CN110401932A - A kind of unmanned aerial vehicle group collaborative perception system and method - Google Patents
A kind of unmanned aerial vehicle group collaborative perception system and method Download PDFInfo
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- CN110401932A CN110401932A CN201910684041.XA CN201910684041A CN110401932A CN 110401932 A CN110401932 A CN 110401932A CN 201910684041 A CN201910684041 A CN 201910684041A CN 110401932 A CN110401932 A CN 110401932A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/14—Spectrum sharing arrangements between different networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
Abstract
The embodiment of the invention provides a kind of unmanned aerial vehicle group collaborative perception system and method, system includes: a center unmanned plane and multiple subordinate unmanned planes；Center unmanned plane is the most abundant unmanned plane of available computational resources in unmanned aerial vehicle group collaborative perception system；Center unmanned plane is shaken hands by the communication beams broadcast of center unmanned plane and initiates frame, and shaking hands and initiating frame includes the assigned communication time slot of each subordinate unmanned plane and searching moving directional information；For each subordinate unmanned plane, which, which by the communication beams of the subordinate unmanned plane receives broadcast, shakes hands and initiates frame, and parses broadcast and shake hands and initiate frame, obtains the assigned communication time slot of the subordinate unmanned plane and searching moving directional information；The subordinate unmanned plane is moved according to searching moving directional information, and is perceived by the perception wave beam of the subordinate unmanned plane, and perception data is obtained；Perception data is sent to center unmanned plane in the corresponding communication time slot of subordinate unmanned plane.It so, it is possible to improve frequency spectrum resource utilization rate.
Description
Technical field
The present invention relates to fields of communication technology, more particularly to a kind of unmanned aerial vehicle group collaborative perception system and method.
Background technique
Perception information integration program is mutually independent with sensory perceptual system using communication system between existing unmanned aerial vehicle group
Mode.Specifically, sensory perceptual system and communication system use independent radio-frequency antenna, radio frequency link, the systems such as digital processing device
Equipment.Each unmanned plane in unmanned aerial vehicle group all has sensory perceptual system and communication system.
Sensory perceptual system forms wave beam and perceives to ambient enviroment, and carries out in the data processing equipment in sensory perceptual system
Perception data processing, when needing sensing results data fusion, the sensory perceptual system for sending unmanned plane leads to sensing results data
The emission port that internal transmission links are transmitted to the communication system of the transmission unmanned plane is crossed, the communication system for sending unmanned plane again should
Sensing results data are sent to the reception unmanned plane as fusion center, and the reception unmanned plane of fusion center receives other nobody
The sensing results data of machine transmission are simultaneously merged with itself sensing results data, and fused result data is used for unmanned aerial vehicle group
The subsequent processes such as decision.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of unmanned aerial vehicle group collaborative perception system and method, to improve frequency spectrum money
Source utilization rate.Specific technical solution is as follows:
In a first aspect, the embodiment of the invention provides a kind of unmanned aerial vehicle group collaborative perception system, the system comprises:
One center unmanned plane and multiple subordinate unmanned planes；The center unmanned plane is unmanned aerial vehicle group collaborative perception system
The most abundant unmanned plane of available computational resources in system；
The center unmanned plane is shaken hands by the communication beams broadcast of the center unmanned plane and initiates frame, wherein described to hold
It includes the assigned communication time slot of each subordinate unmanned plane and searching moving directional information that hand, which initiates frame,；
For each subordinate unmanned plane, which receives the broadcast by the communication beams of the subordinate unmanned plane
It shakes hands and initiates frame, and parse the broadcast and shake hands and initiate frame, obtain the assigned communication time slot of the subordinate unmanned plane and search fortune
Dynamic directional information；The subordinate unmanned plane passes through the perception of the subordinate unmanned plane according to described search direction of motion information movement
Wave beam is perceived, and perception data is obtained；The perception data that will be obtained in the corresponding communication time slot of subordinate unmanned plane
It is sent to the center unmanned plane.
Optionally, each unmanned plane in the unmanned aerial vehicle group collaborative perception system broadcasts that the unmanned plane is corresponding to be pushed away respectively
Information is lifted, the election information includes the corresponding identification information of the unmanned plane, available computational resources information, location information and movement
Status information；Unmanned plane in the unmanned aerial vehicle group collaborative perception system include the center unmanned plane and the multiple subordinate without
It is man-machine.
Optionally, each subordinate unmanned plane is located at using the center unmanned plane as the center of circle, cooperates with radius x with maximumQIt is half
In the circle of diameter；
Wherein,βRTo perceive power-division ratios, P is total available work
Rate, gcFor communication beams gain, Q-1For Q (p1,p2) about p2The inverse function of parameter, Q (p1,p2) it is single order Marcum Q function, B
For bandwidth, M is the number of subordinate unmanned plane, and N is communication noise power, and ε is outage probability thresholding, and α is path loss coefficient, K
For Rice factor, VdataFor the generation rate of perception data.
Optionally, for each subordinate unmanned plane, the message capacity of the subordinate unmanned plane and the center unmanned plane is greater than
Equal to the generation rate that the subordinate unmanned plane generates the perception data.
Optionally, the center unmanned plane sends the perception data of the center unmanned plane with each subordinate unmanned plane
Perception data to the center unmanned plane is merged.
Optionally, for each unmanned plane in the unmanned aerial vehicle group collaborative perception system, the aerial array of the unmanned plane
Mutually orthogonal communication beams and perception wave beam are generated by beam forming technique.
