CN107197498A - A kind of unmanned plane Topology g eneration method for communication relay - Google Patents
A kind of unmanned plane Topology g eneration method for communication relay Download PDFInfo
- Publication number
- CN107197498A CN107197498A CN201710588552.2A CN201710588552A CN107197498A CN 107197498 A CN107197498 A CN 107197498A CN 201710588552 A CN201710588552 A CN 201710588552A CN 107197498 A CN107197498 A CN 107197498A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- point
- relay
- communication
- destination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/12—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/02—Topology update or discovery
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/12—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality
- H04W40/14—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality based on stability
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Mobile Radio Communication Systems (AREA)
- Radio Relay Systems (AREA)
Abstract
The present invention proposes a kind of unmanned plane Topology g eneration method for communication relay.First unmanned plane by source point S after flown between source point S and point of destination D to find its relay point position, if first unmanned plane can set up communication relay for source point S and point of destination D, relaying Topology g eneration terminates；If first unmanned plane can not set up communication relay for source point S and point of destination D, then first unmanned plane first sets up direct communication with source point S, then the second frame unmanned plane is flown by source point S and between first unmanned plane and point of destination D to find its relay point position, if setting up communication link until using and quarreling unmanned plane as via node.The present invention is without manpower intervention, it is to avoid communication link switch-on and -off, repeatedly oscillating movement the problem of.
Description
Technical field
The invention belongs to communication technical field, and in particular to a kind of unmanned plane Topology g eneration method for communication relay.
Background technology
Multiple no-manned plane carries out communication relay, is one of important application scenarios of current unmanned aerial vehicle group.Communication relay be in order to
Solve between two points, due to blocking the presence of distance, to cause the problem of both sides can not directly be communicated.If using nobody
Machine is transferred in the air can just realize that communicated at 2 points across sighting distance.But how on earth these relay points are chosen
Especially there are multiple unmanned planes, it is necessary to which multiple unmanned planes cooperate, the relaying for forming a unmanned plane composition is topological, by
One group of unmanned plane how to control when communication relay coordinating these unmanned planes, how to allow they cooperate coordinate constitute it is fast
Fast accurately communication relay link.It is to realize communication relay urgent problem to be solved using unmanned aerial vehicle group.
The position of communication relay and the selection of transit point always one of major issue of wireless relay.In conventional base
Stand in either station telecommunication relaying, in order to choose suitable communication point, typically measure and manage using theoretical calculation, pure reality
By calculating a variety of methods such as be combined are measured with actual.In pure theory calculating, designer passes through the relative distance between map
And relative altitude, the transmission power in radio station, the antenna gain in transmitting-receiving radio station etc., and can be calculated by known loss formula
In specific region apart from the substantially loss of upper signal, it may result in and set on the point position for being unable to properly receive data in loss of signal
Put forwarding point.Pure actual measurement is then that drive test personnel is launched using route of the signal detection instrument along communication relay towards away from signal
The direction motion in source, after signal is reduced to certain threshold, chooses the point for signal transfer point.And integrade theory with practice
Method is then the decay distance for first substantially estimating theory, then uses signal measurement instrument around the point chosen by theoretical calculation
Measurement signal, then selects suitable thresholding to determine forwarding point.In UAV Communication relaying, some existing patents also have
Method is to use theoretical calculation, calculates the theoretical path loss between any two points.And clicked in the suitable of theoretical path loss
Relaying is taken, is received and dispatched with the relaying for ensureing data.The patent of invention of the application such as Tsing-Hua University wears Qionghai《Task, communicate and open up
Flutter the unmanned plane cluster cooperative control method of intertexture》(number of patent application：CN201310170260.9), propose a kind of task, lead to
The unmanned plane cluster cooperative control method that letter and topology interweave, comprises the following steps：Set up task, communication and the topology of unmanned plane
Correlation function；Set up interactive communication number set of strategies, mission bit stream matrix set of strategies and the interactive communication unmanned plane of unmanned plane
Between relative distance set of strategies, and determine Won matrix and related constraint；Obtain interactive communication number set of strategies, mission bit stream
The unmanned plane interactive communication of preset need is met in relative distance set of strategies between matrix set of strategies and interactive communication unmanned plane
Relative distance between number, mission bit stream transmission quantity and unmanned plane；And interacted according to the unmanned plane for meeting preset need logical
