CN107454651A - A kind of unmanned plane for communication relay is segmented Topology g eneration method - Google Patents
A kind of unmanned plane for communication relay is segmented Topology g eneration method Download PDFInfo
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- CN107454651A CN107454651A CN201710588529.3A CN201710588529A CN107454651A CN 107454651 A CN107454651 A CN 107454651A CN 201710588529 A CN201710588529 A CN 201710588529A CN 107454651 A CN107454651 A CN 107454651A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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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
- H04W40/22—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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
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Abstract
The present invention proposes that a kind of unmanned plane for communication relay is segmented Topology g eneration method.Source point S to point of destination D route are divided into k+1 sections by k via node；Source point S, point of destination D and k via node are communication node；First unmanned plane in each convergent point by convergent point after flown between each section of circuit to find its relay point position, if first unmanned plane, which can be each section of circuit, directly establish communication relay, the relaying Topology g eneration of each section of circuit terminates；If first unmanned plane, which can not be each section of circuit, establishes communication relay, then the communication node of the first corresponding convergent point of first unmanned plane establishes direct communication, then the second frame unmanned plane is from convergent point to setting out and being flown between first unmanned plane and next communication node to find its relay point position, if establishing communication link as via node for each section of circuit until using and quarreling unmanned plane.The present invention is without manpower intervention, the problem of avoiding communication link switch-on and -off, repeatedly oscillating movement.
Description
Technical field
The invention belongs to communication technical field, and in particular to a kind of unmanned plane for communication relay is segmented Topology g eneration side
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, the problem of causing both sides not communicated directly.If using nobody
The machine can that carries out transferring in the air is realized and communicated across 2 points of sighting distance.But how on earth these relay points are chosen
Especially multiple unmanned planes being present, it is necessary to which multiple unmanned planes cooperate, the relaying that one unmanned plane of formation is formed is topological, by
How to be controlled when one group of unmanned plane is to carry out communication relay and coordinate these unmanned planes, how allowed them to cooperate and coordinate composition 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 are always one of major issue of wireless relay.In the base of routine
Stand in either station telecommunication relaying, in order to choose suitable communication point, typically using theoretical calculation, pure actual measurement and manage
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 the relative altitude, the transmission power in radio station, antenna gain in radio station etc. are received and dispatched, and can be calculated by known loss formula
Substantially loss in specific region apart from upper signal, it may result in loss of signal and set on the point position for being unable to properly receive data
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, it is signal transfer point to choose the point.And integrade theory with practice
Method is then first substantially to estimate the decay distance of theory, and signal measurement instrument is then used around the point chosen by theoretical calculation
Measurement signal, suitable thresholding is then selected 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, to ensure that the relaying of data is received and dispatched.Such as Tsing-Hua University wears the patent of invention of the applications such as 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：Establish task, communication and the topology of unmanned plane
Correlation function；Establish 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
Meet the unmanned plane interactive communication of preset need 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
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
A kind of acquisition methods and system of the unmanned plane formation communication topology based on shortest arborescence, this method include：According to default
The formation structure formation traffic diagram of formation；Calculate the shortest arborescence of the formation traffic diagram；Judge the shortest arborescence
Can the unmanned plane belonging to root node be used as formation pilotage people, according to judged result, obtain optimal communication topology.This method according to
The default formation structure formation traffic diagram formed into columns, 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 be used as formation pilotage people, according to judged result, obtain optimal communication topology, protect
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 relays, if layouted according to theoretical model, such as
Fruit effect of layouting is not ideal enough, position of layouting can be adjusted again, because relay point all may be not numb in ground, adjustment
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, because component environment interference be present in surrounding,
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, and so as to cause the second jump relaying to deteriorate, and second can be influenceed by adjusting the second position jumped
Jump the distance between the 3rd jump etc..So as to cause unmanned plane repeated link afterbody to vibrate back and forth.When unmanned plane is left 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
Actual measurement passes through theoretical calculation acquisition.Need to consume substantial amounts of manpower and materials.Communication relay mistake is realized in unmanned aerial vehicle group
Cheng Zhong, should be what kind of relation between multiple unmanned planes, how accomplish that multiple no-manned plane cooperates between 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 all do not refer in the prior art scheme.
