CN110989653B - Rapid information interaction topology generation method and device for cooperative situation awareness of unmanned aerial vehicle - Google Patents
Rapid information interaction topology generation method and device for cooperative situation awareness of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a method and a device for quickly generating information interaction topology for cooperative situation awareness of an unmanned aerial vehicle, and relates to the field of unmanned aerial vehicle communication. The method comprises the following steps: acquiring a collaborative situation awareness network of the unmanned aerial vehicle; acquiring a minimum spanning tree based on a collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree; acquiring a communication network based on a collaborative situation awareness network; and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception. The generation method provided by the invention improves the efficiency of cooperatively executing the situation awareness task by the unmanned aerial vehicle.
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 generating information interaction topology for unmanned aerial vehicle collaborative situation awareness.
Background
Unmanned Aerial Vehicle (UAV) is a reusable aircraft that is unmanned, autonomously controlled with a vehicle-mounted or ground automatic flight system, containing a power system. The unmanned aerial vehicle has wide application in military field and civil field by virtue of the advantages. However, a single unmanned aerial vehicle has a slightly insufficient capability when executing a situation awareness task, and in order to improve the efficiency of executing the situation awareness task, multiple unmanned aerial vehicles are often adopted to jointly form a collaborative situation awareness network, and an optimal information interaction topology is selected on the basis of the network for information interaction so as to cooperatively execute the situation awareness task.
In the prior art, when a plurality of unmanned aerial vehicles are controlled to cooperatively execute situation awareness tasks, a cooperative situation awareness network of the unmanned aerial vehicles is generally constructed first, an optimal rigid graph formed by the unmanned aerial vehicles is obtained according to the network, an optimal information interaction topology for cooperative situation awareness of the unmanned aerial vehicles is obtained through the optimal rigid graph, the information interaction topology is used for controlling the unmanned aerial vehicles to perform information interaction so as to cooperatively execute the situation awareness tasks, and the lowest communication cost among the unmanned aerial vehicles is ensured.
However, the inventor of the application finds that in the prior art, when the optimal information interaction topology for cooperative situation awareness of the unmanned aerial vehicles is obtained, due to the fact that the method is complex, time spent in calculating the information interaction topology is long, and at the moment, multiple unmanned aerial vehicles cannot efficiently execute a situation awareness task, namely, the prior art has the defect of low efficiency.
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 generating information interaction topology for cooperative situation awareness of an unmanned aerial vehicle, and solves the problem of low efficiency 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 method for quickly generating information interaction topology for cooperative situation awareness of unmanned aerial vehicles, which is used for solving the technical problem and is executed by a computer, and the method comprises the following steps:
acquiring a collaborative situation awareness network of the unmanned aerial vehicle;
acquiring a minimum spanning tree based on the collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree;
acquiring a communication network based on the collaborative situation awareness network;
and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception.
Preferably, the method for acquiring the undirected graph includes:
acquiring a first minimum spanning tree of the collaborative situation awareness network, and deleting edges in the first minimum spanning tree from the collaborative situation awareness network to obtain a first awareness network;
acquiring a second minimum spanning tree of the first perception network;
and merging the first minimum spanning tree and the second minimum spanning tree to obtain the undirected graph.
Preferably, the method for acquiring the communication network includes:
deleting the edge in the undirected graph from the collaborative situation awareness network to obtain a second awareness network; and sequencing the edges in the second perception network according to the sequence of the weights from low to high to obtain the communication network.
Preferably, the method for obtaining the three-dimensional optimal rigid map includes:
s401, acquiring a kth edge of the communication network, wherein k is 1;
s402, judging the number | E of edges in the undirected graph*Whether | and the number V of unmanned aerial vehicles satisfy a preset condition: i E*|<3 x V-6, if a preset condition is met, adding the k-th edge into the undirected graph to obtain a first undirected graph; if the preset condition is not met, the undirected graph is a three-dimensional optimal rigid graph;
s403, judging whether the rank of the stiffness matrix corresponding to the first undirected graph is a full rank, if so, not processing, and naming the first undirected graph as a second undirected graph; if the condition is not met, deleting the kth edge from the first undirected graph to obtain a second undirected graph;
s404, updating the value of k;
s405, judging whether the second undirected graph meets a preset condition, if so, updating data in the undirected graph into data in the second undirected graph, jumping to S402, and repeating the steps S402-S405; and if the condition is not met, the second undirected graph is the three-dimensional optimal rigid graph.
