CN110597294A - Unmanned aerial vehicle and cluster system thereof - Google Patents
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Abstract
The application discloses unmanned aerial vehicle and cluster system thereof, this unmanned aerial vehicle cluster system includes: the unmanned aerial vehicle node is used for communicating with ad hoc networks of other unmanned aerial vehicle nodes to share state information, and determining a target path and a target motion state of the node according to the shared state information; the ground repeater is used for receiving the working data sent by each unmanned aerial vehicle node and forwarding the working data to the ground server; and the ground server is used for storing and managing the working data of each unmanned aerial vehicle node. Each unmanned aerial vehicle node possesses the ability from network deployment communication, planning route and motion state in this application, can realize that distributed many owner is cooperative communication rather than centralized communication, has effectively improved the communication efficiency and the communication fault-tolerant ability of unmanned aerial vehicle cluster, makes unmanned aerial vehicle cluster formation under the complex environment more nimble, the orbit planning is more accurate, discernment perception scope is wider, and then can effectively improve the efficiency and the precision of unmanned aerial vehicle operation, satisfies practical application scene needs more.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a cluster system thereof.
Background
Along with the improvement of the automatic control technology and the performance of the sensor, the application of the unmanned aerial vehicle in the civil market field is greatly increased, and the unmanned aerial vehicle is gradually expanded from a professional unmanned aerial vehicle to a consumption-level unmanned aerial vehicle, and an application scene is also developed from remote sensing surveying and mapping to follow daily services such as photographing and express delivery.
Because the application ability of a single unmanned aerial vehicle is limited, the current unmanned aerial vehicle mostly works in a cluster form. For a cluster of drones, efficient communication between nodes of drones within the cluster is required to provide services in cooperation. In the prior art, an unmanned aerial vehicle cluster mostly adopts a centralized cooperative communication mode, a leader is arranged in an unmanned aerial vehicle node, and the rest unmanned aerial vehicle nodes are wing plane machines, which can be specifically shown in fig. 1. The leader can carry out data communication with each wing plane to further command and control each wing plane, the leader can broadcast data information to the ground repeater, the ground repeater further forwards the data to the ground server through a route, the ground server carries out fusion calculation on the absolute position and the relative position of each unmanned aerial vehicle node, decision is carried out, the flight track of each unmanned aerial vehicle is planned, and then the flight track is sent to the leader, and the leader controls the movement of the leader or executes simple task operation according to the decision result of the ground server.
Because the whole cluster needs to rely on a ground server and a long machine to perform positioning, path planning, flight control and the like, the problem of communication delay seriously affects the control timeliness of each unmanned aerial vehicle node, and the whole cluster cannot be well applied to actual dynamic application scenes. Moreover, once the long machine fails, the communication of the whole cluster is disordered, and the communication fault tolerance of the cluster is seriously reduced.
In view of the above, it is an important need for those skilled in the art to provide a solution to the above technical problems.
Disclosure of Invention
An object of this application is to provide an unmanned aerial vehicle and cluster system thereof to effectively improve the communication efficiency and the communication fault-tolerant ability of unmanned aerial vehicle cluster, and then effectively improve unmanned aerial vehicle operating efficiency and precision.
For solving the technical problem, in a first aspect, the application discloses an unmanned aerial vehicle cluster system, including:
the unmanned aerial vehicle node is used for communicating with ad hoc networks of other unmanned aerial vehicle nodes to share state information, and determining a target path and a target motion state of the node according to the shared state information;
the ground repeater is used for receiving the working data sent by each unmanned aerial vehicle node and forwarding the working data to the ground server;
and the ground server is used for storing and managing the working data of each unmanned aerial vehicle node.
Optionally, the status information includes any one or any combination of the following:
position information, altitude information, velocity information, acceleration information, attitude information.
Optionally, each of the drone nodes is specifically configured to:
starting a routing function or a relay function, and establishing a communication network of a target topological structure by calling a preset networking algorithm so as to share state information among nodes of the unmanned aerial vehicle.
Optionally, the unmanned aerial vehicle node is provided with a corresponding communication priority; the drone node with the highest priority of communication is also used to manage the channel allocation of the communication network.
Optionally, the unmanned aerial vehicle node with the highest communication priority is further configured to receive a total cluster task forwarded by the ground relay, and allocate and send a node task to other unmanned aerial vehicle nodes according to the total cluster task.