Second aspect, the embodiment of the invention provides a kind of unmanned aerial vehicle group cooperation perceptive methods, which comprises
Center unmanned plane is shaken hands by the communication beams broadcast of the center unmanned plane and initiates frame, wherein the hair of shaking hands
Playing frame includes the assigned communication time slot of each subordinate unmanned plane and searching moving directional information；The center unmanned plane is for nobody
The most abundant unmanned plane of available computational resources in group of planes collaborative perception system；
For each subordinate unmanned plane, which receives the broadcast by the communication beams of the subordinate unmanned plane
It shakes hands and initiates frame, and parse the broadcast and shake hands and initiate frame, obtain the assigned communication time slot of the subordinate unmanned plane and search fortune
Dynamic directional information；The subordinate unmanned plane passes through the perception of the subordinate unmanned plane according to described search direction of motion information movement
Wave beam is perceived, and perception data is obtained；The perception data that will be obtained in the corresponding communication time slot of subordinate unmanned plane
It is sent to the center unmanned plane.
Optionally, it is sent in the perception data that will be obtained in the corresponding communication time slot of subordinate unmanned plane
After the center unmanned plane, the method also includes:
The perception data of the center unmanned plane is sent in described by the center unmanned plane with each subordinate unmanned plane
The perception data of heart unmanned plane is merged.
Optionally, in the described subordinate unmanned plane according to described search direction of motion information movement, and by the subordinate without
Man-machine perception wave beam is perceived, before obtaining perception data, the method also includes:
Receive the broadcast end mark frame that the center unmanned plane is sent；
The described subordinate unmanned plane passes through the perception of the subordinate unmanned plane according to described search direction of motion information movement
Wave beam is perceived, and perception data is obtained, comprising:
After receiving the broadcast end mark frame, which transports according to described search direction of motion information
It is dynamic, and perceived by the perception wave beam of the subordinate unmanned plane, obtain perception data.
Optionally, the obtained perception data is sent in described in the corresponding communication time slot of subordinate unmanned plane
Before heart unmanned plane, the method also includes:
The corresponding location information of subordinate unmanned plane and direction of motion information are attached to the perception by the subordinate unmanned plane
In data, additional data is obtained；
The perception data that will be obtained in the corresponding communication time slot of subordinate unmanned plane is sent to the center
Unmanned plane, comprising:
In the corresponding communication time slot of subordinate unmanned plane by the obtained attachment data be sent to the center nobody
Machine.
Unmanned aerial vehicle group collaborative perception system and method provided in an embodiment of the present invention, may include a center unmanned plane and
Multiple subordinate unmanned planes；Center unmanned plane is the most abundant unmanned plane of available computational resources in unmanned aerial vehicle group collaborative perception system；
Center unmanned plane is shaken hands by the communication beams broadcast of center unmanned plane and initiates frame, wherein shaking hands and initiating frame includes each subordinate
The assigned communication time slot of unmanned plane and searching moving directional information；For each subordinate unmanned plane, which passes through
The communication beams of the subordinate unmanned plane, which receive broadcast, shakes hands and initiates frame, and parses broadcast and shake hands and initiate frame, obtain the subordinate nobody
The assigned communication time slot of machine and searching moving directional information；The subordinate unmanned plane is moved according to searching moving directional information, and
It is perceived by the perception wave beam of the subordinate unmanned plane, obtains perception data；In the corresponding communication time slot of subordinate unmanned plane
The interior perception data that will be obtained is sent to center unmanned plane.In the embodiment of the present invention, without perceiving number for perception and transmission
According to communication process dispose independent equipment respectively, in unmanned aerial vehicle group collaborative perception system unmanned plane by perception wave beam realize sense
Know process, realizes communication process by communication beams, and each subordinate unmanned plane is in the corresponding communication time slot of subordinate unmanned plane
It is interior to be interacted with center unmanned plane, so that in unmanned aerial vehicle group collaborative perception system frequency can be improved with share spectrum resources
Spectrum resource utilization rate.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach simultaneously above all excellent
Point.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of unmanned aerial vehicle group collaborative perception system provided in an embodiment of the present invention；
Fig. 2 is unmanned aerial vehicle group collaborative perception schematic diagram of a scenario provided in an embodiment of the present invention；
Fig. 3 is the vertical beam width of communication beams provided in an embodiment of the present invention and the vertical beam width of perception wave beam
Schematic diagram；
Fig. 4 is time slot allocation schematic diagram provided in an embodiment of the present invention；
Fig. 5 is collaborative perception area provided in an embodiment of the present invention and the relation schematic diagram for perceiving power-division ratios；
Fig. 6 is the relation schematic diagram of the number of collaborative perception area provided in an embodiment of the present invention and subordinate unmanned plane；
Fig. 7 is the number and perception power-division ratios of collaborative perception area provided in an embodiment of the present invention and subordinate unmanned plane
Relation schematic diagram；
Fig. 8 is the flow chart of unmanned aerial vehicle group cooperation perceptive method provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of unmanned aerial vehicle group collaborative perception device provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram that electronics provided in an embodiment of the present invention is set.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Between existing unmanned aerial vehicle group in perception information integration program, each unmanned plane all has sensory perceptual system and communication system
System.Sensory perceptual system realizes perceptional function by the equipment for constituting the sensory perceptual system, and communication system is by constituting the communication system
Equipment realizes communication function, and sensory perceptual system and communication system are utilized respectively respective frequency spectrum resource, so that realizing nobody
During a group of planes perceives, frequency spectrum resource utilization rate is lower.
Wireless communication technique is grown rapidly between over the past thirty years, distribute to the frequency spectrum of wireless communication constantly towards high band,
Big bandwidth development.Especially after millimeter wave frequency band is open, the frequency spectrum of wireless communication is in the frequency spectrum for distributing to perception perception
Now more apparent convergence.In addition, with the fast development of Digital Signal Processing, sensory perceptual system and wireless communication system
Analog-digital converter (Analog to Digital Converter, ADC/ digital analog converter (the Digital to Analog of system
Converter, DAC) and digital processor module all constantly move forward, the system structure of the two is more similar.These are perception
System and communication system common hardware equipment, radio frequency link, the perception of frequency spectrum resource, communicating integral provide huge possibility
Property.
