CN108282221A - A kind of secure communication strategy for the multiple no-manned plane reducing dangerous region - Google Patents
A kind of secure communication strategy for the multiple no-manned plane reducing dangerous region Download PDFInfo
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- CN108282221A CN108282221A CN201810132598.8A CN201810132598A CN108282221A CN 108282221 A CN108282221 A CN 108282221A CN 201810132598 A CN201810132598 A CN 201810132598A CN 108282221 A CN108282221 A CN 108282221A
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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
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
A kind of secure communication strategy for the multiple no-manned plane reducing dangerous region, including step：Geometrical model is established according to the flight characteristic of multiple no-manned plane and cluster state；Hierarchical algorithm is designed by unmanned aerial vehicle group component layers, finds out group's boundary node；The communication range for reducing boundary node, finds the optimal communication radius of boundary node in this process；Design moving algorithm keeps boundary node close to group, and then completes efficient communication；Finally, infinite number of in number of nodes by theoretical proof, which can reduce the limiting value of dangerous regional percentage.Communication range of the present invention by reducing unmanned plane group boundary node has many advantages, such as that manipulation is simple, the dangerous regional extent of stable reduction can be such that multiple no-manned plane group is safely and effectively communicated to reduce the range in dangerous region.Multiple no-manned plane cooperation is with a wide range of applications in battlefield surroundings.
Description
Technical field:
The present invention relates to a kind of method of multiple no-manned plane secure communication, specifically a kind of multiple no-manned plane that is suitable for cooperates with
In-flight, UAV Communication scope control and the control of unmanned plane during flying position make the novel method of secure communication between unmanned plane, belong to
In the technical field of multiple no-manned plane secure communication.
Background technology:
So-called secure communication, it is unrelated with specific communication details, and refer to by control unmanned plane communication range and
The flight position of unmanned plane, the research for keeping unmanned plane group comparatively safe.In multiple no-manned plane executes task process, if nobody
The communication radius of machine is more than the investigation radius of unmanned plane, then will appear investigation blind area except the scope of investigation of unmanned plane, at this
In a region, enemy plane can easily obtain the communication information of unmanned plane group without being detected by unmanned plane group, we claim
This state is leakage of information, and the region for defining leakage of information is dangerous region.It was being communicated to reduce unmanned plane group
Dangerous region in journey, herein from the Collaborative Control angle of unmanned plane, by adjusting the communication range of boundary unmanned plane,
To make unmanned plane group communication range reduce, and then reduce the range in dangerous region, keeps group communication comparatively safe.
Unmanned plane has come into the fast-developing phase at present after decades of development originating from military field, and type is got over
Come more, application field is constantly expanded, and task type is more and more extensive.In recent years, unmanned plane is in military, civilian, rescue and city
The multiple fields extensive uses such as city's management.In battlefield, unmanned plane is used to execute the monitoring on various search works and battlefield,
Since unmanned plane does not need pilot steering, more safety.In agricultural, using being integrated with high-definition digital camera, spectrum
The unmanned plane of the devices such as analyzer, thermal infrared sensor flies on farmland, can accurately calculate the cultivated area in plot of insuring,
The data acquired can be used to assess crops risk situation, and can be disaster affected farmland setting loss.In addition, the inspection of unmanned plane also reality
The monitoring to crops is showed.When communication disruption, unmanned plane since its is small, operation flexibly can with most fast speed into
Row rescue.Unmanned plane can be used for exploring the place that the mankind can not reach, can be to some local delivery items with a varied topography.
Also there are the shadow of unmanned plane, unmanned plane that can carry out positioning autonomous cruise along power grid in urban electric power inspection, in real time transmission shooting
Image, monitoring personnel can be synchronized and be watched on computers.Electronization, information-based, intelligence inspection are realized, power circuit is improved
Working efficiency, emergency repair level and the power supply reliability of inspection.Freshets roar down from the mountains, earthquake disaster etc. in emergency circumstances, nobody
Machine also can be to the potential danger of circuit, and the problems such as such as column foot is subside promptly is investigated, and is not influenced by pavement behavior at all.Phase
For single unmanned plane, multiple no-manned plane can synergistically work, and will not lead to task because of the damage of single rack unmanned plane
It terminates, to more economically effectively complete task.
