CN108924788B - Energy consumption balance method in wireless UV cooperative UAV formation network - Google Patents

Energy consumption balance method in wireless UV cooperative UAV formation network Download PDF

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CN108924788B
CN108924788B CN201810642454.7A CN201810642454A CN108924788B CN 108924788 B CN108924788 B CN 108924788B CN 201810642454 A CN201810642454 A CN 201810642454A CN 108924788 B CN108924788 B CN 108924788B
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赵太飞
许杉
王晶
郭嘉文
张润农
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Qingdao Dongrun Haiyi Intelligent Technology Co ltd
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Xian University of Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. Transmission Power Control [TPC] or power classes
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Abstract

本发明公开了无线紫外光协作无人机编队网络中能耗均衡方法。首先建立紫外光非直视单次散射通信模型，确定紫外光NILOS(c)类通信方式下信道的能量衰减公式，在此基础上采用无线紫外光通信能量消耗模型对飞行中的无人机编队进行能耗分析。其次通过簇首选举、簇的建立和稳定数据传输3个阶段的循环执行对无人机编队进行分簇管理，达到均衡网络能耗的目的。本发明方法结合无线紫外光散射通信的优点，通过分簇拓扑管理机制对无人机编队进行能耗均衡，能够有效优化无人机编队的能量分配，延长无人机编队的生存时间。

Figure 201810642454

The invention discloses a method for balancing energy consumption in a formation network of wireless ultraviolet light cooperative unmanned aerial vehicles. Firstly, the UV light non-direct-line single scattering communication model is established, and the energy attenuation formula of the channel under the UV light NILOS(c) communication mode is determined. Perform energy analysis. Secondly, through the cyclic execution of three stages of cluster head election, cluster establishment and stable data transmission, the UAV formation is clustered and managed to achieve the purpose of balancing network energy consumption. The method of the invention combines the advantages of wireless ultraviolet light scattering communication and balances the energy consumption of the UAV formation through the cluster topology management mechanism, which can effectively optimize the energy distribution of the UAV formation and prolong the survival time of the UAV formation.

Figure 201810642454

Description

Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network
Technical Field
The invention belongs to the technical field of photoelectric information, and relates to an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network.
Background
In recent years, the development of unmanned aerial vehicle technology has become relatively mature, and plays a unique role in military and civil use. In order to improve single unmanned aerial vehicle's function and utility, formation cluster concept takes place at the same time, and its single unmanned aerial vehicle can greatly strengthen cluster unmanned aerial vehicle's viability relatively, and the perception that extension unmanned aerial vehicle was to battlefield information obtains the ability, improves the ability that unmanned aerial vehicle executed the task in coordination.
Since the application of the unmanned aerial vehicle, safety problems have been accompanied, and radio silence, radio monitoring, electronic interference and other conditions in practical application of traditional radio communication will affect normal communication of links between the unmanned aerial vehicles, resulting in generation of wrong control instructions, which causes that tasks cannot be executed and even a crash can be out of control, which is very disadvantageous for a transient and immediate battlefield environment. The wireless solar blind ultraviolet communication is a novel communication mode which mainly adopts 200-280nm ultraviolet band light waves as a transmission medium and utilizes particles, aerosol, dust and the like in the atmosphere to carry out information transmission on the scattering of the solar blind ultraviolet light. Because the ultraviolet light communication has the advantages of low eavesdropping rate, low position resolution, omnidirectionality and strong anti-jamming capability, can be used for non-line-of-sight (NLOS) communication, works in all weather, does not need to capture, align and track (APT) and the like, and can meet the requirement of reliable secret communication of the unmanned aerial vehicle in a complex battlefield environment.
In the military field, unmanned aerial vehicle formation can be used for carrying out intelligence reconnaissance and battlefield monitoring, and the information of reconnaissance is transmitted to long aircraft through data link, and long aircraft carries out analysis processes to the data of gathering, then makes a decision according to the processing result. The residual energy of the unmanned aerial vehicles in the formation is an important factor for determining the cooperative reconnaissance time, energy consumption among the unmanned aerial vehicles is balanced, and the reconnaissance time of unmanned aerial vehicle formation can be prolonged.
Disclosure of Invention
The invention aims to provide an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network, which solves the problem of low communication reliability of traditional radio communication in a complex battlefield environment and achieves the purposes of optimizing unmanned aerial vehicle formation energy distribution and increasing the life cycle of the network.