Another aspect unmanned plane cluster is the development trend of unmanned air vehicle technique, and unmanned aerial vehicle group collaborative perception is needing quickly
It perceives and is of great significance in the unmanned aerial vehicle group collaborative perception application (such as maritime search and rescue, wide area investigation etc.) of large area region, In
Increasingly require UAV system device miniaturization, low energy consumption, under the trend of high energy efficiency, common hardware equipment, radio frequency link, frequency spectrum money
The perception in source, communicating integral have a good application prospect.
The embodiment of the invention provides a kind of unmanned aerial vehicle group collaborative perception systems, to realize perception, the communication of unmanned aerial vehicle group
Integration, it is simple to understand, namely perception, communication function are realized by a set of equipment simultaneously.In this way, unmanned aerial vehicle group realizes perception function
Frequency spectrum resource utilization rate can so be can be improved with communication function common spectrum resource.Meanwhile perception and communication process are total
With equipment, advantage is provided for device miniaturization, can more easily realize device miniaturization.In addition, avoiding feeling of independence
Know interference of the system to independent communication system.
Unmanned aerial vehicle group collaborative perception system provided in an embodiment of the present invention is described in detail below.
The embodiment of the invention provides a kind of unmanned aerial vehicle group collaborative perception systems, as shown in Figure 1, the system may include:
One center unmanned plane 101 and multiple subordinate unmanned planes 102.Center unmanned plane 101 is unmanned aerial vehicle group collaborative perception
The most abundant unmanned plane of available computational resources in system.Wherein, available resources are most abundant can be understood as available computational resources most
Greatly.
In the embodiment of the present invention, it is corresponding that each unmanned plane in unmanned aerial vehicle group collaborative perception system broadcasts the unmanned plane respectively
Election information.Unmanned plane in unmanned aerial vehicle group collaborative perception system includes center unmanned plane 101 and multiple subordinate unmanned planes
102。
Elect information may include the corresponding identification information of the unmanned plane, as unique encodings information (Identification,
ID), available computational resources information, location information and movement state information.
Specifically, in the embodiment of the present invention, it is flat to enter flight for each unmanned plane lift-off in unmanned aerial vehicle group collaborative perception system
It, can be with csma/cd technology (Carrier Sense Multiple Access behind face
With Collision Detection, CSMA/CD) unmanned aerial vehicle group is broadcasted and elects information.
In this way, each unmanned plane is available including the unmanned plane and except the nothing in unmanned aerial vehicle group collaborative perception system
The election information of other unmanned planes except man-machine.In this way, centered on can determining the most abundant unmanned plane of available computational resources
Unmanned plane 101, other unmanned planes in addition to the center unmanned plane 101 are the corresponding subordinate unmanned plane of center unmanned plane 101
102.Specifically, each unmanned plane reaches common understanding to the ownership of center unmanned plane 101, and the operating mode for voluntarily changing itself is
Center unmanned plane 101 or subordinate unmanned plane 102.
Center unmanned plane 101 is shaken hands by the communication beams broadcast of center unmanned plane 101 and initiates frame.
Wherein, shaking hands and initiating frame includes the assigned communication time slot of each subordinate unmanned plane 102 and searching moving direction letter
Breath.It shakes hands and initiates include location information and motion velocity information of center unmanned plane 101 etc. in frame.
Before the broadcast of center unmanned plane 101 terminates, each subordinate unmanned plane 102 remains listening state.
For each subordinate unmanned plane 102, which is connect by the communication beams of the subordinate unmanned plane 102
It receives broadcast to shake hands and initiates frame, and parses broadcast and shake hands and initiate frame, obtain the assigned communication time slot of the subordinate unmanned plane 102 and search
Rope direction of motion information；The subordinate unmanned plane 102 is moved according to searching moving directional information, and passes through the subordinate unmanned plane 102
Perception wave beam perceived, obtain perception data；The perception that will be obtained in the corresponding communication time slot of subordinate unmanned plane 102
Data are sent to center unmanned plane 101.
102 pairs of perception targets of subordinate unmanned plane perceive, and obtain perception data, and perception target is it can be appreciated that detection
Target perceives perception target, it is understood that visit to the detection target in 102 search coverage of subordinate unmanned plane
It surveys, obtains detection data.
In the embodiment of the present invention, center unmanned plane 101 detects the detection target in its search coverage, is detected
Data.
After each subordinate unmanned plane 102 receives the shaking hands and initiate frame of center unmanned plane 101, listens to and confirm the subordinate
The assigned communication time slot of unmanned plane 102 and direction of motion information.Specifically, communication time slot may include time division multiple acess (Time
Division multiple access, TDMA) communication time slot, direction of motion information be used to indicate the subordinate unmanned plane 102 by
It flies according to the direction of motion for including in the direction of motion information.
In the embodiment of the present invention, without disposing independent set respectively for perception and the communication process of transmission perception data
Standby, unmanned plane realizes perception by perception wave beam in unmanned aerial vehicle group collaborative perception system, is realized and is communicated by communication beams
Process, and each subordinate unmanned plane 102 is handed in the corresponding communication time slot of subordinate unmanned plane 102 with center unmanned plane
Mutually, so that in unmanned aerial vehicle group collaborative perception system, frequency spectrum resource utilization rate can be improved with share spectrum resources.
To realize communication, perception integration, the embodiment of the present invention using partial wave beam by the way of, specifically below result scene
Schematic diagram describes in detail.
The embodiment of the invention provides a kind of unmanned aerial vehicle group collaborative perception schematic diagram of a scenario, as shown in Figure 2.Specifically, nothing
In man-machine group's collaborative perception system after the completion of the lift-off of all unmanned planes and networking, all unmanned planes are distributed in the plane of a height of h
It inside carries out perception and target apperception plane is known as by the plane that unmanned aerial vehicle group perceives.Unmanned plane, which carries out perception, can be understood as being directed to
Detection target is perceived, it is understood that be detected for detection target, obtains perception data, perception data can also be with
It is interpreted as detection data.