In the research of multiple no-manned plane secure communication, for Secure Group Communication problem, i.e., if unmanned plane group signals compared with
Weak, the method for increasing signal-to-noise ratio is exactly the problem for increasing unmanned plane signal strength, and group information being caused to expose in this way, Massachusetts
Science and engineering scholar proposes a kind of multiple no-manned plane control method communicated based on space safety, and in unmanned plane group, setting is therefrom
The power of communications of heart node to boundary node is gradually reduced, final to ensure to lead to make the communication range of unmanned plane be changed
Letter safety.This method proposes solution to the secure communication of unmanned plane group, but need to the power of each unmanned plane into
Row distributed AC servo system, and the power difference of unmanned plane causes the unmanned plane time-to-live to be differed, and unmanned aerial vehicle group group membership is caused to subtract
Small fast problem.The scholar of the Virginia, US Institute of Technology is carried out pair by regarding ground base station and unmanned plane as air base station
Than finding that unmanned plane is capable of providing instant messaging as air base station, since unmanned plane makes it possible to effectively establish in high-altitude
Sighting distance (line-of-sight (LoS)) communication link, to mitigate the phenomenon that signal jam is with covering.Based on this, it is proposed that one
Kind frame, optimizes the deployment and movement of multiple no-manned plane, the association of equipment-unmanned plane and the Power Control Problem of uplink.It is logical
The limitation to distinctive signal and interference-to-noise ratio is crossed, the position of specific unmanned plane is found out, keeps equipment associated with unmanned plane, from
And find the best uplink transmission power of equipment.The algorithm adjusts position by unmanned plane and can be derived that best transmitting work(
Rate, but not to multiple no-manned plane flight when Collaborative Control make discussion.Northwestern Polytechnical University scholar is directed to totally unknown region,
How effectively to control unmanned plane makes the maximized problem in search range.Propose a kind of communication strategy merged based on information.
First by multiple UAVs component layers, the first node layer is selected as leader, is extended layer by layer, and making being capable of efficient communication between each layer.
In communication process, the map of its storage inside can be exchanged with each other between multiple no-manned plane, to make search range maximize.The plan
Slightly by the Collaborative Control to unmanned plane to make multiple no-manned plane be in communication with each other, and then reach search work, but lacks to safety
The considerations of
Invention content：
Based on the above issues, the secure communication problem when present invention is for the flight of unmanned plane group, collects the association of multiple no-manned plane
Pass through flying for Collaborative Control multiple no-manned plane from the angle of multiple no-manned plane communication security in one with secure communication with control
Line position is set, and is reduced the communication radius of multiple no-manned plane boundary node, is finally reached the purpose of secure communication.Major programme of the present invention is such as
Under：
A kind of secure communication strategy for the multiple no-manned plane reducing dangerous region, includes the following steps：
Step 1：Group is layered by design hierarchical algorithm, finds boundary node；
Step 2：The boundary node that outermost node layer is group is found, reduces the communication radius of boundary node to find most
Good communication radius R；
Step 3：Moving algorithm moving boundary node is designed, so that it is drawn close to group center, and then make boundary node and group
Group node efficient communication.
The step 1 further includes：
Step 1.1：According to the geometrical model of multiple no-manned plane, determine the syntople between multiple no-manned plane node, acquire mostly without
The adjacency matrix a of between humans and machinesij；
Step 1.2：Unmanned plane group Central Europe formula is found out apart from maximum two points, utilizes formula
Take two midpoints as group center c；PiAnd PjRespectively represent the coordinate of node i and node j；
Step 1.3：Initialization storage unmanned plane group node layer matrix level and variable k；
Step 1.4:Using c as first layer in group, it is added in matrix level (k)；
Step 1.5:Judge whether to traverse all unmanned plane nodes, if so, cycle terminates；If not, continuing to execute step
Rapid 6；
Step 1.6:Utilize aijLevel (k) adjacent nodes (not including traversed node) are found out, provisional matrix is added
In q；
Step 1.7：Number of plies k adds 1；
Step 1.8：Provisional matrix q is added in level (k), step 1.5 is executed.