Relative distance between letter number, mission bit stream transmission quantity and unmanned plane is controlled to unmanned plane cluster.The patent application is
The communication capacity between unmanned plane is built by theoretical calculation；The patent of the applications such as HeFei University of Technology's sieve he《Based on minimum
The acquisition methods and system of the unmanned plane formation communication topology of arborescence》(number of patent application CN201610384144.0) there is provided
The acquisition methods and system of a kind of unmanned plane formation communication topology based on shortest arborescence, this method include：According to default
The formation of formation builds formation traffic diagram；Calculate the shortest arborescence of the formation traffic diagram；Judge the shortest arborescence
Can the unmanned plane belonging to root node obtain optimal communication topology as formation pilotage people, according to judged result.This method according to
The default formation formed into columns builds formation traffic diagram, and by calculating the shortest arborescence of formation traffic diagram, then judge the minimum
Can the unmanned plane belonging to the root node of arborescence obtain optimal communication topology, protect as formation pilotage people, according to judged result
Demonstrate,proved form into columns keep during overall communication cost it is minimum, this method is to generate arborescence based on formation.Formation is known
, not specially design topology for communication relay；Fu little Wei etc. scientific paper《Path rule during unmanned plane cooperative relaying
Draw and communication optimization》(system engineering and electronic technology) stresses theoretical research, is layouted according to the theoretical communication distance of node；Li Yan
The scientific paper of text etc.《Unmanned plane relaying layout optimization software based on google earth》(modern electronic technology) is also pair
Unmanned plane relaying carries out theoretical modeling, derives overlay area of the unmanned plane under certain altitude, matches somebody with somebody so as to design static optimization
Put forwarding point.
Above-mentioned to belong to layout using theoretical model, the unmanned plane practical communication effect laid is difficult to determine, more nobody
How machine, which cooperates, is realized that relaying also lacks specific method.When conventional wireless is relayed, if layouted according to theoretical model, such as
Effect of really layouting is not ideal enough, position of layouting can be adjusted again, because relay point is all on ground, adjustment may be not numb
It is tired.And when nobody relays in the air, especially under multiple spot relay condition, the adjustment of a point position may influence whole network
Relaying topology.For example, certain relay point nearest from source point, after being layouted according to theoretical value, due to around there is component environment interference,
Communication efficiency is poor, now need by the relay point towards closer to source point position move, and the point movement after, the point with it is next
The distance of individual relay point can be elongated again, so that cause the second jump relaying deterioration, and second can be influenceed by adjusting the second position jumped
The distance between jump and the 3rd jump etc..So as to cause unmanned plane repeated link afterbody to vibrate back and forth.When unmanned plane is left a blank originally
Between it is just limited, such vibration likely results in whole relaying topology can not normal work.
And during wireless relay reconnaissance, the selection of existing wireless relay point is usually that drive test personnel one stands for a moment and passed through
Actually measure or obtained by theoretical calculation.Need to consume substantial amounts of manpower and materials.Communication relay mistake is realized in unmanned aerial vehicle group
Should be what kind of relation between Cheng Zhong, multiple unmanned planes, how accomplish that multiple no-manned plane is cooperateed with each other, automatically
Election relay forwarding pointAnd be not in the oscillatory occurences of unmanned plane motion during a selection in the communications
These problems are not all referred in the prior art scheme.
The content of the invention
The present invention proposes a kind of unmanned plane Topology g eneration method for communication relay.
In order to solve the above-mentioned technical problem, the present invention provides a kind of unmanned plane Topology g eneration method for communication relay,
Some unmanned planes converge to source point S；Each unmanned plane and source point S and point of destination D are communication node；First unmanned plane is by source
Point S flies to find its relay point position after setting out between source point S and point of destination D, if first unmanned plane can be source
Point S and point of destination D set up communication relay, then relay Topology g eneration and terminate；If first unmanned plane can not be source point S and purpose
Point D sets up communication relay, then first unmanned plane first sets up direct communication with source point S, and then the second frame unmanned plane is gone out by source point S
Send out and simultaneously flown between first unmanned plane and point of destination D to find its relay point position, if the second frame unmanned plane can be
Communication relay is set up between first unmanned plane and point of destination D, then relays Topology g eneration and terminates；If the second frame unmanned plane can not
Communication relay is set up between first unmanned plane and point of destination D, then the 3rd frame unmanned plane finds its relaying according to aforementioned process
Point position, if setting up communication link until using and quarreling unmanned plane as via node.
