CN109510655A - Near space platform oriented mission formation networking distributed collaboration flight control method - Google Patents
Near space platform oriented mission formation networking distributed collaboration flight control method Download PDFInfo
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Abstract
Present disclose provides a kind of near space platform oriented mission formation networking distributed collaboration flight control methods, comprising: determines mostly in the constraint condition for compiling near space platform objective optimization；It receives in input, the output data for compiling near space platform feedback；And based on constraint condition and data control in function switch, the load distribution for compiling near space platform.Disclosure near space platform oriented mission formation networking distributed collaboration flight control method, it is controlled using multi-platform cooperative and completes networking, its advantage at low cost can be given full play to, reach the task object of the extensive area network coverage and information transmission, multi-platform objective optimization is decomposed based on constraint condition analysis, realizes and is effectively controlled in function switch, the load distribution for compiling near space platform.
Description
Technical field
This disclosure relates to Information Network technical field, and in particular to a kind of near space platform oriented mission formation group
The distributed collaboration flight control method of net.
Background technique
Information Network be with space platform (such as synchronous satellite or in, low-orbit satellite/constellation, near space floating
Device or unmanned plane etc.) it is carrier, it obtains in real time, the network system of transmission and processing space information.It is set as national important foundation
It applies, Information Network is same in major applications such as service oceangoing voyage, emergency management and rescue, navigator fix, air transportation, space flight measurement and controls
When, it can also support earth observation high dynamic, the very-long-range of broadband real-time Transmission and deep space exploration, long time delay reliable transmission, from
And expand human sciences, culture, production activity to space, ocean or even deep space, it is the research hotspot of global range.
Near space platform is generally referred to as operating in the aerostatics or aircraft of near space, apart from 17~22km of ground.
This kind of platform has the ability for quickly extending communication distance, and service can be provided for a large number of users, and the communication needed is set
Apply it is fewer than ground network all.Therefore, near space platform and ground network are close, while being able to maintain the spy of wide area covering
Point, it is meant that near space platform has had both the advantages of ground network and satellite communication.But there has been no one kind to stay for a long time
The trusted platform stayed, application study of the near space platform in spatial information net are active unlike satellite platform.
1 near space aerostatics platform development
The research of near space platform technology runs through from Platform Designing, manufactures, lets fly away, control of flying, is recovered to system branch
Hold whole processes with maintenance, be typical interdisciplinary, comprehensive strong new and high technology, be related to material, structure, the energy, thermal control,
The numerous areas such as propulsion, control, space environment, at present relatively clearly two technology paths be respectively near space aerostatics with
Near space solar energy long endurance unmanned aircraft.The west wind 7 that the latter only has Air Passenger at present has reached 20 kilometers of height, maximum continuation of the journey 14
It, has certain application power, but payload is less than 5kg, has compared with big limitation.Other models all have not yet been reached stays for a long time
It stays.
The development of 1.1 stratospheric airships
In November, 2003, scaler (Ascender) dirigible of United States Air Force did not carried any payload arrival 30km high
Sky, and successfully returned under the control of ground, become first and enters near space and complete the dirigible of recycling.In November, 2005,
High-altitude sentry (Hisentinel) airship flight height of U.S.Army Space headquarter reaches 22.6km, stays 5 hours empty, drive
Power was flown less than 1 hour, load-carrying 9.1kg, is become real so far and is realized dynamic flight and the highest dirigible of flying height.
In November, 2010, improved high-altitude sentry dirigible load-carrying 36.3kg, load power 50W, flying height 20.21km, when flight
Between 8 hours, as shown in Figure 1.
The end of the year 2005, U.S. MDA announce formal starting HAA project.The final demonstration and verification dirigible HALE-D (High of HAA
Altitude Long Endurance-Demonstrator) technical indicator are as follows: flying height 18.3km is greater than in the empty time
15 days, payload communication equipment for remote sensing and over the ground.HALE-D goes up to the air in July, 2011 to be tested, but because there is technology exception
It crashed in the lift-off same day, as shown in Figure 2.
At home, Chinese Academy of Sciences's photoelectricity institute follows that " aerostat → non-shaped lift-off power airship → forming lift-off power flies
The incremental development model of ship ", it is pre- to the full flight profile, mission profile observing and controlling communication of near space dirigible, flight control, avionics, track
It surveys and mission planning aspect has carried out systematic research work.2011 develop and the KFG30A, KFG30B that flown,
Tri- dirigibles of KFG44, ceiling altitude 16.6km.In August, 2012 has successfully completed the flight examination of stratospheric airship for the first time
It tests, is the maximum of volume at present domestic and international at that time, the maximum controlled stratospheric airship of propeller power, realizes for the first time in the world flat
The flight at controls of fluid layer height, remote control distributor and forming dropping test, flight test result show China's stratospheric airship
Technology has had reached world-class level, as shown in Figure 3.
Although making some progress on stratospheric airship both at home and abroad, the energy of long-term application in sky has not yet been reached
Power.
The development of 1.2 High altitude scientific balloons
External High altitude scientific balloon research starting is more early, after decades of development, the main skill of zero-pressure formula aerostat
Art is mature, and worldwide, application oriented aerostat volume is from several ten thousand steres to 100 ten thousand steres, load
From several kilograms to 3 ton, flying height is from 30km to 40km.Super-pressure balloon is the emphasis of current aerostat technology development, body
Product has reached 50 ten thousand steres, and flying height has reached 36km, and the super-pressure balloon in the U.S. is even more to create 1 tonne of carrying in the South Pole
The record of load non-stop flight 54 days, and in Southern Hemisphere mid latitudes, the flight record of NASA is 46 days, as shown in Figure 4.