The content of the invention
The present invention proposes that a kind of unmanned plane for communication relay is segmented Topology g eneration method.
In order to solve the above-mentioned technical problem, the present invention provides a kind of unmanned plane for communication relay and is segmented Topology g eneration side
Method, k framves unmanned plane during flying to the coordinate position set in advance, as k via node；The k via node is by source point S
Route to point of destination D is divided into k+1 sections；Source point S, point of destination D and k via node are communication node；Except foregoing k framves without
Man-machine outer, other promising unmanned planes for realizing communication relay of institute, which are divided into k+1, to be dialled and converges to source point S respectively and be segmented via node
A1, A2 ..., near Ak；
First unmanned plane in each convergent point by convergent point after flown between each section of circuit to find its relaying
Point position, communication relay is directly established if first unmanned plane can be each section of circuit, the relaying topology of each section of circuit is raw
Into end；If first unmanned plane, which can not be each section of circuit, establishes communication relay, first unmanned plane is first corresponding
The communication node of convergent point establishes direct communication, then the second frame unmanned plane from convergent point to set out and first unmanned plane with
Flown between next communication node to find its relay point position, if the second frame unmanned plane can be first unmanned plane with
Next communication node directly establishes communication relay, then the relaying Topology g eneration of each section of circuit terminates；If the second frame unmanned plane
Can not be that each section of circuit establishes communication relay, then the 3rd frame unmanned plane finds its relay point position according to aforementioned process, until making
It is that each section of circuit establishes communication link by the use of if unmanned plane is quarreled as via node.
Further, upon the look during a position is to establish communication link, unmanned plane often flies one section each unmanned plane
Distance m, the transmission signal and current radio signal strength RSSI of previous communication node are measured, when flying to certain point, unmanned plane
When can't detect the transmission signal of the communication node, stop flight, record current radio signal strength RSSI is KS11, then
Start to return to flight, often fly a segment distance m, and measurement current radio signal strength RSSI is KS12；Work as KS12-KS11>During T, T1 is
Thresholding, then unmanned plane stopping flight, current location is its relay point position；Now, if unmanned plane be able to detect that it is next
The transmission signal of communication node, and when the signal intensity is made an uproar more than thresholding T2 the bottom of compared with, then corresponding road section relaying Topology g eneration terminates；
Otherwise, the unmanned plane informs that follow-up unmanned plane continued takeoff finds next relay point by using existing communication link.
Further, in flight course, its previous neighbor node repeats to send with set of group data, unmanned plane unmanned plane
The accuracy of the grouped data received is measured, when accuracy is less than a certain thresholding, then chooses current location as the unmanned plane
Relay point position.
Compared with prior art, its remarkable advantage is the present invention, and UAV Communication proposed by the invention relaying is opened 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 gradually forms, 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 avoids unmanned plane because of communication distance caused by the change of communicating wireless signals ability
Constantly change, so as to trigger the oscillating movement repeatedly of the unmanned plane at repeated link both ends, stable relay forwarding topology can not be formed
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 be used for communication relay unmanned plane segmentation Topology g eneration method a variety of implementations
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 carries
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 positional information corresponding to source point S and 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-off arrive level altitude H, this height H should be greater than source point S and purpose
Obstacle height between point D, each unmanned plane have detected wireless signals intensity RSSI (Radio Signal Strength
Indication, including the intensity of transmission signal and noise signal) ability.
