a kind of nobody-have man-machine formation information interaction Topology Optimization Method, institute
The method of stating includes：
When it is described nobody-there is man-machine formation to occur communication failure when, obtain the type of the communication failure；
According to the type of the communication failure in formation traffic diagram deleting communication failure arc or communication failure node to obtain
Take optimization formation traffic diagram；
Obtain the two-dimentional optimal lasting figure of the optimization formation traffic diagram；
If being 0 in the presence of an in-degree for having the man-machine corresponding node in the optimal lasting figure of the two dimension, it is determined that described two
Tie up optimal lasting figure be this nobody-have the optimization information exchange topology of man-machine formation；
Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, it is determined that two-dimentional optimal after adjustment
Lasting figure be this nobody-have the optimization information exchange of man-machine formation topological.
Alternatively, it is described to include the step of be adjusted by arc reverse operating to the optimal lasting figure of the two dimension：
Judge whether that an in-degree for having the man-machine corresponding node vi in the optimal lasting figure of the two dimension is 1；
If so, the node vj that another in-degree is 1 is then found in the optimal lasting figure of the two dimension, node vj and section
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 are obtained new two-dimentional optimal after reverse
Persistently figure be this nobody-have the optimization information exchange topology of man-machine formation, node vi is corresponding the man-machine neck for the formation
Boat person；
If it is not, then finding any one has man-machine, this has the man-machine corresponding node vi in the optimal lasting figure of two dimension in-degree
For 2, tool between the node vj that an in-degree is 1, node vj to node vi is then found in the optimal lasting figure of the two dimension
There is the road of a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the optimal lasting figure of the two dimension
Find the road between the node vk that another in-degree is 1, node vk to node vi with a fewest number of hops；By it is above-mentioned most
Obtained after all arcs are reverse on the road of few hop count new two-dimentional optimal lasting figure be this nobody-have the optimization information of man-machine formation
Interaction topology, node vi is corresponding the man-machine pilotage people for the formation.
Alternatively, the type according to communication failure deleting communication failure arc or communication event in formation traffic diagram
Barrier node is included with obtaining the step of optimization formation traffic diagram：
If the type of the communication failure is unicast transmission machine failure, corresponding node in the formation traffic diagram is deleted
It is all go out arc；
If the type of the communication failure is unicast receiver failure, corresponding node in the formation traffic diagram is deleted
It is all enter arc；
Connect if the type of the communication failure is unicast receiver and transmitter failure, broadcast transmitter failure or broadcast
Receipts machine failure, then delete all of corresponding node in the formation traffic diagram and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two aircraft, the chain in the formation traffic diagram is deleted
Connect corresponding arc；
In the formation traffic diagram, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted
Remove, then the unmanned plane, which is exited, forms into columns and return alone airport；If some has man-machine corresponding node deleted or the node
All arcs are deleted, then described to have man-machine exit to form into columns and follow formation reference track to fly in a different flying height
OK.
Alternatively, the step of two-dimentional optimal lasting figure of the acquisition optimization formation traffic diagram includes：
Calculate the two-dimentional optimal rigidity figure of the optimization formation traffic diagram；
By each edge in the optimal rigid figure of the two dimension be converted into belonging to the optimization formation traffic diagram an arc or
Two the identical but in opposite direction arc of weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to each to fly
The arc that goes out of machine corresponding node obtains the second digraph；
Its first shortest arborescence is calculated according to second digraph, and will be virtual in first shortest arborescence
Pilotage people's node goes out arc deletion with it and obtains the 3rd digraph；
All arcs and its corresponding opposite arc in the 3rd digraph are deleted from second digraph and obtain
Four digraphs；
Its second shortest arborescence is calculated according to the 4th digraph, and will be virtual in second shortest arborescence
Pilotage people's node goes out arc deletion with it and obtains the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains the quantity m of the 6th digraph and its 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 step of two-dimentional optimal lasting figure of the acquisition optimization formation traffic diagram 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
Corresponding belong to arc set in first digraph one article in the l articles side or two articles of arcs in property figure, symbol l initial value
For 1；
If this article or two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
If the in-degree of corresponding two node in the l articles side is not equal to 2 and one of in-degree is less than 2 node and enters arc
Belong to arc set in first digraph, then the arc that enters that the in-degree is less than to 2 node is added in the 6th digraph
Obtain the 7th digraph；
If the quantity of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is optimal persistently for two dimension
Figure；Otherwise data in 6th digraph are updated to the data in the 7th digraph.
Alternatively, the step of two-dimentional optimal lasting figure of the acquisition optimization formation traffic diagram also includes：
If this l articles in-degree in corresponding two node when being equal to 2 and this l articles corresponding one article of arc belong to described
Arc set in one digraph, the corresponding one article of arc in the l articles side is added in the 6th digraph and obtains the 7th digraph, and note should
The node that arc is pointed to is first node；
In the 6th digraph find in-degree be less than 2 a Section Point so that the Section Point with it is described
There is the path of fewest number of hops between first node, and the opposite arc of the corresponding all arcs in path of the fewest number of hops all exists
In first digraph in arc set, the corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
Otherwise the corresponding one article of arc in the l articles side added is deleted from the 7th digraph, is deleted from optimization formation traffic diagram
Except the corresponding two articles of arcs in the l articles side, recalculate；
If the quantity m of arc is equal to (2n-3) in the 8th digraph, the 8th digraph is optimal persistently for two dimension
Figure；Otherwise data in 6th digraph are updated to the data in the 8th digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judges the l articles side corresponding one
Article or two articles of arcs whether not in the 6th digraph.
