CN111294381B - Task planning-based heterogeneous information acquisition and distribution method - Google Patents

Task planning-based heterogeneous information acquisition and distribution method Download PDF

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CN111294381B
CN111294381B CN201911387052.8A CN201911387052A CN111294381B CN 111294381 B CN111294381 B CN 111294381B CN 201911387052 A CN201911387052 A CN 201911387052A CN 111294381 B CN111294381 B CN 111294381B
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张周
邓宝松
郄志鹏
许左宏
桑玮
王彤彤
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Tianjin (binhai) Intelligence Military-Civil Integration Innovation Center
National Defense Technology Innovation Institute PLA Academy of Military Science
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Abstract

The invention discloses a task planning-based heterogeneous information acquisition and distribution method. The method comprises the following steps: the unmanned platform collects data obtained by the load, before each task is executed, the ground system center sends information required by the task to each unmanned platform in the form of a task description file through the task planner, the unmanned platform sends load output to the load information generator in the form of metadata according to the requirement of the task description file and the load condition of the unmanned platform, inquires a message dictionary according to a message mapping library, converts the metadata into standard format data, and then transmits the classified load data to the message adapter. And the message adapter selects a proper message adapter for encapsulation according to the data type, and sends the encapsulated message adapter to other unmanned platforms in the network on different channels. The invention effectively improves the efficiency of multi-platform task collaboration and data fusion, efficiently processes and transmits heterogeneous data acquired by different unmanned platforms, and meets the requirement of collaborative tasks.

Description

Task planning-based heterogeneous information acquisition and distribution method
Technical Field
The invention relates to an unmanned platform software information processing technology, in particular to a heterogeneous information acquisition and distribution method based on task planning.
Background
At present unmanned platform (including unmanned aerial vehicle, unmanned car etc.) has all carried different loads, including Minisar, high score, infrared, electronic investigation, discernment etc. and it has become reality to carry multiple different loads on an unmanned platform, but is subject to the volume and the consumption of platform, and small-size platform (especially microminiature unmanned aerial vehicle) carries single load still is a general phenomenon. In order to jointly complete a function, such as detection and detection of a ground target, detection information from different platforms is fused in a cooperative working mode among a plurality of unmanned platforms to obtain more accurate target information, and the method becomes an effective means for improving the capability of a single unmanned platform and integrating multi-platform detection data. The existing load data of the unmanned platform is directly transmitted to a ground data fusion center through a wireless channel, if the existing load data is fused with load information of other platforms, a scheme of ground collection and fusion processing is generally adopted, as shown in figure 1, the unmanned platform carries a plurality of loads to perform detection work, the load data is output to a local information processor, a proper wireless channel is selected to be transmitted to the ground data fusion center, the data fusion center also collects the load detection data of other unmanned platforms, and after the ground data fusion center completes information fusion, the load detection data is transmitted to other unmanned platforms in a network according to the requirements of specific platforms. After each unmanned platform receives data sent by the ground data fusion center, the data are screened by using an information processor of the platform, and target data information is extracted to assist in completing specific work according to the requirements of tasks of the unmanned platforms.
Because most of the current unmanned platforms adopt a centralized distribution method when sending load data, that is, data is processed through a ground fusion center and then forwarded to the existing in-network unmanned platform, the following defects exist:
(1) the data acquired by the ground information fusion center is indiscriminately sent to other unmanned platforms in the network in a broadcasting mode, the platforms need to receive all data, no screening process is performed, the data have redundant information, the resources of wireless channels are limited, and after the platforms receive the data, the useless information is filtered through a data filter, so that the channel utilization rate of the wireless channels is greatly reduced;
(2) each unmanned platform can not acquire information as required, and each unmanned platform can only acquire all information sent by the ground system indiscriminately and then perform screening, so that the resource of the platform is wasted, and when the functions of the platform are changed (such as the task of the unmanned platform is adjusted), the receiving and processing of data can not be changed dynamically;
(3) the information formats are not uniform, the information sent on the channel has structured data information, such as position information of a detection target and state information of a sensor, and also has unstructured data, such as pictures and videos shot by a high-load-sharing unmanned platform, and the information is sent on the same channel, the frame structure is complex, the analysis efficiency is low, and the characteristic of differentiation of high and low speed channels cannot be fully utilized.
