CN107197499A - A kind of two-way generation method of unmanned plane topology for communication relay - Google Patents

A kind of two-way generation method of unmanned plane topology for communication relay Download PDF

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Publication number
CN107197499A
CN107197499A CN201710588563.0A CN201710588563A CN107197499A CN 107197499 A CN107197499 A CN 107197499A CN 201710588563 A CN201710588563 A CN 201710588563A CN 107197499 A CN107197499 A CN 107197499A
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unmanned plane
point
relay
communication
topology
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王海
张�杰
于卫波
牛大伟
董超
郭晓
李艾静
米志超
王�琦
徐正芹
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PLA University of Science and Technology
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PLA University of Science and Technology
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    • 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

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  • 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 two-way generation method of unmanned plane topology for communication relay.First unmanned plane in two convergent points flies to find its relay point position after being set out by convergent point between source point S and point of destination D, if first can set up communication relay for source point S and point of destination D, relaying Topology g eneration terminates；If by the first unmanned plane in two convergent points communication relay can not be set up for source point S and point of destination D, first unmanned plane in two convergent points first sets up direct communication with source point S and point of destination D respectively, then the second frame unmanned plane in two convergent points is from convergent point to setting out and being flown between first unmanned plane in two convergent points to find its relay point position, if setting up communication link until using and quarreling unmanned plane as via node for each section of circuit.The present invention is without manpower intervention, it is to avoid communication link switch-on and -off, repeatedly oscillating movement the problem of.