Further, each unmanned plane is upon the look after a position to set up during communication link, and unmanned plane often flies one section
Apart from m, the transmission signal and current radio signal strength RSSI of its previous communication node are measured, when flying to certain point, nobody
Machine testing less than the previous communication node transmission signal when, stop flight, record current radio signal strength RSSI be
KS11, then start to return to flight, often fly a segment distance m, measurement current radio signal strength RSSI is KS12；Work as KS12-KS11>
During T1, T is thresholding, then unmanned plane stops flight, and current location is its relay point position；Now, if unmanned plane can be examined
Measure the transmission signal of next communication node, and the signal intensity bottom of compared with when making an uproar more than thresholding T2, then corresponding road section relaying topology
Generation terminates；Otherwise, the unmanned plane informs that follow-up unmanned plane continually looks for next relay point by using existing communication link.
Further, unmanned plane is in flight course, and its previous neighbor node repeats to send with set of group data, unmanned plane
The accuracy of the grouped data received is measured, when accuracy is less than a certain thresholding, then current location is chosen and is used as the unmanned plane
Relay point position
Compared with prior art, its remarkable advantage is the present invention, and what UAV Communication proposed by the invention was relayed opens up
Generation method is flutterred, can be in the case where not needing theoretical calculation to layout and not needing manpower intervention, according to predetermined set
Program and rule, multiple unmanned planes cooperate, and successively form a dynamic relay forwarding link；Meanwhile, the relay forwarding
Link is gradually formed, and have also contemplated that the actual mass of signal and the surplus of attenuation during topology is formed, therefore
Network switch-on and -off is avoided, while avoiding unmanned plane because of communication distance caused by the change of communicating wireless signals ability
It is continually changing, so as to trigger the unmanned plane oscillating movement repeatedly at repeated link two ends, it is impossible to form stable relay forwarding topology
The problem of.
Brief description of the drawings
Fig. 1 is UAV Communication relaying Topology g eneration schematic diagram.
Fig. 2 is that unmanned plane relay point chooses flow chart.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the present invention for communication relay unmanned plane Topology g eneration method numerous embodiments.
Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as this
The whole of invention is considered as limitation or restriction to technical solution of the present invention.
The method that the present invention relates to is related to multiple unmanned planes and realizes communication relay, on condition that each unmanned plane is carried
There are the alignment system for determining self-position, such as GPS, the Big Dipper.Meanwhile, unmanned plane also has the ability being in communication with each other, and institute
There is unmanned plane node to be aware of source point S and the corresponding positional information of point of destination D and S and D point in advance.It the present invention relates to
Multiple unmanned planes for realizing communication relay take off after all lift-offs arrive level altitude H, this height H should be greater than source point S and purpose
Obstacle height between point D, each unmanned plane has detected wireless signals intensity RSSI (Radio Signal Strength
Indication, includes the intensity of transmission signal and noise signal) ability.