Specifically, unmanned plane carries out lower visual sense and knows and the plane known by visual sense under unmanned aerial vehicle group is known as target apperception to put down
Face.Unmanned aerial vehicle group is made of 1 center unmanned plane (hereinafter referred to as CU) and M subordinate unmanned plane (hereinafter referred to as SU).In Fig. 2
It is shown, unmanned plane UAV0For CU, unmanned plane UAV1、UAV2、UAV3、UAV4And UAV5Unmanned plane is the SU of CU.CU is responsible for receiving institute
There is the perception data of subordinate unmanned plane, knows and at the same time carrying out lower visual sense；SU is responsible for carrying out visual sense under region and knows and transmit to CU
The perception data of itself, for the perception data of each unmanned plane in CU fusion unmanned aerial vehicle group.
To realize communication, perception integration, the embodiment of the present invention is by the way of partial wave beam.A kind of optional embodiment
In, for each unmanned plane in unmanned aerial vehicle group collaborative perception system, the aerial array of the unmanned plane passes through beam forming technique
Generate mutually orthogonal communication beams and perception wave beam.
Specifically, the aerial array of each unmanned plane generates orthogonal beams by beam forming technique, wherein main lobe direction
Wave beam in unmanned plane during flying plane is responsible for communication data transfer, referred to as communication beams (can be referred to as CB below)；It is another
Beam main lobe direction generates below flight plane, is responsible for perception to lower section perception task, referred to as perception wave beam (below can letter
Referred to as RB).The schematic diagram of the vertical beam width of the vertical beam width and perception wave beam of communication beams on main view direction
As shown in Figure 3.The horizontal beam width of communication beams is θch, vertical beam width φcv；The horizontal beam for perceiving wave beam is wide
Degree and vertical beam width are θrhAnd φrv.According to the relational expression between three-dimensional beam-width angle and beam directional gain, can obtain
It arrives:
Wherein, g is beam gain, may include communication beams gain gc, or also may include perception beam gain gr,
Δ θ is the horizontal beam width of wave beam, can be the horizontal beam width θ of communication beamsch, or can be the water of perception wave beam
Flat beam angle θrh, Δ φ is the vertical beam width of wave beam, can be the vertical beam width φ of communication beamscv, Huo Zheke
Think the vertical beam width φ of perception wave beamrv。
Communication beams power PcWith perception beam power PrCommon user communication, the total available power P for perceiving integration apparatus, sense
The ratio for knowing the total available power of beam power Zhan is βr, then beam power P is perceivedr=P βr, communication beams power Pc=(1- βr)P。
For simplicity, claim βrTo perceive power-division ratios.
In the embodiment of the present invention, the communication of all unmanned planes, the perception wave beam for perceiving integration apparatus and communication beams are equal
Use same section of frequency spectrum.Perception uses multiple-pulse mode, and perception wave beam receives signal using the relevant received mode of fusion.
The communication multiple mode of SU and CU is TDMA mode in unmanned aerial vehicle group.For the reliability for meeting communication, the horizontal wave of the CB of unmanned plane
Beam width is 2 π, and the communication beams main lobe direction of unmanned plane is in unmanned plane during flying horizontal plane, in this way, perception, communication function
It will be more stable due to by the machine communication beams of sending and receiving, alignment precision is not influenced in the horizontal plane.
In the embodiment of the present invention, perception, communicating integral can apply interference rejection technology (Interference
Rejection the influence of the co-channel interference between multiple-pulse perception) is eliminated.It can be formed using minimum variance beamforming algorithm
Orthogonal communication beams and perception wave beam.Communication beams are orthogonal with perception wave beam, i.e. wave beam of the perception wave beam on communication direction
Gain is that level off to 0 beam gain in perceived direction of minimum and communication beams be also minimum close to 0.
Mode combination interference rejection mode of the embodiment of the present invention based on partial wave beam, orthogonal beams forming mode are realized logical
Letter, perception integration.
In order to which center unmanned plane can be made to utilize the perception data including center unmanned plane and each subordinate unmanned plane, this
It invents in a kind of optional embodiment, center unmanned plane can be by the perception data of center unmanned plane, with each subordinate unmanned plane
The perception data for being sent to center unmanned plane is merged.
In a kind of optional embodiment of the present invention, for each subordinate unmanned plane, the subordinate unmanned plane and center unmanned plane
Message capacity be more than or equal to the subordinate unmanned plane generate perception data generation rate.It also will be understood that for center unmanned plane at
Function merges the condition of the perception data of the subordinate unmanned plane.
In the embodiment of the present invention, the communication mode of center unmanned plane and subordinate unmanned plane is for TDMA mode and in order to guarantee
There is the communication fairness of unmanned plane, the embodiment of the invention provides a kind of time slot allocation schematic diagrames, as shown in Figure 4.
τcmax_iIndicate the communication time slot length of subordinate unmanned plane i, such as τcmax_1、τcmax_2, and M subordinate unmanned plane is logical
Believe that slot length is τcmax, remove τcmax_1、τcmax_2, the communication time slot overall length of other M-2 frame subordinate unmanned planes is (M-2)
τcmax。τdet_iFor the perception duration of unmanned plane, such as τdet_1、τdet_2, all M+1 unmanned planes (including a frame center unmanned plane and
M frame subordinate unmanned plane) perception duration be τdet.With SUiFor the perception data fusion process of CU, in τcmax_iWhen communication
In gap, unmanned plane SUiIt should complete in τ beforedetTransmission of the perception data perceived in detecting period to center unmanned plane；
Otherwise exceed τcmax_iAfter duration, SUiCommunication between CU will be with SUi+1Conflict with the communication process of CU.So working as SUiNumber
According to fusion process in τcmax_iChannel, SU will be discharged after completing in communication time sloti+1Wait access slot τcmax_(i+1)Arrival,
It loops back and forth like this.Work as SUiData fusion process in τcmax_iτ is undergone after completing in time slot againdet-τcmaxDuration, and will be into
Enter τcmax_iTime slot.Obviously, in the case of guaranteeing UAV Communication fairness, there is τcmax≤(τdet/ M) it sets up.
