CN109905164B - Communication and data return method for unmanned aerial vehicle in cluster range - Google Patents
Communication and data return method for unmanned aerial vehicle in cluster range Download PDFInfo
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Abstract
A communication and data return method for unmanned aerial vehicles in cluster range comprises the following steps: a. clustering by an unmanned aerial vehicle; b. election of an initial cluster head unmanned aerial vehicle in each virtual cluster: calculating a weight parameter of each unmanned aerial vehicle for each virtual cluster; determining an initial cluster head according to the weight parameters; c. selecting common cluster heads and clustering by unmanned aerial vehicles; d. the unmanned aerial vehicle sends the collected video information to the common cluster head unmanned aerial vehicle on the layer, the common cluster head unmanned aerial vehicle uploads the video information to the initial cluster head step by step, and the initial cluster head unmanned aerial vehicle with the largest weight is elected to serve as a relay unmanned aerial vehicle to send the collected data packet to a data receiving and command control center on the ground. The invention adopts the overlapped clustering method of fusing multi-parameter weighting, can effectively avoid the blindness of the message, reduce the generation of redundant data packets, not only avoid channel collision and reduce the transmission delay among nodes, but also establish a plurality of communication paths, thereby effectively improving the operation reliability and the video transmission quality of the emergency communication network.
Description
Technical Field
The invention relates to a communication and data returning method of an emergency communication network of a power system constructed by clustered unmanned aerial vehicles, and belongs to the technical field of communication.
Background
The power communication network is a special network serving various application services of a power system, and is the basis for realizing automatic control, information management and intelligent power grid of the power grid. The emergency communication network is an indispensable important communication means for ensuring safe and stable operation of the power grid. Since air work is required, unmanned aerial vehicles are undoubtedly the most suitable choice. The capability of the single-node unmanned aerial vehicle for executing tasks is limited in many aspects, the cluster unmanned aerial vehicle can be utilized to exert the efficiency to the maximum extent, the task dimension and the working efficiency of the unmanned aerial vehicle can be improved, the controllability and the real-time strain capability of the unmanned aerial vehicle can be enhanced, the survivability and the interference resistance of the unmanned aerial vehicle can be improved, and the development potential of the unmanned aerial vehicle can be enlarged. However, the cluster unmanned aerial vehicle has the characteristics of high movement speed, a large number of nodes, frequent change of a topological structure and the like, and the traditional plane topological networking form is no longer applicable, so that a clustered network structure is adopted. Because the unmanned aerial vehicle usually works in a severe environment, the existing data return method is difficult to ensure the fluency of video information transmission, and the higher the flight height of the unmanned aerial vehicle is, the farther the communication distance is, the worse the video transmission quality is, so that the research on the communication and data return method for improving the video transmission quality of the cluster unmanned aerial vehicle has important significance.
Disclosure of Invention
The invention aims to provide a communication and data return method of unmanned aerial vehicles in a cluster range aiming at the defects of the prior art so as to improve the video transmission quality of an emergency communication network of a power system.
The problems of the invention are solved by the following technical scheme:
a communication and data backhaul method for cluster-wide drones, the method comprising the steps of:
a. unmanned aerial vehicle clustering
Dividing the unmanned aerial vehicle into a plurality of virtual clusters according to the active area of the unmanned aerial vehicle;
b. election of initial cluster head unmanned aerial vehicle in each virtual cluster
For each virtual cluster, calculating a weight parameter of each unmanned aerial vehicle:
Wi＝w1Ni+w2Vi+w3Ei+w4Pi+w5Di
in the formula WiWeight for the ith drone in the virtual cluster, NiThe difference value between the number of unmanned aerial vehicles within the communication radius R of the ith unmanned aerial vehicle and the average number of unmanned aerial vehicles is obtained; viThe difference value of the speed of the ith unmanned aerial vehicle and the average speed of the adjacent unmanned aerial vehicles is obtained; eiThe residual capacity of the ith unmanned aerial vehicle is; piTransmitting power for the ith unmanned aerial vehicle signal; diThe shortest path distance, w, from the ith unmanned aerial vehicle to the ground data receiving and commanding control center1、w2、w3、w4And w5Are respectively Ni、Vi、Ei、PiAnd DiAnd has a weight of w1＞0，w2＜0，w3＞0，w4＞0，w5＜0；
Determining initial cluster head according to weight parameter