In addition to source point and point of destination, realize that the unmanned plane of communication is all numbered in sequence, be set to 1 and arrive N.It is all to realize communication
The unmanned plane of relaying is successively started shooting, and is converged to after start near source point S.Rotor wing unmanned aerial vehicle hovers, and fixed-wing unmanned plane is with certain point
It is diversion for the center of circle.Topology g eneration is relayed since No. 1 unmanned plane.The unmanned plane that numbering is 1 first is from source point S nears, edge
SD routes fly towards D points direction, and often fly a segment distance m, the current source point S transmission signals of measurement and wireless signal strength
RSSI.When flying to certain point and can't detect source point S transmission signal, record current radio signal strength RSSI is K11.Nobody
Machine 1 stops flight, and starts to return to flight to S points direction, and the segment distance m that equally often flies then measures current real-time radio letter
Number intensity RSSI, it is K to make it12.As the K measured12Compare K11More than signalc threshold T, i.e. K12-K11>During T, then No. 1 unmanned plane stops
Only fly, and set relay point position of the current unmanned plane position as No. 1 unmanned plane, be set to A1.If, should in rotor wing unmanned aerial vehicle
Hang is in this point.If fixed wing aircraft, then the aircraft is used as center of circle circuit around this point.Now, if No. 1
Unmanned plane
Now, if No. 1 unmanned plane is able to detect that point of destination D transmission signal, and the signal intensity is made an uproar the bottom of compared with and exceeded
During thresholding T, then the relaying Topology g eneration between source point S and point of destination D terminates.Otherwise, No. 1 unmanned plane is by source point S, using logical
Letter link informs that follow-up unmanned plane can be found with continued takeoff and relayed that the unmanned plane that then numbering is 2 starts flight, and it flies first
To A1 points, then since A1, continue towards destination D flights.The transmission signal of No. 1 unmanned plane is detected simultaneously, until detecting
Point of destination D transmission signal and the signal intensity exceed thresholding T, or the transmission signal of No. 1 unmanned plane is weak to can not be detected as
Only.
If the transmission signal and the signal intensity that detect point of destination D are made an uproar more than thresholding T the bottom of compared with, Topology g eneration is relayed
Terminate.
If the transmission signal of No. 1 unmanned plane is weak to that can not detect, then it is K to record current radio signal strength RSSI21,
The unmanned plane that this season numbering is 2 is returned towards source point S to fly.The segment distance m that often flies measurement current radio signal strengths are K22, until
The real-time signal strength K of measurement22Compared with K21More than certain threshold T, i.e. K22-K21>T, then No. 2 unmanned planes stop flight, and set current
Unmanned plane position is the relay point position of No. 2 unmanned planes, is set to A2.If now can not also detect point of destination D transmitting letter
Number, then the unmanned plane that continued takeoff numbering is 3, the rest may be inferred, the transmission signal until detecting destination D, and the signal is strong
Degree exceedes thresholding T.Now from source point to point of destination and multiple UAVs 1,2 ... N that middle multiple unmanned planes are stringed together,
The wireless relay links constituted are exactly the multi-hop relay topology realized with unmanned plane.
Embodiment
A kind of signal of the structure unmanned plane relaying topology present embodiments provided is as shown in Figure 2.During S is needs in Fig. 2
After source point, D is point of destination.Shelter between S and D is no more than 100 meters.Now can be by the lift-off height of all unmanned planes
It is set to 100 meters.The influence of all shelters can so be avoided.First, control station or logical is passed through before all unmanned planes take off
Cross configuration and obtain source point S and destination D and related coordinate and elevation information (performing T101).No. 1 unmanned plane takes off, when flying to
Behind 100 meters of high-altitudes, it will fly according to coordinate information towards S points first.Reach after S points, he is then towards the coordinate side where D points
Position, flies along SD directions, highly constant.M measures the transmission signal and wireless signal strength RSSI value of S points at a certain distance
(performing T102).This communication distance m typically can use 1 to the five/10ths 1/10th of radio station propagation distance.Such as radio station
300 meters of communication distance, then can use m=10, i.e., often fly RSSI signal value of 10 meters of measurements.If the time to relaying link setup
It is required that higher, it is desirable to during very fast generation communication relay topology, m=30 can be used, i.e. RSSI value of every 30 meters of measurements.Between measurement
Measure more accurate away from hour, and measure spacing it is big when the total topology of generation it is time-consuming shorter.When No. 1 unmanned plane flies more than one towards D points
It during set a distance, will be unable to detect source point S transmission signal again, record now wireless signal strength level K11.Then, unmanned plane
Moved towards the direction for returning to S points.Flow is as shown in Figure 2.Equally, every the current RSSI value K in real time of m meters of records12(perform
T103).As new RSSI value K12-K11>During T, the coordinate A1 (performing T104) of record unmanned plane now.T is fading margin.By
Signal between S and D points needs multiple communication relays forwardings, thus this signal margin can set it is more relatively large, with