Based on perception data fusion success conditions it is assumed that available to draw a conclusion: perception data merges between SU and CU
Single unmanned plane of message capacity of the success conditions between every frame subordinate unmanned plane and center unmanned plane more than or equal to M times
The generation rate of perception data.It derives as follows: in the case where needing to meet perception timeliness, τdetFor the value of very little, therefore
τcmaxIt also is the value of very little, it can be assumed that SUiIn τcmaxIt is almost unchanged with the relative position of center unmanned plane in time slot, if
SUiEuclidean distance between CU is xi, then, under unmanned aerial vehicle group air environment, SUiMessage capacity T between CUcIt can
To be expressed as and xiRelevant function Tc(xi).The generation rate of the perception data of single unmanned plane is Vdata, in τdetIn time
Perception data amount be Vdata×τdet, by SUiPerception data time of fusion between CU is less than maximum communication duration τcmax, then
Have:
So SUiPerception data merges success conditions between CU are as follows:
Tc(xi)≥M×Vdata (1.3)
In view of the remoter message capacity of distance is smaller between the transmitting-receiving node of wireless communication, xiThe primary data that should have a feeling of satisfaction fusion
The upper limit value of success conditions remembers that this value is xQ.So unmanned aerial vehicle group collaborative perception system should make all SU be all satisfied perception number
According to fusion success conditions, therefore all SUiIt should all be deployed in using CU as the center of circle, with xQFor in the circle of radius.This circle region is known as
Maximum Cooperative Area, this radius xQReferred to as maximum collaboration radius.Reasonable assumption M frame SU obeys two-dimentional equal in maximum Cooperative Area
Even distribution obeys independent identically distributed two dimensional uniform distribution in the position of the M+1 unmanned plane of different moments.
Each subordinate unmanned plane is located at using center unmanned plane as the center of circle, cooperates with radius x with maximumQFor in the circle of radius；
Wherein,βRTo perceive power-division ratios, P is total available work
Rate, gcFor communication beams gain, Q-1For Q (p1,p2) about p2The inverse function of parameter, Q (p1,p2) it is single order Marcum Q function, B
For bandwidth, M is the number of subordinate unmanned plane, and N is communication noise power, and ε is outage probability thresholding, and α is path loss coefficient, K
For Rice factor, VdataFor the generation rate of perception data.
In the embodiment of the present invention, using the maximum perceived distance R of the relevant received multiple-pulse perceptual model of fusionmax, namely
Rmax(βR) are as follows:
Wherein, βRTo perceive power-division ratios, P is total available power, Gt, GrRespectively perceive beam transmission gain and sense
Know wave beam reception gain, c is the light velocity, and f is carrier frequency, and σ is perceived reflection sectional area, npFor sensed impulses repeat number,
(SNR)minFor the minimum value of the received signal to noise ratio of perception, k is its value of Boltzmann constant are as follows: 1.38 × 1023Joule/Kelvin.
T0For 290 Kelvins, FnFor receiver noise factor, B is bandwidth, LsFor the energy damage in transmitter, receiver and communication process
Consumption.
The perception radius R of each unmanned plane in perception planedAre as follows:
Wherein, u (x) is unit-step function, as x > 0, u (x)=1, otherwise, u (x)=0.
Assuming that one carries out the SU that perception data merges with CUiDistance to CU is Ri, then between two unmanned planes,
That is SUiIt will to the perception overlapping area between CU are as follows:
It is easy to get the union S of the perception area of collaborative perception area i.e. two unmanned plane between two unmanned planesu1,
That is Su1(Ri):
Su1(Ri)=2S (Rd)-Sol(Ri) (1.7)
Wherein,It is each unmanned plane in the perception area for being perceived plane.Calculate Su1About RiExpectation
As SUiWith CU collaborative perception performance indicator.Meet the configuration of two dimensional uniform distribution according to aforementioned M frame SU unmanned plane,And the maximum value of SU distance CU should be xQ。
The closed solutions of above formula are as follows:
Wherein,
Unmanned aerial vehicle group collaborative perception system is made of M frame SU and a frame CU.In view of the round sense of M uniformly random distributions
Know that the mathematic expectaion of the union in region does not have closed solutions, it is very difficult to apply.Using a kind of available closed solutions M frame SU with
Perception collaborative perception performance indicator of the collaborative perception area upper bound of one frame CU as unmanned aerial vehicle group collaborative perception system.Solve this
The method in the upper bound are as follows: only consider to subtract the area intersection of each SU and CU when calculating the perception area union of M SU and CU.
Wherein, R is vector (R1,R2,...,RM), RiFor SUiTo the distance of CU.
Consider further that entire unmanned aerial vehicle group collaborative perception system can the farthest target that arrives of collaborative perception be located at distance CU
ForPosition.Such as UAV in Fig. 24It is shown.Thus it is easy to learn, unmanned aerial vehicle group collaborative perception system is most
Big collaborative perception area are as follows:
So in summary solving, the perception collaborative perception performance indicator of unmanned aerial vehicle group collaborative perception systemAre as follows:
Referred to using the communication performance of the message capacity of unmanned aerial vehicle group collaborative perception system as unmanned aerial vehicle group collaborative perception system
Mark.Communication channel model is initially set up, the communication link model between unmanned plane is Rice channel model.The communication wave of unmanned plane
The transmission power of beam is Pc, the power for the desired signal that unmanned plane receives is P0=Pcgchcx0 -α, wherein gc=gtc×grcI.e.
