CN111212384A - Unmanned aerial vehicle multi-data-chain intelligent switching method - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle multi-data-chain intelligent switching method, and relates to the field of unmanned aerial vehicle data communication. Aiming at the defect of mechanical preset decision making under the condition that a main communication link such as a data transmission radio station and mobile communication is disconnected in the multi-link communication of the existing unmanned aerial vehicle, the invention utilizes Beidou short message communication to construct an offline information message and transmit the offline information message to a ground station end under the condition that the main communication link is completely disconnected; and the ground station end receives the loss of connection information message, recovers the flight dynamic state of the unmanned aerial vehicle before loss of connection, analyzes the loss of connection reason of the unmanned aerial vehicle by combining a signal distribution three-dimensional graph, constructs a no-fly area, and evaluates and decides a flight control command to realize the recovery of the main communication link of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to an intelligent switching method for multiple communication data links between an unmanned aerial vehicle and a ground station, in particular to a disposal and recovery mechanism under the condition that one or more data links are disconnected.
Background
At present, a communication data link between an unmanned aerial vehicle and a ground station mainly comprises a data transmission radio station, a mobile communication mode, a Beidou short message mode and the like, wherein the data transmission radio station has good real-time performance and short transmission distance; the mobile communication means that data transmission channels provided by telecom operators are used, including GSM, 3G, 4G and 5G to be commercially operated, the signal coverage is wide, but a signal blind area exists, and the height is limited; the Beidou short message is based on satellite communication, can realize full airspace communication, but has low communication capacity, cannot meet the real-time requirement, and can only be used for emergency communication. Single data link communication has risks, and multiple data link communication is often adopted, wherein a data radio station and mobile communication are often used as a main communication link, and a Beidou short message is used as a monitoring and emergency communication link.
The current unmanned aerial vehicle multi-data-chain communication method usually focuses on the transmission quality of each communication link, performs switching of related links mechanically according to the transmission quality, and does not fully utilize the position, height and state of the unmanned aerial vehicle to perform comprehensive intelligent judgment and decision by combining with indexable information such as landform and mobile signal distribution. The patent communication method for the unmanned aerial vehicle (application number: CN201410841718.3) periodically detects the signal strength of a mobile communication link to select to use mobile communication or Beidou short message communication; the patent wireless communication method, the device, the unmanned aerial vehicle and the unmanned aerial vehicle control system (application number: CN201910672651.8) switches to a second communication link, namely a Beidou short message communication link, under the condition that a first communication link, namely a mobile communication link, is determined to be disconnected; the patent No. CN103499975B describes the application of Beidou short message to unmanned aerial vehicle, including downloading positioning and attitude information based on Beidou short message unmanned aerial vehicle, and uploading control information by ground station, but on one hand, the Beidou short message single data chain does not relate to multi-data chain operation, and on the other hand, the patent No. CN103499975B does not describe and makes relevant claims on how to generate unmanned aerial vehicle control instruction by positioning information and attitude information.
Disclosure of Invention
In order to overcome the defect of mechanical preset decision-making under the condition that main communication links such as a data transmission radio station and mobile communication are disconnected in existing unmanned aerial vehicle multilink communication, the invention provides an unmanned aerial vehicle multilink intelligent switching method which can utilize Beidou short message communication to comprehensively evaluate and decide flight control instructions to realize unmanned aerial vehicle main communication link recovery.
The technical scheme adopted by the invention for solving the technical problems is as follows: the unmanned aerial vehicle end selects a data transmission radio station and mobile communication as a main communication link, and the link monitoring and switching are carried out through a main communication link maintenance module; under the condition that a main communication link is completely disconnected, an unmanned aerial vehicle end constructs an offline information message and transmits the offline information message to a ground station end through a Beidou short message;
the ground station end constructs a signal distribution three-dimensional graph of the data transmission radio station and the mobile communication; the ground station end receives the loss of connection information message, recovers the flight dynamic of the unmanned aerial vehicle before loss of connection, analyzes the loss of connection reasons of the unmanned aerial vehicle by combining a signal distribution three-dimensional graph, constructs a no-fly area and generates a flight plan; the ground station end generates an unmanned aerial vehicle operation instruction according to the flight plan and sends the unmanned aerial vehicle operation instruction to the unmanned aerial vehicle end through a Beidou short message; and the unmanned aerial vehicle end executes the unmanned aerial vehicle operation instruction, and repeats the operations of constructing the loss of connection information message and transmitting the loss of connection information message to the ground station end through the Beidou short message at intervals of one Beidou short message transmission period until the main communication link is recovered.
