CN110456813A - The unmanned plane of wireless ultraviolet light guidance is formed into columns the method that optimal sub-clustering formation is kept - Google Patents
The unmanned plane of wireless ultraviolet light guidance is formed into columns the method that optimal sub-clustering formation is kept Download PDFInfo
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Abstract
The unmanned plane of wireless ultraviolet light guidance is formed into columns the method that optimal sub-clustering formation is kept, comprising the following steps: step 1, form into columns in all UAV flight's hemispherical LEDs arrays, form ultraviolet virtual potential field；Step 2, the unmanned plane in formation is divided into multiple clusters according to neighbours' unmanned plane number；Step 3, cluster head unmanned plane utilizes unmanned plane during flying in ultraviolet virtual potential field guidance cluster；Step 4, cluster head unmanned plane tracks desired trajectory, other unmanned planes and its cluster head unmanned plane keep expectation distance and bearing, and flight pattern can be completed and keep aerial mission；Have the characteristics that it is easy manipulation, it is light-weight, small in size, low in energy consumption.
Description
Technical field
The invention belongs to unmanned planes to cooperate with formation control technical field, and in particular to the unmanned plane of wireless ultraviolet light guidance is compiled
The method that the optimal sub-clustering formation of team is kept.
Background technique
Since the flexibility of unmanned plane is high, mobility is good, and reaction speed is fast, and operation requires the advantages that lower, gradually
Start in military affairs, civilian, the fields such as science and technology play an important role.However single unmanned plane cruising ability deficiency, it calculates, visit
It surveys and work capacity is poor, the success rate of task can be improved by the way of multiple no-manned plane cooperation.Multiple no-manned plane is compiled in collaboration
During team flies, in order to complete a certain task, need to carry out formation holding and evolution.Currently, unmanned plane mainly leads to
The factor of Chang Yin distance causes different unmanned planes to receive instruction when crossing radio remotely to be controlled, but control unmanned plane
Time is different, is not easy to the control to unmanned plane flight pattern.In addition, in particular circumstances, such as strong electromagnetic, radio is quiet
In silent situation, unmanned plane cannot obtain the accurate information of ambient enviroment, and unmanned plane can not carry out information interchange, be collected into
Information can not be transmitted, and mission failure is easy to cause.For this status, there is an urgent need to develop one kind based on other information interaction
The method that the unmanned plane formation of mode is kept, to meet the needs of actual conditions.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, the object of the present invention is to provide the unmanned plane formation of wireless ultraviolet light guidance
Unmanned plane formation is divided into multiple clusters using cluster structured by the method that optimal sub-clustering formation is kept, and cluster head unmanned plane is using wirelessly
The virtual potential field that ultraviolet light is formed guides unmanned plane during flying position in cluster, reaches formation in UAV Formation Flight and keeps
Purpose, have the characteristics that be easy manipulation, it is light-weight, small in size, low in energy consumption.
To achieve the above object, the technical scheme adopted by the invention is that, the unmanned plane of wireless ultraviolet light guidance is formed into columns most
The method that optimal clustering formation is kept, comprising the following steps:
Step 1, all UAV flight's hemispherical LEDs arrays in forming into columns, form ultraviolet virtual potential field；
Step 2, the unmanned plane in formation is divided into multiple clusters according to neighbours' unmanned plane number；
Step 3, cluster head unmanned plane utilizes unmanned plane during flying in ultraviolet virtual potential field guidance cluster；
Step 4, cluster head unmanned plane tracks desired trajectory, other unmanned planes and its cluster head unmanned plane keep desired distance in cluster
And orientation, flight pattern can be completed and keep aerial mission.
The features of the present invention also characterized in that
In step 1, hemispherical LEDs array to broadwise the lamp bead of multiple arrangements through being made of, and capable of emitting three kinds of lamp bead
The ultraviolet light of different wave length, forms ultraviolet virtual potential field, and different wavelength indicates different zones, and the present invention is by ultraviolet virtual potential field
It is divided into three areas: precautionary areas, the comunication area and cog region；Ultraviolet light divergent beams of each column through issuing to LEDs are as relative bearing
It guides；
Three kinds of different wave lengths are 200nm, 280nm, 320nm respectively.