In a second aspect, the present application further discloses an unmanned aerial vehicle, including:
the sensing positioning module is used for acquiring and acquiring state information of the unmanned aerial vehicle node;
the wireless communication module is used for communicating with other unmanned aerial vehicle node ad hoc networks to share state information and sending working data to the ground repeater so that the ground repeater can forward the received working data to the ground server for storage and management;
and the SOC processing module is used for determining a target path and a target motion state of the node of the unmanned aerial vehicle according to the state information shared by other nodes of the unmanned aerial vehicle.
Optionally, the sensing and positioning module includes a GNSS and an IMU.
Optionally, the sensing and positioning module further includes a camera and a radar detector.
Optionally, the wireless communication module includes any one or any combination of the following:
a DSRC module, a C-V2X module, and a 5G module.
Optionally, the SOC processing module includes an FPGA, an ARM, and a GPU.
The unmanned aerial vehicle cluster system that this application provided includes: the unmanned aerial vehicle node is used for communicating with ad hoc networks of other unmanned aerial vehicle nodes to share state information, and determining a target path and a target motion state of the node according to the shared state information; the ground repeater is used for receiving the working data sent by each unmanned aerial vehicle node and forwarding the working data to the ground server; and the ground server is used for storing and managing the working data of each unmanned aerial vehicle node.
It is thus clear that each unmanned aerial vehicle node has higher unit intellectuality in this application, possess the ability from network deployment communication and planning route and motion state, therefore can realize that distributed many owner is cooperative communication rather than centralized communication, the communication confusion problem that communication time delay and long quick-witted trouble cause has been avoided, the communication efficiency and the communication fault-tolerant ability of unmanned aerial vehicle cluster have effectively been improved, make unmanned aerial vehicle cluster formation under the complex environment more nimble, the orbit planning is more accurate, discernment perception scope is wider, and then can effectively improve the efficiency and the precision of unmanned aerial vehicle operation, satisfy practical application scene needs more. The unmanned aerial vehicle that this application provided has above-mentioned beneficial effect equally.
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In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings that are needed to be used in the description of the prior art and the embodiments of the present application will be briefly described below. Of course, the following description of the drawings related to the embodiments of the present application is only a part of the embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any creative effort, and the obtained other drawings also belong to the protection scope of the present application.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle cluster system in the prior art;
fig. 2 is a block diagram of a structure of an unmanned aerial vehicle cluster system disclosed in an embodiment of the present application;
fig. 3 is a schematic diagram of an unmanned aerial vehicle cluster system disclosed in an embodiment of the present application;
fig. 4 is a structural block diagram of an unmanned aerial vehicle disclosed in an embodiment of the present application.
Detailed Description
The core of this application lies in providing an unmanned aerial vehicle and cluster system thereof to effectively improve the communication efficiency and the communication fault-tolerant ability of unmanned aerial vehicle cluster, and then effectively improve unmanned aerial vehicle operating efficiency and precision.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, in the prior art, an unmanned aerial vehicle cluster mostly adopts a centralized cooperative communication mode, a leader is set in an unmanned aerial vehicle node, and other unmanned aerial vehicle nodes are wing machines, and the leader can perform data communication with each wing machine, thereby commanding and controlling each wing machine. The leader can broadcast data information to the ground repeater, the ground repeater further forwards the data information to the ground server in a routing mode, the ground server performs fusion calculation on the absolute position and the relative position of each unmanned aerial vehicle node, decision is made, flight tracks of all the unmanned aerial vehicles are planned and then sent to the leader, and the leader controls the movement of the leader or executes simple task operation according to decision results of the ground server. Because the whole cluster needs to rely on a ground server and a long machine to perform positioning, path planning, flight control and the like, the problem of communication delay seriously affects the control timeliness of each unmanned aerial vehicle node, and the whole cluster cannot be well applied to actual dynamic application scenes. Moreover, once the long machine fails, the communication of the whole cluster is disordered, and the communication fault tolerance of the cluster is seriously reduced. In view of this, this application provides an unmanned aerial vehicle cluster system, can effectively solve above-mentioned problem.
Referring to fig. 2 and fig. 3, fig. 2 is a block diagram of a structure of an unmanned aerial vehicle cluster system disclosed in the embodiment of the present application, and fig. 3 is a schematic diagram of the unmanned aerial vehicle cluster system disclosed in the embodiment of the present application. This unmanned aerial vehicle cluster mainly includes:
the unmanned aerial vehicle node 101 is used for carrying out ad hoc network communication with other unmanned aerial vehicle nodes 101 to share state information, and determining a target path and a target motion state of the node according to the shared state information;
the ground relay 102 is used for receiving the working data sent by each unmanned aerial vehicle node 101 and forwarding the working data to the ground server 103;
and the ground server 103 is used for storing and managing the working data of each unmanned aerial vehicle node 101.