Google discloses LOON plan for 2013, it is intended to be provided by the network of super-pressure balloon composition for remote districts
Net service.Currently used 1250 cubes of the super-pressure balloon of the project has had reached 190 days longest cruise duration.The superpressure gas
Ball uses " binary superpressure ball " unique design with balloonet, by the adjusting to balloonet inflation/deflation, to adjust balloon
Net buoyancy find different stratosphere wind directions to change balloon altitude to realize the control to its position.Although single sphere
Control precision be limited by meteorological condition, can not reach very high, but because whole system cost it is very low, can be by multiple
The Collaborative Control of balloon realizes the uninterrupted covering to some region, and at present, this is a set of most viable scheme, such as
Shown in Fig. 5.
Domestic High altitude scientific balloon is since 1977, in order to establish space to high-energy astrophysics experimental study earliest
Delivery means are supported to have built up me in 1984 under specifically leading with Gu Yidong academician by famous scientist He Zehui academician energetically
The unique High altitude scientific balloon system of state, the team realize aerostat from northern China to the Russian west and south in nineteen ninety
Flying for long time, the non-stop flight time 72 hours, 4,000 Yu Gongli of flying distance.So far from 1991, Chinese Academy of Sciences's high energy institute
Combine team with photoelectricity institute to provide altogether aerostat 53 times, cumulative flight time is more than 200 hours, success rate be more than 90% (into
After entering 2000, success rate 100%), create maximum 60 ten thousand stere of balloon volume, design maximum load-carrying ability 1.9
Ton, highest flying height 42km, the record of 3 days longest follow-on mission time represent domestic High altitude scientific balloon technology at present
The highest level of development, and it is also certain in the development immediately following High altitude scientific balloon at present, greatly develop high altitude long time superpressure
Ball technique, as shown in fig. 6-7.
At present, High altitude scientific balloon is uniquely reliably can to enter near space and aerostatics resident for a long time, special
It is not binary super-pressure balloon, region can be reached by height adjustment and is resident for a long time, it is with higher in Information Network
Networking application value.
2 progress based near space Platform communication networking
Early stage near space study of platform, researcher just has been presented for the side of various near space Platform communication networkings
Case.It is divided from the requirement moved near space platform, and requirement platform can be divided into, opposing stationary standard is kept to ground
Static network and the mobile network for allowing platform to move under extraneous environmental activity.
The HAPS network that the example of quasi- static network has ITU and WRC to propose, space station (Sky Staion) work of North America
Journey, the CAPANINA project of European Union, Japanese Skynet plan etc..These schemes are similar in networking model, here with
It is explained for the space station engineering of North America, as shown in Figure 8.
Space station engineering is pushed by international space station company (Sky Staion International Inc), it is intended to be established
One solar energy near space plateform system covering the whole world provides broadband wireless cellular communication service.The engineering project uses
250 are known as the near space platform of space station, are arranged respectively at global main cities overhead about 21km, will in megalopolis
Platform quantity be will increase to improve power system capacity.Communication base station is played the role of in these space stations, for terrestrial user provide 3G without
Line cellular network telecommunications services.Cellular zone is divided into Urban Area Coverage domain (UAC, diameter 74km), suburb overlay area (SAC) and agriculture
Three kinds of village overlay area (RAC).Single platform provides the wireless of 2Mb/s uplink and 10Mb/s downlink by using spot beam anternma
Wideband switch-in business is capable of providing 9.6-16kb/s digital voice traffic and 384kb/s data communication industry for mobile subscriber
Business, working frequency range include and the consistent 2GHz frequency range of IMT-2000 standard and others 47/48GHz frequency range.The engine request
Each platform fixed point resides in specific airspace.According to the relevant criterion of ITU, the range that platform moves over the ground can only at most be arrived
0.6km×0.6km×1km.Platform can be connected by earth station with existing landline backbone network, also planned by flat
Radio Link between platform is directly realized by networking between platform.This networking mode suspends for the wind resistance fixed point of near space platform and stays
The requirement of ability is stayed to greatly exceed the current attainable level (10km × 10km × 2km) of platform courses technology institute, thus
The practical stage is not entered.
The LOON project of Google is current most typical near space network using the network of super-pressure balloon composition.Balloon meter
Row height distance of rowing ground 20km, averagely follow-on mission time were greater than 100 days, as shown in Figure 9.
The technological difficulties of LOON project are that how to coordinate and control the size and numerous balloons while fly in the sky, with
Guarantee balloon covering region exactly those need the place of communication service.In stratosphere, there are many stable stratification of winds, each
Stratification of wind has different direction and speed.The atmosphere data that Google utilizes public database to obtain, controls balloon by air pump
Rise or decline, make it into different stratification of winds, is moved with achieving the purpose that control balloon with desired direction and speed.It is logical
Wind power propelling and solar recharging are crossed, Google balloon can be completely dependent on the reproducible energy to run.Although Google gas
Ball will the continuous drift under airflow function, but by the macro adjustments and controls to a large amount of balloon drifts, Google still can be protected
Demonstrate,proving the balloon in a certain regional overhead can be uniformly distributed, so that uninterrupted service on net is provided for terrestrial user, such as Figure 10 institute
Show.
On the whole, LOON development of projects is very fast, the super-pressure balloon used in this project to the end of the year 2016, Google
Full maturity is formed, and longest cruise duration reaches single balloon generally more than 100 days average cruise duration
190 days, in the end of the year 2016, Google was realized in the city overhead of Peru up to 98 by the flying height of control balloon
It fixed point region is resident；At the beginning of 2017, there is rare big flood in Peru, and GCF ground communication facility is largely damaged, and Google utilizes superpressure
The Emergency Communications Network of balloon composition provides the foundation in 72 hours for 40,000 square kilometres of (being equivalent to a Switzerland) regions
Internet connection, provides the data traffic more than 160GB.This is off so far, near space aerostatics platform most at
Application in actual combat of function, as depicted in figs. 11-12.