Second aspect, the embodiment of the present invention additionally provide it is a kind of nobody-have man-machine formation information interaction topological optimization device,
Described device includes：
Communication failure type acquisition module, for it is described nobody-there is man-machine formation to occur communication failure when, obtain described
The type of communication failure；
Optimize formation traffic diagram acquisition module, delete logical in formation traffic diagram for the type according to the communication failure
Letter failure arc or communication failure node optimize formation traffic diagram to obtain；
The optimal lasting figure acquisition module of two dimension, the two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram；
Optimize the topological acquisition module of information exchange, for having the man-machine correspondence in the optimal lasting figure of the two dimension in the presence of one
When the in-degree of node is 0, determine the optimal lasting figure of the two dimension be this nobody-have the optimization information exchange of man-machine formation topological；
Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, it is determined that two-dimentional optimal after adjustment
Lasting figure be this nobody-have the optimization information exchange of man-machine formation topological.
Alternatively, the topological acquisition module of optimization information exchange is entered by following steps to the optimal lasting figure of the two dimension
Row adjustment includes：
Judge whether that an in-degree for having the man-machine corresponding node vi in the optimal lasting figure of the two dimension is 1；
If so, the node vj that another in-degree is 1 is then found in the optimal lasting figure of the two dimension, node vj and section
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 are obtained new two-dimentional optimal after reverse
Persistently figure be this nobody-have the optimization information exchange topology of man-machine formation, node vi is corresponding the man-machine neck for the formation
Boat person；
If it is not, then finding any one has man-machine, this has the man-machine corresponding node vi in the optimal lasting figure of two dimension in-degree
For 2, tool between the node vj that an in-degree is 1, node vj to node vi is then found in the optimal lasting figure of the two dimension
There is the road of a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the optimal lasting figure of the two dimension
Find the road between the node vk that another in-degree is 1, node vk to node vi with a fewest number of hops；By it is above-mentioned most
Obtained after all arcs are reverse on the road of few hop count new two-dimentional optimal lasting figure be this nobody-have the optimization information of man-machine formation
Interaction topology, node vi is corresponding the man-machine pilotage people for the formation.
Alternatively, the optimal lasting figure acquisition module of the two dimension performs following steps and obtains the optimization formation traffic diagram
The optimal lasting figure of two dimension includes：
Calculate the two-dimentional optimal rigidity figure of the optimization formation traffic diagram；
By each edge in the optimal rigid figure of the two dimension be converted into belonging to the optimization formation traffic diagram an arc or
Two the identical but in opposite direction arc of weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to each to fly
The arc that goes out of machine corresponding node obtains the second digraph；
Its first shortest arborescence is calculated according to second digraph, and will be virtual in first shortest arborescence
Pilotage people's node goes out arc deletion with it and obtains the 3rd digraph；
All arcs and its corresponding opposite arc in the 3rd digraph are deleted from second digraph and obtain
Four digraphs；
Its second shortest arborescence is calculated according to the 4th digraph, and will be virtual in second shortest arborescence
Pilotage people's node goes out arc deletion with it and obtains the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains the quantity m of the 6th digraph and its 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 acquisition module of the two dimension also performs following steps and obtains the optimization formation traffic diagram
Two-dimentional optimal 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
Corresponding belong to arc set in first digraph one article in the l articles side or two articles of arcs in property figure, symbol l initial value
For 1；
If this article or two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
If the in-degree of corresponding two node in the l articles side is not equal to 2 and one of in-degree is less than 2 node and enters arc
Belong to arc set in first digraph, then the arc that enters that the in-degree is less than to 2 node is added in the 6th digraph
Obtain the 7th digraph；
If the quantity of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is optimal persistently for two dimension
Figure；Otherwise data in 6th digraph are updated to the data in the 7th digraph；
If this l articles in-degree in corresponding two node when being equal to 2 and this l articles corresponding one article of arc belong to described
Arc set in one digraph, the corresponding one article of arc in the l articles side is added in the 6th digraph and obtains the 7th digraph, and note should
The node that arc is pointed to is first node；
In the 6th digraph find in-degree be less than 2 a Section Point so that the Section Point with it is described
There is the path of fewest number of hops between first node, and the opposite arc of the corresponding all arcs in path of the fewest number of hops all exists
In first digraph in arc set, the corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
Otherwise the corresponding one article of arc in the l articles side added is deleted from the 7th digraph, is deleted from optimization formation traffic diagram
Except the corresponding two articles of arcs in the l articles side, recalculate；
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；
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 one article or two articles of arcs are in the 6th digraph.