Description

A kind of two-way generation method of unmanned plane topology for communication relay
Technical field
The invention belongs to communication technical field, and in particular to a kind of two-way generation side of unmanned plane topology for communication relay Method.
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 two-way generation method of unmanned plane topology for communication relay.
In order to solve the above-mentioned technical problem, the present invention provides a kind of two-way generation side of unmanned plane topology for communication relay Method, some unmanned planes are divided into two groups and converge to source point S and point of destination D respectively；Each unmanned plane and source point S and point of destination D are Communication node；
First unmanned plane U in two convergent pointsS1And UD1Flown after by convergent point between source point S and point of destination D To find its relay point position, if passing through the first unmanned plane U in two convergent pointsS1And UD1Can be source point S and point of destination D sets up communication relay, then relays Topology g eneration and terminate；If passing through the first unmanned plane U in two convergent pointsS1And UD1Can not The first unmanned plane U set up for source point S and point of destination D in communication relay, two convergent pointsS1And UD1First respectively with source point S and mesh Point D set up direct communication, then the second frame unmanned plane U in two convergent pointsS2And UD2From convergent point to setting out and in two convergences First unmanned plane U in pointS1And UD1Between fly to find its relay point position, if the second frame unmanned plane US2And UD2Energy Enough in first unmanned plane US1And UD1Between set up communication relay, then the relaying Topology g eneration of each section of circuit terminates；If second Frame unmanned plane US2And UD2Communication relay can not be set up for each section of circuit, then the 3rd frame unmanned plane in two convergent points is according to foregoing Process finds its relay point position, if setting up communication link until using and quarreling unmanned plane as via node for each section of circuit.
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 is able to detect that the transmission signal of next communication node, and the signal intensity made an uproar the bottom of compared with it is super When crossing thresholding T2, then corresponding road section relaying Topology g eneration terminates；Otherwise, after the unmanned plane is informed by using existing communication link Continuous unmanned plane continued takeoff finds next relay point.
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 a variety of implementations of the present invention for the two-way generation method of unmanned plane topology of communication relay Mode.Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, without that should regard Whole for the present 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.
First, it is all realize communication relay unmanned planes successively start shooting, be divided into after start two groups converge to respectively source point S and Near point of destination D.Rotor wing unmanned aerial vehicle is hovered, and fixed-wing unmanned plane is diversion with certain point for the center of circle.It is real in addition to source point S and point of destination D The unmanned plane now communicated is all numbered in sequence, and the unmanned plane near source point S is set to US1、US2、…USN.Nobody near mesh point D Machine is set to UD1、UD2、…UDN.Relaying Topology g eneration is started simultaneously at from No. 1 unmanned plane at source point S and point of destination D two ends.First, compile Number be 1 unmanned plane US1And UD1Respectively from source point S and destination D nears, respectively along SD routes, DS routes towards other side side To flight, the segment distance m that often flies then measures current wireless signal strength RSSI.When flying to certain point, unmanned plane US1Detection Less than S points transmission signal, unmanned plane UD1When can't detect D point transmission signals, current radio signal strength RSSI is recorded respectively, and Difference extremely KS11、KD11.Unmanned plane US1And UD1Stop flight, and start to return to flight to S points, D points direction respectively, it is same every The segment distance m that flies then measures current real-time radio signal intensity RSSI, and K is designated as respectivelyS12、KD12.As the K measuredS12、 KD12Respectively with KS11、KD11Compared to more than signalc threshold T, i.e. KS12-KS11>T、KD12-KD11>During T, then No. 1 unmanned plane US1And UD1 Stop flight, and remember current unmanned plane US1And UD1Position is respectively No. 1 unmanned plane relay point at two ends, and A is designated as respectivelyS1、AD1。 If rotor wing unmanned aerial vehicle, then the hang is in this point, if fixed-wing unmanned plane, then the unmanned plane surrounds this conduct Center of circle circuit.Now, if unmanned plane US1And UD1Can detect other side's transmission signal mutually, and the signal intensity compared with When bottom is made an uproar more than thresholding T, then relay Topology g eneration and terminate.Otherwise No. 1 unmanned plane US1And UD1Pass through source point S and destination respectively D, informs that follow-up unmanned plane can be found with continued takeoff using communication link and relays.The unmanned plane U that then numbering is 2S2And UD2Open Begin to fly, fly to A respectively firstS1、AD1Point, then from AS1、AD1Start, continue to fly towards destination D, source point S respectively.Nobody Machine US2No. 1 unmanned plane U of one's own side is detected simultaneouslyS1No. 2 unmanned plane U of transmission signal and other sideD2Transmission signal.Until detecting No. 2 unmanned plane U of other sideD2Transmission signal and the signal intensity compared with the transmitting that bottom is made an uproar more than thresholding T, or No. 1 unmanned plane of one's own side Signal is weak to when can not detect, stops flight.
If until detecting No. 2 unmanned plane U of other sideD2Transmission signal and the signal intensity made an uproar the bottom of compared with more than thresholding T, then Relaying Topology g eneration terminates.
If the signal intensity of No. 1 unmanned plane of one's own side is weak to that can not detect, then current signal intensity K is recordedS21, No. 2 Unmanned plane UD2Return and fly towards source point S.The segment distance m that often flies measures current radio signal strength, until the live signal of measurement is strong Spend KS22Compared with KS21More than setting thresholding T, i.e. KS22-KS21>T, No. 2 unmanned plane UD2Stop flight, and remember that its current location is source point No. 2 unmanned plane relay points, be designated as AS2.Similarly, No. 2 unmanned plane U near destinationD2By same process, purpose is set up No. 2 unmanned plane relay point A on groundD2.If now unmanned plane US2And UD2The transmission signal of other side can not be also detected, then is continued Taken off respectively by source point or destination and number the unmanned plane U for being 3S3And UD3, the rest may be inferred, distinguishes until from newly-built relay point The unmanned plane U taken offSkAnd UDkThe transmission signal of other side can be detected mutually, and signal intensity is made an uproar more than thresholding T the bottom of compared with.Most Afterwards, unmanned plane U is judgedSkAnd UDkThe U detected respectivelyDk-1And USk-1Whether signal intensity is higher than thresholding T, and selection signal surplus is more Big unmanned plane, which retains, turns into last relay point ASk, another is that redundancy relaying removes.In this way, multiple UAVs is wireless Link just constitutes the multi-hop relay topology from source point to point of destination.