If the number of unmanned aerial vehicles contained in the virtual cluster is smaller than or equal to a preset threshold value, electing the unmanned aerial vehicle with the largest weight as an initial cluster head, otherwise, taking a plurality of unmanned aerial vehicles with larger weights as the initial cluster head according to a set proportion, wherein the initial cluster head is a primary node of the virtual cluster;
c. election of common cluster head and unmanned aerial vehicle clustering
Firstly, an unmanned aerial vehicle which becomes an initial cluster head sends a clustering broadcast;
other unmanned aerial vehicles respond after receiving the broadcast sent by the initial cluster head unmanned aerial vehicle, the responding unmanned aerial vehicle is a secondary node of the virtual cluster, and response signals are sent to the initial cluster head unmanned aerial vehicle in sequence according to the sequence of response;
after the initial cluster head unmanned aerial vehicle receives all response signals, logic addresses (X, Y) are distributed to the unmanned aerial vehicles according to the sequence of response, wherein X represents the node stage number, Y represents the response serial number of the unmanned aerial vehicle at the stage, the corresponding unmanned aerial vehicle is informed, and the address distribution of the second stage is completed;
and fourthly, selecting common cluster heads in the second-stage unmanned aerial vehicle by using the method for selecting the initial cluster heads in the step b, wherein the selected common cluster head unmanned aerial vehicle is a cluster head unmanned aerial vehicle of a third-stage node, and the common cluster head unmanned aerial vehicles sequentially obtain the clustering broadcasting right distributed by the initial cluster head unmanned aerial vehicle according to the response sequence and send the clustering broadcasting to carry out address distribution of the third-stage unmanned aerial vehicle. If the logic address exists, but the logic address does not respond to the unmanned aerial vehicle which sends the clustering broadcast in the same layer, only recording a path to a routing table, and responding to the unmanned aerial vehicle which is not in the same layer; and if no logical address exists, the unmanned aerial vehicle responds. And after the common cluster head unmanned aerial vehicle receives the response signal, allocating the logical address only for the unmanned aerial vehicle without the logical address. The initial cluster head completes the second-stage address allocation, and other unmanned aerial vehicles which do not enter the cluster are allocated with logical addresses by the following common cluster head unmanned aerial vehicles at all stages. Unmanned plane without logical address can distribute logical address after answering)
Fifthly, sequentially electing the lower-level common cluster heads by analogy until the unmanned aerial vehicle with the upper-level common cluster head cannot respond after sending the clustering broadcast, and determining that all the addresses of the unmanned aerial vehicles are completely distributed;
d. video data return
The unmanned aerial vehicle sends the collected video information to the common cluster head unmanned aerial vehicle on the layer, the common cluster head unmanned aerial vehicle uploads the video information to the initial cluster head step by step, and the video information is sent to a data receiving and commanding control center on the ground by the initial cluster head.
According to the communication and data returning method of the unmanned aerial vehicle within the cluster range, returning of video data comprises the following steps:
firstly, acquiring video information by an unmanned aerial vehicle by using a high-definition camera;
compressing, coding and modulating the acquired video information by the unmanned aerial vehicle by using a coding modulation module, then sending the modulated information to the common cluster head unmanned aerial vehicle of the unmanned aerial vehicle, and uploading the video information to the initial cluster head by each common cluster head unmanned aerial vehicle step by step;
thirdly, if only one initial cluster head is available, the initial cluster head is the relay node unmanned aerial vehicle for uploading information; if the number of the initial cluster heads is multiple, the initial cluster head with the largest weight is selected as the relay node unmanned aerial vehicle for uploading information, and other initial cluster heads transmit the video data packet to the relay node unmanned aerial vehicle. In the invention, because the virtual clusters are divided into a plurality of virtual clusters, the initial cluster heads of the virtual clusters need to be selected as the relay nodes with the maximum weight, and only one initial cluster head is unlikely to exist, so the weights of the initial cluster head unmanned aerial vehicles in each virtual cluster in the network are compared, the initial cluster head unmanned aerial vehicle with the maximum weight is selected to serve as the relay node unmanned aerial vehicle, and other initial cluster heads transmit the video data packet to the relay node unmanned aerial vehicle.
And fourthly, the relay node unmanned aerial vehicle sends the video data packet to a data receiving and command control center on the ground.
