CN111294760B - Rapid response method and device for unmanned aerial vehicle collaborative situation awareness network under countermeasure environment - Google Patents
Rapid response method and device for unmanned aerial vehicle collaborative situation awareness network under countermeasure environment Download PDFInfo
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Abstract
The invention provides a method and a device for fast response of an unmanned aerial vehicle collaborative situation awareness network in an antagonistic environment, and relates to the field of unmanned aerial vehicle communication. The method comprises the following steps: acquiring unmanned aerial vehicle collaborative situation awareness network D when failure does not occur 1 Initial information interaction topology T 1 And failed unmanned aerial vehicle V 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V based on break down 1 Topology T for interaction with initial information 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if yes, T 2 The final information interaction topology is obtained; if not, based on unmanned aerial vehicle cooperative situation awareness network D 1 And information interaction topology T 2 Acquiring a standby edge set; adding a spare edge to T based on a set of spare edges 2 And obtaining the final information interaction topology. The invention has high safety and reliability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle communication, in particular to a method and a device for fast response of an unmanned aerial vehicle collaborative situation awareness network under an antagonistic environment.
Background
An Unmanned Aerial Vehicle (UAV) is a reusable aircraft that is autonomously controlled using an on-board or ground automatic flight system, including a power system. Unmanned aerial vehicles have been widely used in both military and civilian fields by virtue of their advantages. However, the capability of a single unmanned aerial vehicle is slightly insufficient when the situation awareness task is executed, so as to improve the efficiency of executing the situation awareness task, a collaborative situation awareness network is often formed by adopting a plurality of unmanned aerial vehicles together, and an optimal information interaction topology is selected to perform information interaction on the basis of the network so as to execute the collaborative situation awareness task.
When unmanned aerial vehicles execute collaborative situation awareness tasks, unmanned aerial vehicles may malfunction due to complex external environment influences, so that the unmanned aerial vehicles cannot exchange information with other unmanned aerial vehicles, and the unmanned aerial vehicles cannot continue to work. When the prior art is used for solving the problem, all the failed unmanned aerial vehicles and the failed links thereof are found, the unmanned aerial vehicles and the communication links are stopped to obtain a new unmanned aerial vehicle collaborative situation awareness network, and the information interaction topology corresponding to the new unmanned aerial vehicle collaborative situation awareness network is used as the information interaction topology for maintaining the unmanned aerial vehicle to work, so that the unmanned aerial vehicle collaborative situation awareness network continues to work.
However, the inventor of the present application finds that, in the practical application, the time spent for acquiring the new information interaction topology is long, and in this time fault, collision may occur between other unmanned aerial vehicles and the task cannot be completed, so the prior art has the disadvantage of low safety and reliability.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a method and a device for fast responding to a cooperative situation awareness network of an unmanned aerial vehicle under a countermeasure environment, and solves the technical problem of low safety and reliability of the prior art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention provides a method for rapidly responding to a network by sensing a cooperative situation of an unmanned aerial vehicle in an antagonistic environment, which is executed by a computer and comprises the following steps:
s1, acquiring an unmanned aerial vehicle collaborative situation awareness network D when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 ；
S2, unmanned aerial vehicle V based on faults 1 And the initial information interaction topology T 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 ；
S3, judging the information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 The final information interaction topology is obtained;
s4, based on the unmanned aerial vehicle collaborative situation awareness network D 1 And information interaction topology T 2 Acquiring a standby edge set;
s5, adding the standby edge to T based on the standby edge set 2 And obtaining the final information interaction topology.
Preferably, in S3, the information interaction topology T is determined 2 Whether the unmanned aerial vehicle can be guaranteed to normally execute the collaborative situation awareness task or not, including:
judgment T 2 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 2 The unmanned aerial vehicle can be guaranteed to normally execute collaborative situation awareness tasks; if not, T 2 The unmanned aerial vehicle cannot be guaranteed to normally execute the collaborative situation awareness task;
said determination T 2 Whether a three-dimensional minimum stiffness map is provided, comprising:
acquiring information interaction topology T 2 Number N of communication links in a network 1 And T 2 Number N of unmanned aerial vehicles in (a) 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging whether or not N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, T 2 Is a three-dimensional minimum stiffness map; if the condition is not satisfied, T 2 Not a three-dimensional minimum stiffness map.
Preferably, in S4, the method for obtaining the standby edge set includes:
based on initial unmanned aerial vehicle cooperative situation perception network D 1 And said failed unmanned aerial vehicle V 1 Acquisition of D 1 In a faulty communication link E 2 V is set up 1 And E is 2 From D 1 And deleting to obtain the unmanned plane collaborative situation awareness network D 2 ；
The T is set 2 From the edge of D 2 Obtaining the rest edges as standby edges; all the spare edges constitute a spare edge set.