As a preferred scheme of the present invention, the loss of connection information message includes flight path information before loss of connection, flight state information, and flight action information.
As a preferable scheme of the present invention, the flight state information at least includes battery/fuel amount information, flight mode information, flight attitude information, and flight speed information.
As a preferred scheme of the invention, considering that the communication frequency and the communication traffic of the civil Beidou card are limited, the loss of contact information message also comprises a compression step of the loss of contact information message before being transmitted to the ground station end through the Beidou short message.
As a preferred scheme of the present invention, the signal distribution three-dimensional diagram of the data transmission radio station and the mobile communication constructed by the ground station terminal specifically comprises: and the ground station terminal is based on the GIS, combines the mobile communication base station distribution data, the mountain terrain elevation data and the town distribution data, constructs a signal three-dimensional graph based on base station distribution and a signal three-dimensional graph based on resident district distribution, and superposes and combines the signal three-dimensional graphs to obtain the data radio station and mobile communication signal distribution three-dimensional graph.
As a preferred scheme of the present invention, the generating of the flight plan is to generate obstacle information according to the geographical elevation information, the building information, and the no-fly area; generating the remaining endurance mileage of the unmanned aerial vehicle according to the model, load and current battery/fuel quantity information of the unmanned aerial vehicle; and generating a flight track according to the signal distribution condition and the flight mission points.
Further, the flight trajectory is generated as follows: avoid the obstacle completely, and the closer to the obstacle, the greater the cost; flying in a signal distribution area as much as possible, wherein the worse the signal confidence coefficient is, the higher the cost is; the flight path is shortened as much as possible, the longer the flight path is, the higher the cost is, and the flight path is sharply enlarged when the remaining endurance mileage is approached.
The method has the advantages that under the condition that the data transmission radio station is disconnected with the main communication link such as mobile communication and the like, the flying dynamic state of the unmanned aerial vehicle before disconnection can be recovered, and the flying path can be intelligently generated in a signal coverage area to recover the main communication link.
Drawings
FIG. 1 is a block diagram of an implementation of the method of the present invention;
FIG. 2 is a flow chart of signal three-dimensional profile construction;
FIG. 3 is a three-dimensional distribution diagram of a single base station signal;
FIG. 4 is a schematic diagram of horizontal confidence calculation;
FIG. 5 is a schematic diagram of vertical confidence calculation with preferred parameter mount point height;
FIG. 6 is a schematic diagram of vertical confidence calculation for a mount point height without the preferred parameter.
Detailed Description
The invention will be further illustrated and described with reference to specific embodiments. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.
Fig. 1 is a schematic diagram of the present invention, in which an unmanned aerial vehicle preferentially selects a data transmission radio station and a mobile communication as a main communication link, and a main communication link maintenance module is designed to be responsible for mechanical link monitoring and switching, which is consistent with the existing method; under the condition that a link of the unmanned aerial vehicle is completely disconnected, considering the frequency limit of once communication of Beidou short messages in 30-60 seconds, a 'single-end one-time transmission' scheme is designed, and the unmanned aerial vehicle constructs an unconnection information message including flight tracks before unconnection, flight states, flight actions and the like and transmits the unconnection information message to a ground station end through the Beidou short message; the ground station terminal is based on a GIS, and a three-dimensional map of the distribution of the data transmission radio station and the mobile communication signals is constructed by combining the distribution data of the mobile communication base station, the terrain elevation data of mountainous areas, the town distribution data and the like; the ground station end receives the loss of connection information message, recovers the flight dynamic state of the unmanned aerial vehicle before loss of connection, analyzes the loss of connection reason of the unmanned aerial vehicle by combining a signal distribution three-dimensional graph, generates a flight plan limited by factors such as terrain, airspace, endurance and the like, and enables the flight plan airway to be distributed in a signal area as much as possible, thereby promoting the recovery of a main communication link as soon as possible; the ground station end generates an unmanned aerial vehicle operation instruction according to the flight plan and sends the unmanned aerial vehicle operation instruction to the unmanned aerial vehicle end through a Beidou short message; the unmanned aerial vehicle executes instructions. And repeating the operation at intervals of one Beidou short message sending period until the main communication link is recovered.