As shown from the above technical solution, the present invention it is described nobody-there is man-machine formation to occur communication failure when, obtain described
The type of communication failure；According to the type of the communication failure in formation traffic diagram deleting communication failure arc or communication failure section
Point optimizes formation traffic diagram to obtain；Obtain the two-dimentional optimal lasting figure of the optimization formation traffic diagram；If in the presence of a someone
The in-degree of machine corresponding node in the optimal lasting figure of the two dimension is 0, it is determined that the optimal lasting figure of two dimension be this nobody-have
The optimization information exchange topology of man-machine formation；Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, really
Set the tone it is whole after two-dimentional optimal lasting figure be this nobody-have the optimization information exchange topology of man-machine formation.Compared with correlation technique
Realize at nobody compared with, the present invention-two dimension of someone's machine composition persistently forms into columns after occurring communication failure, this two dimension of rapid Optimum
The information exchange topology persistently formed into columns, to avoid occurring aircraft collision accident and recover flight pattern, while reducing the electricity of aircraft
The consumption of pond electricity or fuel.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly or in correlation technique, below will be to embodiment or phase
The accompanying drawing used required in the technology description of pass 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 be it is provided in an embodiment of the present invention nobody-have the flow signal of man-machine formation information interaction Topology Optimization Method
Figure；
Fig. 2 (a)~(b) is the two-dimentional team persistently formed into columns of 3 frame unmanned planes and 2 frame someone machines composition in the embodiment of the present invention
Shape and relative position schematic diagram；There are man-machine Fighter1 and Fighter2 respectively in No. 1 of formation and No. 2 positions, unmanned plane
No. 3, No. 4 and No. 5 positions of UAV1, UAV2 and UAV3 respectively in formation；
Fig. 3 for it is provided in an embodiment of the present invention it is above-mentioned nobody-have man-machine formation without communication failure when optimal information interaction
Topological schematic diagram；
Fig. 4 (a)~(d) be it is above-mentioned nobody-there is Fighter2 in man-machine formation to be used when occurring unicast receiver failure
Fig. 1 methods obtain this nobody-have man-machine formation optimization information exchange topology process schematic；
Fig. 5 be it is provided in an embodiment of the present invention nobody-have man-machine formation information interaction topological optimization 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 for one embodiment of the invention provide it is a kind of nobody-have man-machine formation information interaction Topology Optimization Method, it is described
Method includes：
S1, when it is described nobody-there is man-machine formation to occur communication failure when, obtain the type of the communication failure.
S2, according to the type of the communication failure in formation traffic diagram deleting communication failure arc or communication failure node with
Obtain optimization formation traffic diagram.
S3, the two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram.
If S4, the in-degree for having the man-machine corresponding node in the optimal lasting figure of the two dimension in the presence of one are 0, it is determined that described
The optimal lasting figure of two dimension be this nobody-have the optimization information exchange of man-machine formation topological；
Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, it is determined that two-dimentional optimal after adjustment
Lasting figure be this nobody-have the optimization information exchange of man-machine formation topological.
Before the above method is described in detail, first to nobody-volume persistently formed into columns of two dimension of someone's machine composition
Team's control method, formation traffic diagram and information exchange topology are illustrated.
Nobody-formation control method persistently formed into columns of two dimension of someone's machine composition is a kind of formation control side based on distance
Method, its basic thought is：A frame in formation have it is man-machine as formation pilotage people (formationleader) according to predetermined volume
Team's reference track flight, the other airplane (having man-machine or unmanned plane) in formation only needs to keep with compiling in flight course
The constant distance of team pilotage people, remaining aircraft is then needed in flight course while keeping the distance between other two airplane
It is constant, so as to realize the holding to the flight pattern of two-dimensional space.
Assuming that n airplanes (being represented below with PLANE, include man-machine or unmanned plane) need to use what two dimension was persistently formed into columns
N position in flight pattern S, S of the formation control method to form and keep a two-dimensional space number respectively and be 1,
2 ..., n }, only have it is man-machine can be as formation pilotage people, can be by point-to-point communication link and other any per airplane
Aircraft carries out information exchange, and the communication cost of each communication linkage is determined by its corresponding communication distance.It therefore, it can with one
Weighted and directed diagraph D=(V, A, W, P) represents in forming into columns all available communication linkages between aircraft, and communication of referred to as forming into columns
Figure：
(1) V={ vi, 1≤i≤n is the node set in figure, wherein viRepresent the i-th airplane PLANEi。
(2)It is the arc set in figure, wherein aijRepresent from PLANEiTo PLANEj
There is an available communication linkage so that PLANEiPLANE can be sent information toj。
(3) W={ w (aij)},aij∈ A are the weights set of every arc in figure, wherein w (aij) represent aijCommunication cost.
(4) P={ pi, 1≤i≤n is particular location set of every airplane in flight pattern S, wherein by flight pattern S
In to number respectively be { 1,2 ..., n } for n position, then 1≤pi≤ n represents PLANEiParticular location in S.
It can be seen from description above, nobody-someone's machine composition two dimension persistently form into columns in every airplane at most only need
Will be from other two airplanes receive informations, it means that all available communication linkages need not be used just to realize formation team
The formation and holding of shape.Therefore, nobody-have information exchange topology T=(V, the A of man-machine formation*,W*, P) and it is its formation traffic diagram D
=(V, A, W, a P) special subgraph, whereinW (T) is made to represent that information exchange topology T is corresponding
Formation communication cost, that is, haveNobody-information exchange persistently formed into columns of two dimension of someone's machine composition opens up
Flutterring T has following two characteristics.
Theorem 1:Nobody-the information exchange topology T that persistently forms into columns of two dimension of someone's machine composition must be its formation traffic diagram D
A two dimension persistently scheme, but its a formation traffic diagram D lasting figure of two dimension be able to might not be opened up as its information exchange
Flutter.