In step 2, by unmanned plane form into columns in member be divided into multiple clusters, each cluster has a cluster head unmanned plane；Select cluster
First principle is that each unmanned plane all can serve as cluster head, and the most unmanned plane of neighbours' unmanned plane preferentially becomes cluster head, neighbours
Unmanned plane is as member in cluster；Assuming that the unmanned plane being made of m unmanned plane is formed into columns, then current communication link topological diagram G=
The step of (V, E), V are node collection, and E is line set, specific sub-clustering is as follows:
Step 2.1, according to bee colony unmanned plane network topology, the neighbor node of each unmanned plane is traversed, and places it in neighbour
In set γ i, the i ∈ m of domain；
Step 2.2, the most node of neighbours' unmanned plane number is searched in Neighbourhood set γ i, i ∈ m, as first
A cluster head, the unmanned plane in this cluster head neighborhood continue to traverse the node other than the first cluster, find remaining section as cluster member
The most node of neighbours' unmanned plane in point is left the unmanned plane in node in its neighborhood as the second cluster as second cluster head
First cluster member, has traversed all nodes according to the method, has made each unmanned plane node in respective cluster；
Step 2.3, sub-clustering is completed, is connected between cluster and cluster by nearest access.
In step 3, if neighbours' unmanned plane enters cluster head precautionary areas, cluster head issues nearly alert announcement immediately, flies away from unmanned plane
Precautionary areas；The comunication area belongs to the normal communications range of cluster head unmanned plane, the unmanned plane in this region can with cluster head UAV Communication,
The relative position of unmanned plane and relative distance in cluster known to cluster head unmanned plane, using unmanned plane during flying in ultraviolet light guidance cluster pre-
Phase position, and both set a distances are kept with cluster head unmanned plane；Cog region is used for the identification of neighbours' unmanned plane, judges whether to belong to this
Cluster.
In step 4, under the premise of bee colony unmanned plane guarantees communication and formation topological robust, also to fly by desired trajectory；
Cluster head unmanned plane is only needed to track desired trajectory at this time, other unmanned planes and cluster head unmanned plane keep expectation distance and bearing
Complete topology holding aerial mission of forming into columns；
Formation keeps behavior to refer to that any unmanned plane is in formation after oneself desired formation is known in unmanned plane formation
Also determined that with the mutual alignment of other unmanned planes, cluster head unmanned plane by ultraviolet light guide unmanned plane by itself and cluster head nobody
The mutual alignment of machine keeps rank.
The beneficial effects of the present invention are:
In terms of unmanned plane flight pattern holding, the present invention improves virtual architecture method, by the virtual potential field of wireless ultraviolet light and
Unmanned plane formation structure, which combines, achievees the purpose that flight pattern is kept, and also solves traditional wireless mode in strong electromagnetic
Under the conditions of inoperable disadvantage.Wireless ultra-violet optical communication system is light source frequently with LED light-weight, small in size, low in energy consumption,
Receiving device can be detector using miniature photomultiplier or PIN photodiode, avalanche diode, and equipment is convenient for microminiature
Change, is easy to airborne integrated.It is cluster structured using forming into columns, reduce the difficulty that unmanned plane integrally controls.
Detailed description of the invention
Fig. 1 is unmanned plane fleet system control block diagram.
Fig. 2 is hemispherical LEDs array schematic diagram.
Fig. 3 is unmanned plane formation schematic diagram.
Fig. 4 is that the schematic diagram after sub-clustering is completed in unmanned plane formation.