Disclosure of Invention
The invention aims to provide a task planning-based heterogeneous information acquisition and distribution method which is high in transmission efficiency and can meet the requirement of a cooperative task.
The technical solution for realizing the purpose of the invention is as follows: a task planning-based heterogeneous information acquisition and distribution method comprises the following steps:
step 1: carrying out structured representation on the load information of the unmanned platform;
step 2: registering a load data item;
and step 3: task number-payload data item set mapping;
and 4, step 4: planning all tasks executed by the unmanned platform;
and 5: sending a cooperative task load data item;
step 6: task-load data item local matching;
and 7: analyzing and converting load information;
and 8: converting the structured data into a structured message, and converting the unstructured data into a mixed structure message;
and step 9: and generating and sending the message.
Further, the structured representation of the unmanned platform load information in step 1 is as follows:
setting n loads of an unmanned platform A, describing all the loads of the unmanned platform by vectors, wherein A is (A ═ A)1,A2,...,Ai,...An) Wherein A isiIs the ith load; each load having a different load data item, load AnHas mnA payload data item; representing the load data items by vectors, the load
Figure BDA0002343902900000021
Comprising miA different payload data item
Figure BDA0002343902900000023
Are used jointly to represent the load AiInformation of different dimensions; n loads of unmanned platform A are shared
Figure BDA0002343902900000022
A payload data item.
Further, the load data item registration in step 2 is specifically as follows:
the unmanned platform registers each load data item of the unmanned platform in the ground control center so as to obtain a unique number id, the load data items of the unmanned platform are registered in the ground control center, and the ground control system can obtain information of all the load data items of the unmanned platform.
Further, the task number-payload data item set mapping described in step 3 is specifically as follows:
a task planner of the ground control center groups load data items collected by a plurality of loads in the unmanned platform according to different tasks, and realizes mapping from the tasks to a load data item set according to the load data items required by executing a certain task;
setting C1The set of payload data items required to perform a task is expressed in vectors, C1＝(C11,C12,...,C1i,...C1k)，C1iA certain payload data item, C, specifically for use in accomplishing the task1iRepresented by a single structure, C1i＝(attribute，id，p，r_num，r_id1，r_id2，...，r_idr_num) Attribute is the type of payload data item, including structured data type and unstructured data type; id is the number of the load data item; p is the weight of the load data item, the importance degree of the load data item in completing the task is set, the value is from 0 to 1, and the higher the weight is, the higher the importance degree of the data item is; r _ num is the number of associated payload data items, r _ id1For associating payload data items 1, r _ id2Is an associated payload data item 2., when r _ num is 0, there is no associated payload data item; k is the number of payload data items.
Further, the planning of all tasks executed by the unmanned platform in step 4 is specifically as follows:
a task-load data item generator of the ground system center expresses all task groups in a form of a task number-load data item set through the step 3, each task group generates a task number of a cooperative task, the corresponding load data item set is expressed in a vector form, and the statistics C are sequentially carried out1To CtA set of payload data items required by the individual task;
t tasks are set, the task group number of the t task is t, and the corresponding load data item set is
Figure BDA0002343902900000031
The number of load data items of each task group is respectively k1，k2，...，ki，...，kt。
Further, the sending of the cooperative task payload data item in step 5 is specifically as follows:
a task-load data item generator of a ground system center sends all task groups to each unmanned platform, the representation mode of the task groups is a description file containing a cooperative task number-load data item set, and the representation mode of the t-th task group in the description file is t-Ct；C1，C2，...，CtThe number of tasks performed is t for the set of payload data items required to perform the respective task.
Further, the task-load data item local matching in step 6 is specifically as follows:
the unmanned platform reads a task number-load data item set in a file according to a received description file of a task group in a cooperative task number-load data item set, selects a load data item of the platform for matching, and keeps the data item unchanged if the load data item of the platform exists in the task number-load data item set; if the platform load data item does not exist in the task number-load data item set, deleting the data item which does not exist in the platform in the task grouping;
in each task group, the load data items are sorted according to weight, and the first task group is set as 1-C1，
Figure BDA0002343902900000041
The payload data set C in the packet is read1All data items in
Figure BDA0002343902900000042
For data item C11Get (attribute, id, p, r _ num, r _ id)1，r_id2，...，r_idr_num) Value, if C11If the represented load data item can be found in the load data item of the unmanned platform, the data item is reserved; otherwise, deleting the data item; traverse all payload datasets C1All data items in the group 1-C for the first task1The data items are screened, and simultaneously, each data item is sorted according to the weight p value of the load data item, the local task group 1-C of the unmanned platform is generated before the p value is high and after the p value is low1'; then screening all task groups in sequence from task 1 to task t, and for task group t-Ct，
Figure BDA0002343902900000043
After being screenedObtaining a new set of payload data items
Figure BDA0002343902900000044
ktFor original payload data item sets CtNumber of payload data items, ktIs a new set of payload data items Ct' number of payload data items.