Theorem 2:Nobody-the information exchange topology T that persistently forms into columns of two dimension of someone's machine composition must be its formation traffic diagram D
A two dimension persistently scheme, and T there is in-degree can be as formation pilotage people (i.e. for the aircraft corresponding to 0 node
It is man-machine to have)；Vice versa.
There is provided for the prominent present invention nobody-validity that there is man-machine formation information to interact Topology Optimization Method, tie below
Close embodiment and the above method is described in detail accompanying drawing.
In practical application, communication failure occur after, to nobody-have man-machine formation information exchange topology optimization should use up
Amount is distributed to obtain the shorter execution time, and all PLANE result of calculation must be consistent, therefore all
PLANE needs to learn same communication failure information in time.
Therefore, based on method of the prior art, it is assumed that each PLANE can use a broadcast communication channel
(Broadcast Communication channel, BC) obtains same communication failure information：(1) each PLANE has
One unicast transmission machine (unicast transmitter) and a unicast receiver (unicastreceiver) are to carry out a little
Point to-point communication, each PLANE has a broadcast transmitter (broadcast transmitter) and a broadcasting receiver
(broadcast receiver) by BC to carry out broadcast communication.(2) each PLANE is every TactiveSecond can be reported by BC
Its state.(3) when a PLANE detects some communication failure, it can notify other PLANE by BC immediately.
In addition to considering four kinds of communication failures in correlation technique, it is also contemplated that two kinds of communication failures in addition：Broadcast transmitter
Failure (broadcast transmitter failure) and broadcasting receiver failure (broadcast receiver
failure).All six kinds of communication failure types are as shown in table 1.
Table 1
When it is described nobody-there is man-machine formation to occur communication failure when, the embodiment of the present invention is using the diagnosis of following communication failure
Strategy obtains the type of the communication failure：
(1) PLANE is worked asiGeneration unicast transmission machine failure, unicast receiver failure, unicast transceiver failure or broadcast connect
During any one of receipts machine failure communication failure, PLANEiItself it is able to detect that this communication failure, PLANEiThis will be recorded
Communication failure occur when timestamp and this communication failure and corresponding timestamp information are notified by other PLANE by BC.
(2) PLANE is worked asiDuring generation broadcast transmitter failure, PLANEiItself it is able to detect that this communication failure but can not leads to
Cross BC and notify other PLANE, TactiveAfter second, other PLANE are due to that can not receive PLANEiThe state reported will judge
PLANEiBroadcast transmitter failure is occurred in that, and records timestamp when this communication failure occurs.
(3) when from PLANEiTo PLANEjCommunication linkage occur link interruption and form into columns keep rank during
PLANEiNeed to send information to PLANEj, TactiveAfter second, if PLANEjItself does not occur unicast receiver failure simultaneously
And receive PLANE not over BCiUnicast transmission machine fault message, PLANEjIt will judge from PLANEiTo PLANEjCommunication
Link occurs in that link interruption, then PLANEjThe timestamp of this communication failure will be recorded, then by BC by this communication failure
Other PLANE are notified with corresponding timestamp information.
Based on above-mentioned communication failure Diagnostic Strategy, each PLANE can obtain the information of communication failure in time, then
Each PLANE can according to the type of the communication failure in formation traffic diagram deleting communication failure arc or communication failure node
To obtain optimization formation traffic diagram, then obtain the two-dimentional optimal lasting figure T of the optimization formation traffic diagram.If exist in T into
Spend the node v for 0iAnd viThe PLANE of representative, which is one, man-machine, then T is a feasible information exchange topology, that is, is owned
Aircraft can switch to information exchange topology T to continue to keep flight pattern；Otherwise T is not that a feasible information exchange is opened up
Flutter, i.e., all aircrafts can not use T to keep flight pattern, but do not represent in this case necessarily can in the absence of another
Capable information exchange topology.
In order to solve this problem, 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 CostArborescence, 2DORG_MCA)
Nobody-have man-machine formation information interaction topological optimization algorithm.Each PLANE will perform this calculation when a communication failure occurs
Method.By taking PLANEi as an example, when PLANEi receives a communication failure notice by BC from other PLANE or detects itself
During generation communication failure, it will run this algorithm to obtain optimization information exchange topology Tr.When each PLANE performs this algorithm
Afterwards, T will be switched torTo ensure PLANE safety and fast quick-recovery flight pattern.The basic step of this algorithm is as shown in table 2.
Table 2
It should be noted that table 2 provides the two dimension of the prior art used in the Step6.2 of algorithm optimal rigidity figure
Generating algorithm, its basic step as shown in table 3, time complexity be about O (4 × | V |4)。
Table 3
It should be noted simultaneously that, table 2 provides the shortest arborescence in the Step6.5 and Step6.7 of algorithm
(Minimum CostArborescence, MCA) refers to the minimum spanning tree of a weighted and directed diagraph, used herein to be
Gabow et al. propose shortest arborescence generating algorithm, its computation complexity be O (| A |+| V | × log | V |), it is therein | A |
With | V | it is respectively the quantity and the quantity of node of arc in weighted and directed diagraph.