It should be noted that the unmanned aerial vehicle cluster system provided in the embodiment of the present application no longer employs a centralized cooperative communication mechanism, that is, no longer provides a lead plane or a wing plane, but all the unmanned aerial vehicle nodes 101 can perform cooperative communication with each other and with the ground relay 102.
Specifically, in the unmanned aerial vehicle cluster system provided in the embodiment of the present application, each unmanned aerial vehicle node 101 has realized single machine intellectualization, and has ad hoc network communication capability and strong operation processing capability. Based on a preset networking algorithm, the unmanned aerial vehicle node 101 can construct an optimal network topology, after networking is successful, multi-master communication can be performed between the nodes, and respective state information is shared mutually. Based on a preset path planning algorithm, the unmanned aerial vehicle node 101 can plan a target path and a target motion state of the node according to the state information of the unmanned aerial vehicle node 101 and the state information of the peripheral unmanned aerial vehicle nodes 101 by combining with node tasks, and carries out flight control on the unmanned aerial vehicle node in real time, so that the unmanned aerial vehicle node can travel according to the requirements of the target path and the target motion state.
In the Ad-Hoc network process, each unmanned aerial vehicle node 101 may form a Point-to-Point Ad-Hoc network, and may also serve as a network center, i.e., an AP (Wireless Access Point), for other unmanned aerial vehicle nodes 101 to establish connection communication, or as a node STA (Station) to connect to the AP. Each unmanned aerial vehicle node 101 has a routing function, a routing table is arranged in the unmanned aerial vehicle node, and optimal path communication can be selected; meanwhile, each unmanned aerial vehicle node 101 also has a relay function, and communication between two unmanned aerial vehicle nodes 101 far away from each other can be realized through the relay unmanned aerial vehicle node 101.
Thus, in the present application, the motion form of each drone node 101 is decided and controlled by itself without relying on the ground server 103 and the long plane. The ground server 103 in this application may be only used to store and manage the working data of each drone node 101, and each drone node 101 may send the respective working data to the ground relay 102, and the ground relay 102 forwards the respective working data to the ground server 103. The working data may specifically include state information of each drone node 101, and related data of node tasks, and the like.
As a specific embodiment, the communication technology adopted by the unmanned aerial vehicle cluster system may specifically be any one or any combination of the following: DSRC (Dedicated Short Range Communications), C-V2X, 5G. Compared with the traditional wireless data transmission radio station communication, the advanced wireless communication mode adopted by the embodiment of the application has longer communication distance and larger data bandwidth, and can effectively improve the real-time performance and the accuracy of communication.
Where DSRC complies with the standard IEEE 802.11P and IEEE 1609 protocols, supporting CSMA. The spectrum resources specifically include 5.850-5.925GHz, which is divided into 7 channels, each of 10 MHz. The DSRC mainly improves an MAC layer on the basis of WIFI, can well weaken multipath effect and Doppler effect, is simpler in the inter-node communication authentication process, is smaller in communication delay, and is more suitable for direct real-time communication between nodes in a dynamic scene. By adopting the MIMO omnidirectional antenna, 360-degree multi-angle communication can be realized, and the range can reach 400 meters.
C-V2X (LTE-V) is based on the standard established by 3GPP, follows protocols of TS 36.101, TS 36.211, TS 36.213, TS 36.321 and the like, supports PC5 air interfaces, and supports OFDMA + frequency hopping. The 3GPP identified it as Proximity-based Services (ProSe), and the definition of ProSe was followed by higher-layer communication protocols.
It is easily understood that, in this application, the realization of the standalone intelligence and ad hoc network, the strong computing power of the unmanned aerial vehicle node 101 is inseparable from the hardware configuration of the unmanned aerial vehicle node 101, and those skilled in the art can equip the corresponding hardware component for the unmanned aerial vehicle node 101 according to the related functional requirements.
As a specific embodiment, the status information may include any one or any combination of the following: position information, altitude information, velocity information, acceleration information, attitude information. Further, the state information may be detected and acquired by a GNSS (global navigation Satellite System) and an IMU (Inertial Measurement Unit). The inertial measurement unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object.