Domestic Changchun University of Science and Technology did the air-air link laser communication experiment that 12 aircrafts of primary fortune carry, hair for 2013
Penetrate power, flying distance under the same conditions, light spot received flashes variance and increases with flying height and reduce, and received optical power is equal
Value increases with height and is increased, and atmospheric loss increases with height and reduced, and has certain borrow to facing-facing laser communication link research
Mirror meaning, as shown in figure 13.
Emulation and theoretical research stage mostly are rested on to the research for facing-facing link laser communication at present, are limited to close on sky
Between platform maturity, only an example is also LOON balloon network about Google about the report of near space laser communication
, 2015, the LOON team of Google established the company of GB/S between the balloon of stratosphere height distance several hundred kilometers
Rate is connect, mobile Internet access service is provided to the user below balloon using LTE base station, but without the specific flight time, flies
Row height, traffic rate, the technical data such as call duration time.
Generally speaking, laser also relies on a large amount of flight measured datas near space Transmission characteristics and supports.
To sum up, prior art fails to realize that near space platform is stopped reliably and with long-term, multi-platform cooperative navigates well
The distributed collaboration flight of mark planning and near space platform oriented mission formation networking, thus be not well positioned to meet in space
Application demand in Information Network.
Summary of the invention
(1) technical problems to be solved
In view of above-mentioned technical problem, the main purpose of the disclosure is to provide a kind of near space platform oriented mission formation
Networking distributed collaboration flight control method, at least one of to solve the above problems.(2) technical solution
According to one aspect of the disclosure, a kind of near space platform oriented mission formation networking distributed collaboration is provided
Flight control method, comprising: determine mostly in the constraint condition for compiling near space platform objective optimization；It receives flat in volume near space
The input of platform feedback, output data；And it is cut based on constraint condition and data control in the function of compiling near space platform
It changes, load distribution.
According to another aspect of the disclosure, a kind of multi-platform cooperative path planning method is additionally provided, comprising: target point
It is respectively each platform distribution number with layer, each platform is provided to the track index of each target according to trajectory planning layer；Collaborative Control
The track length that layer is transmitted according to external environmental condition, the variation range and trajectory planning layer of platform speed, determines to form into columns
The collaboration time t of platform, and the corresponding track number for cooperateing with time t and each platform is sent to trajectory planning layer；Trajectory planning
Layer determines majorized function according to task, and by predetermined ground observation, communication condition, generation meets multi-platform cooperative requirement
Air route；Track smooth layer is generated using the time as the track of the requirement of the satisfaction collaboration of variable and the requirement of platform dynamic property；
Track In Track part determines feasible trajectory and corresponding dominant vector using inertial coordinate and directional information, and can determining
Height, speed and the course of row track be sent to platform automatic pilot servo-system execution, manoeuvring platform by cook up come
Track flight.
(3) beneficial effect
It can be seen from the above technical proposal that the disclosure at least has the advantages that one of them:
(1) it by the control being directed toward to resident and load, realizes and stops reliably and with long-term, meet well in spatial information
Application demand in net.
(2) disclosure near space backbone network is to close on laser communication link as spatial information net net concept
Primary communication means between spatial network, section of the controllable binary super-pressure balloon of using area as near space backbone network
Point, is controlled by multi-platform cooperative, is reached extensive area covering, is formed a connecting link, communicate the demand of transfer.
(3) significant difference for utilizing different height wind speed direction, by adjusting height, so as to the new wind direction handle of utilization
It is expected the original balloon far from stopping center pulled back again, thus become disturbance to drive, it is unfavorable be advantageous.
(4) networking is completed using more aerostatics platform Collaborative Controls, its advantage at low cost can be given full play to, reach big model
Enclose the task object of Local Area Network covering and information transmission.
(5) multi-platform objective optimization is decomposed based on constraint condition analysis, is realized in the function of compiling near space platform
Switching, load distribution effectively control.
(6) multi-platform cooperative path planning method realizes and enduringly provides regional integrated information service over the ground, very well
Application demand of the satisfaction in spatial information net.
Detailed description of the invention
By the way that shown in attached drawing, above and other purpose, the feature and advantage of the disclosure will be more clear.In all the attached drawings
Identical appended drawing reference indicates identical device.Attached drawing deliberately is not drawn by actual size equal proportion scaling, it is preferred that emphasis is is shown
The purport of the disclosure out.
Fig. 1 is U.S.'s stratospheric airship progress schematic diagram (wherein, scaler's dirigible schematic diagram of (a) United States Air Force；(b)
For high-altitude sentry's dirigible schematic diagram of ground force).
Fig. 2 HALE-D dirigible is taken a flight test schematic diagram.
Photoelectricity research institute, Fig. 3 Chinese Academy of Sciences series dirigible schematic diagram.
The super-pressure balloon of the U.S. Fig. 4 NASA and its track schematic diagram to fly around the South Pole.
" binary " airbag structure schematic diagram that Fig. 5 Google balloon uses.
1.9 tons of High altitude scientific balloon schematic diagrames of Fig. 6 Chinese Academy of Sciences load-carrying.
The graduate super-pressure balloon of Fig. 7 Chinese Academy of Sciences photoelectricity is carrying out test schematic diagram in library.