The time complexity that table 2 provides algorithm is mainly determined by Step6 time complexity, and Step6 time is multiple
Miscellaneous degree mainly determines by Step6.2, Step6.5 and Step6.7, due to Step6.2 time complexity be about O (4 × | Vr|4),
Step6.5 and Step6.7 time complexity may each be about O (| Ar|+|Vr|×log|Vr|), so table 2 provide algorithm when
Between complexity be about O (4 × | Vr|4+2×(|Ar|+|Vr|×log|Vr|))。
Assuming that two dimension persistently form into columns by 3 frame unmanned planes (UAV1, UAV2, UAV3) and 2 framves have it is man-machine (Fighter1,
Fighter2) constitute, wherein only there is man-machine Fighter1 and Fighter2 can be as the pilotage people formed into columns.They need shape
Into and keep a two-dimensional space formation as shown in Fig. 2 (a), it is { 1,2,3,4,5 } that all positions therein are numbered respectively, its
In, Fighter1 and Fighter2 respectively in No. 1 of formation and No. 2 positions, UAV1, UAV2 and UAV3 respectively in formation No. 3,
No. 4 and No. 5 positions；The distance between they are as shown in Fig. 2 (a)；If being used as plane coordinate system using No. 4 positions in formation
Origin, then this nobody-have shown in coordinate such as Fig. 2 (b) of each position in the formation of man-machine formation.When without communication failure,
This nobody-there is man-machine formation to interact topology to form and keep this formation using optimal information as shown in Figure 3, wherein having man-machine
Fighter1 as this nobody-have the pilotage people of man-machine formation.
When there is man-machine Fighter2 to occur unicast receiver failure, the algorithm provided according to table 2 to this nobody-have man-machine
The information exchange topology of formation is optimized, and its main process is as follows：
(1) in Step2, v in current formation traffic diagram D=(V, A, W, P) is deleted2It is all enter arc obtain optimization form into columns
Traffic diagram Dr=(Vr,Ar,Wr,Pr)。
(2) in Step6.3, the two-dimentional optimal rigid nomography generation according to table 3 obtains Dr=(Vr,Ar,Wr,Pr)
The corresponding optimal rigidity figure of two dimensionAs shown in Fig. 4 (a).
(3) in Step6.5, obtain the second digraph D 'RrShortest arborescence T1', such as shown in Fig. 4 (b), then by T1'
In v0And v0Go out arc delete after obtain T1。
(4) in Step6.7, the 4th digraph D is obtained "RrShortest arborescence T2', such as shown in Fig. 4 (c), then by T2'
In v0And v0Go out arc delete after obtain T2。
(5) in Step6.8, by T1And T2Merging obtains digraph Tr, such as shown in Fig. 4 (d).
(6) due to TrThe sum and R of middle arcrMiddle side it is total identical, meet Step6.9 condition, therefore TrIt is RrCorrespondence
The optimal lasting figure of a two dimension.
(7) due to TrIn node v2In-degree be 0, and v2Representative Fighter2 can be full as formation pilotage people
Sufficient Step6.16 condition, therefore TrBe this nobody-the optimization information exchange topology formed into columns of someone.
Second aspect, the embodiment of the present invention additionally provide it is a kind of nobody-have man-machine formation information interaction topological optimization device,
As shown in figure 5, described device includes：
Communication failure type acquisition module M1, for it is described nobody-there is man-machine formation to occur communication failure when, obtain institute
State the type of communication failure；
Optimize formation traffic diagram acquisition module M2, deleted for the type according to the communication failure in formation traffic diagram
Communication failure arc or communication failure node optimize formation traffic diagram to obtain；
The optimal lasting figure acquisition module M3 of two dimension, the two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram；
Optimize the topological acquisition module M4 of information exchange, in the presence of one have it is man-machine in the optimal lasting figure of the two dimension it is right
When the in-degree for answering node is 0, determine the optimal lasting figure of the two dimension be this nobody-the optimization information exchange that has man-machine formation opens up
Flutter；
Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, it is determined that two-dimentional optimal after adjustment
Lasting figure be this nobody-have the optimization information exchange of man-machine formation topological.
Alternatively, the optimization information exchange topology acquisition module M4 by following steps to the optimal lasting figure of the two dimension
Be adjusted including：
Judge whether that an in-degree for having the man-machine corresponding node vi in the optimal lasting figure of the two dimension is 1；
If so, the node vj that another in-degree is 1 is then found in the optimal lasting figure of the two dimension, node vj and section
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 are obtained new two-dimentional optimal after reverse
Persistently figure be this nobody-have the optimization information exchange topology of man-machine formation, node vi is corresponding the man-machine neck for the formation
Boat person；
If it is not, then finding any one has man-machine, this has the man-machine corresponding node vi in the optimal lasting figure of two dimension in-degree
For 2, tool between the node vj that an in-degree is 1, node vj to node vi is then found in the optimal lasting figure of the two dimension
There is the road of a fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue in the optimal lasting figure of the two dimension
Find the road between the node vk that another in-degree is 1, node vk to node vi with a fewest number of hops；By it is above-mentioned most
Obtained after all arcs are reverse on the road of few hop count new two-dimentional optimal lasting figure be this nobody-have the optimization information of man-machine formation
Interaction topology, node vi is corresponding the man-machine pilotage people for the formation.