The unmanned aerial vehicle cluster system that this application embodiment provided includes: the unmanned aerial vehicle node 101 is used for carrying out ad hoc network communication with other unmanned aerial vehicle nodes 101 to share state information, and determining a target path and a target motion state of the node according to the shared state information; the ground relay 102 is used for receiving the working data sent by each unmanned aerial vehicle node 101 and forwarding the working data to the ground server 103; and the ground server 103 is used for storing and managing the working data of each unmanned aerial vehicle node 101.
It is thus clear that, among the unmanned aerial vehicle cluster system that this application provided, each unmanned aerial vehicle node has higher unit intellectuality, possess the ability from network deployment communication and planning route and motion state, therefore can realize the many owner of distributing type cooperative communication rather than centralized communication, the communication confusion problem that communication time delay and longeron trouble arouse has been avoided, the communication efficiency and the communication fault-tolerant ability of unmanned aerial vehicle cluster have effectively been improved, make unmanned aerial vehicle cluster formation under the complex environment more nimble, the orbit planning is more accurate, discernment perception scope is wider, and then can effectively improve the efficiency and the precision of unmanned aerial vehicle operation, satisfy practical application scene needs more.
On the basis of the above content, in the unmanned aerial vehicle cluster system provided in the embodiment of the present application, as a specific embodiment, each unmanned aerial vehicle node 101 is specifically configured to: starting a routing function or a relay function, and establishing a communication network with a target topological structure by calling a preset networking algorithm so as to share state information among the unmanned aerial vehicle nodes 101. The preset networking algorithm may specifically be an ant colony algorithm or a bee colony algorithm.
On the basis of the above content, in the unmanned aerial vehicle cluster system provided in the embodiment of the present application, as a specific embodiment, the unmanned aerial vehicle node 101 is provided with a corresponding communication priority; the drone node 101 with the highest priority of communication is also used to manage the channel allocation of the communication network.
Specifically, in this embodiment, each drone node 101 may correspond to a unique ID for differentiation, and different communication priorities may be set for different IDs, so as to establish a synchronization mechanism of the drone node 101 communication network. The highest priority can be obtained by adopting a dynamic token mode, the unmanned aerial vehicle node 101 obtaining the token is the node with the highest priority, has the priority of data communication, can broadcast and send a task command preferentially, manages the channel allocation of the whole communication network by sending configuration data, performs exception management and the like. Further, when the token node is abnormal or attacked, the sub-optimal level of the drone node 101 may automatically obtain the token, inheriting the characteristics of taking over the entire communication network.
On the basis of the above content, in the unmanned aerial vehicle cluster system provided in the embodiment of the present application, as a specific embodiment, the unmanned aerial vehicle node 101 with the highest communication priority is further configured to receive the total cluster task forwarded by the ground repeater 102, and allocate and send node tasks to other unmanned aerial vehicle nodes 101 according to the total cluster task.
Specifically, when the cluster general task is executed by the unmanned aerial vehicle cluster, such as material application, tracking shooting, and the like, the cluster general task may be divided and executed by each unmanned aerial vehicle node 101. The token node may interact with the ground server 103 to obtain a total cluster task, and arrange node tasks for each drone node 101, so that each drone plans and controls a target path and a target motion state according to each node task.
Referring to fig. 4, the embodiment of the application discloses an unmanned aerial vehicle, mainly includes:
the sensing and positioning module 201 is used for acquiring and acquiring state information of the node of the unmanned aerial vehicle;
the wireless communication module 202 is used for communicating with other unmanned aerial vehicle node ad hoc networks to share state information and sending working data to the ground repeater so that the ground repeater can forward the received working data to the ground server for storage and management;
and the SOC processing module 203 is configured to determine a target path and a target motion state of the node of the unmanned aerial vehicle according to the state information shared by other nodes of the unmanned aerial vehicle.
It is thus clear that the unmanned aerial vehicle that this application provided has higher unit intellectuality, possess the ability from network deployment communication and planning route and motion state, therefore can realize that distributed many owner is cooperative communication rather than centralized communication, the communication confusion problem that communication time delay and long quick-witted trouble cause has been avoided, the communication efficiency and the communication fault-tolerant ability of unmanned aerial vehicle cluster have effectively been improved, make unmanned aerial vehicle cluster formation under the complex environment more nimble, the orbit planning is more accurate, discernment perception scope is wider, and then can effectively improve the efficiency and the precision of unmanned aerial vehicle operation, satisfy practical application scene needs more.
Based on the above, as a specific embodiment, the sensing and positioning module 201 includes a GNSS and an IMU.
On the basis of the above, as a specific embodiment, the sensing and positioning module 201 further includes a camera and a radar detector.