Space station engineering schematic diagram (wherein, the honeycomb configuration of the space station (a), (b) two between space station of the North America Fig. 8
Kind networking mode).
Fig. 9 Google LOON balloon network diagram schematic diagram.
The lift-off of Figure 10 Google balloon and its networking effect picture.
Figure 11 Google balloon is resident 98 days schematic diagrames in Peru overhead.
Figure 12 Google balloon provides emergency communication for Peru and services schematic diagram.
Three kinds of laser link schematic diagrames that Figure 13 near space network is related to.
Figure 14 Google balloon carries out near space laser communication experiment schematic diagram.
The super-pressure balloon effect picture of Figure 15 photoelectricity research institute design.
Figure 16 Information Network configuration diagram.
Figure 17 spatial information net typical case schematic diagram.
The multi-platform objective optimization decomposition of Figure 18, feedback coordinated and power and energy (sub- content 1A, 1B, 1C mutual pass
System) schematic diagram.
Figure 19 faces hollow panel dynamic position topology and collaboration coverage effect schematic diagram in volume.
Figure 20 coverage effect assesses schematic diagram.
Figure 21 super-pressure balloon and zero-pressure balloon flying height situation of change contrast schematic diagram.
Figure 22 is in current red vertical first and its most 26 adjacent vertical first schematic diagrames at magic square center.
Figure 23 western part of China somewhere different height wind speed changes statistical chart.
Figure 24 multi-platform cooperative trajectory planning model schematic.
Specific embodiment
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
It should be noted that similar or identical part all uses identical figure number in attached drawing or specification description.It is attached
The implementation for not being painted or describing in figure is form known to a person of ordinary skill in the art in technical field.In addition, though this
The open demonstration that can provide the parameter comprising particular value, it is to be understood that parameter is equal to corresponding value without definite, but can be can
It is similar to be worth accordingly in the error margin or design constraint of receiving.The direction term mentioned in embodiment, such as "upper",
"lower", "front", "rear", "left", "right" etc. are only the directions with reference to attached drawing.Therefore, the direction term used is for illustrating simultaneously
The non-protection scope for being used to limit the disclosure.
One, near space backbone network
Since near space environment and traditional aeronautical environment have the characteristics of dramatically different, aircraft also to differ widely, this
The open level division in empty day Information Network about near space backbone network is defined.
1, near space laser communication backbone links
In the future space Information Network communications field, near space network is since in the status formed a connecting link, there are logical
Letter information amount is big, transmission rate is higher, interference resistance requires stronger a series of demanding task, microwave communication due to its
Oneself is not able to satisfy present high capacity communication requirement to limitation, and the disclosure is proposed using laser communication link as near space net
Primary communication means between network, laser space communication transmission rate is very fast, bandwidth is high, direction of propagation property is good, and laser
Field of view of receiver is very small to be trapped so information can be effectively prevented, and the wavelength of laser is very small, so some electricity can be prevented
The interference of magnetic wave.
Laser communication network based near space aerostatics platform can establish 3 kinds of basic communication links: face-ground chain
Road, day-face link, face-face link.Face-ground link and day-ground (in other words star) laser link is similar, but either day-ground
Link still faces-ground link or Air-Ground link, it is all influenced by convection current atmosphere, using above there is certain limitation.Face-
Face link and generally believes that its atmospheric attenuation there will be bigger practical value, as shown in figure 14 much smaller than-ground link is faced.
The airspace for facing-facing link is located on troposphere, is protected from weather influences；The airspace 20~50km air quality accounts for simultaneously
The 9.9% of whole atmosphere, so the atmospheric attenuation effect for facing-facing link, which is markedly less than, faces-ground, Air-Ground or satellite-ground link.With
Face-day link be mostly in free space difference, the Atmospheric components for facing-facing link are more, and density is big, such as highly concentrated there are one
Degree ozone and certain particulates and upper atmosphere molecule, atmospheric attenuation effect are mainly shown as suction of the ozone to laser
Adduction, particulate close the scattering process of laser and the scattering process of upper atmosphere molecule to communication wavelengths
After the selection of reason, the magnitude very little of attenuation effect is no more than 1dB.Link is faced-faced to laser communication also by the shadow of atmospheric turbulance
It rings, is mainly manifested in two aspects of atmospheric scinillation and arrival angle fluctuation.Atmospheric scinillation is directly proportional to transmission range, with communication wavelengths
It is inversely proportional, arrival angle fluctuation, magnitude very little directly proportional to transmission range.
2, near space backbone network
The disclosure proposes that a kind of near space bone information transmission network based on binary super-pressure balloon platform, the network exist
It is an important subnet of spatial information net, such as Figure 15 in the backbone relay transmission status formed a connecting link in spatial information net
It is shown.
Wherein, all communication payloads of super-pressure balloon load of the near space backbone network node are constituted, such as high
Fast laser communication load (point-to-point, point-to-multipoint), microwave sighting distance high-speed communication load (point-to-point), PMP broadband access communication
Load (point-to-multipoint) and width/narrowband satellite communication load, as shown in figure 16.
Specific link are as follows: remote sensing satellite load obtains information, and day-faces link laser communication, face-ground link can use microwave
Communication reduces the microwave link loss of free space.Space base platform obtain remote sensing information by it is empty-face microwave link and be transmitted to and close on
(the near space platform of the disclosure is aerostatics to space platform, unpowered according to having, and can be divided into stratospheric airship and high-altitude section
Learn two kinds of platforms of balloon), the latter is forwarded to ground surface rear end by near space backbone multi-hop.Face-optional the laser of ground link,
Microwave can also be used.In view of near space backbone network node is expansible, day is selected to lead to 1 signal communication link as aerostatics node
Main TTC channel, in this way at ground control center without arranging a large amount of high-gain directional receiving antennas, and cost is controllable, rate
Also it is able to satisfy TT&C requirement.The position that link obtains each aerostatics node can be led to by day at ground control center, then
According to its relative position dynamic adjustment network topology, change APT is directed toward, and changes laser link path.