Method for constructing loss of contact information message
Under the condition that the unmanned aerial vehicle end detects that main communication links such as a data transmission radio station and mobile communication are completely disconnected, an offline information message is constructed and transmitted to the ground station end through a Beidou short message. The loss of connection information message comprises elements such as unmanned aerial vehicle labels, flight states, flight tracks, flight mission points, time, verification and the like, wherein the flight states at least comprise information such as battery/fuel quantity, flight modes, flight attitudes, flight speeds and the like.
The Beidou short message communication frequency and the communication traffic are determined according to the grade of the Beidou card, the communication frequency can reach 1 second/time at most, and the communication traffic can reach 240 bytes/time at most. The Beidou card with higher level is usually military, and the communication frequency and communication traffic of the civil Beidou card are limited and must be compressed.
Taking a certain type of Beidou card which is easily obtained in practice as an example, the communication frequency of the Beidou card is 30 seconds/time, and the communication quantity is 78 bytes/time, and the method for constructing and compressing the loss connection information message is explained.
The general structural design of the loss of connection information message is shown in table 1, and the loss of connection information message is composed of an unmanned aerial vehicle label, a flight state, a flight track, a flight mission point, time and verification, and is respectively explained as follows:
table 1 general structure of loss of contact information message
Unmanned aerial vehicle reference numeral: 2 bytes, a uint16 type, a range of 0-65535, a unique identifier, and a pre-allocation mode.
The flight state is as follows: 20 bytes, which represents the current state-of-the-art value, and the composition structure is shown in table 2, wherein the NED coordinate system refers to a rectangular coordinate system with 3 axes pointing to the true north, the true east, and the center of the earth respectively:
TABLE 2 flight status Structure
Flight path: 41 bytes, the composition structure is shown in Table 3:
flight mission points: and 11 bytes, presetting a next task point to be reached in the flight plan, and conforming to the current latest coordinate representation method in the flight path.
Time: 2 bytes, fluid 16 type, current latest value time, measured in seconds from drone startup time, and retimed after 65535 seconds (about 18 hours).
And (3) effect test: 2 bytes, performing CRC check on the message information of the first 76 bytes, and reserving the last 2 bytes of the last check result.
Two, signal three-dimensional distribution map construction
The signal three-dimensional distribution diagram construction mainly comprises the steps of geographic elevation data drawing, mobile base station signal three-dimensional diagram drawing and the like. The geographic elevation data is drawn by referring to methods such as a method for establishing a three-dimensional terrain finite element model (application number: CN201810199452.5), a terrain display system based on elevation tile data (application number: CN201711304727.9) and the like. The process of drawing the mobile base station signal three-dimensional graph is shown in fig. 2, and the process is mainly formed by superposing and combining 2 relatively independent processes of signal three-dimensional graph construction based on base station distribution and signal three-dimensional graph construction based on residential area distribution.
And constructing big data depending on the mobile base station based on a signal three-dimensional graph distributed by the base station. As shown in FIG. 3, the single base station has the main data of longitude lon of installation point, latitude lat of installation point, and radius R of coverage, and preferably also includes height H of installation pointiHeight of coverage Hc。
As shown in fig. 2, a signal three-dimensional graph based on base station distribution is constructed, and signal distribution brought by a base station is directly considered, including 4 processes of generating a signal coverage circle S301, calculating a signal coverage height S302, calculating a shielded area S303, and superimposing the signal coverage area S306.
S301: the altitude alt of the point can be obtained from the longitude lon, the latitude lat and the elevation data, and a circle with radius R is generated at [ lon, lat, alt ].