Fig. 5 is ultraviolet light beam guidance unmanned plane orientation schematic diagram.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
Referring to Fig. 1, a kind of optimal sub-clustering Keeping Formation of unmanned plane formation based on the guidance of wireless ultraviolet light of the present invention,
Specifically implement in accordance with the following steps:
Step 1, all UAV flight's spherical shape LEDs arrays in forming into columns, form ultraviolet virtual potential field；Spherical LEDs array
There are two hemisphericals to form, and theoretically the every circle of dome-type has 36 lamp beads, and lamp bead is fixed on half spherical model, nobody is equipped on
Machine, as transmitting and acknowledgement signal mechanism；As shown in Figure 2；The ultraviolet light of the capable of emitting three kinds of different wave lengths of lamp bead, forms ultraviolet void
Pseudo-potential field, different wavelength instruction different zones, is divided into three areas: precautionary areas, the comunication area and cog region for ultraviolet virtual potential field,
Ultraviolet light divergent beams of each column through issuing to LEDs are guided as relative bearing；
Step 2, the unmanned plane in formation is divided into multiple clusters according to neighbours' unmanned plane number；Each cluster have a cluster head without
It is man-machine；The principle for selecting cluster head is that each unmanned plane all can serve as cluster head, and the most unmanned plane of neighbours' unmanned plane preferentially becomes
Cluster head, neighbours' unmanned plane is as member in cluster；Assuming that the unmanned plane being made of m unmanned plane is formed into columns, then current communication chain
The step of road topological diagram G=(V, E), V are node collection, and E is line set, specific sub-clustering is as follows:
Step 2.1, according to bee colony unmanned plane network topology, the neighbor node of each unmanned plane is traversed, and places it in neighbour
In set γ i, the i ∈ m of domain；
Step 2.2, the most node of neighbours' unmanned plane number is searched in Neighbourhood set γ i, i ∈ m, as first
A cluster head, the unmanned plane in this cluster head neighborhood continue to traverse the node other than the first cluster, find remaining section as cluster member
The most node of neighbours' unmanned plane in point is left the unmanned plane in node in its neighborhood as the second cluster as second cluster head
First cluster member, has traversed all nodes according to the method, has made each unmanned plane node in respective cluster；
Step 2.3, sub-clustering is completed, is connected between cluster and cluster by nearest access；
Such as form into columns and be made of 10 unmanned planes, each unmanned plane has the number of oneself, as shown in figure 3, connected nothing
It is man-machine to represent them in the communication range of other side, between there are communication link, search the adjacent unmanned plane of each unmanned plane
Number, finds out the more unmanned plane of neighbours and is preferentially used as cluster head, until all nodes are in cluster；Each node in forming into columns
Neighbours' situation is as shown in table 1；
Table 1
It can be seen that the adjacent node of 2 nodes is most, so include node 1.3.4.5.8 with 2 cluster for cluster head, in addition to
These nodes remain node 6,7,9,10；Number smaller, the priority as cluster head is higher, i.e., second cluster is using 6 nodes as cluster
First cluster includes 7.9.10；It is not clustered without node at this time, indicates that clustering process is completed, entire unmanned plane formation is divided into two
Cluster, respectively cluster 1 (including node 1.2.3.4.5.8) and cluster 2 (including node 6.7.9.10)；Pass through nearest access between two clusters
Connection, as shown in figure 4, No. 8 nodes are the node that crosses of two clusters；
Step 3, cluster head unmanned plane utilizes unmanned plane during flying in ultraviolet virtual potential field guidance cluster；If neighbours' unmanned plane enters cluster
First precautionary areas, cluster head issue nearly alert announcement immediately, unmanned plane are made to fly away from precautionary areas；The comunication area belongs to the positive normal open of cluster head unmanned plane
Believe range, the unmanned plane in this region can with cluster head UAV Communication, known to cluster head unmanned plane in cluster unmanned plane relative position
And relative distance, both set a distances are kept in desired location, and with cluster head unmanned plane using unmanned plane during flying in ultraviolet light guidance cluster；
Cog region is used for the identification of neighbours' unmanned plane, judges whether to belong to this cluster.