Two, the application scenarios of the space-sky information network based near space platform
The application of the space-sky information network based near space aerostatics platform is discussed in detail below in conjunction with example.
1, sparse road network rail traffic road network monitoring and safe operation demand analysis
Western sparse road network is built at present the necessary informations such as railway dedicated GSM-R network transmittable data, voice, but by
It is limited (< 400kbps) in bandwidth, it can not the large capacities information such as real-time transmission of video, it is difficult to meet high-resolution safety monitoring need
It asks.Western sparse road network is located in highlands, and construction and maintenance difficulty are big, and at high cost, the long-term weather conditions of some regions are severe,
The phenomenon that dust storm or geological disaster are multiple, and track operation security is on the hazard happens occasionally, and relies solely on artificial line walking maintenance effect
Rate is low.Therefore, it is badly in need of a kind of completely new information transmission mode, improves the efficiency of western sparse road network safety monitoring and O&M.
2, typical case Scenario Design and building
According to aforementioned need, the composition of typical case scene is as shown in the table:
1 Information Network typical case architecture of table composition
It is public to Lanzhou 1000 that Qinghai-Tibet Railway Golmud can be covered according to the Information Network based near space platform
In the demand of left and right track-bound imagine, herein along be uniformly distributed 4 near space aerostatics, flying height 20km is single
The service range of a aerostatics is radius 300km；Total covering power is 2400km × 300km, considers certain reliability and superfluous
Yu Xing, network's coverage area have certain plyability, can satisfy the demand of 1200km × 200km；Dispose 2 frame unmanned planes, every frame
Aircraft is responsible for the section 500km, calculates according to speed per hour 150km, counts round-trip distance in, patrol task can be completed within about 6 hours daily,
It can also stand ready simultaneously and meet emergency response demand.The circumstance video monitoring information of unmanned plane and railway trains can dynamically connect
Enter the communication network of aerostatics covering, big data quantity video information is forwarded between aerostatics by laser link, finally
It is transmitted and is landed by microwave line of sight link, as shown in figure 17.
Therefore in the case where normality runs scene, intend by the big broadband of near space network struction, real-time, highly reliable long range
Information transfer channel realizes sky-vehicle, and Che-vehicle, it is shared that car-ground information is seamless, supports the real-time of train operation security monitoring information
Transmission is handled with early warning.
Under normality Run-time scenario, network and routine make with facing empty wagons in the day that near space aerostatics is formed with low latitude unmanned plane
Railway dedicated GSM-R network separately provides communication service simultaneously.Train operation relevant information, such as vehicle body information, line
Road information and ground installation information are mutually backups, by two networks progress individual transmissions to meet rail traffic safe operation
Principle.Rail safety is monitored using the autonomous line walking of unmanned plane, the HD video of shooting can be returned by near space platform relay,
Increase substantially line walking monitoring efficiency.
When the natural calamities such as slope and land slide and landslide falling rocks, high wind, heavy rain, heavy snow, earthquake for Along Railway occur,
Under the not available scene of railway dedicated GSM-R network, with the facing empty wagons emergency network prediction scheme of the day based near space platform is enabled,
Using the quick on-demand networking of emergency network and dynamic restructuring technology, realtime running safety of the rail traffic towards emergency is ensured.
Under emergency conditions, unmanned plane can set out shooting passback live video information (by near space backbone network at any time
Relaying passback), to speedily carrying out rescue work, commander department provides decision-making foundation.Different, the day according to Along Railway ground application system condition in damaged
The standby usage for facing vacant lot network will change step by step, gradually standby by landlord day with the increase of ground network damage situation, turn
It is changed to double nets to be used in combination, worst situation switchs to the network structure based on empty day Information Network.
Three, the near space backbone network platform based on aerostatics and communication
In the disclosure, the distributed collaboration flight control method of near space platform oriented mission formation networking, comprising:
It determines mostly in the constraint condition for compiling near space platform objective optimization；
It receives in input, the output data for compiling near space platform feedback；And
Based on constraint condition and data control in function switch, the load distribution for compiling near space platform.Specific mistake
Journey is as follows:
1, the distributed collaboration flight of near space platform oriented mission formation networking
It as shown in figure 18, mainly include three parts 1A, 1B, 1C, mutual relationship are as follows: 1B, 1C will each exist
The input-output data feedback for compiling platform assigns each programmed decision-making target in volume platform to 1B, 1C and distributes load to 1A, 1A
Lotus task.
2, multi-platform objective optimization decomposition, feedback coordinated and function switch
Without loss of generality, " east northeast " geographic coordinate system O- is established by origin of O at a certain longitude and latitude overhead height above sea level 20km
xyz；Assuming that there are two class near space platforms compiling, code name Lk(k=1 ..., 5), wherein first 3 be super-pressure balloon, rear 2
Be power airship；It will require the boundary value x of the region four corners of the world effectively coveredE, xW, yS, yNIt indicates.
If the top Figure 19 is the dynamic topology figure that platform is formed into columns, lower part is collaboration coverage diagram, can be according in each platform of volume
Dynamic position and collaboration coverage effect is calculated in the covering radius of load over the ground.Operation and peace are labelled on coverage effect figure
Full center of serve (being indicated with cross), certain ground communication station (being indicated with semicircle).