Alternatively, the optimal lasting figure acquisition module M3 of the two dimension performs following steps and obtains the optimization formation traffic diagram
Two-dimentional optimal lasting figure include：
Calculate the two-dimentional optimal rigidity figure of the optimization formation traffic diagram；
By each edge in the optimal rigid figure of the two dimension be converted into belonging to the optimization formation traffic diagram an arc or
Two the identical but in opposite direction arc of weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to each to fly
The arc that goes out of machine corresponding node obtains the second digraph；
Its first shortest arborescence is calculated according to second digraph, and will be virtual in first shortest arborescence
Pilotage people's node goes out arc deletion with it and obtains the 3rd digraph；
All arcs and its corresponding opposite arc in the 3rd digraph are deleted from second digraph and obtain
Four digraphs；
Its second shortest arborescence is calculated according to the 4th digraph, and will be virtual in second shortest arborescence
Pilotage people's node goes out arc deletion with it and obtains the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains the quantity m of the 6th digraph and its 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 acquisition module M3 of the two dimension also performs following steps and obtains the optimization formation communication
The two-dimentional optimal lasting figure of figure 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
Corresponding belong to arc set in first digraph one article in the l articles side or two articles of arcs in property figure, symbol l initial value
For 1；
If this article or two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
If the in-degree of corresponding two node in the l articles side is not equal to 2 and one of in-degree is less than 2 node and enters arc
Belong to arc set in first digraph, then the arc that enters that the in-degree is less than to 2 node is added in the 6th digraph
Obtain the 7th digraph；
If the quantity of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is optimal persistently for two dimension
Figure；Otherwise data in 6th digraph are updated to the data in the 7th digraph；
If this l articles in-degree in corresponding two node when being equal to 2 and this l articles corresponding one article of arc belong to described
Arc set in one digraph, the corresponding one article of arc in the l articles side is added in the 6th digraph and obtains the 7th digraph, and note should
The node that arc is pointed to is first node；
In the 6th digraph find in-degree be less than 2 a Section Point so that the Section Point with it is described
There is the path of fewest number of hops between first node, and the opposite arc of the corresponding all arcs in path of the fewest number of hops all exists
In first digraph in arc set, the corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；
Otherwise the corresponding one article of arc in the l articles side added is deleted from the 7th digraph, is deleted from optimization formation traffic diagram
Except the corresponding two articles of arcs in the l articles side, recalculate；
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；
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 one article or two articles of arcs are in the 6th digraph.
It should be noted that it is provided in an embodiment of the present invention nobody-have man-machine formation information interaction topological optimization device with
The one-to-one relation of the above method, 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.
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 (10)
1. it is a kind of nobody-have man-machine formation information interaction Topology Optimization Method, it is characterised in that methods described includes：
When it is described nobody-there is man-machine formation to occur communication failure when, obtain the type of the communication failure；
According to the type of the communication failure, deleting communication failure arc or communication failure node are excellent to obtain in formation traffic diagram
Change formation traffic diagram；
Obtain the two-dimentional optimal lasting figure of the optimization formation traffic diagram；
If being 0 in the presence of an in-degree for having the man-machine corresponding node in the optimal lasting figure of the two dimension, it is determined that the two dimension is most
Excellent lasting figure be this nobody-have the optimization information exchange topology of man-machine formation；
Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, it is determined that two-dimentional optimal lasting after adjustment
Figure be this nobody-have the optimization information exchange topology of man-machine formation.
2. it is according to claim 1 nobody-have man-machine formation information interaction Topology Optimization Method, it is characterised in that it is described
The step of being adjusted by arc reverse operating to the optimal lasting figure of the two dimension includes：
Judge whether that an in-degree for having the man-machine corresponding node vi in the optimal lasting figure of the two dimension is 1；
If so, then finding the node vj, node vj and node vi that another in-degree is 1 in the optimal lasting figure of the two dimension
Between there is the road of fewest number of hops；By all arcs on the road of above-mentioned fewest number of hops obtained after reverse it is new it is two-dimentional it is optimal persistently
Figure be this nobody-have the optimization information exchange topology of man-machine formation, node vi is corresponding the man-machine pilotage people for the formation；
If it is not, then finding any one has man-machine, this has the man-machine corresponding node vi in the optimal lasting figure of two dimension in-degree to be 2,
Then being found in the optimal lasting figure of the two dimension between the node vj that an in-degree is 1, node vj to node vi has one
The road of bar fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue to find in the optimal lasting figure of the two dimension
Another in-degree is to have the road of a fewest number of hops between 1 node vk, node vk to node vi；By above-mentioned least hops
Obtained after all arcs are reverse on several roads new two-dimentional optimal lasting figure be this nobody-have the optimization information exchange of man-machine formation
Topology, node vi is corresponding the man-machine pilotage people for the formation.
3. it is according to claim 1 nobody-have man-machine formation information interaction Topology Optimization Method, it is characterised in that it is described
According to the type of the communication failure, deleting communication failure arc or communication failure node are compiled with obtaining optimization in formation traffic diagram
The step of team's traffic diagram, includes：
If the type of the communication failure is unicast transmission machine failure, all of corresponding node in the formation traffic diagram are deleted
Go out arc；
If the type of the communication failure is unicast receiver failure, all of corresponding node in the formation traffic diagram are deleted
Enter arc；
If the type of the communication failure is unicast receiver and transmitter failure, broadcast transmitter failure or broadcasting receiver
Failure, then delete all of corresponding node in the formation traffic diagram and enter arc and to go out arc and the node；
Or,
If the type of communication failure is the link interruption between any two aircraft, the link pair in the formation traffic diagram is deleted
The arc answered；
In the formation traffic diagram, if the corresponding node of some unmanned plane is deleted or all arcs of the node are deleted,
The unmanned plane, which is exited, forms into columns and returns alone airport；If some has man-machine corresponding node deleted or the node all arcs
Be deleted, then it is described to there is man-machine exit to form into columns and follow formation reference track to fly in a different flying height.