Embodiment
Present embodiments provide a kind of signal for building unmanned plane relaying topology.S is the source point for needing to relay in Fig. 2, and D is Point of destination.Assuming that the shelter between S and D is no more than 100 meters, now the lift-off of all unmanned planes can be highly set to 100 meters.The influence of all shelters can so be avoided.First, by control station or by configuring before all unmanned planes take off Obtain source point S and destination D and related coordinate and elevation information (performing T101).Then, No. 1 unmanned plane at two ends takes off, After 100 meters of high-altitudes are flown to, such as numbering is being flown according to coordinate information towards source point S for odd number, and numbering is even number towards purpose Ground D flies, and reaches near S and D.Then, two ends numbering most forward unmanned plane (example is divided into odd number, even number, similarly hereinafter, Be respectively then numbering be 1, the unmanned plane of No. 2) respectively towards the grid bearing where D points, S points, flown along SD directions, DS directions, It is highly constant.M measures the RSSI value (performing T102) of S points, D point signals respectively at a certain distance.This communication distance m is general To the five/10ths 1/10th of desirable radio station propagation distance.300 meters of the communication distance in such as radio station, then can use m=10, i.e., Often fly RSSI signal value of 10 meters of measurements.If higher to the time requirement for relaying link setup, it is desirable in very fast generation communication When topology, m=30 can be used, i.e. RSSI value of every 30 meters of measurements.Measure spacing hour measurement more accurate, and measure spacing The total topology of generation is time-consuming shorter when big.When 1, No. 2 unmanned planes are towards D points, the flight of S points when exceeding certain distance respectively, will be unable to again Source point S and destination D transmission signal are detected respectively, record now signal level KS11、KD11, i.e., bottom now is made an uproar level. Then, 1, No. 2 unmanned planes are respectively towards returning to S points and return to the direction motion of D points.Flow is as shown in Figure 2.Equally, every m meters points Ji Lu not current RSSI value K in real timeS12、KD12(performing T103).When new RSSI value meets KS12-KS11>T、KD12-KD11>T When, the coordinate of record unmanned plane now is respectively AS1、AD1(performing T104).Wherein T is fading margin.Due between S and D points Signal need the forwarding of multiple communication relays, so this signal margin can set it is more relatively large, to ensure preferably letter Road transfer quality.It such as could be arranged to T=20dB.If now 1, No. 2 unmanned planes can detect the transmitting of other side mutually Signal, and level of signal intensity when relatively can't detect signal (making an uproar at bottom) then sets relaying Topology g eneration when being more than T (30dB) Terminate (S to D relay forwarding can be realized).Otherwise 1, No. 2 unmanned planes inform source point, mesh by the link set up respectively Ground and other each unmanned planes, follow-up unmanned plane can with continued takeoff find relay point.The now secondary small numbering nothing at two ends Man-machine i.e. 3, No. 4 unmanned plane lift-offs, are respectively facing coordinate AS1、AD1Flight.Reach AS1The unmanned plane of point is along AS1This route of D Flown towards destination D, often flight m meters, while measuring an AS1The signal intensity RSSI of the unmanned plane at place and towards oneself fly The RSSI of capable other side's unmanned plane.Meanwhile, reach AD1The unmanned plane of point is along AD1This route of S flies towards source point S.Every flight m Rice, while measuring an AD1The signal intensity RSSI of the unmanned plane at place and No. 4 unmanned planes of other side flown towards oneself hair Penetrate signal.If the transmission signal of No. 4 unmanned planes of other side could be measured mutually, and the intensity would be made an uproar more than thresholding T the bottom of compared with, then is led to Letter relaying Topology g eneration process is terminated.Otherwise two unmanned planes will continue to prolong A respectivelyS1D and AD1S routes fly, until that can not divide A is not receivedS1、AD1The transmission signal of point, then returns to flight to can receive A with same method againS1、AD1The letter of point Number and the position made an uproar higher than thresholding T of the newer bottom of intensity, respectively obtain the 2nd relay point AS2、AD2.The rest may be inferred, until two ends K-th of unmanned plane meet, i.e., untill can detecting the RSSI of other side mutually and being made an uproar the bottom of compared with more than thresholding T.Now may Because the k-th lowest number unmanned plane in two ends distance is too near and causes to relay redundancy, thus it is last need to judge k-th nobody Whether machine can receive the RSSI of -1 unmanned plane of other side's kth, and intensity is made an uproar more than thresholding T the bottom of compared with, if set up, choose letter The bigger unmanned plane of number surplus, which retains, turns into last relay point, removes another redundancy relaying.In this way, by unmanned plane institute The communication relay Topology g eneration of composition terminates.Whole process can be automatically complete according to program set in advance and flow by unmanned plane Into without artificial participation.
For realize communication relay unmanned plane can all since on SD lines a little, a part of unmanned plane towards S fly OK, another part unmanned plane flies towards D points, until K1Individual node detects the RSSI information of S points, K respectively2Individual node detection Untill the RSSI information of D points.Other flows refer to above-mentioned flow implementation.The node serial number of unmanned plane can be according to various rule Then set, for example equipment factory serial number, label etc..Topology g eneration method proposed by the invention can be used for unmanned vehicle nobody Ships and light boats carry out the Topology g eneration of communication relay.
When it is determined that relaying place, RSSI signalc thresholds can not also be used, and are determined using data transmit-receive accuracy Forward point, embodiment be make neighbours (such as No. 2 unmanned planes move reconnaissance when, No. 1 unmanned plane is exactly its neighbour, from source Point sets out, and detection is topological, then source point is the neighbours of No. 1 unmanned plane) repeat to send with set of group data, the machine is in motion process In, the grouped data percentage being properly received is measured, when accuracy is less than a certain thresholding (such as 95%), then nothing now is chosen Man-machine position is used as relay point.RSSI signalc thresholds can certainly be combined come in choosing with data transmit-receive accuracy thresholding After point.In RSSI signal detection process, only detection once, i.e., the hair of source point (or point of destination) can also be can't detect for the first time On the basis of RSSI value when penetrating signal, as long as later unmanned plane during flying detects current RSSI signal values thresholding T bigger than RSSI Just stop flight, and using position now as this unmanned plane relay point.So unmanned plane only needs to unidirectional flight every time, no Need to do the action that no signal flies back again every time, be due to that aerial different zones bottom is made an uproar difference, although in so improving After the access speed of topology point, but the accuracy and validity of choosing topology will be reduced.