The invention provides an information interaction topology rapid generation device for unmanned aerial vehicle collaborative situation awareness, 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:
acquiring a collaborative situation awareness network of the unmanned aerial vehicle;
acquiring a minimum spanning tree based on the collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree;
acquiring a communication network based on the collaborative situation awareness network;
and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception.
Preferably, the method for acquiring the undirected graph includes:
acquiring a first minimum spanning tree of the collaborative situation awareness network, and deleting edges in the first minimum spanning tree from the collaborative situation awareness network to obtain a first awareness network;
acquiring a second minimum spanning tree of the first perception network;
and merging the first minimum spanning tree and the second minimum spanning tree to obtain the undirected graph.
Preferably, the method for acquiring the communication network includes:
deleting the edge in the undirected graph from the collaborative situation awareness network to obtain a second awareness network; and sequencing the edges in the second perception network according to the sequence of the weights from low to high to obtain the communication network.
Preferably, the method for obtaining the three-dimensional optimal rigid map includes:
s401, acquiring a kth edge of the communication network, wherein k is 1;
s402, judging the number | E of edges in the undirected graph*Whether | and the number V of unmanned aerial vehicles satisfy a preset condition: i E*|<3 x V-6, if a preset condition is met, adding the k-th edge into the undirected graph to obtain a first undirected graph; if the undirected graph does not meet the preset conditions, the undirected graph is a three-dimensional optimal rigid graph;
s403, judging whether the rank of the stiffness matrix corresponding to the first undirected graph is a full rank, if so, not processing, and naming the first undirected graph as a second undirected graph; if the condition is not met, deleting the kth edge from the first undirected graph to obtain a second undirected graph;
s404, updating the value of k;
s405, judging whether the second undirected graph meets a preset condition, if so, updating data in the undirected graph into data in the second undirected graph, jumping to S402, and repeating the steps S402-S405; and if the condition is not met, the second undirected graph is the three-dimensional optimal rigid graph.
(III) advantageous effects
The invention provides a method and a device for quickly generating information interaction topology for cooperative situation awareness of an unmanned aerial vehicle. Compared with the prior art, the method has the following beneficial effects:
the method comprises the steps of acquiring a collaborative situation awareness network of the unmanned aerial vehicle; acquiring a minimum spanning tree based on a collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree; acquiring a communication network based on a collaborative situation awareness network; and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception. Compared with the prior art, the method provided by the invention has the advantages that the three-dimensional optimal rigid graph does not need to be obtained from the edge with the lowest first weight value in the collaborative situation awareness network, so that the method is relatively simple, the overall time complexity of the method is low, the optimal information interaction topology for collaborative situation awareness of the unmanned aerial vehicle can be rapidly calculated, the energy consumed for calculating the information interaction topology is reduced, the efficiency of cooperatively executing the situation awareness task by the unmanned aerial vehicle is improved, and the unmanned aerial vehicle can more efficiently and stably execute the situation awareness task cooperatively.
Drawings
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 generating an information interaction topology for unmanned aerial vehicle collaborative situation awareness 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 rapidly generating information interaction topology for unmanned aerial vehicle collaborative situation awareness, solves the problem of low efficiency in the prior art, and improves the efficiency of unmanned aerial vehicle collaborative execution of situation awareness tasks.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
the embodiment of the invention obtains the collaborative situation awareness network of the unmanned aerial vehicle; acquiring a minimum spanning tree based on a collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree; acquiring a communication network based on a collaborative situation awareness network; and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception. Compared with the prior art, the method provided by the embodiment of the invention has the advantages that the three-dimensional optimal rigid graph does not need to be obtained from the edge with the lowest first weight value in the collaborative situation awareness network, so that the method is relatively simple, the overall time complexity of the method is low, the optimal information interaction topology for collaborative situation awareness of the unmanned aerial vehicle can be rapidly calculated, the energy consumed for calculating the information interaction topology is reduced, the efficiency for cooperatively executing the situation awareness task by the unmanned aerial vehicle is improved, and the unmanned aerial vehicle can more efficiently and stably execute the situation awareness task cooperatively.