Further, the load information analysis and conversion in step 7 are specifically as follows:
when each unmanned platform carries out a cooperative task, sending load data item values in the task group to a load information generator in the form of metadata, namely unprocessed and converted sensor raw data;
setting the grouping situation of the tasks as t-C when the tasks are executedt'，
Figure BDA0002343902900000045
According to the payload data item Ct'1The id value of (A) obtains metadata in the sensor, and Ct' all payload metadata is exported to the message adapter on the platform, which in turn retrieves
Figure BDA0002343902900000046
The payload metadata of (a) is output to a message adapter on the platform.
Further, the structured data in step 8 is converted into a structured message, and the unstructured data is converted into a mixed structure message, which is specifically as follows:
converting the metadata of the load information by a structured message adapter of the platform, and judging according to the attribute value in the step 3:
(a) if the data is structured data, querying a data dictionary according to the content of the message mapping library, and converting the data dictionary into standard data item formatted messages, wherein the specific steps are as follows:
the load information analyzer sends the load data item metadata information to the internal load information conversion module, the conversion module reads the message library template, loads the mapping rule of the data item conversion, and searches the corresponding data item in the database according to the conversion rule of the templateConverts the payload data item to a standard data item formatting message, sets task packet t-C'tIs a set of payload data items
Figure BDA0002343902900000047
C't1C 'derived from a minisar load sensor, ((minisar-target shape, 001-'t1The metadata of the load data item of the middle minisar-target shape is converted into standard data item formatting information by inquiring a data dictionary;
(b) if the data is unstructured data, the unstructured data is converted into a mixed structure message, which is specifically as follows:
for unstructured data, an unstructured message adapter of the platform generates a mixed structure message for sending on a high-speed channel by combining the unstructured data, a timestamp, sensor additional information and associated data item data;
the unstructured data comprises pictures, videos and voice, corresponding data items are selected from the load data item set according to needs, namely associated load data items are supplemented, added to the unstructured data in the form of a header or a trailer, and a timestamp during data generation and additional data of a data sensor are added to form a mixed structure data message;
setting the length of unstructured data as M, the length of an associated load data item in a task number-load data item set as L, and setting the length of the associated load data item as L1+L2+...+LnN is the number of the associated data items, the timestamp length is T, the additional data length of the sensor for generating the unstructured load data is K, and the length of the mixed structure data is M + L + T + K;
setting task group 1-C'1Is a set of payload data items
Figure BDA0002343902900000051
Wherein C'12The payload data item is an unstructured data item (infrared-infrared map, 001-And combining the additional data of the external load to generate new mixed structure data, reading a corresponding mixed structure template, and forming a mixed structure message which can be sent on a high-speed channel according to a corresponding packaging rule.
Further, the message generation and transmission in step 9 are specifically as follows:
and encapsulating the load data required by the cooperative task into structured messages or unstructured messages, and sending the structured messages or the unstructured messages to other platforms through a wireless channel, wherein the structured messages are sent in a low-speed channel, the unstructured messages are sent in a high-speed channel, each load data item has a weight p, the sending frequency is determined according to the difference of the weight p, and the sending frequency with the weight p being high is greater than the sending frequency with the weight p being low.
Compared with the prior art, the invention has the remarkable advantages that: (1) the information acquired by the unmanned platform is planned by a ground control center, the platform processes and screens the information, the information which is beneficial to multi-platform data ground fusion and meets the planning requirement of the ground platform is sent, the information is sent to different platforms through a wireless channel to further realize screening fusion, and the efficiency of multi-platform task cooperation and data fusion is effectively improved; (2) the system has task matching capability, and acquires information related to a task according to task planning instead of issuing all information without matching and screening; (3) the load acquisition information can be packaged in a data chain message mode, structured data and unstructured data are distinguished during packaging, different message formats are respectively adapted, structured messages and mixed structure messages are formed, the data volume of the structured messages is small and is sent in a low-speed channel, the data volume of the mixed structure messages is large and is sent in a high-speed channel, and the channel utilization rate is effectively improved.