S302: considering that the current base station data often does not have the coverage height HcThis preferred parameter, further lacking the height H of the coveragecAccurate assessment of required mounting point height HiBase station power, pitch angle, etc., and therefore only fuzzy evaluation can be performed. For the uncertainty of the fuzzy evaluation, a parameter of confidence p is increased, and the probability of signal coverage of the area is represented. If there is preferred data, i.e. coverage height HcThe parameter is [ lon, lat, alt]Height of formation HcAnd the area ofThe confidence p of the domain signal is 1, if not, the coverage height evaluation is carried out, the confidence height ratio α is set, and then the circle center [ lon, lat, alt ] is positioned]And in the area with the height h on the circular area with the radius R, the confidence coefficient p is calculated as follows:
h is below the confidence level R α, the confidence level p is 1, h is in the range of R α -2R α, the confidence level p is
h is above 2R α, the credibility p is 0, the credibility ratio α needs to be set according to the communication system and the like, and α can be set to 0.4 by taking a 4G urban base station as an example.
S303: calculating the shadow area of the base station signal formed by the occlusion of buildings and terrains, and dividing the shadow area into horizontal confidence coefficients phComputing and vertical confidence pvPart 2 is calculated. The confidence coefficient of a certain space point is p under the condition of not considering the occlusion, and the new confidence coefficient p of the space point under the condition of considering the occlusionnewComprises the following steps:
pnew＝p*ph*pv
horizontal confidence phThe calculation principle is shown in FIG. 4, wherein the distance between the obstacle and the base station is RbCoverage angle range of theta1～θ2And establishing a polar coordinate system, and then setting a horizontal plane set { (rho, theta) | rho ∈ [ R [)b,R],θ∈[θ1,θ2]Is the occlusion region, horizontal confidence phIs 0 and the rest is 1.
The vertical confidence may be based on whether the preferred parameter mount point height H is includediThere are 2 cases. As shown in FIG. 5, the height H of the mounting point is preferably determinediIn the case of (1), HiIs a definite value, extract the height h of the obstruction1Horizontal distance l between the shelter and the base station1And establishing a rectangular coordinate system. At h1≥HiIn the case of (1), the shade is not on the base station side, i.e., the set { (x, y) | x ∈ [ l ∈ [ ]1,R],y∈[0,2Rα]The confidence is 0 and the rest is 1. OtherwiseSet of vertical planes
For occluded regions, vertical confidence pvIs 0 and the rest is 1.
As shown in FIG. 6, the preferred parameter mount point height H is not included in the vertical confidence calculationiIn the case of (2), the mounting point estimation is required. Determining the installation height range [ H ] of the base station according to the type and installation area of the base station1,H2]Taking the 4G base station as an example, the installation range of the height of the base station is shown in table 3. Height h of extraction barrier1Horizontal distance l between the shelter and the base station1At h in1≥H2In the case of (1), the shade is not on the base station side, i.e., the set { (x, y) | x ∈ [ l ∈ [ ]1,R],y∈[0,2Rα]The confidence is 0 and the rest is 1. Otherwise, updating the lower limit H of the installation height of the base station2＝max(H2,h1) Is lower than the height h of the shielding object1The base station of (2) does not need to calculate; the lower the base station installation height, the greater the influence of the shade, so it can be assumed that the lower limit of the base station installation height H is2No shielding is always carried out at the position without shielding under the condition, and the upper limit H of the installation height of the base station1The shielded area is always shielded, and the middle condition is based on the upper limit H of the installation of the base station1Lower limit of installation height H2The horizontal distance ratio to the boundary formed by the shield is estimated as follows:
table 3 base station installation height reference table
| Region(s) | Optimal mounting height (rice) | Installation range (m) [ H1,H2] |
| Dense urban area | 25 | 15-30 |
| General urban district and county city center | 30 | 25-35 |
| County city and village and town center | 35 | 25-40 |
| Other areas such as rural areas | 35 | 25-45 |
S306: and initializing 0 for the full-space confidence, gradually traversing the influence of each base station on the space confidence, and reserving the highest value for each space confidence.
The signal three-dimensional graph construction based on residential area distribution is carried out aiming at the current situation that the residential areas basically carry out effective signal coverage, and comprises 3 processes of S303 residential area generation, S304 signal coverage area calculation and S305 area superposition.
And S303, indexing the resident distribution big data and constructing a resident coverage area base map.