There are a critical values for communication radius described in the step 2, in this case, unmanned plane group it is dangerous
Region is minimum, and the critical value for defining boundary point communication radius is the optimal communication radius of boundary point；It is defined as follows：
R={ 0 ＜ r ＜ rB:cA∩cB=cA,dr=rB-rA,A∈No,B∈Ni}
Wherein cARepresent border circle, cBRepresentative and cAThe internal layer of intersection is justified, drFor the distance between two centers of circle, rBFor internal layer circle half
Diameter, rAFor boundary radius of circle, NoFor border circle set, NiJustify for internal layer and gathers；
The step 3 further includes：
Step 3.1：Initialize boundary node number n, cyclic variable i and moving step length step；
Step 3.2：I-th of boundary node is moved to group center c, and distance is step；
Step 3.3:Boundary node i and remaining nodal distance of group are calculated, shortest distance s is found out；
Step 3.4:Judge whether s is less than optimal communication radius R, if so, executing step 3.5, is executed if not, returning
Step 3.2；
Step 3.5:I=i+1；
Step 3.6:Judge whether i is less than n；If so, returning to step 3.2；If not, terminating algorithm.
Beneficial effects of the present invention：
It is more for secure communication and the one-side research of Collaborative Control, however most unmanned planes need in battlefield surroundings
Two aspects are combined and are accounted for.Therefore, the present invention carries out best position selection for multiple no-manned plane Collaborative Control, keeps
It communicates with one another that information is made to carry out real-time delivery.In the communications, it is contemplated that the safety of information controls the communication of boundary node
Range keeps group communication safe, to ensure that multiple no-manned plane securely communicates.
Description of the drawings：
Fig. 1 is the specific steps flow chart of the present invention for seeking boundary node matrix；
Fig. 2 is the specific steps flow chart of design moving algorithm of the present invention.
Specific implementation mode：
Detailed description of the present invention specific implementation mode below in conjunction with the accompanying drawings, the content of specific implementation mode is not as to this
The restriction of the protection domain of invention.
A kind of secure communication strategy for the multiple no-manned plane reducing dangerous region, mainly includes the following steps the first stage：
Seek boundary node matrix edge；
1.1 initialization unmanned plane group N, UAV Communication radius r, label matrix mark.
1.2, according to the syntople between unmanned plane, find out the adjacency matrix a_ij of multiple no-manned plane.According to formula | | qj-qi||
=d finds out node i at a distance from node j, wherein q represents the position of unmanned plane, and N represents the set of unmanned plane group.If d
＜ r, then node i can be communicated with node j, a_ij ≠ 0, vice versa.Wherein r is the communication radius of unmanned plane.
1.3 find out maximum two points of distance in group, utilize formulaFind out group's central point
c。PiAnd PjRespectively represent the coordinate of node i and node j；
1.4 initialization unmanned plane layer matrixes, and group central point c is set as the first node layer.
1.5 find unmanned plane kth node layer adjacent node using kth node layer as input, using a_ij, if finding section
Point is labeled in marking matrix mark, then the node had been found, and continually looks for adjacent other nodes.If should
Node is not labeled, then is added in+1 layer matrix of kth.
1.6 execute step 1.5 until unmanned plane layer matrix node number is equal to unmanned plane number of nodes N.
1.7 find out last layer, as boundary node in layer matrix.
Second stage：Find out the optimal communication radius of boundary node
During reducing boundary node communication radius, it has been found that the communication radius of boundary node is critical there are one
Value, in this case, the dangerous region of unmanned plane group are minimum, and the critical value that we define boundary point communication radius is side
The optimal communication radius of boundary's point.It is defined as follows：
R={ 0 ＜ r ＜ rB:cA∩cB=cA,dr=rB-rA,A∈No,B∈Ni}
Wherein cARepresent border circle, cBRepresentative and cAThe internal layer of intersection is justified, drFor the distance between two centers of circle, rBFor internal layer circle half
Diameter, rAFor boundary radius of circle, NoFor border circle set, NiJustify for internal layer and gathers.