Drawings
Fig. 1 is a flow diagram of an unmanned platform data centralized processing scheme.
Fig. 2 is a flow diagram of multi-load unmanned platform heterogeneous information acquisition and processing.
Fig. 3 is a flowchart illustrating a task-planning-based heterogeneous information acquisition and distribution method according to the present invention.
Fig. 4 is a flow diagram of structured payload data message encapsulation in the present invention.
Fig. 5 is a schematic diagram of the composition structure of the mixed structure message in the present invention.
Fig. 6 is a flow chart illustrating the mixed structure message encapsulation in the present invention.
Detailed Description
For ease of understanding, some terms are explained below.
Loading: instruments, equipment, test pieces and the like which are mounted on a (unmanned) platform and designed for directly realizing a certain specific function of the platform or considering the function.
Payload data item: a load data representation (value) that a certain load can provide, such as a high-resolution load can provide data items of camera parameters, resolution, and the like;
minisar (load): a small synthetic aperture radar mounted on an unmanned platform;
high score (load): a high resolution camera, a device for capturing high resolution images, video;
infrared (load): an apparatus that can be used to capture images at night, in severe weather conditions;
electronic reconnaissance (load): a device for detecting and intercepting signals transmitted by electronic devices such as enemy radar and radio communication and acquiring communication parameters, positions and the like of the electronic devices;
structuring data: data that can be characterized by a uniform number or structure, such as numbers, symbols, and the like;
unstructured data: data that cannot be characterized by a uniform number or structure, such as pictures, sounds, videos, etc.;
structuring the message: and packaging the data information from the multiple sensor platforms into a data chain message designed according to the standard by adopting a certain method and a certain format.
The invention is described in further detail below with reference to the figures and the embodiments.
The invention relates to a task planning-based heterogeneous information acquisition and distribution method, which is characterized in that data acquired by loads are collected according to an unmanned platform, the data comprise Minisar loads, high-resolution loads, infrared loads, electronic investigation loads and the like (different loads can be configured by the unmanned platform according to needs). And the message adapter selects a proper message adapter for encapsulation according to the data type, and sends the encapsulated message adapter to other unmanned platforms in the network on different channels. The specific method steps are shown in fig. 2.
The unmanned platform carries a plurality of loads, each load can provide a plurality of detection information (namely load data items), such as the grayscale map information of a Minisar load acquisition target, and the contained load data items are the shape, size, attribute and the like of the target; acquiring a high-resolution picture of a target by a high-resolution load, wherein load data items comprise the high-resolution picture, shooting time, shooting position and the like; acquiring an infrared image shot by the unmanned platform by using an infrared load, wherein load data items comprise an infrared image, shooting time, shooting position and the like; the electronic detection load obtains electronic spectrum information of the target area. Before the unmanned platform executes a task, the load data items of each carried load are collected, sorted, numbered and sent to a ground control center for registration.
Then a task-load data item generator in the ground system center makes a plan, and a mapping relation from tasks to load data items is generated, namely a load data item set required by completing a cooperative task. And sending the load data item set to a task-load data item filter of the unmanned platform in a description file form, wherein the filter filters all load data items, eliminates the load data items which cannot be provided by the unmanned platform, and generates the load data items which can be provided by the platform when all cooperative tasks are completed.
And then classifying the load data items into structured data and unstructured data, packaging the structured data according to a format message, and forming mixed structure data by adding related data items, internal sensor data items, timestamps and the like for the unstructured data, and packaging the mixed structure data according to a mixed structure message format.
And finally, sending the structured message in a low-speed channel, sending the mixed structure message in a high-speed channel, and finishing the hierarchical sending of the information.