S304, setting a confidence level ratio α, and on the floor map of the residential coverage area, in the area with the height h, calculating the confidence level p by the following method, wherein β is the maximum value of the confidence level of the signal distribution of the residential area:
compared with the base station distribution construction, the resident distribution construction belongs to guess properties, the confidence level is correspondingly reduced, the reduction coefficient is β (β is less than or equal to 1), β can be set to be 0.5. L, the value is taken according to the type of a residential area, the dense urban area is 400 meters, the center of a general urban area and a county city is 500 meters, and other areas such as the county city and the county country are 600 meters.
S305: and (5) gradually traversing the influence of each residential area on the space confidence, and reserving the highest value for each space confidence.
S306: and initializing 0 for the full-space confidence, gradually traversing the influence of each resident coverage area on the space confidence, and keeping the highest value for each space confidence.
Third, intelligent decision making based on GIS
And intelligent decision making based on the GIS comprises processes of loss of association reason analysis, flight forbidding area construction, comprehensive intelligent decision making and the like.
Lose and allie oneself with reason analysis, after unmanned aerial vehicle loses allies oneself with, the ground satellite station receives unmanned aerial vehicle through the short message of big dipper and loses allies oneself with the information message, analysis unmanned aerial vehicle loses allies oneself with the reason, unmanned aerial vehicle loses allies oneself with the reason and simply can divide into 4 kinds such as unmanned aerial vehicle trouble, the link is obstructed, the ground satellite station trouble, main communication module trouble, wherein the link is obstructed and need further judgement with main communication module trouble, wherein the link is obstructed can divide into again that highly too high, do not have basic station cover, receive and shelter from, other 4 kinds.
TABLE 4 analysis of the reason for loss of connection of unmanned aerial vehicle
And determining the next operation step according to the loss of connection reason. Under the condition of unmanned aerial vehicle faults, ground station faults and main communication module faults, the unmanned aerial vehicle is recovered manually according to the last loss of connection coordinate. In the case of a link failure, a link recovery operation is performed.
And (4) building a no-fly area, namely building the no-fly area based on the data of the existing no-fly area, the electronic fence and the like, and setting the existing main urban area, the county center and the like as the no-fly area.
And (4) comprehensive intelligent decision making, namely performing comprehensive intelligent decision making by integrating the unmanned aerial vehicle state, the geographic elevation information, the building information, the signal distribution information, the flight mission information and the like. Generating obstacle information according to the geographical elevation information, the building information and the no-fly area; generating the remaining endurance mileage of the unmanned aerial vehicle according to the model, load, current battery/fuel quantity and other information of the unmanned aerial vehicle; generating a flight track according to the signal distribution condition and the flight mission points, wherein the generation principle is as follows: avoid the obstacle completely, and the closer to the obstacle, the greater the cost; flying in a signal distribution area as much as possible, wherein the worse the signal confidence coefficient is, the higher the cost is; shortening the flight path as much as possible, wherein the longer the flight path is, the higher the cost is, and the flight path is required to be sharply increased when the flight path is close to the remaining endurance mileage; the relevant flight path planning algorithms may include the a-algorithm, Dijkstra algorithm, etc.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An unmanned aerial vehicle multi-data chain intelligent switching method is characterized in that:
the unmanned aerial vehicle end selects a data transmission radio station and mobile communication as a main communication link, and the link monitoring and switching are carried out through a main communication link maintenance module;
under the condition that a main communication link is completely disconnected, an unmanned aerial vehicle end constructs an offline information message and transmits the offline information message to a ground station end through a Beidou short message;
the ground station end constructs a signal distribution three-dimensional graph of the data transmission radio station and the mobile communication; the ground station end receives the loss of connection information message, recovers the flight dynamic of the unmanned aerial vehicle before loss of connection, analyzes the loss of connection reasons of the unmanned aerial vehicle by combining a signal distribution three-dimensional graph, constructs a no-fly area and generates a flight plan; the ground station end generates an unmanned aerial vehicle operation instruction according to the flight plan and sends the unmanned aerial vehicle operation instruction to the unmanned aerial vehicle end through a Beidou short message; and the unmanned aerial vehicle end executes the unmanned aerial vehicle operation instruction, and repeats the operations of constructing the loss of connection information message and transmitting the loss of connection information message to the ground station end through the Beidou short message at intervals of one Beidou short message transmission period until the main communication link is recovered.