The technical scheme adopted by the invention is that the energy consumption balancing method in the wireless ultraviolet light cooperation unmanned aerial vehicle formation network is implemented according to the following steps:
step 1, establishing an inter-machine communication link by using an ultraviolet light non-direct-view single scattering model.
Based on an ellipsoid coordinate system, the ultraviolet light emitting device and the receiving device are respectively arranged on two focuses of the ellipsoid coordinate system. At the moment when t is 0, the energy is EtThe pulse is transmitted by the transmitting end and then reaches the receiving end after being scattered and absorbed by the isotropic medium. In the ultraviolet nlos (c) communication mode, and only rayleigh scattering is considered, the channel energy attenuation formula is:
Figure GDA0003028891160000021
in the formula, EtUnit J for transmit pulse energy;
Erenergy received by the receiver detector is in unit J;
r is the distance between the transmitting end and the receiving end in m;
βt、βrelevation angles of a transmitting end and a receiving end and unit radian are respectively;
θtis the emission half angle, unit radian;
θsscattering angle, unit radian;
ks、kescattering coefficient, attenuation coefficient, unit m-1；
P (mu) is a single scattering phase function;
Aris the area of the receiving aperture in cm2。
And 2, electing a cluster head in the unmanned aerial vehicle formation.
Unmanned aerial vehicle formation adopts "changji-liao plane" flight mode, all mounts ultraviolet communication transceiver on every unmanned aerial vehicle to the direction of receipt of data can know each other when supposing that each unmanned aerial vehicle communicates. All the bureaucratic nodes are isomorphic, i.e. have the same data processing capacity, communication capacity, initial energy, etc., and are equal in rank, and can act as cluster head nodes or member nodes, and each node has a unique Identification (ID).
The cluster election demand is based on the ratio of the remaining energy of the wing nodes to the average energy of the wing nodes in the network, and for simplifying the calculation, the cluster election probability of the nodes is calculated by adopting the estimated value of the average remaining energy to replace the average remaining energy in the actual network. Assuming average consumption of energy at a wing node in each round, the average energy at the wing node in the r round is:
Figure GDA0003028891160000031
in the formula, r is the number of current election rounds and a unit round;
n is the number of bureaucratic machines in the network, and the unit is;
Etotalis the initial total energy of the network, in units J;
rmaxand the unit wheel is the survival time of the network.
After the average energy of each wing node is estimated, the average energy is used as a reference value to be compared with the remaining energy of the wing node, the selection probability of the node with the remaining energy of the node larger than the average remaining energy of the node is increased by a corresponding value, the selection probability of the node with the small remaining energy is reduced by a corresponding proportion, and the cluster head election probability p of each wing node isiComprises the following steps:
Figure GDA0003028891160000032
in the formula, poptThe expected value of the percentage of the cluster head node in the unmanned plane swarm wing plane node is shown;
Ei(r) is the remaining energy of the bureaucratic node i at round r.
At this time, the election threshold of the cluster head in the network is defined as:
Figure GDA0003028891160000041
wherein G is most recently 1/piThe set of nodes in the round that have not elected the clusterhead.
A bureaucratic node generates a random number between 0 and 1, and if the random number is less than a threshold value t (n), it issues an announcement message that it is the cluster head.
And 3, establishing a cluster.
After the cluster head is selected, each cluster head node broadcasts election information to peripheral wing-plane nodes, and other member nodes calculate and obtain a distance d according to the received signal strengthCMinimum cluster head, simultaneous calculation and long machineA distance d betweenL. If d isC<dLIf so, the member node decides to join the cluster and sends a request message to the corresponding cluster head; if d isC>dLAnd if so, the member node does not choose to join any cluster and directly sends the data to the long machine.
And 4, scouting the data convergence transmission.
In a stable data transmission stage, a cluster head node adopts a time division multiplexing mode to assign a time point for transmitting data to each wing node in a cluster, the nodes in the cluster send the data to the cluster head, and the cluster head performs data fusion and sends a result to a leader. The cluster head needs to complete tasks such as data fusion, communication with a long machine and the like, and energy consumption is large. Therefore, at the end of each round, the cluster head is reselected according to the method so as to share the relay communication service evenly to balance the energy consumption.