For the product of launching beam gain and reception beam gain, wherein beam gain can be acquired by (1.1) formula.hcFor Lay this
Fading factor obeys the L-S distribution such as following formula.
Wherein, K is Rice factor,It is 2 σ of multipath reflection power2With v2And power, be normalized to here
1,It is hcProbability density function values, w is to indicate hcProbability density function values when temporary variable symbol used, be
The conventional means that probability theory indicates.
The outage capacity of unmanned aerial vehicle group collaborative perception is calculated as communication performance index.Outage probabilityIt can be with
It indicates are as follows:
The solution of formula (1.14) are as follows:
Wherein, Q (p1,p2) it is single order Marcum Q function, x0For carrying out communications SU to CU distance, γ
For communication disruption thresholding, i.e., as Signal to Interference plus Noise Ratio (Signal to Interference plus Noise
Ratio, SINR) when being more than or equal to γ, referred to as Successful transmissions；Otherwise, referred to as Transmission.
Outage capacity can indicate are as follows:
TC(x0)=B (1- ε) log (1+ γmin) (1.16)
Wherein, γminTo meet outage probabilityMinimal communications interrupt threshold value.
Convolution (1.14), (1.15) and (1.16), can be in the hope of:
Q-1For Q (p1,p2) about p2The inverse function of parameter.Maximum collaboration radius x is acquired in conjunction with (1.15) and (1.16)QAre as follows:
Convolution (1.10), (1.11), (1.12) and (1.18) can be calculated based on unmanned aerial vehicle group collaborative perception system
Collaborative perception performance.
In a kind of optional embodiment of the present invention, in order to improve the collaborative perception based on unmanned aerial vehicle group collaborative perception system
Can, such as make average collaborative perception area maximum, specifically makesReach maximum value.In the embodiment of the present invention, subordinate without
Man-machine number and perception power-division ratios influencesIt can be by adjusting the number and perception power of subordinate unmanned plane
Distribution ratio makesReach maximum value, and can by whenReach the number and perception power of maximum value subordinate unmanned plane
Distribution ratio is referred to as optimal subordinate unmanned plane number MoptWith optimal perception power-division ratios βropt, specifically,
The embodiment of the present invention has also carried out emulation experiment.Specifically, the parameter according to listed by table 1, unmanned aerial vehicle group collaboration sense
Know system, and perception task is carried out by the unmanned aerial vehicle group sensory perceptual system, and carry out to the perception data that each unmanned plane obtains
Fusion.
Table 1
The simulation result that emulation experiment obtains is as shown in Fig. 5, Fig. 6 and Fig. 7.Fig. 5 is collaborative perception area and perception function
The relation schematic diagram of rate distribution ratio, abscissa is perception power-division ratios in Fig. 5, and ordinate is collaborative perception area, is wrapped in Fig. 5
Notional result and simulation result when the number M for including subordinate unmanned plane is respectively 5,25,45,65；Fig. 6 be collaborative perception area with
The relation schematic diagram of the number of subordinate unmanned plane, abscissa is the number of subordinate unmanned plane in Fig. 6, and ordinate is collaborative perception face
It is long-pending, it include perception power-division ratios β in Fig. 6RRespectively 0.25,0.5,0.75,0.95 theoretical value and simulation value；Fig. 7 is association
With the relation schematic diagram of the number and perception power-division ratios of perception area and subordinate unmanned plane.
By emulation experiment it is found that in the embodiment of the present invention, the performance of unmanned aerial vehicle group collaborative perception system with subordinate without
Man-machine number and perception power-division ratios and change, in this way, can be by adjusting the number and perception of subordinate unmanned plane
Power-division ratios and so that unmanned aerial vehicle group sensory perceptual system is realized different perceptual performances, the number of adjustable optimal subordinate unmanned plane
And optimal perception power-division ratios keep the perceptual performance of unmanned aerial vehicle group sensory perceptual system best.
Communication proposed by the present invention based on multi-beam perceives integrated unmanned aerial vehicle group collaborative perception system, has and shares
The advantage of hardware device, radio frequency link, frequency spectrum resource.Common hardware equipment will provide great convenience for device miniaturization, sense
Know that the availability of frequency spectrum can be greatly improved in system and communication system share spectrum resources, share radio-frequency antenna port, data link,
Rf processor and data storage can support the equal voltage amounts grade of signal of communication and perceptual signal to handle.
The power of the transmitting signal of independent sensory perceptual system is often as high as several hectowatts even Shang kilowatt, and band stray can
Up to a watt magnitude.However the received signal power of independent communication system usually only milliwatt magnitude.Therefore independent communication system
Often by the strong interference of independent sensory perceptual system.In the embodiment of the present invention, communication, perception integration avoid power it
Between interference of the difference to communication system, improve the communication performance in unmanned aerial vehicle group collaborative perception system.
The embodiment of the invention also provides a kind of unmanned aerial vehicle group cooperation perceptive methods, as shown in figure 8, may include:
S801, center unmanned plane are shaken hands by the communication beams broadcast of center unmanned plane and initiate frame.
Wherein, shaking hands and initiating frame includes the assigned communication time slot of each subordinate unmanned plane and searching moving directional information；
Center unmanned plane is the most abundant unmanned plane of available computational resources in unmanned aerial vehicle group collaborative perception system.
S802, for each subordinate unmanned plane, which is received wide by the communication beams of the subordinate unmanned plane
It broadcasts to shake hands and initiates frame, and parse broadcast and shake hands and initiate frame, obtain the subordinate unmanned plane assigned communication time slot and searching moving
Directional information.
S803, the subordinate unmanned plane are moved according to searching moving directional information, and pass through the perception wave of the subordinate unmanned plane
Shu Jinhang perception, obtains perception data.