Ensure preferable channel transfer quality.It such as could be arranged to T=20dB.If now No. 1 unmanned plane is able to detect that D points
Transmission signal, and level of signal intensity when relatively can't detect signal (making an uproar at bottom) then sets relaying topology when being more than T (20dB)
Generation terminates and (can realize S to D relay forwarding).Otherwise No. 1 unmanned plane informs source point and its by the link set up
His each unmanned plane, follow-up unmanned plane can find relay point with continued takeoff.No. 2 unmanned plane lift-offs of this season, the first court of No. 2 unmanned planes
Flown to coordinate A1.Reach after A1, the unmanned plane from A1 along A1D this route on fly.Often flight m meters, then measure one time No. 1
The transmission signal of unmanned plane and destination D transmission signal.If it find that to destination D transmission signal, and the intensity exceedes
Thresholding T, then communication relay Topology g eneration process termination.Otherwise No. 2 unmanned planes will continue to prolong the flight of A1D routes, until that can not connect
Receive A1 transmission signal.Record the signal level K now received21, No. 2 unmanned planes start homeward, fly towards No. 1 unmanned plane direction
OK.Often RSSI of flight m meters of measurements, makes as K22, as the signal level K newly measured22-K21>During T, No. 2 unmanned planes of record this
When coordinate A2.The rest may be inferred, untill the RSSI for the destination D that unmanned plane N is detected is more than thresholding T.Now by nobody
Machine 1,2 ..., the relaying topology that N is constituted is exactly the generation topology of communication relay.Whole process can be by unmanned plane according to advance
The program and flow of setting are automatically performed, without artificial participation.
For realizing that the unmanned plane of communication relay can be from D points, towards the motion of S points.Until n-th nodal test to S
The RSSI information of point.In addition to source, destination accordingly adjustment, other flows refer to above-mentioned flow implementation.The node of unmanned plane is compiled
Number can be according to various rule settings, such as equipment factory serial number, label etc..
Topology g eneration method proposed by the invention can be used for the topology that the unmanned ships and light boats of unmanned vehicle carry out communication relay
Generation.When it is determined that relaying place, RSSI signalc thresholds can not also be used, and forwarding is determined using data transmit-receive accuracy
Point, embodiment be make neighbours (such as No. 2 unmanned planes move reconnaissance when, No. 1 unmanned plane is exactly its neighbour, is gone out from source point
Hair detection topology, then source point is the neighbours of No. 1 unmanned plane) repeat to send with set of group data, the machine is surveyed in motion process
The grouped data percentage being properly received is measured, when accuracy is less than a certain thresholding (such as 95%), then unmanned plane now is chosen
Position is used as relay point.RSSI signalc thresholds can certainly be combined with data transmit-receive accuracy thresholding to choose relaying
Point.
Claims (3)
1. a kind of unmanned plane Topology g eneration method for communication relay, it is characterised in that
Some unmanned planes converge to source point S；Each unmanned plane and source point S and point of destination D are communication node；
First unmanned plane by source point S after flown between source point S and point of destination D to find its relay point position, if
First unmanned plane can set up communication relay for source point S and point of destination D, then relay Topology g eneration and terminate；If first without
Man-machine to set up communication relay for source point S and point of destination D, then first unmanned plane first sets up direct communication with source point S, then
Second frame unmanned plane flies to find its relay point position, such as by source point S and between first unmanned plane and point of destination D
Really the second frame unmanned plane can set up communication relay between first unmanned plane and point of destination D, then relay Topology g eneration and terminate；
If the second frame unmanned plane can not set up communication relay between first unmanned plane and point of destination D, the 3rd frame unmanned plane is pressed
Its relay point position is found according to aforementioned process, if setting up communication link until using and quarreling unmanned plane as via node.
2. the unmanned plane for communication relay is segmented Topology g eneration method as claimed in claim 1, it is characterised in that each unmanned plane
Upon the look after a position to set up during communication link, unmanned plane often flies a segment distance m, measures its previous communication node
Transmission signal and current radio signal strength RSSI, when flying to certain point, unmanned plane can't detect the previous communication section
During the transmission signal of point, stop flight, record current radio signal strength RSSI is KS11, then start to return to flight, often fly
One segment distance m, measurement current radio signal strength RSSI is KS12；Work as KS12-KS11>During T1, T is thresholding, then unmanned plane stops flying
OK, current location is its relay point position；
Now, if unmanned plane is able to detect that the transmission signal of next communication node, and the signal intensity is made an uproar more than door the bottom of compared with
When limiting T2, then corresponding road section relaying Topology g eneration terminates；Otherwise, the unmanned plane informs follow-up nothing by using existing communication link
It is man-machine to continually look for next relay point.