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.
An embodiment of the present invention provides a generating method, as shown in fig. 1, where the generating method is executed by a computer, and includes the following steps:
s1, acquiring a collaborative situation awareness network of the unmanned aerial vehicle;
s2, acquiring a minimum spanning tree based on the collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree;
s3, acquiring a communication network based on the collaborative situation awareness network;
s4, acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception.
The embodiment of the invention obtains the collaborative situation awareness network of the unmanned aerial vehicle; acquiring a minimum spanning tree based on a collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree; acquiring a communication network based on a collaborative situation awareness network; and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception. Compared with the prior art, the method provided by the embodiment of the invention has the advantages that the three-dimensional optimal rigid graph does not need to be obtained from the edge with the lowest first weight value in the collaborative situation awareness network, so that the method is relatively simple, the overall time complexity of the method is low, the optimal information interaction topology for collaborative situation awareness of the unmanned aerial vehicle can be rapidly calculated, the energy consumed by calculation of the information interaction topology is reduced, the efficiency of cooperatively executing the situation awareness task by the unmanned aerial vehicle is improved, and the unmanned aerial vehicle is more efficient and stable in cooperatively executing the situation awareness task.
Specifically, the method is executed by a computer of a ground control center, and then the calculation result is sent to each unmanned aerial vehicle to control the multiple unmanned aerial vehicles to fly and execute tasks.
The following steps are described in detail:
in step S1, a collaborative situation awareness network of the drone is acquired.
Specifically, in practical application, the available communication links between the unmanned aerial vehicles are determined according to the three-dimensional space position preset by the unmanned aerial vehicle and the communication range of the unmanned aerial vehicle, and the cooperative situation awareness network is constructed by taking the unmanned aerial vehicle as a node and the available communication links as edges.
The embodiment of the invention sets n UAVs to form a collaborative situation awareness network through communication connection among the UAVs. The n positions in the collaborative situation awareness network are respectively numbered as {1,2, …, n }, and the positions of all the unmanned aerial vehicles at least comprise two heights.
Specifically, the collaborative situational awareness network is denoted as G ═ V, E, W.
Wherein:
V＝{vi1 ≦ i ≦ n is the set of nodes represented by the drone, where v isiRepresenting UAViI.e. the ith drone.
E＝{eijJ ≦ n, where e is the set of edges formed by every two drone nodesijRepresenting a UAViAnd UAVjCommunication link between, such that UAViAnd UAVjMay transmit information to each other.
W＝{w(eij)},eijE is the set of weights for all edges, where w (E)ij) Representing slave UAVsiAnd UAVjCommunication link e betweenijThe cost of (a).
In step S2, a minimum spanning tree is obtained based on the collaborative situational awareness network, and an undirected graph is obtained based on the minimum spanning tree.
Specifically, in the embodiment of the present invention, a first minimum spanning tree of the collaborative situational awareness network is obtained, and an edge in the first minimum spanning tree is deleted from the collaborative situational awareness network, so as to obtain a first awareness network.
And acquiring a second minimum spanning tree of the first perception network.
And combining the first minimum spanning tree and the second minimum spanning tree to obtain the undirected graph.
In step S3, a communication network D is acquired based on the above-described collaborative situational awareness network.
Specifically, the method for acquiring the communication network comprises the following steps:
and deleting the edges in the undirected graph from the collaborative situation awareness network to obtain a second awareness network.
Specifically, the method for acquiring the second sensing network further includes: and deleting the edge in the second minimum spanning tree from the first perception network to obtain a second perception network.
And sequencing the edges in the second perception network according to the sequence of the weights from low to high to obtain the communication network.
In step S4, a three-dimensional optimal rigid graph is obtained based on the undirected graph and the communication network, where the three-dimensional optimal rigid graph is an information interaction topology of the unmanned aerial vehicle collaborative situation awareness network.
Specifically, the method for acquiring the three-dimensional optimal rigid graph includes:
and S401, acquiring the kth edge of the communication network, wherein k is 1.