With reference to fig. 3, the task planning-based heterogeneous information acquisition and distribution method of the present invention includes the following steps:
step 1: the structured representation of the unmanned platform load information is as follows:
setting n loads of an unmanned platform A, describing all the loads of the unmanned platform by vectors, wherein A is (A ═ A)1,A2,...,Ai,...An) Wherein A isiIs the ith load; each load having a different load data item, load AnHas mnA payload data item; representing the load data items by vectors, the load
Figure BDA0002343902900000071
Comprising miA different payload data item
Figure BDA0002343902900000072
Are used jointly to represent the load AiInformation of different dimensions; n loads of unmanned platform A are shared
Figure BDA0002343902900000073
A payload data item. Such as load AiFor minisar payload, the different types of payload data items contained by Ai include object shape, size, attributes, etc., then AiIn (a)i1Can be described as a minisar-target shape, ai2Can be described as minisar-target size, ai3May be described as a minisar-target attributeiHas miA plurality of different load data items, which are used together to represent the load AiInformation of different dimensions;
step 2: the load data item is registered specifically as follows:
the unmanned platform registers each load data item of the unmanned platform in the ground control center so as to obtain a unique number id, the load data items of the unmanned platform are registered in the ground control center, and the ground control system can obtain information of all the load data items of the unmanned platform. Such as AiIn (a)i1Can be described as a minisar-target shape with id number 001-iIn (a)i2May be described as the minisar-target size with id number 001-.
And step 3: the task number-payload data item set mapping is as follows:
and a task planner of the ground control center groups the load data items collected by a plurality of loads in the unmanned platform according to different tasks, and realizes the mapping from the tasks to the load data item set according to the load data items required by executing a certain task.
Setting C1The set of payload data items required to perform a task is expressed in vectors, C1＝(C11,C12,...,C1i,...C1k)，C1iA certain payload data item, C, specifically for use in accomplishing the task1iRepresented by a single structure, C1i＝(attribute，id，p，r_num，r_id1，r_id2，...，r_idr_num) Attribute is the type of payload data item, including structured data type and unstructured data type; id is the number of the load data item; p is the weight of the load data item, the importance degree of the load data item in completing the task is set, the value is from 0 to 1, and the higher the weight is, the higher the importance degree of the data item is; r _ num is the number of associated payload data items, r _ id1For associating payload data items 1, r _ id2Is an associated payload data item 2., when r _ num is 0, there is no associated payload data item; k is the number of payload data items. If set to C11Is C1A payload data item of a task, C11(minisar-target shape, 001-; setting C12Is C1Another payload data item of the task, C12(infrared-infrared picture, 001-Degree, latitude, altitude).
And 4, step 4: planning all tasks executed by the unmanned platform, which is specifically as follows:
a task-load data item generator of the ground system center expresses all task groups in a form of a task number-load data item set through the step 3, each task group generates a task number of a cooperative task, the corresponding load data item set is expressed in a vector form, and statistics C are sequentially carried out1To CtA set of payload data items required by the individual task.
T tasks are set, the task group number of the first task is 1, and the corresponding load data item set is
Figure BDA0002343902900000081
The task group number of the second task is 2, and the corresponding load data item set is
Figure BDA0002343902900000091
The task group number of the t-th task is t, and the corresponding load data item set is
Figure BDA0002343902900000092
The number of load data items of each task group is respectively k1，k2，...，ki，...，kt。
And 5: sending the cooperative task load data item, specifically as follows:
a task-load data item generator of a ground system center sends all task groups to each unmanned platform, the representation mode of the task groups is a description file containing a cooperative task number-load data item set, and the representation mode of the first task group in the description file is 1-C1The second task group is represented by 2-C2,., the t-th task group is represented by t-Ct；C1，C2，...，CtThe number of tasks performed is t for the set of payload data items required to perform the respective task.
Step 6: the task-load data item local matching specifically comprises the following steps:
the unmanned platform reads a task number-load data item set in a file according to a received description file of a task group in a cooperative task number-load data item set, selects a load data item of the platform for matching, and keeps the data item unchanged if the load data item of the platform exists in the task number-load data item set; and if the platform load data item does not exist in the task number-load data item set, deleting the data item which does not exist in the platform in the task grouping.
In each task group, the payload data items are sorted by weight, with high weights before and low weights after. Setting the first task packet 1-C1，
Figure BDA0002343902900000093
The payload data set C in the packet is read1All data items in
Figure BDA0002343902900000094
For data item C11Get (attribute, id, p, r _ num, r _ id)1，r_id2，...，r_idr_num) Value, if C11If the represented load data item can be found in the load data item of the unmanned platform, the data item is reserved; otherwise, deleting the data item; traverse all payload datasets C1All data items in the group 1-C for the first task1The data items are sorted according to the weight p value of the load data item during screening, the local task group 1-C 'of the unmanned platform is generated before the p value is high and after the p value is low'1(ii) a Then screening all task groups in sequence from task 1 to task t, and for task group t-Ct，
Figure BDA0002343902900000095
Obtaining a new load data item set after screening
Figure BDA0002343902900000096
ktFor original payload data item sets CtPayload data item ofNumber, k'tIs a set C of new payload data items'tNumber of payload data items.