First, fly and stopped to the position coordinates set in advance after the start of first k framves unmanned plane, as presetting
K via node, be designated as respectively A1, A2 ..., Ak.Rotor wing unmanned aerial vehicle hover, fixed-wing unmanned plane with certain point for the center of circle around
Fly.Source point S to point of destination D route are divided into k+1 sections by this k via node, and for convenience's sake, the present invention is by this k
It is referred to as being segmented via node after node.
Then, in addition to foregoing k framves unmanned plane, other it is promising realize communication relay unmanned plane successively start shooting, after start
Be divided into k+1 dial converge to respectively source point S and segmentation via node A1, A2 ..., near Ak, rotor wing unmanned aerial vehicle hovering is fixed
Wing unmanned plane is diversion with certain point for the center of circle, is collision free, should be taken corresponding collision avoidance measure.Converge in each segmentation via node
Neighbouring unmanned plane is numbered in sequence, then begins to generate the relaying topology of every 1 section of route, due in each section of route
It is the same after Topology g eneration process, now it is illustrated by taking source point S to this section of route of via node A1 as an example.
It is U by the unmanned plane serial number converged near source point SS1、US2、…USN.Topology g eneration is relayed from US1Number nobody
Machine starts.First, the unmanned plane U that numbering is 1S1From source point S nears, flown along SA1 routes towards A1 points direction, often fly one
Segment distance m then measures source point S transmission signal and current wireless signal strength RSSI.When flying to certain point, unmanned plane US1
When can't detect source point S transmission signal, unmanned plane US1Stop flight, record current radio signal strength RSSI is KS11After open
Begin to return to source point S directions and fly, the segment distance m that equally often flies then measures current real-time radio signal intensity RSSI, remembers
For KS12.As the K measuredS12With KS11Compared to more than signalc threshold T, i.e. KS12-KS11>During T, then US1Number unmanned plane stops flight,
And remember No. 1 unmanned plane U that current location is SA1 sectionsS1Relay point, be designated as RS1.If rotor wing unmanned aerial vehicle, then the aircraft hangs
This point is parked in, if fixed-wing unmanned plane, then the unmanned plane is put around this and is used as center of circle circuit.
Now, if unmanned plane US1Segmentation via node A1 transmission signal is able to detect that, and signal intensity is made an uproar the bottom of compared with
During more than thresholding T, then SA1 sections relaying Topology g eneration terminates.Otherwise, unmanned plane US1By source point S, accused using existing communication link
Know that other follow-up unmanned planes can find next relay point with continued takeoff.Then, source point S nearby numbers the unmanned plane U for being 2S2Open
Begin to fly, it flies to newly-built relay point R firstS1Point, then from RS1Start, continue to fly towards next node A1.Unmanned plane US2Together
When detect one's own side No. 1 unmanned plane US1Transmission signal and via node A1 transmission signal, until detecting via node A1's
Transmission signal and signal intensity is made an uproar more than thresholding T, or No. 1 unmanned plane U of one's own side the bottom of compared withS1Transmission signal it is weak to can not be detected as
Only.
If detect via node A1 transmission signal and signal intensity is made an uproar more than thresholding T, R the bottom of compared withS1A1 sections relay
Topology g eneration terminates.If No. 1 unmanned plane U of one's own sideS1Transmission signal is weak to can not detect, unmanned plane US2Stop flight, record is worked as
Preceding wireless signal strength RSSI is KS21No. 2 unmanned plane U afterwardsS2Return and fly towards source point S.The segment distance m that often flies measurements are current wireless
Signal intensity RSSI, is designated as KS22, until the real-time signal strength K of measurementS22Compared with KS21More than setting thresholding T, i.e. KS22-KS21>T,
No. 2 unmanned plane US2Stop flight, and remember No. 2 unmanned plane relay points that its current location is SA1 sections, be designated as AS2.If now without
Man-machine US2Or the transmission signal of A1 points can not be detected, then continues to notify source point takes off to number the unmanned plane U for being 3S3, according to this
Analogize, the transmission signal until being able to detect that via node A1, and untill signal intensity is made an uproar more than thresholding T the bottom of compared with, now source
The relaying Topology g eneration of point S to this section of route of via node A1 terminates.