S402, judging the number | E of the edges in the undirected graph*Whether l and the number V of the drones satisfy a preset condition: i E*|<3 x V-6, if a preset condition is met, adding the k-th edge into the undirected graph to obtain a first undirected graph; and if the preset condition is not met, the undirected graph is the three-dimensional optimal rigid graph.
S403, judging whether the rank of the stiffness matrix corresponding to the first undirected graph is a full rank, if so, not processing, and naming the first undirected graph as a second undirected graph; and if the condition is not met, deleting the k-th edge from the first undirected graph to obtain a second undirected graph.
And S404, updating the value of the k. Specifically, k is k + 1.
S405, judging whether the second undirected graph meets a preset condition, if so, updating the data in the undirected graph into the data in the second undirected graph, jumping to S402, and repeating the steps S402-S405; and if the condition is not met, the second undirected graph is the three-dimensional optimal rigid graph.
Specifically, step S4 can be represented by table 1:
TABLE 1
Specifically, table 1 may also be expressed as the following algorithm steps:
the obtained three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception.
And all the unmanned aerial vehicles carry out information interaction according to the information interaction topology so as to cooperatively execute the situation awareness task.
In the embodiment of the present invention, in the specific implementation, the time complexity of step S2 is: o (2 × (| E |. times. log | V |)).
The time complexity of step S3 is: o (| E | × log | E |).
The time complexity of step S4 is about: o (8X V non-charging)4). It should be noted that S4 needs to calculate | V | -4 times at least, and the time complexity of calculating the rank of matrix M at the i-th time is
Wherein m isiThe number of rows of M at the i-th calculation. The best case is that every new row added to M can be satisfied, where only n ═ V | -4 times need to be calculated, and M is the number of rows M of M at the i-th calculationi2 × | -2+ i ═ m + i (let m ═ 2 × | V | -2), so the temporal complexity of S4 is about:
therefore, the time complexity of the method provided by the embodiment of the invention is about: o (8X V non-conducting phosphor)4)。
Whereas the time complexity of the methods provided by the prior art is about: o (20X V non-conducting phosphor)4)。
Compared with the prior art, the method provided by the embodiment of the invention has lower time complexity when the information interaction topology of unmanned aerial vehicle collaborative situation awareness is obtained, so that the information interaction topology can be calculated more quickly, the time for calculating the information interaction topology is reduced, the energy consumed by calculating the information interaction topology is reduced, and the efficiency of the unmanned aerial vehicle collaborative situation awareness task execution is improved.
The embodiment of the invention also provides an information interaction topology rapid generation device for unmanned aerial vehicle collaborative situation awareness, the device comprises a computer, and 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 a collaborative situation awareness network of the unmanned aerial vehicle;
s2, acquiring a minimum spanning tree based on the collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree;
s3, acquiring a communication network based on the collaborative situation awareness network;
s4, acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception.
It can be understood that, the generation apparatus provided in the embodiment of the present invention corresponds to the generation method, and the explanation, examples, and beneficial effects of the relevant content may refer to the corresponding content in the information interaction topology rapid generation method for unmanned aerial vehicle collaborative situation awareness, which is not described herein again.
In summary, compared with the prior art, the method has the following beneficial effects:
the embodiment of the invention obtains the collaborative situation awareness network of the unmanned aerial vehicle; acquiring a minimum spanning tree based on a collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree; acquiring a communication network based on a collaborative situation awareness network; and acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is the optimal information interaction topology for unmanned aerial vehicle collaborative situation perception. Compared with the prior art, the method provided by the embodiment of the invention has the advantages that the three-dimensional optimal rigid graph does not need to be obtained from the edge with the lowest first weight value in the collaborative situation awareness network, so that the method is relatively simple, the overall time complexity of the method is low, the optimal information interaction topology for collaborative situation awareness of the unmanned aerial vehicle can be rapidly calculated, the energy consumed for calculating the information interaction topology is reduced, the efficiency for cooperatively executing the situation awareness task by the unmanned aerial vehicle is improved, and the unmanned aerial vehicle can more efficiently and stably execute the situation awareness task cooperatively.