Energy consumption for removing flying EFBesides, the unmanned aerial vehicle formation adopts a wireless ultraviolet light communication energy consumption model in flight, and mainly comprises the following 3 parts: energy consumption for sending data ETxEnergy consumption for receiving data ERxData fusion energy consumption Ec. From step 1, the energy attenuation L in the communication mode of ultraviolet NLOS (c) is known, and when the pulse energy E is emittedTWhen determined, the available transmission loss energy is:
EL＝ET(1-1/L)；
in order to obtain an acceptable signal-to-noise ratio, the unmanned aerial vehicle node transmits k bits of data to a position with a distance d, and consumed energy consists of transmission data loss and energy attenuation loss, namely
ETx(k)＝k(ET+EL)；
The energy consumed by the unmanned aerial vehicle node for receiving k bits of data is
ERx(k)＝kER；
Wherein ERRepresenting the energy consumed by receiving the bit data.
In addition, certain energy is consumed in data fusion, and if the data acquired by adjacent unmanned aerial vehicle node reconnaissance has certain redundancy, the cluster head can use the data of the members of the cluster headAnd the data of the self-body are fused into a data packet with fixed length, and then the data packet is sent to the long machine. Energy consumed in the fusion process EcIs composed of
Ec(M,k)＝(M+1)kEDA；
Wherein E isDARepresents the energy consumed by fusing bit data, and M is the number of members in the cluster.
The invention has the beneficial effects that:
1) by utilizing the ultraviolet light communication technology, the unmanned aerial vehicle formation system has the advantages of low eavesdropping rate, low position resolution, strong anti-interference capability, all-weather work, portability and the like, and can meet the reliable secret communication requirement of unmanned aerial vehicle formation in a complex battlefield environment.
2) Through unmanned aerial vehicle's energy perception in the formation to energy distribution is optimized to the mode of clustering, reduces each unmanned aerial vehicle's average energy consumption, prolongs the live time of unmanned aerial vehicle formation, obtains more acquisition information, provides reliable information guarantee for the operation.
Drawings
FIG. 1 is a diagram of a model of non-direct-view single-scattering communication of ultraviolet light in the present invention;
FIG. 2 is a diagram of a clustering model for unmanned aerial vehicle formation according to the present invention;
FIG. 3 is a graph showing a comparison of network residual energy for different packet lengths in accordance with the present invention;
fig. 4 is a comparison graph of network residual energy at different node densities in the present invention.
Detailed Description
The invention is explained in further detail below with reference to the figures and the specific embodiments.
Referring to fig. 2, in the formation of drones, cluster elections are performed based on the ratio of the remaining energy of the wing nodes to the estimated average remaining energy of the wing nodes in the network, for example, H1 to H4 in fig. 2 are elected as a cluster head, and then an advertisement message that the cluster head is itself is issued. The member nodes M1-M16 calculate the distance d according to the received signal strengthCMinimum cluster head and compare with distance d between long machinesL. As shown in FIG. 2, when dC<dLM1-M15 are respectively added into clusters C1-C4; when d isC>dLM16 does not choose to join any cluster and sends the data directly to the long machine. The cluster head node is used for managing or controlling member nodes in the whole cluster, coordinating the work among the member nodes, and taking charge of intra-cluster information collection, data fusion and inter-cluster forwarding, and finally the cluster head bureaucratic machine transmits the fused data to the leader machine. The functions of the member bureaucratic machines are simple, a large amount of routing tables are not needed to be maintained like the cluster bureaucratic machines, nodes which do not work can be in a dormant state, after the nodes continue to work for a period of time, the network enters a startup phase again, and the cluster bureaucratic machines of the next round are selected and the cluster is reestablished.
The invention discloses an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network, which is implemented according to the following steps:
step 1, establishing an inter-machine communication link by using an ultraviolet light non-direct-view single scattering model.
Referring to fig. 1, the ultraviolet light emitting device and the receiving device are respectively disposed on two focal points of an ellipsoid coordinate system based on an ellipsoid coordinate system. At the moment when t is 0, the energy is EtThe pulse is transmitted by the transmitting end and then reaches the receiving end after being scattered and absorbed by the isotropic medium. In the ultraviolet nlos (c) communication mode, and only rayleigh scattering is considered, the channel energy attenuation formula is:
Figure GDA0003028891160000061
in the formula, EtUnit J for transmit pulse energy;
Erenergy received by the receiver detector is in unit J;
r is the distance between the transmitting end and the receiving end in m;
βt、βrelevation angles of a transmitting end and a receiving end and unit radian are respectively;
θtis the emission half angle, unit radian;
θsscattering angle, unit radian;
ks、keare respectively scatteringCoefficient, attenuation coefficient, unit m-1；
P (mu) is a single scattering phase function;
Aris the area of the receiving aperture in cm2。
And 2, electing a cluster head in the unmanned aerial vehicle formation.