3. the unmanned plane for communication relay is segmented Topology g eneration method as claimed in claim 1, it is characterised in that unmanned plane exists
In flight course, its previous neighbor node repeats to send with set of group data, and the grouped data that unmanned plane measurement is received is just
True rate, when accuracy is less than a certain thresholding, then chooses current location as the relay point position of the unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710588552.2A CN107197498A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane Topology g eneration method for communication relay |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710588552.2A CN107197498A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane Topology g eneration method for communication relay |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107197498A true CN107197498A (en) | 2017-09-22 |
Family
ID=59882560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710588552.2A Pending CN107197498A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane Topology g eneration method for communication relay |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107197498A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337033A (en) * | 2018-01-15 | 2018-07-27 | 湖北工业大学 | A kind of shortest distance optimization method for relayed communications network |
| CN108415422A (en) * | 2018-01-30 | 2018-08-17 | 上海交通大学 | A kind of more unmanned vehicle formation driving control methods based on disturbance observer |
| CN109104235A (en) * | 2018-07-10 | 2018-12-28 | 东南大学 | It is a kind of based on adaptive unmanned aerial vehicle group long haul communication method |
| CN110350967A (en) * | 2019-06-11 | 2019-10-18 | 珠海云洲智能科技有限公司 | A kind of communication means, device, terminal device and storage medium |
| CN110381465A (en) * | 2019-06-05 | 2019-10-25 | 珠海欧麦斯通信科技有限公司 | A kind of relay selection optimization method based on car networking and city Internet of Things |
| CN110941284A (en) * | 2019-11-20 | 2020-03-31 | 黄锦山 | Relay network deployment method based on unmanned aerial vehicle and ground station equipment |
| CN111435257A (en) * | 2019-01-14 | 2020-07-21 | 华为技术有限公司 | Mobile route determining method and related equipment |
| CN112130586A (en) * | 2020-09-29 | 2020-12-25 | 南京航空航天大学 | Resource tree-based distributed heterogeneous unmanned aerial vehicle alliance forming method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105554842A (en) * | 2015-12-08 | 2016-05-04 | 深圳大学 | Search method and search system for best communication location of multiple mobile relays |
| CN106656300A (en) * | 2016-12-21 | 2017-05-10 | 中国航天时代电子公司 | UAV cluster combat system utilizing ad-hoc network data chain |
| CN206195779U (en) * | 2016-11-28 | 2017-05-24 | 宁夏冰核科技有限公司 | Relaying unmanned aerial vehicle is wireless from organizing communication system and flying type relay |
| CN106899991A (en) * | 2017-03-08 | 2017-06-27 | 哈尔滨工业大学深圳研究生院 | Adaptive optimal ad hoc network method based on multirobot and gaussian signal model |
| CN106912062A (en) * | 2017-03-31 | 2017-06-30 | 思依暄机器人科技（深圳）有限公司 | A kind of motion control method, device and mobile wireless trunking |
-
2017
- 2017-07-19 CN CN201710588552.2A patent/CN107197498A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105554842A (en) * | 2015-12-08 | 2016-05-04 | 深圳大学 | Search method and search system for best communication location of multiple mobile relays |
| CN206195779U (en) * | 2016-11-28 | 2017-05-24 | 宁夏冰核科技有限公司 | Relaying unmanned aerial vehicle is wireless from organizing communication system and flying type relay |
| CN106656300A (en) * | 2016-12-21 | 2017-05-10 | 中国航天时代电子公司 | UAV cluster combat system utilizing ad-hoc network data chain |
| CN106899991A (en) * | 2017-03-08 | 2017-06-27 | 哈尔滨工业大学深圳研究生院 | Adaptive optimal ad hoc network method based on multirobot and gaussian signal model |
| CN106912062A (en) * | 2017-03-31 | 2017-06-30 | 思依暄机器人科技（深圳）有限公司 | A kind of motion control method, device and mobile wireless trunking |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337033A (en) * | 2018-01-15 | 2018-07-27 | 湖北工业大学 | A kind of shortest distance optimization method for relayed communications network |