The present invention suffered source point S and point of destination D, via node A1, A2 ..., Ak, and other add communication links nothing
Man-machine is to relay the communication node in topological network.The same method generation of other each section relaying topologys, in this way, multi rack without
Man-machine Radio Link just constitutes the multi-hop relay topology from source point to destination.Whole UAV Communication relaying Topology g eneration
Flow is as shown in Figure 1.
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 arranged to
100 meters.The influence of all shelters can so be avoided.First, waypoint is determined (assuming that there is k waypoint that SD is divided into k
+ 1 section, be designated as respectively A1, A2 ... Ak), k should be relevant with the distance between S and D.K can be typically set, and ensureing each section has
4-5 is jumped and can covered.For example, by theoretical calculation, about 300 meters of the communication distance of every frame unmanned plane, and S to D distance 6 is public
In, then it can could be arranged to 3 with one point of every 1500 meters settings, K.Then k frame unmanned planes are sent to fly respectively at segmented node
As via node, other all unmanned planes take off before by control station or by configure obtain source point S, destination D and k points
The dependent coordinate of unmanned plane and elevation information (performing T101) at Duan Jiedian.Then, other all unmanned planes are divided into k+1 and criticize and divide
Not Bian Hao after belong to source point S and k segmented node, after taking off and flying to 100 meters of high-altitudes, according to ownership believed respectively according to coordinate
Breath is reached near S and k segmented node towards source point S and k segmented node flight.Then, the numbering of S and k segmented node is most
No. 1 forward unmanned plane keeps height not towards the grid bearing flight where oneself next neighbor node, flight course respectively
Become.M measures the RSSI value (performing T102) of S and the signal of k segmented node respectively at a certain distance.This communication distance m
To the five/10ths 1/10th of general desirable radio station propagation distance.Such as 300 meters of the communication distance in radio station, then it 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 to which very fast generation is logical
When letter relaying is topological, m=30 can be used, i.e. RSSI value of every 30 meters of measurements.It is more accurate to measure the measurement of spacing hour, and measures
It is time-consuming shorter that total topology is generated when spacing is big.When S and k segmented node No. 1 unmanned plane during flying exceed certain distance, by nothing
Method detects source point S and k segmented node transmission signal respectively again, records now signal level KS11、KAn11(n=1,2 ...
K), i.e., bottom now is made an uproar level.Then, all No. 1 unmanned planes are respectively towards the direction flight for returning to S points and k segmented node.Together
Sample, current RSSI value K in real time is recorded respectively every m riceS12、KAn12(performing T103).When new RSSI value meets KS12-KS11>
T、KAn12-KAn11>During T, that is, new relay point is found, the coordinate of record unmanned plane now is respectively RS1、RAn1(performing T104).
Wherein T is fading margin.Because the transmission signal between S and D points needs multiple communication relay forwardings, so this signal margin
What can be set is more relatively large, to ensure preferable channel transfer quality.For example it could be arranged to T=30dB.If now certain
No. 1 unmanned plane at a little new relay points is able to detect that the RSSI of next neighbor node, and the signal intensity relatively detects not
When being more than T (30dB) to level when signal (making an uproar at bottom), then this section relaying Topology g eneration terminates.And other can not detect it is next
No. 1 unmanned plane of individual neighbor node informs source point and k segmented node and other each nothings by the link established respectively
Man-machine, follow-up unmanned plane can find relay point with continued takeoff.The rest may be inferred, until all newly-built relay points can detect
To the RSSI of oneself next neighbor node, and the level when signal intensity relatively can't detect signal (making an uproar at bottom) is more than T.Such as
This, the communication relay Topology g eneration being made up of unmanned plane terminates.Whole process can be by unmanned plane according to journey set in advance
Sequence and flow are automatically performed, and are participated in without artificial.