Phase III：Design moving algorithm
3.1 initialization boundary node number n, moving step length step.
3.2 i-th of boundary node are moved to group center c, and distance is step.
3.3 calculate boundary node i and remaining nodal distance of group, find out shortest distance s.
3.4 judge whether s is less than optimal communication radius R.If it is, proving that node i can be with other nodes in group
Communicated, execute 3.5, if not, boundary node displacement distance be not enough to other node efficient communications of group, continue to make it
It is moved to group center, returns and execute 3.2.
3.5 judge whether i is less than n, if it is, also having part node not establish communication chain with group in boundary node
Road returns to step 2.If it is not, then the movement of all boundary nodes finishes, algorithm can be terminated with group's efficient communication.
The content of specific implementation mode be for the ease of those skilled in the art understand that and using the present invention and describe, and
The restriction to present invention protection content is not constituted.Those skilled in the art, can be to this after having read present disclosure
Invention is suitably changed.The protection content of the present invention is based on the contents of the claims.In the reality for not departing from claim
In the case of matter content and protection domain, various modifications, change and replacement for being carried out to the present invention etc. are all in the protection of the present invention
Within the scope of.
Claims (4)
1. a kind of secure communication strategy for the multiple no-manned plane reducing dangerous region, which is characterized in that include the following steps：
Step 1：Group is layered by design hierarchical algorithm, finds boundary node；
Step 2：The boundary node that outermost node layer is group is found, it is best logical to find to reduce the communication radius of boundary node
Believe radius R；
Step 3：Moving algorithm moving boundary node is designed, it is made to be drawn close to group center, and then boundary node is made to be saved with group
Point efficient communication.
2. a kind of secure communication strategy of multiple no-manned plane reducing dangerous region according to claim 1, feature exist
In the step 1 further includes：
Step 1.1：According to the geometrical model of multiple no-manned plane, determines the syntople between multiple no-manned plane node, acquire multiple no-manned plane
Between adjacency matrix aij；
Step 1.2：Unmanned plane group Central Europe formula is found out apart from maximum two points, utilizes formulaIt takes
Two midpoints are as group center c；PiAnd PjRespectively represent the coordinate of node i and node j；
Step 1.3：Initialization storage unmanned plane group node layer matrix level and variable k；
Step 1.4:Using c as first layer in group, it is added in matrix level (k)；
Step 1.5:Judge whether to traverse all unmanned plane nodes, if so, cycle terminates；If not, continuing to execute step 6；
Step 1.6:Utilize aijLevel (k) adjacent nodes (not including traversed node) are found out, are added in provisional matrix q；
Step 1.7：Number of plies k adds 1；
Step 1.8：Provisional matrix q is added in level (k), step 1.5 is executed.
3. a kind of secure communication strategy of multiple no-manned plane reducing dangerous region according to claim 1, feature exist
In, there are a critical values for communication radius described in the step 2, in this case, the dangerous region of unmanned plane group
Minimum, the critical value for defining boundary point communication radius is the optimal communication radius of boundary point；It is defined as follows：
R={ 0 ＜ r ＜ rB:cA∩cB=cA,dr=rB-rA,A∈No,B∈Ni}
Wherein cARepresent border circle, cBRepresentative and cAThe internal layer of intersection is justified, drFor the distance between two centers of circle, rBFor internal layer radius of circle,
rAFor boundary radius of circle, NoFor border circle set, NiJustify for internal layer and gathers.
4. a kind of secure communication strategy of multiple no-manned plane reducing dangerous region according to claim 1, feature exist
In the step 3 further includes：
Step 3.1：Initialize boundary node number n, cyclic variable i and moving step length step；
Step 3.2：I-th of boundary node is moved to group center c, and distance is step；
Step 3.3:Boundary node i and remaining nodal distance of group are calculated, shortest distance s is found out；
Step 3.4:Judge whether s is less than optimal communication radius R, if so, step 3.5 is executed, if not, returning to step
3.2；
Step 3.5:I=i+1；
Step 3.6:Judge whether i is less than n；If so, returning to step 3.2；If not, terminating algorithm.
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