| CN108415422A (en) * | 2018-01-30 | 2018-08-17 | 上海交通大学 | A kind of more unmanned vehicle formation driving control methods based on disturbance observer |
| CN108415422B (en) * | 2018-01-30 | 2020-11-06 | 上海交通大学 | Multi-unmanned vehicle formation driving control method based on disturbance observer |
| CN109104235A (en) * | 2018-07-10 | 2018-12-28 | 东南大学 | It is a kind of based on adaptive unmanned aerial vehicle group long haul communication method |
| CN111435257A (en) * | 2019-01-14 | 2020-07-21 | 华为技术有限公司 | Mobile route determining method and related equipment |
| CN110381465A (en) * | 2019-06-05 | 2019-10-25 | 珠海欧麦斯通信科技有限公司 | A kind of relay selection optimization method based on car networking and city Internet of Things |
| CN110350967A (en) * | 2019-06-11 | 2019-10-18 | 珠海云洲智能科技有限公司 | A kind of communication means, device, terminal device and storage medium |
| CN110350967B (en) * | 2019-06-11 | 2022-04-15 | 珠海云洲智能科技股份有限公司 | Communication method, device, terminal equipment and storage medium |
| CN110941284A (en) * | 2019-11-20 | 2020-03-31 | 黄锦山 | Relay network deployment method based on unmanned aerial vehicle and ground station equipment |
| CN112130586A (en) * | 2020-09-29 | 2020-12-25 | 南京航空航天大学 | Resource tree-based distributed heterogeneous unmanned aerial vehicle alliance forming method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107197498A (en) | A kind of unmanned plane Topology g eneration method for communication relay | |
| CN108521670B (en) | UWB communication and positioning based method for multi-machine-oriented close formation flight and integrated system | |
| CN107454651A (en) | A kind of unmanned plane for communication relay is segmented Topology g eneration method | |
| AU2018256549B2 (en) | System for taking into account micro wind conditions in flight plans for aerial vehicles | |
| CN105119650B (en) | Signal relay system and its signal trunking method based on unmanned vehicle | |
| CN105185163A (en) | Flight path selection method, flight path selection device, aircraft and air traffic management system | |
| CN105549619A (en) | Multi-rising-and-landing-point course planning method used for cruising power of unmanned aircraft | |
| CN105116915B (en) | A kind of paragliding flight path control system using multimodal satellite navigation | |
| CN104749576A (en) | Multi-radar track association and fusion method | |
| CN107024601B (en) | A kind of the Along Railway wind measurement method and control system of control of intelligently being continued a journey based on unmanned aerial vehicle group | |
| CN110347073A (en) | Flight management system and update method | |
| CN108897312A (en) | Lasting supervised path planing method of more unmanned vehicles to extensive environment | |
| CN106597369B (en) | A kind of control method of unmanned plane, control platform, control system | |
| US20210124376A1 (en) | Uav flight management planner | |
| CN110209198A (en) | A kind of unmanned plane cluster formation flight ground real-time control method and control device | |
| CN108958297A (en) | A kind of multiple no-manned plane collaboration target following earth station | |
| EP3632152B1 (en) | Planning deployment of a node in a communications network with a drone | |
| CN106768123A (en) | A kind of depopulated helicopter fuel oil predictor method | |
| CN110059863A (en) | A kind of aircraft four-dimension route optimization method based on required arrival time | |
| CN106332106B (en) | Wireless analog signal test system | |
| CN108694864A (en) | A kind of complexity and frees method and system at low-latitude flying multimachine conflict probe | |
| CN207798960U (en) | Large-scale outfield Antenna testing system | |
| CN107197499A (en) | A kind of two-way generation method of unmanned plane topology for communication relay | |
| CN108732535A (en) | A kind of localization method, device and equipment | |
| CN107402579A (en) | A kind of haze detection method based on unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170922 |
|
| RJ01 | Rejection of invention patent application after publication |