Claims (3)

1. a kind of two-way generation method of unmanned plane topology for communication relay, it is characterised in that
Some unmanned planes are divided into two groups and converge to source point S and point of destination D respectively；Each unmanned plane and source point S and point of destination D are Communication node；
First unmanned plane U in two convergent pointsS1And UD1Fly to seek between source point S and point of destination D after by convergent point Its relay point position is looked for, if passing through the first unmanned plane U in two convergent pointsS1And UD1It can be built for source point S and point of destination D Vertical communication relay, then relay Topology g eneration and terminate；If passing through the first unmanned plane U in two convergent pointsS1And UD1It can not be source The first unmanned plane U that point S and point of destination D are set up in communication relay, two convergent pointsS1And UD1First respectively with source point S and point of destination D sets up direct communication, then the second frame unmanned plane U in two convergent pointsS2And UD2From convergent point to setting out and in two convergent points First unmanned plane US1And UD1Between fly to find its relay point position, if the second frame unmanned plane US2And UD2Can be First unmanned plane US1And UD1Between set up communication relay, then the relaying Topology g eneration of each section of circuit terminates；If the second frame without Man-machine US2And UD2Communication relay can not be set up for each section of circuit, then the 3rd frame unmanned plane in two convergent points is according to aforementioned process Its relay point position is found, if setting up communication link until using and quarreling unmanned plane as via node for each section of circuit.
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.
CN201710588563.0A 2017-07-19 2017-07-19 A kind of two-way generation method of unmanned plane topology for communication relay Pending CN107197499A (en)

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