According to the communication and data return method for the unmanned aerial vehicles within the cluster range, after all the unmanned aerial vehicles enter the cluster, cluster maintenance is needed, the specific maintenance method comprises deleting the unmanned aerial vehicles in the cluster and adding the unmanned aerial vehicles in the cluster, and the specific method comprises the following steps:
deleting the unmanned aerial vehicle in the cluster: when an unmanned aerial vehicle cannot receive the broadcast message with the cluster head information or the cluster head unmanned aerial vehicle cannot receive the message periodically broadcast by the unmanned aerial vehicle, deleting the unmanned aerial vehicle information from the cluster;
increase unmanned aerial vehicle in cluster: and when the last-stage common cluster head unmanned aerial vehicle in one cluster obtains the response of the new unmanned aerial vehicle, adding the new unmanned aerial vehicle into the cluster.
According to the communication and data returning method for the unmanned aerial vehicle in the cluster range, when the energy of the initial cluster head or the common cluster head is smaller than a set value or the unmanned aerial vehicle communication network changes, the unmanned aerial vehicle communication and data returning method needs to be replaced by a re-election method.
According to the communication and data returning method of the unmanned aerial vehicles in the cluster range, when the initial cluster heads are determined according to the weight parameters, if the number of the unmanned aerial vehicles contained in the virtual cluster is larger than the preset threshold value, the number of the selected initial cluster heads is 10% of all the unmanned aerial vehicles in the virtual cluster.
The invention adopts the overlapping clustering method of fusing multi-parameter weighting, which can effectively avoid the blindness of the message and reduce the generation of redundant data packets. The method can avoid channel collision, reduce transmission delay among nodes, and establish a plurality of communication paths, thereby effectively improving the operation reliability and video transmission quality of the emergency communication network.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is an unmanned aerial vehicle ad hoc network process;
FIG. 2 is a process of clustering unmanned aerial vehicles;
FIG. 3 is a routing table;
fig. 4 is an unmanned aerial vehicle video return flow.
The symbols in the text are: wiWeight for the ith drone in the virtual cluster, NiThe difference value between the number of unmanned aerial vehicles within the communication radius R of the ith unmanned aerial vehicle and the average number of unmanned aerial vehicles is obtained; viThe difference value of the speed of the ith unmanned aerial vehicle and the average speed of the adjacent unmanned aerial vehicles is obtained; eiThe residual capacity of the ith unmanned aerial vehicle is; piTransmitting power for the ith unmanned aerial vehicle signal; diThe shortest path distance, w, from the ith unmanned aerial vehicle to the ground data receiving and commanding control center1、w2、w3、w4And w5Are respectively Ni、Vi、Ei、PiAnd DiThe weight of (c).
Detailed Description
Aiming at the problems of low safety stability and low working efficiency of a single unmanned aerial vehicle, the unmanned aerial vehicle self-networking system based on the cluster is used, and a plurality of unmanned aerial vehicles form a network so as to improve the cruising ability, the survivability and the working efficiency of the unmanned aerial vehicle. The emergency command communication system constructed based on the unmanned aerial vehicle has the characteristics of rapid approaching after an event/disaster occurs, support of multi-service data transmission, long single guarantee time, low operation and maintenance cost and the like, and can provide powerful guarantee for improving the emergency command communication capability of a power communication network in China. The cluster unmanned aerial vehicle breaks through the technical and capacity limitations of a single unmanned aerial vehicle, and the unmanned aerial vehicles with various functions are organized by using the ad hoc network technology to cooperate, so that the capacity and efficiency of cooperatively executing tasks are greatly improved.