Wherein the radar detector may further include a laser radar, a millimeter wave radar, and an ultrasonic radar. Based on the multi-sensor fusion technology, the SOC processing module 203 of the unmanned aerial vehicle can process and resolve data of multiple sensors such as GNSS, IMU, camera and radar.
Based on the above, as a specific embodiment, the wireless communication module 202 includes any one or any combination of the following: a DSRC module, a C-V2X module, and a 5G module.
Based on the above, as a specific embodiment, the SOC processing module 203 includes an FPGA, an ARM, and a GPU.
Specifically, in the embodiment of the present application, the standalone configuration of the drone is high, and the SOC processing module 203 specifically includes an FPGA, an ARM, and a GPU. In addition, correspondingly, the unmanned aerial vehicle can be provided with a high-performance DDR memory and an EMMC memory unit with large capacity.
For the specific content of the above-mentioned unmanned aerial vehicle, reference may be made to the foregoing detailed description on the unmanned aerial vehicle cluster system, and details thereof are not repeated here.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It is further noted that, throughout this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The technical solutions provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall into the protection scope of the present application.
Claims (10)
1. An unmanned aerial vehicle cluster system, comprising:
the unmanned aerial vehicle node is used for communicating with ad hoc networks of other unmanned aerial vehicle nodes to share state information, and determining a target path and a target motion state of the node according to the shared state information;
the ground repeater is used for receiving the working data sent by each unmanned aerial vehicle node and forwarding the working data to the ground server;
and the ground server is used for storing and managing the working data of each unmanned aerial vehicle node.
2. The drone clustering system of claim 1, wherein the status information includes any one or any combination of:
position information, altitude information, velocity information, acceleration information, attitude information.
3. The drone clustering system of claim 1 or 2, wherein each drone node is specifically configured to:
starting a routing function or a relay function, and establishing a communication network of a target topological structure by calling a preset networking algorithm so as to share state information among nodes of the unmanned aerial vehicle.
4. The drone clustering system of claim 3, wherein the drone nodes are provided with corresponding communication priorities; the drone node with the highest priority of communication is also used to manage the channel allocation of the communication network.
5. The unmanned aerial vehicle cluster system of claim 4, wherein the unmanned aerial vehicle node with the highest communication priority is further configured to receive a cluster total task forwarded by the ground repeater, and to allocate and send node tasks to other unmanned aerial vehicle nodes according to the cluster total task.
6. An unmanned aerial vehicle, comprising:
the sensing positioning module is used for acquiring and acquiring state information of the unmanned aerial vehicle node;
the wireless communication module is used for communicating with other unmanned aerial vehicle node ad hoc networks to share state information and sending working data to the ground repeater so that the ground repeater can forward the received working data to the ground server for storage and management;
and the SOC processing module is used for determining a target path and a target motion state of the node of the unmanned aerial vehicle according to the state information shared by other nodes of the unmanned aerial vehicle.
7. The drone of claim 6, wherein the sensory-positioning module comprises a GNSS and an IMU.
8. The drone of claim 7, wherein the sensory positioning module further comprises a camera and a radar detector.
9. A drone according to claim 6, wherein the wireless communication module comprises any one or any combination of:
a DSRC module, a C-V2X module, and a 5G module.
10. The drone of claim 6, wherein the SOC processing module includes an FPGA, an ARM, and a GPU.
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| CN110989647A (en) * | 2019-12-24 | 2020-04-10 | 北京航天飞腾装备技术有限责任公司 | Multi-sensor fusion flight controller based on SoC |
| CN111246467A (en) * | 2020-01-09 | 2020-06-05 | 成都中航讯飞科技有限公司 | Multi-unmanned aerial vehicle cooperative voice transmission method and system |
| CN112541426A (en) * | 2020-12-10 | 2021-03-23 | 天津(滨海)人工智能军民融合创新中心 | Communication bandwidth self-adaptive data processing method based on unmanned aerial vehicle cluster cooperative sensing |
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| CN113950063A (en) * | 2020-07-15 | 2022-01-18 | 重庆丰鸟无人机科技有限公司 | Wireless communication network networking method and device, computer equipment and storage medium |
| CN114816257A (en) * | 2022-04-29 | 2022-07-29 | 重庆大学 | Data layout method applied to mobile distributed storage |
| CN114879557A (en) * | 2022-05-07 | 2022-08-09 | 中国人民解放军东部战区总医院 | Control method, system, equipment and storage medium for unmanned equipment cluster |
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