CN110879609B - Method and device for quickly reconstructing unmanned aerial vehicle formation information interaction topology in confrontation environment - Google Patents
Method and device for quickly reconstructing unmanned aerial vehicle formation information interaction topology in confrontation environment Download PDFInfo
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Abstract
The invention provides a method and a device for quickly reconstructing formation information interaction topology of unmanned aerial vehicles in a confrontation environment, and relates to the field of unmanned aerial vehicle communication. The method comprises the following steps: acquiring three-dimensional formation and initial communication network D of unmanned aerial vehicle formation when unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining a malfunctioning UAV 0 (ii) a Unmanned aerial vehicle V based on break down 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if yes, then T 2 Namely the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. The invention has high safety and reliability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle communication, in particular to a method and a device for quickly reconstructing unmanned aerial vehicle formation information interaction topology in a confrontation environment.
Background
With the development of science and technology, unmanned aerial vehicle technology is widely applied to civil and military fields. The formation of multiple unmanned aerial vehicles has become a development trend nowadays. All Unmanned Aerial Vehicles (UAVs) typically interact with each other via point-to-point communication links to form a certain formation and keep the formation flying towards the target area. The communication link used is called the information interaction topology of the formation of the unmanned aerial vehicles.
Some drone nodes may be destroyed during the flight of the formation of drones, so that these drones and their connected communication links cannot be used, resulting in the formation of drones not being able to continue working. In the prior art, a failed unmanned aerial vehicle and a communication link connected with the unmanned aerial vehicle are generally deleted, an information interaction topology corresponding to a three-dimensional persistent formation in a communication network at the moment is obtained, and the information interaction topology is used for continuing working.
However, the inventor of the present application finds that, in the actual application of the method in the prior art, because the speed of the formation of the unmanned aerial vehicles is high in the flight process, and the time for reacquiring the information interaction topology in the prior art is long, if the information interaction topology of the formation of the unmanned aerial vehicles is not recovered quickly, collision between the unmanned aerial vehicles is easily caused, and the formation task cannot be completed. Therefore, the prior art has the defect of low safety.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method and a device for quickly reconstructing unmanned aerial vehicle formation information interaction topology under a confrontation environment, and solves the technical problem of low safety in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a rapid reconstruction method for unmanned aerial vehicle formation information interaction topology under a countermeasure environment, which solves the technical problem, the reconstruction method is executed by a computer and comprises the following steps:
s1, acquiring a three-dimensional formation of unmanned aerial vehicle formation and an initial communication network D when the unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Acquisition failureUnmanned aerial vehicle V 0 ；
S2, unmanned aerial vehicle V based on break down 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if not, jumping to S4; if yes, then T 2 The topology is the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
Preferably, in S3, T is judged 2 Whether it is a three-dimensional persistent graph, including:
obtaining information interaction topology T 2 Number of communication links N in 1 And T 2 Number of drones N 2 (ii) a Judging whether N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, then T 2 Is a three-dimensional persistent graph; if the condition is not satisfied, T 2 Not a three-dimensional persistent graph.
Preferably, in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And the unmanned aerial vehicle V that breaks down 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 A V is measured 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a Subjecting said R to 1 From said R 2 Deleting to obtain the rest edge as the spare edge; all spare edges constitute a spare edge set.
Preferably, in S4, the method for obtaining the final information interaction topology includes:
obtainingThe R is 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank; if not, deleting the standby edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (a) is less than 3; if yes, the arc a is put into ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (a) is less than 3; if yes, the arc a is connected ji Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Adding to T 2 In and at T 2 Finding a node v with the degree of income less than 3 o At T 2 In (b) get v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 Whether the graph is a three-dimensional persistent graph or not, if so, T 3 And if not, continuing to add the next standby edge and repeating the steps.