Covering object is classified, such as is divided into Pyatyi: certain static object (ground communication station) and certain dynamic object (example
As travelled high-speed rail on the way, with five star representations) it is highest 5 grades；Certain dynamic objects (such as the unmanned plane in working, with four
Star representation) it is 4 grades time high；Doubtful band singularly is 3 grades；Along Railway is 2 grades；Other are 1 grade.
Other than by object hierarchy, the assessment of coverage effect to be also lost by path and distinguished.As shown in figure 20,
The path loss at the different elevations angle can be calculated are as follows:
Lθ=20log (640 π hmArcsin θ) > L90°=152dB, L15°=164dB.
The difference of above two path loss is 12dB.The task height for assuming platform is 20 kms, and working frequency takes road
Maximum 48Ghz is lost in diameter, then the power of communications of 15 degree of low elevation angle situations is 16 times of 90 degree high elevation angle situation, it is seen that transmission distance
It is had a major impact from the transmission to signal.So the power of communications at 90 degree of elevations angle is reference, different location in coverage area
Multiplier of the power of communications compared with reference value as communication overlay merit rating faces hollow panel covering further to multiple
Situation be overlapped, to each supervision object by averagely covering matter as corresponding divided by its area again after cell area integral
Amount finally uses object rank (or its direct proportion function) to sum as weighted value, as the overall assessment to covering quality.It covers
The dynamic changes of lid quality are first task restriction conditions of multi-platform objective optimization.
Second task restriction condition of multi-platform objective optimization is exactly in the quality for compiling near space platform group-net communication
Variation.In the dynamic topology figure that platform is formed into columns, each platform can be found out by measuring estimated value by the physical location of each platform
With its front and back the distance between adjacent platforms, by the communication quality of this distance with optimal communication quality compared with as weight because
Son obtains the platform in the communication quality assessed value faced in sky communication network；It asks in the communication quality assessed value for compiling each platform
With obtain the measures of effectiveness of entire near space communication network.
The third constraint condition of multi-platform objective optimization is exactly that multi-platform track and its wind field influence variation.By each platform
Nearest track disturbs situation with undergone surroundings wind field and compares, and is assessed using/resistance wind disturbance situation its.
For power airship, this also relates to platform power consumption size and duration performance.
Finally using super-pressure balloon each in formation and power airship input-output feedback data as the association of reflection platform capabilities
Tune factor, efficiency it is more excellent-cost it is smaller between compromise, as each platform be to maintain current state or to some it is new
Objectives planning and motor-driven decision order be assigned to each platform.
Platform feature switching and its load task distribution are related to specific mission mode.Such as it as default mode, moves
Power dirigible L4/L5Be responsible for should information directly downlink to ground communication station and (and then operation be transferred to by ground communication station
With safety guarantee center).But if L4/L5Communication overlay efficiency to ground communication station is not most preferably, to be just switched to L1/L2/L3
In and efficiency effective to the communication overlay of ground communication station it is optimal；Otherwise, it just selects all compiling near space platform to defending
Star communication is optimal to be forwarded.
3, near space super-pressure balloon region is resident and load is directed toward control
Compared with zero-pressure balloon, the essential concept of super-pressure balloon determines that it may be implemented to stay in advection layer height for more time
It stays, as shown in figure 21, wherein top is super-pressure balloon, lower section is zero-pressure balloon, therefore super-pressure balloon becomes disclosure selection
One of two class near space platforms.
The essence that single super-pressure balloon implements control is to search for and is controlled, that is, is based on markov decision process
(MDP) it is controlled.Specifically, near space super-pressure balloon region is resident and load is directed toward control method, comprising:
S1, according to sub- content 1A decompose to the balloon expectation be resident target position, selection include it is expected parked position with
The trajectory range of range simultaneously carries out cube net lattice (referred to as vertical member) division；
S2 is respectively input (the vertical member of dark color as shown in figure 22) with each current vertical member, its adjacent vertical member (except boundary with
Outside, generally have 26, therefore the searching method be known as " magic square search method ") it is output, estimated using Gaussian process (GP) etc.
The prediction that algorithm changes environment big data calculates the probability that each adjacent mesh is reached by some time interval；
S3 carries out path planning based on markov decision process (MDP), according to path planning in entire trajectory range
Practical control (keeping height, lifting height or falling head) is carried out, and according to the rolling of practical control result and program results
It is accumulative to carry out rewards and punishments, to influence subsequent planning and control；
S4, meanwhile, enhancing update is carried out to environment big data according to practical control result.
The above method, using the significant difference of different height wind speed direction, by adjusting height, so as to using new
Wind direction again pulls back the balloon of original separate desired stopping center, thus become disturbance for drive, it is unfavorable be advantageous.
Figure 23 is that western part of China somewhere in July, 2016 different height wind speed changes statistical chart, it is seen that near 20km height
There are significant zero stratification of wind, and zero stratification of wind up and down near wind speed it is reversed, have biggish utility value.
The disclosure predicts different height wind speed using Python programming using nitrification enhancement, from result
Approximately, especially height is below 10000 and 15000 or more, prediction for the trend and actual test set data for seeing prediction
Trendline and test data point very coincide.
As resident in stratosphere for a long time as possible in order to realize, the disclosure, which also uses, actively utilizes the driving of heat transfer theory to grasp
Vertical mode.
The payload of super-pressure balloon, will be according to the related task of aforementioned sub- content 1A distribution based on information transmission purposes
It carries out corresponding antenna and is directed toward motor-driven and stability contorting.
4, more aerostatics platform Collaborative Controls
Although the TRAJECTORY CONTROL precision of single binary super-pressure balloon is lower, its low-cost advantage can be played, into
The more aerostatics platform Collaborative Controls of row complete networking, reach the task object of the extensive area network coverage and information transmission.