The routing method in the unmanned aerial vehicle ad hoc network adopts a weight-fused overlapping clustering method, and each cluster comprises: the unmanned aerial vehicle of the initial cluster head, ordinary cluster head unmanned aerial vehicle, node unmanned aerial vehicle. The unmanned aerial vehicle as the initial cluster head is located at the first stage of the cluster and is responsible for sending clustering broadcast, collecting video data collected by all unmanned aerial vehicle nodes in the cluster, transmitting the video data to the unmanned aerial vehicle as a relay after data fusion processing, and transmitting the video data to a ground data receiving and commanding dispatching center by the relay unmanned aerial vehicle. The unmanned aerial vehicle as the common cluster head is positioned at other cluster heads at all levels, and is used for receiving the broadcast information sent by the unmanned aerial vehicle at the cluster head at the previous level, collecting the information from the unmanned aerial vehicle at the node in the cluster and sending the information to the unmanned aerial vehicle as the initial cluster head. Here, a density coefficient I of one node is defined, which indicates the number of drones included in each divided cluster. And setting a threshold value switch _ I, wherein the number of the unmanned aerial vehicles is represented as delta I, and when the value of the delta I is larger than the threshold value switch _ I, starting the multi-cluster-head overlapped clustering method fused with the weighting. And if the value of the delta I is smaller than the threshold switch _ I, starting the single cluster head overlapping clustering method fused with the weighting. The difference between the two methods is that the weighted multi-cluster-head overlapped clustering method is characterized in that a first stage in a cluster comprises a plurality of cluster-head unmanned aerial vehicles, wherein the number of the cluster-head unmanned aerial vehicles is 10% of the total number of the unmanned aerial vehicles in the cluster; the weighted single-cluster-head unmanned aerial vehicle overlapping clustering method is combined, and only one cluster-head unmanned aerial vehicle is included in the first stage of clustering. The method comprises the following specific steps:
step 1: unmanned aerial vehicle clustering. Because install control module on the unmanned aerial vehicle, can realize unmanned aerial vehicle positional information's sharing, confirm unmanned aerial vehicle's communication radius simultaneously, know these information, can divide into a plurality of virtual clusters with the region of unmanned aerial vehicle activity.
Step 2: unmanned aerial vehicle capable of initially clustering heads in virtual clusters into which unmanned aerial vehicle is dividedThe election of (1). In order to select the unmanned aerial vehicle with the highest stability as the initial cluster head, the following factors are comprehensively considered: the difference N between the number of unmanned aerial vehicles within the communication radius R of unmanned aerial vehicles in the cluster and the average number of unmanned aerial vehiclesi(ii) a Difference V between unmanned aerial vehicle speed and average speed of adjacent unmanned aerial vehiclesi(ii) a Unmanned aerial vehicle's residual capacity Ei(ii) a Unmanned aerial vehicle signal emission power Pi(ii) a Shortest path distance D from unmanned aerial vehicle to ground data receiving and commanding control centeri. The weight parameters of the unmanned aerial vehicle for electing the initial cluster head are obtained as follows:
Wi＝w1Ni+w2Vi+w3Ei+w4Pi+w5Di (1)
where w is1＞0，w2＜0，w3＞0，w4＞0，w5＜0。
Calculate the total weight WiAnd the influence of node intensity is taken into account. If the method for overlapping clustering of multiple cluster heads with the fused weights is started, selecting the unmanned aerial vehicle with the weight value of the top 10% as an initial cluster head; if the method for overlapping clustering of the single cluster heads fused with the weighting is started, the unmanned aerial vehicle with the largest weight is elected as the initial cluster head, and the unmanned aerial vehicles with the initial cluster heads are all positioned at the first Level (Level 1) of the cluster.
And step 3: and (4) clustering by the unmanned aerial vehicle. The method comprises the following substeps:
(1) the unmanned aerial vehicle which becomes an initial cluster head sends clustering broadcast;
(2) the other unmanned aerial vehicles respond after receiving the broadcast sent by the initial cluster head unmanned aerial vehicle, the responding unmanned aerial vehicle is positioned at the second Level (Level 2) of the cluster, and response signals are sequentially sent to the initial cluster head unmanned aerial vehicle according to the sequence of the response;
(3) after the initial cluster head unmanned aerial vehicle receives all response signals, logic addresses (X, Y) are distributed to the unmanned aerial vehicles according to the sequence of responses, and the corresponding unmanned aerial vehicles are informed to complete the address distribution of Level 2; (X represents the logical level number and Y represents the response sequence number of the drone at that level).
(4) Selecting a common cluster head in the Level 2 unmanned aerial vehicle by using the method for selecting the initial cluster head in the step 2, wherein the selected common cluster head unmanned aerial vehicle is used as a Level 3 cluster head unmanned aerial vehicle, sequentially obtaining the cluster broadcasting right distributed by the initial cluster head unmanned aerial vehicle according to the response sequence and sending the cluster broadcasting for carrying out Level 3 unmanned aerial vehicle address distribution, if a logical address exists, but the address does not respond on the same layer with the unmanned aerial vehicle sending the cluster broadcasting, only recording a path to a routing table, and responding by the unmanned aerial vehicle on the different layer; and if no logical address exists, the unmanned aerial vehicle responds. And after the common cluster head unmanned aerial vehicle receives the response signal, allocating the logical address only for the unmanned aerial vehicle without the logical address.