And 7: analyzing and converting load information, specifically as follows:
when each unmanned platform carries out a cooperative task, the load data item values in the task group are sent to the load information generator in the form of metadata, namely unprocessed and converted sensor raw data.
When the task t is set to be executed, the task grouping condition is t-C't，
Figure BDA0002343902900000101
According to payload data item C't1The id value of (2) is obtained from the sensor as metadata, and C'tAll the load metadata are output to the message adapter on the platform and then are sequentially acquired
Figure BDA0002343902900000102
The payload metadata of (a) is output to a message adapter on the platform.
And 8: the structured data is converted into a structured message as follows:
converting the metadata of the load information by a structured message adapter of the platform, and judging according to the attribute value in the step 3:
(a) if the data is structured data, the data dictionary is queried according to the content of the message mapping library, and the message is converted into a standard data item format message, and the specific process is shown in fig. 4.
The load information analyzer sends the load data item metadata information to an internal load information conversion module, the conversion module reads a message library template, loads a mapping rule of data item conversion, searches a conversion field of a corresponding data item in a database according to the conversion rule of the template, converts the load data item into a standard data item formatting message by taking data bits as a conversion target, and sets a task grouping t-C'tIs a set of payload data items
Figure BDA0002343902900000103
C’t1C 'derived from a minisar load sensor, ((minisar-target shape, 001-'t1The payload data item metadata of the middle minisar-target shape is converted into a standard data item formatted message by querying the data dictionary.
(b) If the data is unstructured data, the unstructured data is converted into a mixed structure message, which is specifically as follows:
for unstructured data, the unstructured message adapter of the platform generates a hybrid structured message by combining unstructured data, timestamps, sensor additional information, and associated data item data, providing richer data information for transmission on the high-speed channel.
One composition of the hybrid structure message is shown in fig. 5, unstructured data (pictures, video, etc.), time stamps, generated sensor additional data (information such as the pitch angle of the unmanned platform), and associated data items (a)1,a2,...,an) The information is distributed in sequence and combined together to generate the mixed structure data.
As shown in fig. 6, the unstructured data includes pictures, videos, and voices, and corresponding data items are selected from the payload data item set as needed, that is, associated payload data items are supplemented, and added to the unstructured data in the form of a header or a trailer, and a timestamp for data generation and additional data of the data sensor are added to form a mixed structure data message.
Setting the length of unstructured data as M, and the length of associated load data items (all structured data) in the task number-load data item set as L, wherein L is L1+L2+...+LnN is the number of associated data items, the timestamp length is T, the additional data length of the sensor generating the unstructured payload data is K, and then the length of the hybrid structure data is M + L + T + K.
Setting task group 1-C'1Is a set of payload data items
Figure BDA0002343902900000111
Wherein C'12(infrared-infrared graph, 001-,height), the payload data item is an unstructured data item, on the basis of the infrared map, associated data items (longitude, latitude, height), timestamps, and additional data (camera working mode, scene center slope distance, etc.) of the infrared payload are required to be added and combined to generate new mixed structure data, and a corresponding mixed structure template is read, such as the message encapsulation manner described in fig. 5, and a mixed structure message that can be sent on a high-speed channel is formed according to a corresponding encapsulation rule.
Step 10: generating and sending messages, specifically as follows:
and encapsulating the load data required by the cooperative task into structured messages or unstructured messages, and sending the structured messages or the unstructured messages to other platforms through a wireless channel, wherein the structured messages are sent in a low-speed channel, the unstructured messages are sent in a high-speed channel, each load data item has a weight p, the sending frequency is determined according to the difference of the weights p, the sending frequency with the weight p being high is high, and the sending frequency with the weight p being low is low.