It is multi-platform to need to keep the concertedness and consistency of control when networking executes task, and then ensure whole network
Integrality.Specifically when being executed, on the other hand the redundancy of node when on the one hand fully ensuring that networking will also make full use of each
The wisdom and comprehensive descision ability of class algorithm (such as neural network, satisfactory decision-making theory, ant group algorithm) itself, exclusive PCR,
Complex optimum.
In terms of Collaborative Control, it is multi-platform between undertake different responsibilities during execution task, by mutual
Data, information exchange realize the collaboration of task.During entire cotasking, platform will not only receive the commander from ground
Information is controlled, this platform itself task is executed, also to command the other platforms of cooperation to execute task jointly according to the actual situation, this is big
Its work load is increased greatly.Simple and effective Collaborative Control mode is designed, will be provided a strong guarantee for the completion of task.It is this kind of
Various ways can be used to complete in collaboration, and artificial intelligence approach is one such (in addition to heuristic search method and expert system
Other than method, there are also neural network, fuzzy control, genetic algorithms etc.).However, no matter which kind of mode used, it is necessary to define
The instruction set of complete set, in order to interactive information identification between platforms, understanding, execution and between machine in data-link
Transmission.The design of instruction set should meet: complete, brief, specification requirement, to realize conveniently information between multi-platform
Transmitting lays the foundation.In addition to this, collaboration Situation Awareness, collaboration Target Assignment, coordinated path planning skill should also further be improved
Art, damage effects assessment technology and intelligent Decision Technology are just able to achieve multi-platform (i.e. each section only in this, as technical foundation
Between point) between it is quick, seamless connection, be finally reached multi-platform cooperative control.
As shown in figure 24, this is more for the overall structure (more aerostatics platform cooperative control methods) of multi-platform cooperative trajectory planning
Platform collaboration path planning method includes: that Target Assignment layer is respectively each platform distribution number, is provided respectively according to trajectory planning layer
Track index of the platform to each target；Collaborative Control layer is according to external environment, the variation range and trajectory planning of platform speed
The track length that layer transmits determines the collaboration time t of formation platform, and sends the corresponding track of t and each platform number to
Trajectory planning layer；Trajectory planning layer determines majorized function according to task, by predetermined ground observation, communication condition, produces
The raw air route for meeting multi-platform cooperative requirement；Track smooth layer generate using the time as the track of variable, meet collaboration requirement and
The requirement of platform dynamic property；Track In Track part determines feasible trajectory and corresponding using inertial coordinate and directional information
Dominant vector, and height, speed and the course of the feasible track acquired are sent to platform automatic pilot servo-system and go to execute,
Manoeuvring platform is by the track flight cooked up.The main task of multi-platform cooperative trajectory planning be exactly complete Collaborative Control layer,
The design of trajectory planning layer and track smooth layer.
5, for the high-precision A PT of near space laser communication
In near space backbone network based on aerostatics platform, the aerostatics as node makees low speed fortune with respect to ground
It is dynamic, lower to the precision of prediction of individual node movement since forms of motion relies on the variation of wind field, network topology real-time change,
Even if user does not move, switching is also frequently to occur, and user terminal, satellite, aerostatics, without solid between airborne platform
Fixed linking relationship.In addition, the wireless channel between aerostatics platform is related with the position that platform is presently in, make communication channel
Characteristic with time-varying, it is desirable that there is access Network Communication equipment capture to aim at tracking (APT) ability.
APT is most important component part and key in laser communication.It is ensured that communication two optical axis dynamic precisely aligns,
And then reduce the loss for the communication optical power for causing diffraction limit to emit due to optical axis deviation.
APT requires overcoming the variation of near space floating platform stance, platform shake and the influence of atmospheric channel feature simultaneously
Under the conditions of considering that aiming advance angle is modified in real time, the high precision tracking that realization dynamic tracking error reaches differential of the arc measurement level is taken aim at
It is quasi-.Influence emphasis of the near space atmosphere for laser communication considers following two points: first is that Atmospheric Absorption and influence of fading: atmosphere
Power loss will be generated near space laser communication system, loss size it is related with the specific atmospheric conditions in place are received and
The zenith angle of the optical axis in relation to, with current wind speed in relation to, also and receive place height above sea level it is related, atmospheric attenuation is inclined with channel
The corresponding relationship at angle；Second is that atmosphere deflection phenomenon: near space atmosphere is thin, and without weather phenomenon, communication channel conditions are stablized,
Refractive index is increased however as height above sea level, the feature gradually reduced is presented, and there are air-flow laminations, therefore necessarily communicate
Optical axis deflection phenomenon, and then image accuracy of alignment is influenced, decline the performance indicator of APT tracking system.
Although by passive vibration reducing measure, reduced High-frequency Interference also needs using master low frequency and intermediate frequency interference
It is dynamic to inhibit vibration measure that total tracking residual error of system is suppressed to beam divergence angle that is, using high bandwidth servo units such as traditional FSM
1/8 within；In conjunction with the positioning function of information net based space, initial direction is established for beacon beam, the rough tracking optical axis is biased certain
Presetting angle (i.e. open-loop acquisition uncertain region, herein because test condition limit, examining system initial acquisition is not known
Region is set as definite value α), the sweep time of rough tracking is eliminated in this way, substantially reduces the settling time of dynamic link, is realized
Slewing capture between double dynamic links.