(5) By parity of reasoning, Level 4 and the like are obtained in sequence, and all unmanned aerial vehicle addresses are considered to be distributed completely until the last layer of common cluster head unmanned aerial vehicle cannot respond.
And 4, step 4: after each unmanned aerial vehicle is clustered, cluster maintenance is needed. Specifically, deleting and adding the unmanned aerial vehicle in the cluster. Deleting the unmanned aerial vehicle: when an unmanned aerial vehicle cannot receive the broadcast message with the cluster head information or the cluster head unmanned aerial vehicle cannot receive the message periodically broadcast by the unmanned aerial vehicle, the unmanned aerial vehicle is indicated to be out of the maximum communication range of the cluster head unmanned aerial vehicle, and the unmanned aerial vehicle information should be deleted from the cluster. Adding a new unmanned aerial vehicle in the cluster: the new drones include the newly added drone in the network and the drones deleted by other clusters. When a last drone in a cluster gets a response again, it represents that a new drone has joined the cluster.
And 5: and (5) replacing the cluster head unmanned aerial vehicle. In order to improve the life cycle of the network, the cluster head unmanned aerial vehicle cannot be frequently replaced. For the unmanned aerial vehicle that acts as the cluster head, if its energy is not enough, or when detecting that the network changes, in order to prevent to cause serious harmful results (such as data loss), need in time change.
The invention utilizes the initial cluster head as a relay unmanned aerial vehicle to carry out video data return, and comprises the following steps:
1. the unmanned aerial vehicle utilizes high definition digtal camera to gather video information.
2. After video information that unmanned aerial vehicle high definition digtal camera gathered utilized code modulation module to carry out compression coding and modulation, each node unmanned aerial vehicle sent video information to this layer ordinary cluster head unmanned aerial vehicle, and each ordinary cluster head unmanned aerial vehicle gives the cluster head unmanned aerial vehicle of its one-level with video information again, so on, until in the Leve l initial cluster head gather all video information.
3. When a plurality of initial cluster heads exist, the weights of all the initial cluster head unmanned aerial vehicles in the network are compared, and the initial cluster head unmanned aerial vehicle with the largest weight is selected to serve as the relay node unmanned aerial vehicle. The relay node nobody can replace the relay node immediately according to the change of the initial cluster head.
The unmanned aerial vehicles selected as the relay nodes gather video data packets of other initial cluster head unmanned aerial vehicles and uniformly send the video data packets to a ground data receiving and command control center.
The method optimizes the routing method, improves the working efficiency and stability of the unmanned aerial vehicle to a certain extent, and improves the transmission quality and transmission rate of data.
Claims (5)
1. A communication and data return method for unmanned aerial vehicles in a cluster range is characterized by comprising the following steps:
a. unmanned aerial vehicle clustering
Dividing the unmanned aerial vehicle into a plurality of virtual clusters according to the active area of the unmanned aerial vehicle;
b. election of initial cluster head unmanned aerial vehicle in each virtual cluster
For each virtual cluster, calculating a weight parameter of each unmanned aerial vehicle:
in the formula
Is the first in the virtual cluster
The weight of the individual drones,
is as follows
The difference between the number of unmanned aerial vehicles within the communication radius R of each unmanned aerial vehicle and the average number of unmanned aerial vehicles;
is as follows
The difference between the speed of each unmanned aerial vehicle and the average speed of the adjacent unmanned aerial vehicles;
is as follows
The remaining capacity of each drone;
is as follows
Signal transmission power of each unmanned aerial vehicle;
is as follows
Shortest path distance from each unmanned aerial vehicle to the ground data receiving and commanding control center,
are respectively as
And
and is weighted by
；
Determining initial cluster head according to weight parameter
If the number of unmanned aerial vehicles contained in the virtual cluster is smaller than or equal to a preset threshold value, electing the unmanned aerial vehicle with the largest weight as an initial cluster head, otherwise, taking a plurality of unmanned aerial vehicles with larger weights as the initial cluster head according to a set proportion, wherein the initial cluster head is a primary node of the virtual cluster;
c. election of common cluster head and unmanned aerial vehicle clustering
Firstly, an unmanned aerial vehicle which becomes an initial cluster head sends a clustering broadcast;
other unmanned aerial vehicles respond after receiving the broadcast sent by the initial cluster head unmanned aerial vehicle, the responding unmanned aerial vehicle is a secondary node of the virtual cluster, and response signals are sent to the initial cluster head unmanned aerial vehicle in sequence according to the sequence of response;