Ultraviolet light divergent beams of each column through issuing to LEDs are guided as relative bearing, since each unmanned plane carries
Ultra-violet apparatus, so each node will form the virtual potential field of ultraviolet light, by taking three-beam as an example, as shown in Figure 5；If neighbours nobody
Machine enters cluster head precautionary areas, and cluster head issues nearly alert announcement immediately, unmanned plane is made to fly away from precautionary areas；The comunication area belongs to cluster head unmanned plane
Normal communications range, the unmanned plane in this region can be with cluster head UAV Communication；Cog region is used for the identification of neighbours' unmanned plane,
Judge whether to belong to this cluster；The relative position of unmanned plane and relative distance in cluster known to cluster head unmanned plane, are drawn using ultraviolet light
Unmanned plane during flying is led in cluster in desired location, and keeps both set a distances with cluster head unmanned plane；For example, having nobody right above cluster head
When machine, the ultraviolet LED lamp of surface issues light beam, make right above neighbours' unmanned plane be within light beam, guide neighbours nobody
Machine will not sail out of light beam, reach the correctness in orientation；Secondly cluster head unmanned plane and neighbours are judged according to unmanned plane uv power
Distance is fed back to neighbours' unmanned plane, quickly to make early warning and adjustment by the relative distance of unmanned plane；
Step 4, all cluster head unmanned planes track desired trajectories, other unmanned planes and cluster head unmanned plane keep desired distance and
Orientation is that the formation for guaranteeing to form into columns is kept；
Under the premise of bee colony unmanned plane guarantees communication and formation topological robust, also to fly by desired trajectory；It only needs at this time
Cluster head unmanned plane is wanted to track desired trajectory, other unmanned planes and cluster head unmanned plane keep expectation distance and bearing that formation can be completed
Topology keeps aerial mission；
Formation keeps behavior to refer to that any unmanned plane is in formation after oneself desired formation is known in unmanned plane formation
Also determined that with the mutual alignment of other unmanned planes, cluster head unmanned plane by ultraviolet light guide unmanned plane by itself and cluster head nobody
The mutual alignment of machine keeps rank.
Unmanned plane Formation Flying Control of Micro based on the guidance of wireless ultraviolet light of the invention, is carried on the back in conjunction with " day is blind " ultraviolet light
The characteristics of scape noise is small, ultraviolet signal itself is not influenced by radio-interference signals solves unmanned plane under particular surroundings and believes
The problem of breath interaction and control formation.Ultraviolet communication guiding module is light to be easy to carry, and has suitable for this energy of unmanned plane
Limit, the equipment of airborne limited mass.In addition, reducing the difficulty of unmanned plane flight pattern control using optimal cluster-dividing method, most
Reach the holding of the unmanned plane queue formation under strong electromagnetic interference environment eventually.
Claims (6)
- The method that optimal sub-clustering formation the is kept 1. unmanned plane of wireless ultraviolet light guidance is formed into columns, which is characterized in that including following step It is rapid:Step 1, all UAV flight's hemispherical LEDs arrays in forming into columns, form ultraviolet virtual potential field；Step 2, the unmanned plane in formation is divided into multiple clusters according to neighbours' unmanned plane number；Step 3, cluster head unmanned plane utilizes unmanned plane during flying in ultraviolet virtual potential field guidance cluster；Step 4, cluster head unmanned plane tracks desired trajectory, other unmanned planes and its cluster head unmanned plane keep desired distance and side in cluster Position can be completed flight pattern and keep aerial mission.
- The method that optimal sub-clustering formation the is kept 2. unmanned plane of wireless ultraviolet light guidance according to claim 1 is formed into columns, It is characterized in that, in step 1, hemispherical LEDs array to broadwise the lamp bead of multiple arrangements through being made of, lamp bead capable of emitting three The ultraviolet light of kind of different wave length, forms ultraviolet virtual potential field, and different wavelength indicates different zones, and the present invention is by ultraviolet virtual gesture Field is divided into three areas: precautionary areas, the comunication area and cog region；Ultraviolet light divergent beams of each column through issuing to LEDs are as opposite side Position is guided.
- The method that optimal sub-clustering formation the is kept 3. unmanned plane of wireless ultraviolet light guidance according to claim 1 is formed into columns, Be characterized in that, in step 2, by unmanned plane form into columns in member be divided into multiple clusters, each cluster has a cluster head unmanned plane；Select cluster First principle is that each unmanned plane all can serve as cluster head, and the most unmanned plane of neighbours' unmanned plane preferentially becomes cluster head, neighbours Unmanned plane is as member in cluster；Assuming that the unmanned plane being made of m unmanned plane is formed into columns, then current communication link topological diagram G= The step of (V, E), V are node collection, and E is line set, specific sub-clustering is as follows:Step 2.1, according to bee colony unmanned plane network topology, the neighbor node of each unmanned plane is traversed, and places it in neighborhood collection In conjunction γ i, i ∈ m；Step 2.2, the most node of neighbours' unmanned plane number is searched in Neighbourhood set γ i, i ∈ m, as first cluster Head, the unmanned plane in this cluster head neighborhood continue to traverse the node other than the first cluster, find in remaining node as cluster member The most node of neighbours' unmanned plane is left the unmanned plane in node in its neighborhood as the second cluster head as second cluster head Cluster member has traversed all nodes according to the method, makes each unmanned plane node in respective cluster；Step 2.3, sub-clustering is completed, is connected between cluster and cluster by nearest access.