Unmanned aerial vehicle formation adopts "changji-liao plane" flight mode, all mounts ultraviolet communication transceiver on every unmanned aerial vehicle to the direction of receipt of data can know each other when supposing that each unmanned aerial vehicle communicates. All the bureaucratic nodes are isomorphic, i.e., have the same data processing capacity, communication capacity and initial energy, and equal in rank, and can act as cluster head nodes or member nodes, each node having a unique Identification (ID).
The cluster election demand is based on the ratio of the remaining energy of the wing nodes to the average energy of the wing nodes in the network, and for simplifying the calculation, the cluster election probability of the nodes is calculated by adopting the estimated value of the average remaining energy to replace the average remaining energy in the actual network. Assuming average consumption of energy at a wing node in each round, the average energy at the wing node in the r round is:
Figure GDA0003028891160000071
in the formula, r is the number of current election rounds and a unit round;
n is the number of bureaucratic machines in the network, and the unit is;
Etotalis the initial total energy of the network, in units J;
rmaxand the unit wheel is the survival time of the network.
After the average energy of each wing node is estimated, the average energy is used as a reference value to be compared with the remaining energy of the wing node, the selection probability of the node with the remaining energy of the node larger than the remaining energy of the average node is increased by a corresponding value, the selection probability of the node with the small remaining energy is reduced by a corresponding proportion, and then the cluster head election probability p of each wing nodeiComprises the following steps:
Figure GDA0003028891160000081
in the formula, poptThe expected value of the percentage of the cluster head node in the unmanned plane swarm wing plane node is shown;
Ei(r) is the remaining energy of the bureaucratic node i at round r.
At this time, the election threshold of the cluster head in the network is defined as:
Figure GDA0003028891160000082
wherein G is most recently 1/piThe set of nodes in the round that have not elected the clusterhead.
A bureaucratic node generates a random number between 0 and 1, and if the random number is less than a threshold value t (n), it issues an announcement message that it is the cluster head.
And 3, establishing a cluster.
After the cluster head is selected, each cluster head node broadcasts election information to peripheral wing-plane nodes, and other member nodes calculate and obtain a distance d according to the received signal strengthCThe smallest cluster head, and the distance d between the cluster head and the long machineL. If d isC<dLIf so, the member node decides to join the cluster and sends a request message to the corresponding cluster head; if d isC>dLAnd if so, the member node does not choose to join any cluster and directly sends the data to the long machine.
And 4, scouting the data convergence transmission.
In a stable data transmission stage, a cluster head node adopts a time division multiplexing mode to assign a time point for transmitting data to each wing node in a cluster, the nodes in the cluster send the data to the cluster head, and the cluster head performs data fusion and sends a result to a leader. The cluster head needs to complete data fusion and communication tasks with the long machine, and energy consumption is large. Therefore, at the end of each round, the cluster head is reselected according to the method so as to share the relay communication service evenly to balance the energy consumption.
The remaining energy of the network obtained by simulation under different packet lengths and different node densities is shown in fig. 3 and 4, which indicates that the life cycle of unmanned aerial vehicle formation can be prolonged by selecting an appropriate packet length and node density.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.