In summary, the unmanned aerial vehicle acquires the plurality of load data items according to the requirements of ground task planning through the unmanned aerial vehicle, and selects the load data items which need to meet the requirements of the planning to assist in completing the cooperative tasks, wherein the ground control center issues the tasks to each unmanned aerial vehicle in groups, and the unmanned aerial vehicle calls the sensor to output the load data items meeting the requirements of the planning. In addition, a self-adaptive message adapter is designed, different structured/unstructured message adapters are preset, the structured message adapters and the unstructured message adapters are automatically packaged into a structured message and a mixed structure message according to the attribute of specific load data, the structured message is pushed to a low-speed channel to be sent, and the mixed structure data is pushed to a high-speed channel to be sent, so that the information sending efficiency is improved. Meanwhile, an unstructured message encapsulation method adaptive to the unmanned platform is also designed, and by the method, unstructured data (including images, videos, audios and the like) of the unmanned platform can be encapsulated according to a certain format, the unstructured data not only comprise unstructured data, but also sensor additional data information, timestamps and associated data information of other sensors, the information quantity of unstructured information which can be provided by the platform is enriched, and the unstructured data can be conveniently sent to other platforms by utilizing a high-speed channel for data fusion.

Claims (1)

1. A task planning-based heterogeneous information acquisition and distribution method is characterized by comprising the following steps:
step 1: carrying out structured representation on the load information of the unmanned platform;
step 2: registering a load data item;
and step 3: task number-payload data item set mapping;
and 4, step 4: planning all tasks executed by the unmanned platform;
and 5: sending a cooperative task load data item;
step 6: task-load data item local matching;
and 7: analyzing and converting load information;
and 8: converting the structured data into a structured message, and converting the unstructured data into a mixed structure message;
and step 9: generating and sending messages;
the structured representation of the unmanned platform load information in the step 1 specifically comprises the following steps:
setting n loads of an unmanned platform A, describing all the loads of the unmanned platform by vectors, wherein A is (A ═ A)1,A2,...,Ai,...An) Wherein A isiIs the ith load; each load having a different load data item, load AnHas mnA payload data item; representing the load data items by vectors, the load
Figure FDA0002882835040000011
Comprising miA different payload data item
Figure FDA0002882835040000012
Are used jointly to represent the load AiInformation of different dimensions; n loads of unmanned platform A are shared
Figure FDA0002882835040000013
A loadA data item;
the load data item registration in step 2 is specifically as follows:
the unmanned platform registers each load data item of the unmanned platform in a ground control center so as to obtain a unique number id, the load data items of the unmanned platform are registered in the ground control center, and a ground control system can obtain information of all the load data items of the unmanned platform;
the task number-payload data item set mapping described in step 3 is specifically as follows:
a task planner of the ground control center groups load data items collected by a plurality of loads in the unmanned platform according to different tasks, and realizes mapping from the tasks to a load data item set according to the load data items required by executing a certain task;
setting C1The set of payload data items required to perform a task is expressed in vectors, C1＝(C11,C12,...,C1i,...C1k)，C1iA certain payload data item, C, specifically for use in accomplishing the task1iRepresented by a single structure, C1i＝(attribute，id，p，r_num，r_id1，r_id2，...，r_idr_num) Attribute is the type of payload data item, including structured data type and unstructured data type; id is the number of the load data item; p is the weight of the load data item, the importance degree of the load data item in completing the task is set, the value is from 0 to 1, and the higher the weight is, the higher the importance degree of the data item is; r _ num is the number of associated payload data items, r _ id1For associating payload data items 1, r _ id2Is an associated payload data item 2., when r _ num is 0, there is no associated payload data item; k is the number of the load data items;
the planning of all tasks executed by the unmanned platform in step 4 is specifically as follows:
the task-load data item generator of the ground system center expresses all task groups in a form of a task number-load data item set through step 3, and each task group generates a cooperative taskTask number of affair, corresponding load data item set is expressed in vector form, and C is counted in sequence1To CtA set of payload data items required by the individual task;
t tasks are set, the task group number of the t task is t, and the corresponding load data item set is
Figure FDA0002882835040000021
The number of load data items of each task group is respectively k1，k2，...，ki，...，kt；
Sending the cooperative task load data item in the step 5 specifically includes:
a task-load data item generator of a ground system center sends all task groups to each unmanned platform, the representation mode of the task groups is a description file containing a cooperative task number-load data item set, and the representation mode of the t-th task group in the description file is t-Ct；C1，C2，...，CtThe number of executing tasks is t for the load data item sets required by executing the respective tasks;
the task-load data item local matching in step 6 is as follows:
the unmanned platform reads a task number-load data item set in a file according to a received description file of a task group in a cooperative task number-load data item set, selects a load data item of the platform for matching, and keeps the data item unchanged if the load data item of the platform exists in the task number-load data item set; if the platform load data item does not exist in the task number-load data item set, deleting the data item which does not exist in the platform in the task grouping;
in each task group, the load data items are sorted according to weight, and the first task group is set as 1-C1，
Figure FDA0002882835040000022
The payload data set C in the packet is read1All data items in
Figure FDA0002882835040000023
For data item C11Get (attribute, id, p, r _ num, r _ id)1，r_id2，...，r_idr_num) Value, if C11If the represented load data item can be found in the load data item of the unmanned platform, the data item is reserved; otherwise, deleting the data item; traverse all payload datasets C1All data items in the group 1-C for the first task1The data items are sorted according to the weight p value of the load data item during screening, the local task group 1-C 'of the unmanned platform is generated before the p value is high and after the p value is low'1(ii) a Then screening all task groups in sequence from task 1 to task t, and for task group t-Ct，
Figure FDA0002882835040000031
Obtaining a new load data item set after screening
Figure FDA0002882835040000032
ktFor original payload data item sets CtNumber of payload data items, k'tIs a set C of new payload data items'tThe number of payload data items;
the load information analysis and conversion in step 7 are specifically as follows:
when each unmanned platform carries out a cooperative task, sending load data item values in the task group to a load information generator in the form of metadata, namely unprocessed and converted sensor raw data;
when the task t is set to be executed, the task grouping condition is t-C't，
Figure FDA0002882835040000033
According to payload data item C't1The id value of (2) is obtained as metadata in the sensor, and C 'is obtained'tAll the load metadata are output to the message adapter on the platform and then are sequentially acquired
Figure FDA0002882835040000034
The load metadata of (2) is output to a message adapter on the platform;
the step 8 of converting the structured data into the structured message and converting the unstructured data into the mixed structure message includes the following steps:
converting the metadata of the load information by a structured message adapter of the platform, and judging according to the attribute value in the step 3:
(a) if the data is structured data, querying a data dictionary according to the content of the message mapping library, and converting the data dictionary into standard data item formatted messages, wherein the specific steps are as follows:
the load information analyzer sends the load data item metadata information to an internal load information conversion module, the conversion module reads a message library template, loads a mapping rule of data item conversion, searches a conversion field of a corresponding data item in a database according to the conversion rule of the template, converts the load data item into a standard data item formatting message, and sets a task grouping t-C'tIs a set of payload data items
Figure FDA0002882835040000035
C′t1C 'derived from a minisar load sensor, ((minisar-target shape, 001-'t1The metadata of the load data item of the middle minisar-target shape is converted into standard data item formatting information by inquiring a data dictionary;
(b) if the data is unstructured data, the unstructured data is converted into a mixed structure message, which is specifically as follows:
for unstructured data, an unstructured message adapter of the platform generates a mixed structure message for sending on a high-speed channel by combining the unstructured data, a timestamp, sensor additional information and associated data item data;
the unstructured data comprises pictures, videos and voice, corresponding data items are selected from the load data item set according to needs, namely associated load data items are supplemented, added to the unstructured data in the form of a header or a trailer, and a timestamp during data generation and additional data of a data sensor are added to form a mixed structure data message;
setting the length of unstructured data as M, the length of an associated load data item in a task number-load data item set as L, and setting the length of the associated load data item as L1+L2+...+LnN is the number of the associated data items, the timestamp length is T, the additional data length of the sensor for generating the unstructured load data is K, and the length of the mixed structure data is M + L + T + K;
setting task group 1-C'1Is a set of payload data items
Figure FDA0002882835040000041
Wherein C'12The load data item is an unstructured data item, on the basis of the infrared map, additional data of associated data items, timestamps and infrared loads need to be added for combination to generate new mixed structure data, corresponding mixed structure templates are read, and mixed structure messages capable of being sent on a high-speed channel are formed according to corresponding packaging rules;
the message generation and transmission in step 9 is as follows:
and encapsulating the load data required by the cooperative task into structured messages or unstructured messages, and sending the structured messages or the unstructured messages to other platforms through a wireless channel, wherein the structured messages are sent in a low-speed channel, the unstructured messages are sent in a high-speed channel, each load data item has a weight p, the sending frequency is determined according to the difference of the weight p, and the sending frequency with the weight p being high is greater than the sending frequency with the weight p being low.
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