The invention provides a device for quickly reconstructing unmanned aerial vehicle formation information interaction topology under a countermeasure environment, which solves the technical problem, and comprises a computer, wherein the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, acquiring a three-dimensional formation of unmanned aerial vehicle formation and an initial communication network D when the unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining unmanned aerial vehicle V with fault 0 ；
S2, unmanned aerial vehicle V based on break down 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if not, jumping to S4; if yes, then T 2 The topology is the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
Preferably, in S3, T is judged 2 Whether it is a three-dimensional persistent graph, including:
obtaining information interaction topology T 2 Number of communication links N in (1) 1 And T 2 Number of drones N 2 (ii) a Judging whether N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, then T 2 Is a three-dimensional persistent graph; if the condition is not satisfied, T 2 Not a three-dimensional persistent graph.
Preferably, in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And said malfunctioning drone V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 A V is measured 0 And A 1 From D 1 Get communication network D 2 ；
Obtaining the communication network D 2 Corresponding undirected graph R 2 (ii) a Subjecting said R to 1 From said R 2 Deleting to obtain the rest edge as the spare edge; all spare edges constitute a spare edge set.
Preferably, in S4, the method for obtaining the final information interaction topology includes:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank; if not, deleting the spare edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (1) is less than 3; if yes, the arc a is connected ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (1) is less than 3; if yes, the arc a is connected ji Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into ij Adding to T 2 In and at T 2 Find a node v with an incoming degree less than 3 o At T 2 In acquisition of v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 Whether the graph is a three-dimensional persistent graph or not, if so, T 3 And if the topology is not the final information interaction topology, continuously adding the next standby edge and repeating the steps.
(III) advantageous effects
The invention provides a method and a device for quickly reconstructing unmanned aerial vehicle formation information interaction topology in a confrontation environment. Compared with the prior art, the method has the following beneficial effects:
the invention obtains the three-dimensional formation of the unmanned aerial vehicle formation and the initial communication network D when the unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining a malfunctioning UAV 0 (ii) a Unmanned aerial vehicle V based on break down 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if so, T 2 Namely the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the method, the unmanned aerial vehicle with the fault and the communication link connected with the unmanned aerial vehicle are deleted, the standby edge is obtained, the arc corresponding to the standby edge is added, and the complete information interaction topology corresponding to the three-dimensional persistent formation is obtained, so that the formation of the unmanned aerial vehicle can stably keep the formation type when the unmanned aerial vehicle performs a task, and the safety and the reliability are high.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an overall flowchart of a method for quickly reconstructing unmanned aerial vehicle formation information interaction topology in a countermeasure environment according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the 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 invention.
The embodiment of the application provides a method and a device for quickly reconstructing information interaction topology of unmanned aerial vehicle formation under a confrontation environment, solves the technical problem of low safety in the prior art, and improves safety of unmanned aerial vehicle formation during working.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
according to the embodiment of the invention, the three-dimensional formation of the unmanned aerial vehicles and the initial communication network D are obtained when the unmanned aerial vehicles do not break down 1 Topology T for interacting with initial information 1 (ii) a Obtaining unmanned aerial vehicle V with fault 0 (ii) a Unmanned aerial vehicle V based on break down 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if so, T 2 Namely the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the unmanned aerial vehicle with the fault and the communication link connected with the unmanned aerial vehicle are deleted, the standby edge is obtained, the arc corresponding to the standby edge is added, and the complete information interaction topology corresponding to the three-dimensional persistent formation is obtained, so that the formation of the unmanned aerial vehicle can stably maintain the formation type when the unmanned aerial vehicle performs a task, and the safety and the reliability are high.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment of the invention provides a method for quickly reconstructing unmanned aerial vehicle formation information interaction topology under a countermeasure environment, which is executed by a computer and comprises the following steps as shown in figure 1:
s1, acquiring a three-dimensional formation of unmanned aerial vehicle formation and an initial communication network D when the unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining a malfunctioning UAV 0 ；
S2, unmanned aerial vehicle V based on fault 0 And the aboveInitial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if not, jumping to S4; if so, T 2 The topology is the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
According to the embodiment of the invention, the three-dimensional formation of the unmanned aerial vehicles and the initial communication network D are obtained when the unmanned aerial vehicles do not break down 1 Topology T for interacting with initial information 1 (ii) a Obtaining a malfunctioning UAV 0 (ii) a Unmanned aerial vehicle V based on break down 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if yes, then T 2 The topology is the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the unmanned aerial vehicle with the fault and the communication link connected with the unmanned aerial vehicle are deleted, the standby edge is obtained, the arc corresponding to the standby edge is added, and the complete information interaction topology corresponding to the three-dimensional persistent formation is obtained, so that the formation of the unmanned aerial vehicle can stably maintain the formation type when the unmanned aerial vehicle performs a task, and the safety and the reliability are high.