2. The method for intelligent switching of multiple data chains of unmanned aerial vehicles according to claim 1, wherein the message of the information of loss of connection comprises flight track information, flight state information and flight action information before loss of connection.
3. The unmanned aerial vehicle multi-data chain intelligent switching method according to claim 2, wherein the flight status information at least includes battery/fuel quantity information, flight mode information, flight attitude information, and flight speed information.
4. The method for unmanned aerial vehicle multi-data link intelligent switching according to claim 1, wherein the loss of connection information message further comprises a step of compressing the loss of connection information message before being transmitted to the ground station side through the beidou short message.
5. The unmanned aerial vehicle multi-data chain intelligent switching method according to claim 1, wherein the ground station side constructs a signal distribution three-dimensional diagram of data transmission radio and mobile communication, specifically: and the ground station terminal is based on the GIS, combines the mobile communication base station distribution data, the mountain terrain elevation data and the town distribution data, constructs a signal three-dimensional graph based on base station distribution and a signal three-dimensional graph based on resident district distribution, and superposes and combines the signal three-dimensional graphs to obtain the data radio station and mobile communication signal distribution three-dimensional graph.
6. The unmanned aerial vehicle multi-data chain intelligent switching method of claim 5, wherein the constructing of the signal three-dimensional map based on the base station distribution comprises the following steps:
s61: acquiring the altitude alt of the base station through the longitude lon, the latitude lat and elevation data, and generating a circle with the radius R in [ lon, lat, alt ];
s62: increasing the confidence p indicates the probability of signal coverage in the region(ii) a If the current base station data has the coverage height HcThen in [ lon, lat, alt]Height of formation HcAnd the confidence p of the signal existence in the region is 1;
if the coverage height does not exist, coverage height evaluation is carried out, a credibility height ratio α is set, and for the area with the height h on the circular area with the circle center [ lon, lat, alt ] and the radius R, the confidence p calculation method is as follows:
h is below the confidence level R α, the confidence level p is 1, h is in the range of R α -2R α, the confidence level p is
h is above 2R α, and the reliability p is 0;
s63: calculating the shadow area of the base station signal formed by the occlusion of buildings and terrains, and dividing the shadow area into horizontal confidence coefficients phComputing and vertical confidence pvCalculating;
s64: and initializing 0 for the full-space confidence, gradually traversing the influence of each base station on the space confidence, and reserving the highest value for each space confidence.
7. The unmanned aerial vehicle multi-data chain intelligent switching method according to claim 5, wherein the constructing of the signal three-dimensional map based on the distribution of the residential areas comprises the following steps:
s71, indexing the resident distribution big data and constructing a resident coverage area base map;
s72, setting a confidence level ratio α, and calculating the confidence level p in the area with the height h on the floor map of the residential coverage area according to the following method:
wherein β is the maximum value of signal distribution confidence coefficient of residential areas, β is less than or equal to 1, L is a set value, and the value is taken according to the types of the residential areas;
s73: gradually traversing the influence of each residential area on the space confidence coefficient, and reserving the highest value for each space confidence coefficient;
s74: and initializing 0 for the full-space confidence, gradually traversing the influence of each resident coverage area on the space confidence, and keeping the highest value for each space confidence.
8. The unmanned aerial vehicle multi-data chain intelligent switching method according to claim 1, wherein the no-fly area is constructed based on existing no-fly areas and electronic fence data, and existing urban areas and county centers are also set as no-fly areas.
9. The unmanned aerial vehicle multi-data chain intelligent switching method as claimed in claim 1, wherein the generating of the flight plan is generating obstacle information based on the geographical elevation information, the building information, and the no-fly zone; generating the remaining endurance mileage of the unmanned aerial vehicle according to the model, load and current battery/fuel quantity information of the unmanned aerial vehicle; and generating a flight track according to the signal distribution condition and the flight mission points.
10. The unmanned aerial vehicle multi-data chain intelligent switching method according to claim 9, wherein the flight trajectory is generated according to the following principle: avoid the obstacle completely, and the closer to the obstacle, the greater the cost; flying in a signal distribution area as much as possible, wherein the worse the signal confidence coefficient is, the higher the cost is; the flight path is shortened as much as possible, the longer the flight path is, the higher the cost is, and the flight path is sharply enlarged when the remaining endurance mileage is approached.
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