Obtained perception data is sent to center unmanned plane in the corresponding communication time slot of subordinate unmanned plane by S804.
In the embodiment of the present invention, without disposing independent set respectively for perception and the communication process of transmission perception data
Standby, unmanned plane realizes perception by perception wave beam in unmanned aerial vehicle group collaborative perception system, is realized and is communicated by communication beams
Process, and each subordinate unmanned plane interacts in the corresponding communication time slot of subordinate unmanned plane with center unmanned plane, so
So that in unmanned aerial vehicle group collaborative perception system frequency spectrum resource utilization rate can be improved with share spectrum resources.
Optionally, in the corresponding communication time slot of subordinate unmanned plane by obtained perception data be sent to center nobody
After machine, method further include:
The perception data of center unmanned plane is sent to the sense of center unmanned plane with each subordinate unmanned plane by center unmanned plane
Primary data is merged.
Optionally, it is moved in the subordinate unmanned plane according to searching moving directional information, and passes through the sense of the subordinate unmanned plane
Know that wave beam is perceived, before obtaining perception data, method further include:
The broadcast end mark frame that reception center unmanned plane is sent；
The subordinate unmanned plane is moved according to searching moving directional information, and is carried out by the perception wave beam of the subordinate unmanned plane
Perception, obtains perception data, comprising:
After receiving broadcast end mark frame, which moves according to searching moving directional information, and passes through
The perception wave beam of the subordinate unmanned plane is perceived, and perception data is obtained.
Optionally, obtained perception data is sent to center unmanned plane in the corresponding communication time slot of subordinate unmanned plane
Before, method further include:
The corresponding location information of subordinate unmanned plane and direction of motion information are attached to perception data by the subordinate unmanned plane
In, obtain additional data；
Obtained perception data is sent to center unmanned plane in the corresponding communication time slot of subordinate unmanned plane, comprising:
Obtained attachment data is sent to center unmanned plane in the corresponding communication time slot of subordinate unmanned plane.
Corresponding to unmanned aerial vehicle group cooperation perceptive method provided by the above embodiment, the embodiment of the invention also provides a kind of nothings
Man-machine group's collaborative perception device, as shown in figure 9, may include:
Center unmanned plane includes broadcast module 901.
Subordinate unmanned plane includes: the first receiving module 902, parsing module 903, sensing module 904 and sending module 905.
Broadcast module 901 shakes hands for the communication beams broadcast by center unmanned plane and initiates frame, wherein initiation of shaking hands
Frame includes the assigned communication time slot of each subordinate unmanned plane and searching moving directional information；Center unmanned plane is unmanned aerial vehicle group association
With the most abundant unmanned plane of available computational resources in sensory perceptual system；
For each subordinate unmanned plane, the first receiving module 902, for being received by the communication beams of the subordinate unmanned plane
Broadcast, which is shaken hands, initiates frame；
Parsing module 903 shakes hands for parsing broadcast and initiates frame, obtain the assigned communication time slot of the subordinate unmanned plane and
Searching moving directional information；
Sensing module 904 for moving according to searching moving directional information, and passes through the perception wave beam of the subordinate unmanned plane
It is perceived, obtains perception data；
Sending module 905, for being sent to obtained perception data in the corresponding communication time slot of subordinate unmanned plane
Center unmanned plane.
In the embodiment of the present invention, without disposing independent set respectively for perception and the communication process of transmission perception data
Standby, unmanned plane realizes perception by perception wave beam in unmanned aerial vehicle group collaborative perception system, is realized and is communicated by communication beams
Process, and each subordinate unmanned plane interacts in the corresponding communication time slot of subordinate unmanned plane with center unmanned plane, so
So that in unmanned aerial vehicle group collaborative perception system frequency spectrum resource utilization rate can be improved with share spectrum resources.
Optionally, center unmanned plane further includes Fusion Module, for by the perception data of center unmanned plane, with each subordinate
The perception data that unmanned plane is sent to center unmanned plane is merged.
Optionally, subordinate unmanned plane in the device further include:
Second receiving module, for receiving the broadcast end mark frame of center unmanned plane transmission；
Sensing module 904, specifically for being transported according to searching moving directional information after receiving broadcast end mark frame
It is dynamic, and perceived by the perception wave beam of the subordinate unmanned plane, obtain perception data.
Optionally, subordinate unmanned plane in the device further include: add-on module is used for the corresponding position of subordinate unmanned plane
Information and direction of motion information are attached in perception data, obtain additional data；
Sending module 905, specifically for sending out obtained attachment data in the corresponding communication time slot of subordinate unmanned plane
It send to center unmanned plane.
The embodiment of the invention also provides a kind of electronic equipment, as shown in Figure 10, including processor 1001, communication interface
1002, memory 1003 and communication bus 1004, wherein processor 1001, communication interface 1002, memory 1003 pass through communication
Bus 1004 completes mutual communication.
Memory 1003, for storing computer program；
Processor 1001 when for executing the program stored on memory 1003, realizes above-mentioned unmanned aerial vehicle group collaboration sense
The method and step of perception method.
In the embodiment of the present invention, without disposing independent set respectively for perception and the communication process of transmission perception data
Standby, unmanned plane realizes perception by perception wave beam in unmanned aerial vehicle group collaborative perception system, is realized and is communicated by communication beams
Process, and each subordinate unmanned plane interacts in the corresponding communication time slot of subordinate unmanned plane with center unmanned plane, so
So that in unmanned aerial vehicle group collaborative perception system frequency spectrum resource utilization rate can be improved with share spectrum resources.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), also may include non-easy
The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal
Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.
Corresponding to above-described embodiment, present invention implementation additionally provides a kind of computer readable storage medium, computer-readable
Computer program is stored in storage medium, computer program is executed by processor the side of above-mentioned unmanned aerial vehicle group cooperation perceptive method
Method step.