4. it is according to claim 1 nobody-have man-machine formation information interaction Topology Optimization Method, it is characterised in that it is described
The step of two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram, includes：
Calculate the two-dimentional optimal rigidity figure of the optimization formation traffic diagram；
Each edge in the optimal rigid figure of the two dimension is converted into belong to an arc for optimizing formation traffic diagram or two
The identical but in opposite direction arc of weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to each aircraft pair
The arc that goes out of node is answered to obtain the second digraph；
Its first shortest arborescence is calculated according to second digraph, and by the virtual navigator in first shortest arborescence
Person's node goes out arc deletion with it and obtains the 3rd digraph；
All arcs and its corresponding opposite arc deleted from second digraph in the 3rd digraph obtain the 4th and had
Xiang Tu；
Its second shortest arborescence is calculated according to the 4th digraph, and by the virtual navigator in second shortest arborescence
Person's node goes out arc deletion with it and obtains the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains the quantity m of the 6th digraph and its 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 two dimension
Optimal lasting figure.
5. it is according to claim 4 nobody-have man-machine formation information interaction Topology Optimization Method, it is characterised in that it is described
The step of two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram, 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 corresponding belong to arc set in first digraph one article in the l articles side or two articles of arcs, symbol l initial value is 1；
If this article or two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
If the in-degree of corresponding two node in the l articles side is not equal to 2 and one of in-degree is less than 2 arc that enters of node and belonged to
Arc set in first digraph, the then arc that enters that the in-degree is less than to 2 node is added in the 6th digraph and obtained
7th digraph；
If the quantity of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is the optimal lasting figure of two dimension；It is no
Data in 6th digraph are then updated to the data in the 7th digraph.
6. it is according to claim 4 nobody-have man-machine formation information interaction Topology Optimization Method, it is characterised in that it is described
The step of two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram, also includes：
If this l articles in-degree in corresponding two node when being equal to 2 and this l articles corresponding one article of arc belong to described first and have
The arc set into figure, the corresponding one article of arc in the l articles side is added in the 6th digraph and obtains the 7th digraph, remembers that the arc refers to
To node be first node；
The Section Point that in-degree is less than 2 is found in the 6th digraph so that the Section Point and described first
Between node have fewest number of hops path, and the corresponding all arcs in path of the fewest number of hops opposite arc all described
In first digraph in arc set, the corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；Otherwise
The corresponding one article of arc in the l articles side added is deleted from the 7th digraph, being deleted from optimization formation traffic diagram should
The corresponding two articles of arcs in the l articles side, are recalculated；
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；It is no
Data in 6th digraph are then updated to the data in the 8th digraph；
The value of the symbol l is increased by 1, if symbol l is less than or equal to (2n-3), continuation judge the l articles side it is corresponding one article or
Whether two articles of arcs are in the 6th digraph.
7. it is a kind of nobody-have man-machine formation information interaction topological optimization device, it is characterised in that described device includes：
Communication failure type acquisition module, for it is described nobody-there is man-machine formation to occur communication failure when, obtain the communication
The type of failure；
Optimize formation traffic diagram acquisition module, the deleting communication event in formation traffic diagram for the type according to the communication failure
Barrier arc or communication failure node optimize formation traffic diagram to obtain；
The optimal lasting figure acquisition module of two dimension, the two-dimentional optimal lasting figure for obtaining the optimization formation traffic diagram；
Optimize the topological acquisition module of information exchange, for having the man-machine corresponding node in the optimal lasting figure of the two dimension in the presence of one
In-degree when being 0, determine the optimal lasting figure of the two dimension be this nobody-have the optimization information exchange of man-machine formation topological；
Otherwise, the optimal lasting figure of the two dimension is adjusted by arc reverse operating, it is determined that two-dimentional optimal lasting after adjustment
Figure be this nobody-have the optimization information exchange topology of man-machine formation.
8. it is according to claim 7 nobody-have man-machine formation information interaction topological optimization device, it is characterised in that it is described
The topological acquisition module of optimization information exchange by following steps the optimal lasting figure of the two dimension is adjusted including：
Judge whether that an in-degree for having the man-machine corresponding node vi in the optimal lasting figure of the two dimension is 1；
If so, then finding the node vj, node vj and node vi that another in-degree is 1 in the optimal lasting figure of the two dimension
Between there is the road of fewest number of hops；By all arcs on the road of above-mentioned fewest number of hops obtained after reverse it is new it is two-dimentional it is optimal persistently
Figure be this nobody-have the optimization information exchange topology of man-machine formation, node vi is corresponding the man-machine pilotage people for the formation；
If it is not, then finding any one has man-machine, this has the man-machine corresponding node vi in the optimal lasting figure of two dimension in-degree to be 2,
Then being found in the optimal lasting figure of the two dimension between the node vj that an in-degree is 1, node vj to node vi has one
The road of bar fewest number of hops；All arcs on the road of above-mentioned fewest number of hops is reverse；Continue to find in the optimal lasting figure of the two dimension
Another in-degree is to have the road of a fewest number of hops between 1 node vk, node vk to node vi；By above-mentioned least hops
Obtained after all arcs are reverse on several roads new two-dimentional optimal lasting figure be this nobody-have the optimization information exchange of man-machine formation
Topology, node vi is corresponding the man-machine pilotage people for the formation.