Specifically, in the embodiment of the invention, the calculation is performed by a computer of the ground control center, and then the calculation result is sent to each unmanned aerial vehicle, so that the rapid generation of the information interaction topology of the three-dimensional formation of the multiple unmanned aerial vehicles is realized.
Each step is specifically analyzed below.
In step S1, a three-dimensional formation and an initial communication network D of unmanned aerial vehicle formation when the unmanned aerial vehicle is not in fault are obtained 1 Topology T for interacting with initial information 1 (ii) a Obtaining unmanned aerial vehicle V with fault 0 。
Specifically, a three-dimensional formation S and an initial communication network D when no unmanned aerial vehicle fails in a formation of unmanned aerial vehicles are obtained 1 Topology T for interacting with initial information 1 。
The embodiment of the invention sets n UAVs to form and maintain a three-dimensional formation S through unidirectional communication among the UAVs, and n positions in the formation S are respectively numbered as {1,2, \8230;, n }.
Initial communication network D for unmanned aerial vehicle formation 1 ＝(V，A)。
Wherein:
V＝{v i 1 ≦ i ≦ n is the set of nodes represented by the drone, where v is i Representing a UAV i I.e. the ith drone.
Initial information interaction topology T for unmanned aerial vehicle formation 1 ＝(V，A * )。
A * Is the arc set corresponding to the communication link in the information interaction topology.
And then acquiring damaged unmanned aerial vehicle V in the unmanned aerial vehicle formation when the unmanned aerial vehicle formation fails 0 . In particular, damaged drone V 0 Can be one frame or a plurality of frames, and V is arranged in the embodiment of the invention 0 Refers to the set of drones that the damaged drone constitutes.
In step S2, a failure occurs based on the aboveUnmanned aerial vehicle V 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 。
Specifically, A 0 Interacting topology T for initial information 1 In with unmanned aerial vehicle V that breaks down 0 A connected communication link. Set V of damaged unmanned aerial vehicles 0 And its associated set of communication links A 0 Deleting the original information interaction topology to obtain a new information interaction topology T 2 。
In step S3, the information interaction topology T is judged 2 Whether the graph is a three-dimensional persistent graph; if not, jumping to S4; if so, T 2 Namely the final information interaction topology.
Specifically, the judging method comprises the following steps:
obtaining information interaction topology T 2 Number of communication links N in 1 And T 2 Number of drones N 2 (ii) a Judging whether N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, then T 2 Is a three-dimensional persistent graph; if the condition is not satisfied, T 2 Not a three-dimensional persistent graph.
When T is 2 When the three-dimensional persistent graph is adopted, the damaged unmanned aerial vehicle set V 0 And its associated set of communication links A 0 For T 2 There is no effect. At this point T may be used 2 The method is used as an information interaction topology for unmanned aerial vehicle formation work.
In step S4, T is acquired 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
Specifically, the method for acquiring the spare edge set comprises the following steps:
based on the above initial communication network D 1 And the unmanned aerial vehicle V that breaks down 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 。
Obtaining the communication network D 2 Corresponding undirected graph R 2 (ii) a The above-mentioned R is reacted with 1 From the above-mentioned R 2 The remaining edge is obtained as the spare edge. Wherein all spare edge slots form a spare edge set.