In the embodiment of the present invention, without disposing independent set respectively for perception and the communication process of transmission perception data
Standby, unmanned plane realizes perception by perception wave beam in unmanned aerial vehicle group collaborative perception system, is realized and is communicated by communication beams
Process, and each subordinate unmanned plane interacts in the corresponding communication time slot of subordinate unmanned plane with center unmanned plane, so
So that in unmanned aerial vehicle group collaborative perception system frequency spectrum resource utilization rate can be improved with share spectrum resources.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For equipment and storage medium embodiment, since it is substantially similar to the method embodiment, so be described relatively simple, correlation
Place illustrates referring to the part of embodiment of the method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of unmanned aerial vehicle group collaborative perception system, which is characterized in that the system comprises:
One center unmanned plane and multiple subordinate unmanned planes；The center unmanned plane is in the unmanned aerial vehicle group collaborative perception system
The most abundant unmanned plane of available computational resources；
The center unmanned plane is shaken hands by the communication beams broadcast of the center unmanned plane and initiates frame, wherein the hair of shaking hands
Playing frame includes the assigned communication time slot of each subordinate unmanned plane and searching moving directional information；
For each subordinate unmanned plane, which receives the broadcast by the communication beams of the subordinate unmanned plane and shakes hands
Frame is initiated, and parses the broadcast and shakes hands and initiate frame, obtains the assigned communication time slot of the subordinate unmanned plane and searching moving side
To information；The subordinate unmanned plane passes through the perception wave beam of the subordinate unmanned plane according to described search direction of motion information movement
It is perceived, obtains perception data；The obtained perception data is sent in the corresponding communication time slot of subordinate unmanned plane
To the center unmanned plane.
2. system according to claim 1, which is characterized in that in the unmanned aerial vehicle group collaborative perception system it is each nobody
Machine broadcasts the corresponding election information of the unmanned plane respectively, and the election information includes the corresponding identification information of the unmanned plane, can be used
Computing resource information, location information and movement state information；Unmanned plane in the unmanned aerial vehicle group collaborative perception system includes institute
State center unmanned plane and the multiple subordinate unmanned plane.
3. system according to claim 1, which is characterized in that each subordinate unmanned plane, which is located at the center unmanned plane, is
The center of circle cooperates with radius x with maximumQFor in the circle of radius；
Wherein,βRTo perceive power-division ratios, P is total available power, gc
For communication beams gain, Q-1For Q (p1,p2) about p2The inverse function of parameter, Q (p1,p2) it is single order Marcum Q function, B is band
Width, M are the number of subordinate unmanned plane, and N is communication noise power, and ε is outage probability thresholding, and α is path loss coefficient, and K is Lay
This factor, VdataFor the generation rate of perception data.
4. system according to claim 1, which is characterized in that be directed to each subordinate unmanned plane, the subordinate unmanned plane and institute
The message capacity for stating center unmanned plane is more than or equal to the generation rate that the subordinate unmanned plane generates the perception data.
5. system according to claim 1, which is characterized in that the center unmanned plane is by the perception of the center unmanned plane
Data, the perception data for being sent to the center unmanned plane with each subordinate unmanned plane are merged.
6. system according to claim 1, which is characterized in that for each in the unmanned aerial vehicle group collaborative perception system
The aerial array of unmanned plane, the unmanned plane generates mutually orthogonal communication beams and perception wave beam by beam forming technique.
7. a kind of unmanned aerial vehicle group cooperation perceptive method, which is characterized in that the described method includes:
Center unmanned plane is shaken hands by the communication beams broadcast of the center unmanned plane and initiates frame, wherein described shake hands initiates frame
The communication time slot and searching moving directional information being assigned including each subordinate unmanned plane；The center unmanned plane is unmanned aerial vehicle group
The most abundant unmanned plane of available computational resources in collaborative perception system；
For each subordinate unmanned plane, which receives the broadcast by the communication beams of the subordinate unmanned plane and shakes hands
Frame is initiated, and parses the broadcast and shakes hands and initiate frame, obtains the assigned communication time slot of the subordinate unmanned plane and searching moving side
To information；The subordinate unmanned plane passes through the perception wave beam of the subordinate unmanned plane according to described search direction of motion information movement
It is perceived, obtains perception data；The obtained perception data is sent in the corresponding communication time slot of subordinate unmanned plane
To the center unmanned plane.
8. the method according to the description of claim 7 is characterized in that described in the corresponding communication time slot of subordinate unmanned plane
After the obtained perception data is sent to the center unmanned plane, the method also includes:
The center unmanned plane by the perception data of the center unmanned plane, with each subordinate unmanned plane be sent to the center without
Man-machine perception data is merged.
9. according to the method described in claim 8, it is characterized in that, in the described subordinate unmanned plane according to described search movement side
It is perceived to information movement, and by the perception wave beam of the subordinate unmanned plane, before obtaining perception data, the method is also wrapped
It includes:
Receive the broadcast end mark frame that the center unmanned plane is sent；
The described subordinate unmanned plane passes through the perception wave beam of the subordinate unmanned plane according to described search direction of motion information movement
It is perceived, obtains perception data, comprising:
After receiving the broadcast end mark frame, the subordinate unmanned plane according to described search direction of motion information movement, and
It is perceived by the perception wave beam of the subordinate unmanned plane, obtains perception data.
10. the method according to the description of claim 7 is characterized in that being incited somebody to action in the corresponding communication time slot of subordinate unmanned plane
To the perception data be sent to the center unmanned plane before, the method also includes:
The corresponding location information of subordinate unmanned plane and direction of motion information are attached to the perception data by the subordinate unmanned plane
In, obtain additional data；
The perception data that will be obtained in the corresponding communication time slot of subordinate unmanned plane be sent to the center nobody
Machine, comprising:
The obtained attachment data is sent to the center unmanned plane in the corresponding communication time slot of subordinate unmanned plane.
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