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. However, it is understood 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 phrase "comprising an … …" does not exclude the presence of other identical 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, but 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. An unmanned aerial vehicle collaborative situation awareness information interaction topology rapid generation method is characterized in that the generation method is executed by a computer and comprises the following steps:
acquiring a collaborative situation awareness network of the unmanned aerial vehicle;
acquiring a minimum spanning tree based on the collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree;
acquiring a communication network based on the collaborative situation awareness network;
acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is an optimal information interaction topology for unmanned aerial vehicle collaborative situation perception;
the method for acquiring the three-dimensional optimal rigid map comprises the following steps:
s401, acquiring the first part of the communication networkkThe edges of the strip, wherein,k=1；
s402, judging the number of edges in the undirected graph
And number of dronesVWhether a preset condition is met:
if a predetermined condition is satisfied, the first stepkAdding the edges into the undirected graph to obtain a first undirected graph; if the undirected graph does not meet the preset conditions, the undirected graph is a three-dimensional optimal rigid graph;
s403, judging whether the rank of the stiffness matrix corresponding to the first undirected graph is a full rank, if so, not processing, and naming the first undirected graph as a second undirected graph; if the condition is not satisfied, the second stepkDeleting edges from the first undirected graphObtaining a second undirected graph;
s404, updating thekTaking the value of (A);
s405, judging whether the second undirected graph meets a preset condition, if so, updating data in the undirected graph into data in the second undirected graph, jumping to S402, and repeating the steps S402-S405; and if the condition is not met, the second undirected graph is the three-dimensional optimal rigid graph.
2. The generation method of claim 1, wherein the undirected graph acquisition method comprises:
acquiring a first minimum spanning tree of the collaborative situation awareness network, and deleting edges in the first minimum spanning tree from the collaborative situation awareness network to obtain a first awareness network;
acquiring a second minimum spanning tree of the first sensing network;
and merging the first minimum spanning tree and the second minimum spanning tree to obtain the undirected graph.
3. The generation method of claim 1, wherein the acquisition method of the communication network comprises:
deleting the edge in the undirected graph from the collaborative situation awareness network to obtain a second awareness network; and sequencing the edges in the second perception network according to the sequence of the weights from low to high to obtain the communication network.
4. An unmanned aerial vehicle collaborative situation awareness information interaction topology rapid generation device, 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:
acquiring a collaborative situation awareness network of the unmanned aerial vehicle;
acquiring a minimum spanning tree based on the collaborative situation awareness network, and acquiring an undirected graph based on the minimum spanning tree;
acquiring a communication network based on the collaborative situation awareness network;
acquiring a three-dimensional optimal rigid graph based on the undirected graph and the communication network, wherein the three-dimensional optimal rigid graph is an optimal information interaction topology for unmanned aerial vehicle collaborative situation perception;
the method for acquiring the three-dimensional optimal rigid map comprises the following steps:
s401, obtaining the first of the communication networkkThe edges of the strip, wherein,k=1；
s402, judging the number of edges in the undirected graph
And number of dronesVWhether a preset condition is met:
if a predetermined condition is satisfied, the first stepkAdding the edges into the undirected graph to obtain a first undirected graph; if the undirected graph does not meet the preset conditions, the undirected graph is a three-dimensional optimal rigid graph;
s403, judging whether the rank of the stiffness matrix corresponding to the first undirected graph is a full rank, if so, not processing, and naming the first undirected graph as a second undirected graph; if the condition is not satisfied, the second stepkDeleting the edges from the first undirected graph to obtain a second undirected graph;
s404, updating thekTaking the value of (a);
s405, judging whether the second undirected graph meets a preset condition, if so, updating data in the undirected graph into data in the second undirected graph, jumping to S402, and repeating the steps S402-S405; and if the condition is not met, the second undirected graph is the three-dimensional optimal rigid graph.
5. The generation apparatus of claim 4, wherein the undirected graph acquisition method comprises:
acquiring a first minimum spanning tree of the collaborative situation awareness network, and deleting edges in the first minimum spanning tree from the collaborative situation awareness network to obtain a first awareness network;
acquiring a second minimum spanning tree of the first perception network;
and combining the first minimum spanning tree and the second minimum spanning tree to obtain the undirected graph.
6. The generation apparatus according to claim 4, wherein the acquisition method of the communication network includes:
deleting the edge in the undirected graph from the collaborative situation awareness network to obtain a second awareness network; and sequencing the edges in the second perception network according to the sequence of the weights from low to high to obtain the communication network.
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