after the initial cluster head unmanned aerial vehicle receives all response signals, logic addresses (X, Y) are distributed to the unmanned aerial vehicles according to the sequence of response, wherein X represents the node stage number, Y represents the response serial number of the unmanned aerial vehicle at the stage, the corresponding unmanned aerial vehicle is informed, and the address distribution of the second stage is completed;
b, selecting common cluster heads in the second-level unmanned aerial vehicle by using the method for selecting the initial cluster heads in the step b, wherein the selected common cluster head unmanned aerial vehicles are cluster head unmanned aerial vehicles of third-level nodes, the common cluster head unmanned aerial vehicles sequentially obtain cluster broadcasting rights distributed by the initial cluster head unmanned aerial vehicle according to response sequences and send the cluster broadcasting to perform address distribution of the third-level unmanned aerial vehicle, if the common cluster head unmanned aerial vehicles have logical addresses, but do not respond on the same layer with the unmanned aerial vehicle sending the cluster broadcasting, only the paths are recorded into the routing table, and the unmanned aerial vehicles which do not respond on the same layer; if no logical address exists, the unmanned aerial vehicle responds, and after the common cluster head unmanned aerial vehicle receives a response signal, the logic address is only distributed for the unmanned aerial vehicle without the logical address;
fifthly, sequentially electing the lower-level common cluster heads by analogy until the unmanned aerial vehicle with the upper-level common cluster head cannot respond after sending the clustering broadcast, and determining that all the addresses of the unmanned aerial vehicles are completely distributed;
d. video data return
The unmanned aerial vehicle sends the collected video information to the common cluster head unmanned aerial vehicle on the layer, the common cluster head unmanned aerial vehicle uploads the video information to the initial cluster head step by step, and the video information is sent to a data receiving and commanding control center on the ground by the initial cluster head.
2. The method according to claim 1, wherein the video data return comprises the following steps:
firstly, acquiring video information by an unmanned aerial vehicle by using a high-definition camera;
compressing, coding and modulating the acquired video information by the unmanned aerial vehicle by using a coding modulation module, then sending the modulated information to the common cluster head unmanned aerial vehicle of the unmanned aerial vehicle, and uploading the video information to the initial cluster head by each common cluster head unmanned aerial vehicle step by step;
thirdly, if only one initial cluster head is available, the initial cluster head is the relay node unmanned aerial vehicle for uploading information; if a plurality of initial cluster heads exist, selecting the initial cluster head with the largest weight as the relay node unmanned aerial vehicle for uploading information, and transmitting the video data packet to the relay node unmanned aerial vehicle by other initial cluster heads;
and fourthly, the relay node unmanned aerial vehicle sends the video data packet to a data receiving and command control center on the ground.
3. The communication and data return method for unmanned aerial vehicles within the cluster range according to claim 1 or 2, wherein after all unmanned aerial vehicles enter the cluster, cluster maintenance is required, and the specific maintenance method includes deleting the unmanned aerial vehicles in the cluster and adding the unmanned aerial vehicles in the cluster, and the specific method includes:
deleting the unmanned aerial vehicle in the cluster: when an unmanned aerial vehicle cannot receive the broadcast message with the cluster head information or the cluster head unmanned aerial vehicle cannot receive the message periodically broadcast by the unmanned aerial vehicle, deleting the unmanned aerial vehicle information from the cluster;
increase unmanned aerial vehicle in cluster: and when the last-stage common cluster head unmanned aerial vehicle in one cluster obtains the response of the new unmanned aerial vehicle, adding the new unmanned aerial vehicle into the cluster.
4. The method as claimed in claim 3, wherein when the energy of the initial cluster head or the common cluster head is less than a predetermined value or the communication network of the UAV changes, the cluster head or the common cluster head needs to be replaced by re-election.
5. The communication and data backhaul method for drones within a cluster according to claim 4, wherein when determining the initial cluster head according to the weight parameter, if the number of drones included in the virtual cluster is greater than a preset threshold, the number of the selected initial cluster head is 10% of all drones in the virtual cluster.
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