Claims (2)

1.无线紫外光协作无人机编队网络中能耗均衡方法，其特征在于，包括如下步骤:1. a method for balancing energy consumption in a wireless ultraviolet cooperative unmanned aerial vehicle formation network, is characterized in that, comprises the steps: 步骤1，利用紫外光非直视单次散射模型，建立机间通信链路；Step 1: Establish an inter-machine communication link by using the UV light non-direct-sighted single scattering model; 以椭球坐标系为基础，将紫外光发射装置与接收装置分别安放在椭球坐标系的两个焦点上,在t＝0时刻，能量为Et的脉冲经发射端发射后，经各向同性介质散射和吸收后到达接收端,在紫外光NLOS(c)通信方式下，并只考虑瑞利散射时，信道能量衰减公式为：Based on the ellipsoid coordinate system, the ultraviolet light emitting device and the receiving device are placed on the two foci of the ellipsoid coordinate system respectively. After being scattered and absorbed by the homogenous medium, it reaches the receiving end. In the ultraviolet NLOS(c) communication mode and only considering the Rayleigh scattering, the channel energy attenuation formula is:
Figure FDA0003028891150000011
Figure FDA0003028891150000011
 式中，Et为发射脉冲能量，单位J；In the formula, E t is the energy of the transmitted pulse, in J; Er为接收机探测器接收到的能量，单位J；E r is the energy received by the receiver detector, in J; r为发射端与接收端的距离，单位m；r is the distance between the transmitter and the receiver, in m; βt、βr分别为发射端、接收端仰角，单位弧度；β t and β r are the elevation angles of the transmitter and receiver, respectively, in radians; θt为发射半角，单位弧度；θ t is the emission half angle, in radians; θs为散射角，单位弧度；θ s is the scattering angle, in radians; ks、ke分别为散射系数、衰减系数，单位m-1；k s and ke are the scattering coefficient and attenuation coefficient, respectively, in units of m -1 ; P(μ)为单散射相位函数；P(μ) is the single scattering phase function; Ar为接收孔径面积，单位cm2； Ar is the receiving aperture area, in cm 2 ; 步骤2，无人机编队中簇首选举；Step 2, the cluster head election in the UAV formation; 无人机编队采用“长机-僚机”飞行模式，每架无人机上均挂载紫外光通信发收装置，并且假设各无人机间通信时数据的接收方向彼此可知，所有僚机节点都是同构的，即具有相同的数据处理能力、通信能力和初始能量，并且地位平等，都能充当簇首节点或成员节点，每个节点都有一个唯一的标识(ID)；The UAV formation adopts the "leader-wingman" flight mode. Each UAV is equipped with an ultraviolet light communication transmitter and receiver device, and it is assumed that the receiving directions of data when communicating between UAVs are known to each other. All wingman nodes are Isomorphic, that is, with the same data processing ability, communication ability and initial energy, and equal status, can act as a cluster head node or member node, and each node has a unique identification (ID); 簇首选举需基于僚机节点的剩余能量和网络中僚机节点的平均剩余能量的比值，为简化计算，采用平均剩余能量的估计值代替实际网络中平均剩余能量来计算节点的簇首选举概率，假设在每一轮中僚机节点平均消耗能量，则第r轮中僚机节点的平均剩余能量为：The cluster head election is based on the ratio of the residual energy of the wingman node to the average residual energy of the wingman nodes in the network. To simplify the calculation, the estimated value of the average residual energy is used to replace the average residual energy in the actual network to calculate the cluster head election probability of the node. The average energy consumption of the wingman node in each round, the average remaining energy of the wingman node in the rth round is:
Figure FDA0003028891150000021
Figure FDA0003028891150000021
 式中，r为当前选举的轮数，单位轮；In the formula, r is the number of rounds of the current election, unit round; n为网络中僚机数量，单位个；n is the number of wingmen in the network, in units; Etotal为网络初始总能量，单位J；E total is the initial total energy of the network, in J; rmax为网络生存时间，单位轮；r max is the network lifetime, unit round; 估算出每轮僚机节点的平均剩余能量后，将其作为参考值与僚机节点的剩余能量进行比较，节点剩余能量大于节点平均剩余能量的节点其选择概率增加相应的值，剩余能量小的节点选择概率减少相应的比例，则每个僚机节点的簇首选举概率pi为：After estimating the average remaining energy of the wingman nodes in each round, compare it with the remaining energy of the wingman nodes as a reference value. The node whose remaining energy is greater than the average remaining energy of the node increases the selection probability by a corresponding value, and the node with less remaining energy is selected. If the probability is reduced by the corresponding proportion, the cluster head election probability p i of each wingman node is:
Figure FDA0003028891150000022
Figure FDA0003028891150000022
 式中，popt为簇首节点在无人机蜂群僚机节点中所占百分比的期望值；In the formula, p opt is the expected value of the percentage of the cluster head node in the UAV swarm wingman nodes; Ei(r)为第r轮时僚机节点i的剩余能量；E i (r) is the remaining energy of the wingman node i in the rth round; 此时网络中簇首的选举门限定义为：At this time, the election threshold of the cluster head in the network is defined as:
Figure FDA0003028891150000023
Figure FDA0003028891150000023
 式中，G为在最近1/pi轮中没有当选过簇首的节点集合；In the formula, G is the set of nodes that have not been elected as cluster heads in the last 1/ pi rounds; 僚机节点产生一个0-1之间的随机数，若该随机数小于阈值T(n)，则发布自己是簇首的公告信息；The wingman node generates a random number between 0 and 1. If the random number is less than the threshold T(n), it will publish the announcement information that it is the cluster head; 步骤3，簇的建立；Step 3, the establishment of clusters; 簇首被选择出来后，每个簇首节点广播当选消息到周围僚机节点，其他成员节点根据接收到的信号强度计算得到距离dC最小的簇首，同时计算与长机之间的距离dL，若dC<dL，则该成员节点决定加入这个簇，并发送请求消息到对应簇首；若dC>dL，则该成员节点不选择加入任何簇，直接发送数据至长机；After the cluster head is selected, each cluster head node broadcasts the election message to the surrounding wingman nodes, and other member nodes calculate the cluster head with the smallest distance d C according to the received signal strength, and calculate the distance d L between the leader and the leader. , if d C <d L , the member node decides to join the cluster and sends a request message to the corresponding cluster head; if d C >d L , the member node does not choose to join any cluster, and directly sends data to the master; 步骤4，侦察数据汇聚传输；Step 4, reconnaissance data aggregation transmission; 在稳定数据传输阶段，簇首节点采用时分复用方式为簇中每个僚机节点分配向其传递数据的时间点，簇内节点将数据发送给簇首，簇首进行数据融合并把结果发送给长机，簇首需要完成数据融合、与长机通信任务，能量消耗较大，每一轮结束要按照上述方法重新选择簇首，以平均分担中继通信业务来均衡能量消耗。In the stable data transmission stage, the cluster head node uses time division multiplexing to allocate time points for transmitting data to each wingman node in the cluster, the nodes in the cluster send the data to the cluster head, the cluster head performs data fusion and sends the result to the For the master machine, the cluster head needs to complete the tasks of data fusion and communication with the master machine, which consumes a lot of energy. At the end of each round, the cluster head should be re-selected according to the above method, so as to evenly share the relay communication service to balance the energy consumption. 2.如权利要求1所述的无线紫外光协作无人机编队网络中能耗均衡方法，其特征在于，包括如下步骤:2. the energy consumption equalization method in the wireless ultraviolet light cooperative unmanned aerial vehicle formation network as claimed in claim 1, is characterized in that, comprises the steps: 除飞行能耗EF外，无人机编队在飞行中采用无线紫外光通信能量消耗模型，主要包括以下3部分：发送数据能耗ETx、接收数据能耗ERx、数据融合能耗Ec，由步骤1得到紫外光NLOS(c)通信方式下的能量衰减L，则当发射脉冲能量ET确定时，可得传输损耗能量为：In addition to the flight energy consumption EF, the UAV formation adopts the wireless ultraviolet light communication energy consumption model in flight, which mainly includes the following three parts: the energy consumption of sending data E Tx , the energy consumption of receiving data E Rx , and the energy consumption of data fusion E c , the energy attenuation L under the ultraviolet NLOS (c) communication mode is obtained from step 1, then when the transmitted pulse energy E T is determined, the transmission loss energy can be obtained as: EL＝ET(1-1/L)；E L = E T (1-1/L); 为了获得可接受的信噪比，无人机节点发射k比特的数据到距离为d的位置，消耗的能量由发射数据损耗和能量衰减损耗两部分组成，即In order to obtain an acceptable signal-to-noise ratio, the UAV node transmits k-bit data to a position with a distance d, and the energy consumed consists of two parts: the loss of the transmitted data and the loss of energy attenuation, namely ETx(k)＝k(ET+EL)；E Tx (k)=k(E T +E L ); 无人机节点接收k比特数据消耗的能量为The energy consumed by the UAV node to receive k-bit data is ERx(k)＝kER；E Rx (k)=kE R ; 其中ER表示接收比特数据消耗的能量；where ER represents the energy consumed by receiving bit data; 此外，数据融合也消耗一定的能量，即邻近无人机节点侦察采集的数据具有一定的冗余度，簇首可将其成员的数据和自身的数据融合成一个长度固定的数据包，然后发送给长机，融合过程中消耗的能量Ec为In addition, data fusion also consumes a certain amount of energy, that is, the data collected by the reconnaissance of adjacent UAV nodes has a certain degree of redundancy. The cluster head can fuse the data of its members and its own data into a fixed-length data packet, and then send For the lead aircraft, the energy E c consumed in the fusion process is Ec(M,k)＝(M+1)kEDA；E c (M,k)=(M+1)kE DA ; 其中，EDA表示融合比特数据消耗的能量，M为簇内成员的个数。Among them, E DA represents the energy consumed by the fusion bit data, and M is the number of members in the cluster.
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