For realizing that the unmanned plane of communication relay can be from D points and each segmented node, towards upper one of S points direction
Neighbor node flies.Until the n-th nodal test in each section of path is untill the RSSI information of a upper neighbor node.Remove
Outside each unmanned plane during flying direction is adjusted accordingly, other flows refer to above-mentioned flow implementation.The node serial number of unmanned plane can
With according to various rule settings, such as equipment factory serial number, label etc..Topology g eneration method proposed by the invention can also be used
The Topology g eneration of communication relay is carried out in the unmanned ships and light boats of unmanned vehicle.
When it is determined that relaying place, RSSI signalc thresholds can not also be used, and are determined using data transmit-receive accuracy
Point is forwarded, embodiment is to make neighbours (for such as No. 2 unmanned planes when moving reconnaissance, 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 chooses nothing now
Man-machine position is as relay point.RSSI signalc thresholds can certainly be combined with data transmit-receive accuracy thresholding come in choosing
After point.
Claims (3)
1. a kind of unmanned plane for communication relay is segmented Topology g eneration method, it is characterised in that
K framves unmanned plane during flying is to the coordinate position set in advance, as k via node；The k via node is by source point
S to point of destination D route are divided into k+1 sections；Source point S, point of destination D and k via node are communication node；
In addition to foregoing k framves unmanned plane, other the promising unmanned plane for realizing communication relay be divided into k+1 dial converge to source point S respectively
And segmentation via node A1, A2 ..., near Ak；
First unmanned plane in each convergent point by convergent point after flown between each section of circuit to find its relay point position
Put, if first unmanned plane, which can be each section of circuit, directly establishes communication relay, the relaying Topology g eneration knot of each section of circuit
Beam；If first unmanned plane, which can not be each section of circuit, establishes communication relay, the first corresponding convergence of first unmanned plane
Point communication node establish direct communication, then the second frame unmanned plane from convergent point to set out and first unmanned plane with it is next
Flown between individual communication node to find its relay point position, if the second frame unmanned plane can be first unmanned plane with it is next
Individual communication node directly establishes communication relay, then the relaying Topology g eneration of each section of circuit terminates；If the second frame unmanned plane can not
Communication relay is established for each section of circuit, then the 3rd frame unmanned plane finds its relay point position according to aforementioned process, if until using
It is that each section of circuit establishes communication link that unmanned plane, which is quarreled, as via node.
2. the unmanned plane segmentation Topology g eneration method for communication relay as claimed in claim 1, it is characterised in that each unmanned plane
Upon the look during a position is to establish communication link, unmanned plane often flies a segment distance m, measures previous communication node
Transmission signal and current radio signal strength RSSI, when flying to certain point, unmanned plane can't detect the hair of previous communication node
When penetrating signal, stop flight, record current radio signal strength RSSI is KS11, then start return flight, often fly one section away from
From m, measurement current radio signal strength RSSI is KS12；Work as KS12-KS11>During T, T1 is thresholding, then unmanned plane stops flight, when
Front position 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 segmentation Topology g eneration method for communication relay 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 receives is just
True rate, when accuracy is less than a certain thresholding, then choose relay point position of the current location as the unmanned plane.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109309525A (en) * | 2018-09-26 | 2019-02-05 | 中国人民解放军陆军工程大学 | A kind of distributed transmission mode selecting method based on unmanned plane during flying track |
| CN111381593A (en) * | 2020-03-04 | 2020-07-07 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle and unmanned ship representation method and device, storage medium and electronic equipment |
| CN111435257A (en) * | 2019-01-14 | 2020-07-21 | 华为技术有限公司 | Mobile route determining method and related equipment |
| CN112821936A (en) * | 2020-12-31 | 2021-05-18 | 上海海洋大学 | Unmanned aerial vehicle signal relay system and application |
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