The final information interaction topology obtaining method comprises the following steps:
first obtaining the above R 1 A corresponding stiffness matrix M.
And sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is full rank or not. If not, deleting the spare edge from the rigidity matrix M, if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Is less than 3. If yes, the arc a is connected ij Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Is less than 3. If yes, the arc a is put into ji Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Adding to T 2 In and at T 2 Finding a node v with the degree of income less than 3 o At T 2 In acquisition of v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 。
Judgment of T 3 Whether the graph is a three-dimensional persistent graph or not, if yes, T 3 And if the topology is not the final information interaction topology, continuously adding the next standby edge and repeating the steps.
The obtained final information interaction topology is the information interaction topology executed when the unmanned aerial vehicle formation continues to work.
The embodiment of the invention also provides a device for quickly reconstructing the information interaction topology of the unmanned aerial vehicle formation under the confrontation environment, which comprises a computer, wherein the computer comprises:
at least one memory cell;
at least one processing unit;
wherein, at least one instruction is stored in the at least one storage unit, and the at least one instruction is loaded and executed by the at least one processing unit to realize the following steps:
s1, acquiring three-dimensional formation of unmanned aerial vehicle formation and initial communication network D when unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining a malfunctioning UAV 0 ；
S2, unmanned aerial vehicle V based on above-mentioned trouble takes place 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if not, jumping to S4; if so, T 2 Namely the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 And obtaining the final information interaction topology.
It can be understood that, the reconstruction device provided in the embodiment of the present invention corresponds to the reconstruction method, and the explanation, examples, and beneficial effects of the relevant contents may refer to the corresponding contents in the rapid reconstruction method for unmanned aerial vehicle formation information interaction topology in the countermeasure environment, which are not described herein again.
In summary, compared with the prior art, the method has the following beneficial effects:
according to the embodiment of the invention, the three-dimensional formation of the unmanned aerial vehicles and the initial communication network D are obtained when the unmanned aerial vehicles do not break down 1 Interactive development with initial informationFlapping T 1 (ii) a Obtaining a malfunctioning UAV 0 (ii) a Unmanned aerial vehicle V based on break down 0 Topology T for interacting with initial information 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 (ii) a Judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if so, T 2 Namely the final information interaction topology; if not, acquiring T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to standby edges to T based on standby edge set 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the unmanned aerial vehicle with the fault and the communication link connected with the unmanned aerial vehicle are deleted, the standby edge is obtained, the arc corresponding to the standby edge is added, and the complete information interaction topology corresponding to the three-dimensional persistent formation is obtained, so that the formation of the unmanned aerial vehicle can stably maintain the formation type when the unmanned aerial vehicle performs a task, and the safety and the reliability are high.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments. In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In this document, relational terms such as first and second, and the like may be 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. Also, 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A topology rapid reconstruction method for unmanned aerial vehicle formation information interaction in a countermeasure environment is characterized in that the reconstruction method is executed by a computer and comprises the following steps:
s1, acquiring three-dimensional formation of unmanned aerial vehicle formation and initial communication network D when unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining a malfunctioning UAV 0 ；
S2, unmanned aerial vehicle V based on break down 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Connected fault communication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain the information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if not, skippingTo S4; if yes, then T 2 Namely the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 Obtaining a final information interaction topology;
in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And the unmanned aerial vehicle V that breaks down 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 A V is measured 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a The R is 1 From said R 2 Deleting to obtain the rest edge as the spare edge; all spare edges constitute a spare edge set.
2. The reconstruction method according to claim 1, wherein in S3, T is judged 2 Whether it is a three-dimensional persistent graph, including:
obtaining an information interaction topology T 2 Number of communication links N in 1 And T 2 Number of drones N 2 (ii) a Judging whether N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, then T 2 Is a three-dimensional persistent graph; if the condition is not satisfied, T 2 Not a three-dimensional persistent graph.