9. it is according to claim 7 nobody-have man-machine formation information interaction topological optimization device, it is characterised in that it is described
The two-dimentional optimal lasting figure that the optimal lasting figure acquisition module of two dimension performs the following steps acquisition optimization formation traffic diagram includes：
Calculate the two-dimentional optimal rigidity figure of the optimization formation traffic diagram；
Each edge in the optimal rigid figure of the two dimension is converted into belong to an arc for optimizing formation traffic diagram or two
The identical but in opposite direction arc of weights obtains the first digraph；
Increase virtual pilotage people's node and virtual pilotage people's node in first digraph to each aircraft pair
The arc that goes out of node is answered to obtain the second digraph；
Its first shortest arborescence is calculated according to second digraph, and by the virtual navigator in first shortest arborescence
Person's node goes out arc deletion with it and obtains the 3rd digraph；
All arcs and its corresponding opposite arc deleted from second digraph in the 3rd digraph obtain the 4th and had
Xiang Tu；
Its second shortest arborescence is calculated according to the 4th digraph, and by the virtual navigator in second shortest arborescence
Person's node goes out arc deletion with it and obtains the 5th digraph；
Merge the 3rd digraph and the 5th digraph obtains the quantity m of the 6th digraph and its 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 two dimension
Optimal lasting figure.
10. it is according to claim 9 nobody-have man-machine formation information interaction topological optimization device, it is characterised in that it is described
The optimal lasting figure acquisition module of two dimension also performs the two-dimentional optimal lasting figure bag that following steps obtain the optimization formation traffic diagram
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 corresponding belong to arc set in first digraph one article in the l articles side or two articles of arcs, symbol l initial value is 1；
If this article or two articles of arcs are not in the 6th digraph, the in-degree of the l articles side two node of correspondence is obtained；
If the in-degree of corresponding two node in the l articles side is not equal to 2 and one of in-degree is less than 2 arc that enters of node and belonged to
Arc set in first digraph, the then arc that enters that the in-degree is less than to 2 node is added in the 6th digraph and obtained
7th digraph；
If the quantity of arc is equal to (2n-3) in the 7th digraph, the 7th digraph is the optimal lasting figure of two dimension；It is no
Data in 6th digraph are then updated to the data in the 7th digraph；
If this l articles in-degree in corresponding two node when being equal to 2 and this l articles corresponding one article of arc belong to described first and have
The arc set into figure, the corresponding one article of arc in the l articles side is added in the 6th digraph and obtains the 7th digraph, remembers that the arc refers to
To node be first node；
The Section Point that in-degree is less than 2 is found in the 6th digraph so that the Section Point and described first
Between node have fewest number of hops path, and the corresponding all arcs in path of the fewest number of hops opposite arc all described
In first digraph in arc set, the corresponding all arcs in the path of the fewest number of hops are reversely obtained into the 8th digraph；Otherwise
The corresponding one article of arc in the l articles side added is deleted from the 7th digraph, being deleted from optimization formation traffic diagram should
The corresponding two articles of arcs in the l articles side, are recalculated；
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；
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 one article
Or whether two articles of arcs are in the 6th digraph.
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| CN110471445A (en) * | 2019-08-22 | 2019-11-19 | 合肥工业大学 | The multistage Multipurpose Optimal Method and device of mostly unmanned Platform communication energy consumption |
| CN110618626A (en) * | 2019-08-22 | 2019-12-27 | 合肥工业大学 | Communication energy consumption balancing method and device for multi-unmanned platform cooperative formation maintenance |
| CN110471445B (en) * | 2019-08-22 | 2023-02-21 | 合肥工业大学 | Multi-stage multi-objective optimization method and device for communication energy consumption of multiple unmanned platforms |
| CN110794867A (en) * | 2019-10-18 | 2020-02-14 | 合肥工业大学 | Unmanned aerial vehicle formation information interaction topology intelligent decision method and device under communication interference |
| CN110879608A (en) * | 2019-10-18 | 2020-03-13 | 合肥工业大学 | Unmanned system formation rapid self-adaptive decision-making method and device under uncertain environment |
| CN111026104A (en) * | 2019-10-18 | 2020-04-17 | 合肥工业大学 | Multi-agent system quick response method and device under emergency |
| CN110794867B (en) * | 2019-10-18 | 2020-10-30 | 合肥工业大学 | Unmanned aerial vehicle formation information interaction topology intelligent decision method and device under communication interference |
| CN110879608B (en) * | 2019-10-18 | 2023-02-28 | 合肥工业大学 | Unmanned system formation rapid self-adaptive decision-making method and device under uncertain environment |
| CN111314879A (en) * | 2020-01-19 | 2020-06-19 | 合肥工业大学 | Unmanned platform information-aware network rapid response method and device in emergency |
| CN111314879B (en) * | 2020-01-19 | 2023-07-04 | 合肥工业大学 | Unmanned platform information perception network rapid response method and device under emergency |
| CN112068587A (en) * | 2020-08-05 | 2020-12-11 | 北京航空航天大学 | Man/unmanned aerial vehicle co-converged cluster interaction method based on European 26891bird communication mechanism |
| CN116149372A (en) * | 2023-04-17 | 2023-05-23 | 西北工业大学 | Method, system and application for eliminating fault single machine |
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