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 PDF

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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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digraph
node
arc
formation
man
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CN107135104B (en
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罗贺
王国强
胡笑旋
马华伟
靳鹏
夏维
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Hefei University of Technology
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Hefei University of Technology
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06Management of faults, events, alarms or notifications
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/12Discovery or management of network topologies
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/14Network analysis or design
    • H04L41/145Network analysis or design involving simulating, designing, planning or modelling of a network
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B7/00Radio transmission systems, i.e. using radiation field
    • H04B7/14Relay systems
    • H04B7/15Active relay systems
    • H04B7/185Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502Airborne stations

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Telephonic Communication Services (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

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

Nobody-there are man-machine formation information interaction Topology Optimization Method and device
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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