3. The reconstruction method according to claim 1, wherein in S4, the method for obtaining the final information interaction topology comprises:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the rigidity matrix M is a full rank or not; if not, deleting the standby edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (1) is less than 3; if yes, the arc a is connected ij Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (1) is less than 3; if yes, the arc a is connected ji Adding to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Is added to T 2 In and at T 2 Find a node v with an incoming degree less than 3 o At T 2 In (b) get v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 Whether the graph is a three-dimensional persistent graph or not, if so, T 3 And if not, continuing to add the next standby edge and repeating the steps.
4. An unmanned aerial vehicle formation information interaction topology rapid reconstruction device under a countermeasure environment, the device comprises a computer, and the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, acquiring a three-dimensional formation of unmanned aerial vehicle formation and an initial communication network D when the unmanned aerial vehicle fails 1 Topology T for interacting with initial information 1 (ii) a Obtaining unmanned aerial vehicle V with fault 0 ；
S2, unmanned aerial vehicle V based on break down 0 And the initial information interaction topology T 1 Obtaining T 1 Neutralization V 0 Failure of connectionCommunication link A 0 (ii) a Will V 0 And A 0 From T 1 Deleting to obtain information interaction topology T 2 ；
S3, judging information interaction topology T 2 Whether the graph is a three-dimensional persistent graph; if not, jumping to S4; if yes, then T 2 The topology is the final information interaction topology;
s4, obtaining T 2 Corresponding undirected graph R 1 (ii) a Based on R 1 Acquiring a standby edge set; adding arcs corresponding to the standby edges to T based on the standby edge set 2 Obtaining a final information interaction topology;
in S4, the method for acquiring the spare edge set includes:
based on the initial communication network D 1 And said malfunctioning drone V 0 Obtaining D 1 Neutralization V 0 Connected fault communication link A 1 Will V 0 And A 1 From D 1 Get communication network D 2 ；
Acquiring the communication network D 2 Corresponding undirected graph R 2 (ii) a The R is 1 From said R 2 Deleting to obtain the rest edge as the spare edge; all spare edges constitute a spare edge set.
5. The reconstruction apparatus according to claim 4, wherein in S3, T is judged 2 Whether it is a three-dimensional persistent graph, including:
obtaining information interaction topology T 2 Number of communication links N in (1) 1 And T 2 Number of drones N 2 (ii) a Judging whether N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, T 2 Is a three-dimensional persistent graph; if the condition is not satisfied, T 2 Not a three-dimensional persistent graph.
6. The reconstruction apparatus according to claim 4, wherein in S4, the method of obtaining the final information interaction topology includes:
obtaining the R 1 A corresponding stiffness matrix M;
and sequentially adding each standby edge into the rigidity matrix M, and judging: whether the rank of the stiffness matrix M is a full rank; if not, deleting the standby edge from the rigidity matrix M; if yes, judging:
for any spare edge e ij And judging: spare edge e ij Node v of j At T 2 Whether the in-degree of (1) is less than 3; if yes, the arc a is connected ij Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, judging:
node v i At T 2 Whether the in-degree of (a) is less than 3; if yes, the arc a is connected ji Is added to T 2 In the method, an information interaction topology T is obtained 3 (ii) a If not, the arc a is put into practice ij Adding to T 2 In and at T 2 Find a node v with an incoming degree less than 3 o At T 2 In acquisition of v o To v j One path in between, and all arcs in the reverse path of the one path exist at D 2 In T 2 All arcs in the path are reversed to obtain an information interaction topology T 3 ；
Judgment of T 3 Whether the graph is a three-dimensional persistent graph or not, if yes, T 3 And if the topology is not the final information interaction topology, continuously adding the next standby edge and repeating the steps.
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