- The method that optimal sub-clustering formation the is kept 4. unmanned plane of wireless ultraviolet light guidance according to claim 1 is formed into columns, It is characterized in that, in step 3, if neighbours' unmanned plane enters cluster head precautionary areas, cluster head issues nearly alert announcement immediately, flies away from unmanned plane Precautionary areas；The comunication area belongs to the normal communications range of cluster head unmanned plane, the unmanned plane in this region can with cluster head UAV Communication, The relative position of unmanned plane and relative distance in cluster known to cluster head unmanned plane, using unmanned plane during flying in ultraviolet light guidance cluster pre- Phase position, and both set a distances are kept with cluster head unmanned plane；Cog region is used for the identification of neighbours' unmanned plane, judges whether to belong to this Cluster.
- The method that optimal sub-clustering formation the is kept 5. unmanned plane of wireless ultraviolet light guidance according to claim 1 is formed into columns, It is characterized in that, in step 4, under the premise of bee colony unmanned plane guarantees communication and formation topological robust, also to fly by desired trajectory； Cluster head unmanned plane is only needed to track desired trajectory at this time, other unmanned planes and cluster head unmanned plane keep expectation distance and bearing Complete topology holding aerial mission of forming into columns；Formation keep behavior refer to when unmanned plane formation know oneself desired formation after, any unmanned plane in formation with its The mutual alignment of its unmanned plane also determines that cluster head unmanned plane guides unmanned plane to press itself and cluster head unmanned plane by ultraviolet light Mutual alignment keeps rank.
- The method that optimal sub-clustering formation the is kept 6. unmanned plane of wireless ultraviolet light guidance according to claim 2 is formed into columns, It is characterized in that, three kinds of different wave lengths are 200nm, 280nm, 320nm respectively.
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| CN111245509A (en) * | 2020-03-18 | 2020-06-05 | 西安理工大学 | Secrecy method for unmanned aerial vehicle secret ultraviolet communication by adopting block chain |
| CN111601355A (en) * | 2020-04-09 | 2020-08-28 | 西安理工大学 | Optimal path selection method in formation maintenance topology of wireless ultraviolet light cooperation unmanned aerial vehicle |
| CN111600644A (en) * | 2020-04-09 | 2020-08-28 | 西安理工大学 | Ultraviolet light assisted unmanned aerial vehicle formation optimal rigid topology generation method |
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| CN111880556A (en) * | 2020-07-02 | 2020-11-03 | 西安理工大学 | Wireless ultraviolet light-based anti-collision system and method in unmanned aerial vehicle cluster |
| CN113515136A (en) * | 2021-03-19 | 2021-10-19 | 西安理工大学 | Defensive formation method for swarm unmanned aerial vehicle based on ultraviolet MIMO communication |
| CN113515136B (en) * | 2021-03-19 | 2023-09-05 | 北京神州明达高科技有限公司 | Defensive formation method of swarm unmanned aerial vehicle based on ultraviolet MIMO communication |
| CN113485436A (en) * | 2021-07-29 | 2021-10-08 | 西安理工大学 | Track calculation method for formation and maintenance of wireless ultraviolet light cooperation unmanned aerial vehicle |
| CN113485436B (en) * | 2021-07-29 | 2024-05-31 | 郑晓海 | Flight path calculation method for formation maintenance of wireless ultraviolet light cooperative unmanned aerial vehicle |
| CN114553290A (en) * | 2022-01-07 | 2022-05-27 | 西安理工大学 | Wireless ultraviolet light communication tracking and maintaining method based on MIMO structure |
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