To sum up, the characteristics of disclosure combination near space environment, the near space backbone network based on aerostatics platform is proposed,
Typical information transmission link based near space laser communication, and by taking rail traffic safety monitoring demand as an example, it describes
The application model of near space backbone network.Binary super-pressure balloon has been demonstrated suitable near space networking application, improves platform
Region control precision improves the comprehensive performance of near space backbone network.
Disclosure near space aerostatics platform has longer aerial residence time, disposes rate faster, is more flexible
Maneuverability and stronger load-carrying ability.To realize day -- face-information sharing of Air-Ground large capacity and intercommunication, breaks through China
Bottleneck problems and the world one such as the Covering time that existing day-ground large-capacity data transmission faces is limited, channel status dependence is strong
Solid foundation has been established in the construction of body information network.
Disclosure near space backbone network is as spatial information net net concept, using laser communication link as near space
Primary communication means between network, node of the controllable binary super-pressure balloon of using area as near space backbone network lead to
Multi-platform Collaborative Control is crossed, reaches extensive area covering, forms a connecting link, communicate the demand of transfer.
It should be noted that in attached drawing or specification text, the implementation for not being painted or describing is affiliated technology
Form known to a person of ordinary skill in the art, is not described in detail in field.In addition, the above-mentioned definition to each element and method is simultaneously
It is not limited only to various specific structures, shape or the mode mentioned in embodiment, those of ordinary skill in the art can carry out more it
Change or replace:
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of near space platform oriented mission formation networking distributed collaboration flight control method, comprising:
It determines mostly in the constraint condition for compiling near space platform objective optimization；
It receives in input, the output data for compiling near space platform feedback；And
Based on constraint condition and data control in function switch, the load distribution for compiling near space platform.
2. according to the method described in claim 1, wherein, the constraint condition includes: the dynamic change of covering quality, faces in volume
The quality comparison of near space platform group-net communication and multi-platform track and its wind field influence variation.
3. according to the method described in claim 2, wherein,
By multiplier of the power of communications of different location in coverage area compared with reference value as communication overlay merit rating,
Multiple situations for facing hollow panel covering are overlapped, each supervision object is made divided by its area again later by cell area integral
For accordingly be averaged covering quality, and use object rank as weighted value summation, as the overall assessment to covering quality.
4. according to the method described in claim 2, wherein,
In the dynamic topology figure that platform is formed into columns, estimated value is measured by the physical location of each platform and finds out each platform with before it
The distance between adjacent platforms afterwards regard the communication quality of this distance as weighted factor compared with optimal communication quality, obtain
The platform is in the communication quality assessed value faced in sky communication network；To in the communication quality assessed value summation for compiling each platform, obtain
The measures of effectiveness of entire near space communication network.
5. according to the method described in claim 2, wherein,
The nearest track of each platform is compared with undergone surroundings wind field disturbance situation, to its utilization/resistance wind disturbance
Situation is assessed.For power airship, this also relates to platform power consumption size and duration performance.
6. according to the method described in claim 1, wherein, existing based on constraint condition and the data, according to mission mode control
Compile function switch, the load distribution of near space platform.
7. according to the method described in claim 1, wherein, the near space platform includes super-pressure balloon, power airship.
8. a kind of multi-platform cooperative path planning method, comprising:
Target Assignment layer is respectively each platform distribution number, provides each platform according to trajectory planning layer and refers to the track of each target
Mark；
For Collaborative Control layer according to external environmental condition, the track that the variation range and trajectory planning layer of platform speed transmit is long
Degree determines the collaboration time t of formation platform, and the corresponding track number for cooperateing with time t and each platform is sent to track rule
Draw layer；
Trajectory planning layer determines majorized function according to task, and by predetermined ground observation, communication condition, it is more to generate satisfaction
The air route of platform interoperability requirement；
Track smooth layer is generated using the time as the track of the requirement of the satisfaction collaboration of variable and the requirement of platform dynamic property；
Track In Track part determines feasible trajectory and corresponding dominant vector using inertial coordinate and directional information, and determining
Height, speed and the course of feasible track be sent to the execution of platform automatic pilot servo-system, manoeuvring platform is by cooking up
The track flight come.
9. according to the method described in claim 8, wherein, by data information interaction between the multiple platform, realizing task
Collaboration, each platform during cotasking, receive the control information from ground, execute this platform itself task, simultaneously
Other platforms are cooperated to execute task according to practical.
10. described according to the method described in claim 8, wherein, multi-platform cooperative control is completed by artificial intelligence approach
Artificial intelligence approach includes: heuristic search method, expert system approach, neural network, fuzzy control and genetic algorithm.
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| CN112596395A (en) * | 2020-12-24 | 2021-04-02 | 中国科学院重庆绿色智能技术研究院 | Multi-agent consistency cooperative control method under multiple information constraints |
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| CN115085784A (en) * | 2022-05-27 | 2022-09-20 | 中国人民解放军火箭军工程大学 | Steady beam synthesis method of hierarchical weighted sparse subarray antenna array |
| CN115085784B (en) * | 2022-05-27 | 2024-08-16 | 中国人民解放军火箭军工程大学 | Hierarchical weighted sparse subarray antenna array robust beam synthesis method |
| CN115022837A (en) * | 2022-05-31 | 2022-09-06 | 重庆邮电大学 | Automatic driving automobile control method and system with unmanned aerial vehicle as aerial base station |
| CN116339388A (en) * | 2023-05-29 | 2023-06-27 | 北京航空航天大学 | Method and system for controlling coverage of cluster area of stratospheric airship in uncertain wind field |
| CN116339388B (en) * | 2023-05-29 | 2023-08-25 | 北京航空航天大学 | Method and system for controlling coverage of cluster area of stratospheric airship in uncertain wind field |
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