Preferably, in S5, the method for obtaining the final information interaction topology includes:
acquiring the T 2 Corresponding stiffness matrix M 1 ；
Adding a spare edge L to the stiffness matrix M 1 In (3) obtaining a new stiffness matrix M 2 And judging: the stiffness matrix M 2 Whether the rank of (2) is full rank;
if not, do not operate and will T 2 Designated as T 3 The method comprises the steps of carrying out a first treatment on the surface of the If yes, adding the standby edge L to T 2 Obtaining information interaction topology T 3 And matrix the rigidity M 1 Is updated to the stiffness matrix M 2 Data in (a);
judgment T 3 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 3 If not, continuing to add the next standby edge, and repeating the steps.
The invention provides a device for fast responding to a cooperative situation awareness network of an unmanned aerial vehicle under a countermeasure environment, which solves the technical problem, 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 stores at least one instruction therein, the at least one instruction being loaded and executed by the at least one processing unit to implement the steps of:
s1, acquiring an unmanned aerial vehicle collaborative situation awareness network D when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 ；
S2, unmanned aerial vehicle V based on faults 1 And the initial information interaction topology T 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 ；
S3, judging the information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 The final information interaction topology is obtained;
s4, based on the unmanned aerial vehicle collaborative situation awareness network D 1 And information interaction topology T 2 Acquiring a standby edge set;
s5, adding the standby edge to T based on the standby edge set 2 And obtaining the final information interaction topology.
Preferably, in S3, the information interaction topology T is determined 2 Whether the unmanned aerial vehicle can be guaranteed to normally execute the collaborative situation awareness task or not, including:
judgment T 2 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 2 The unmanned aerial vehicle can be guaranteed to normally execute collaborative situation awareness tasks; if not, T 2 The unmanned aerial vehicle cannot be guaranteed to normally execute the collaborative situation awareness task;
said determination T 2 Whether a three-dimensional minimum stiffness map is provided, comprising:
acquiring information interaction topology T 2 Number N of communication links in a network 1 And T 2 Number N of unmanned aerial vehicles in (a) 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging whether or not N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, T 2 Is a three-dimensional minimum stiffness map; if the condition is not satisfied, T 2 Not a three-dimensional minimum stiffness map.
Preferably, in S4, the method for obtaining the standby edge set includes:
based on initial unmanned aerial vehicle cooperative situation perception network D 1 And said failed unmanned aerial vehicle V 1 Acquisition of D 1 In a faulty communication link E 2 V is set up 1 And E is 2 From D 1 And deleting to obtain the unmanned plane collaborative situation awareness network D 2 ；
The T is set 2 From the edge of D 2 Obtaining the rest edges as standby edges; all the spare edges constitute a spare edge set.
Preferably, in S5, the method for obtaining the final information interaction topology includes:
acquiring the T 2 Corresponding stiffness matrix M 1 ；
Adding a spare edge L to the stiffness matrix M 1 In (3) obtaining a new stiffness matrix M 2 And judging: the stiffness matrix M 2 Whether the rank of (2) is full rank;
if not, do not operate and will T 2 Designated as T 3 The method comprises the steps of carrying out a first treatment on the surface of the If yes, adding the standby edge L to T 2 Obtaining information interaction topology T 3 And matrix the rigidity M 1 Is updated to the stiffness matrix M 2 Data in (a);
judgment T 3 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 3 If not, continuing to add the next standby edge, and repeating the steps.
(III) beneficial effects
The invention provides a method and a device for fast response of an unmanned aerial vehicle collaborative situation awareness network in an antagonistic environment. Compared with the prior art, the method has the following beneficial effects:
the invention is realized by acquiring the failure-free timeUnmanned aerial vehicle cooperative situation awareness network D 1 Initial information interaction topology T 1 And failed unmanned aerial vehicle V 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V based on break down 1 Topology T for interaction with initial information 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if yes, T 2 The final information interaction topology is obtained; if not, based on unmanned plane cooperative situation awareness network and information interaction topology T 2 Acquiring a standby edge set; adding a spare edge to T based on a set of spare edges 2 And obtaining the final information interaction topology. According to the invention, the standby edge is added to the information interaction topology with faults, so that the information interaction topology corresponding to the execution task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle can stably maintain the team when executing the task, and the safety and reliability are high.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an overall flowchart of a fast response method of an unmanned aerial vehicle collaborative situation awareness network in a countermeasure environment provided by an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the method and the device for fast responding to the unmanned aerial vehicle collaborative situation awareness network under the countermeasure environment, the technical problem of low safety and reliability in the prior art is solved, and the safety and reliability of the unmanned aerial vehicle during working are improved.
The technical scheme of the embodiment of the application aims to solve the technical problems, and the overall thought is as follows:
according to the embodiment of the invention, the unmanned aerial vehicle cooperative situation awareness network D in the case of no fault is obtained 1 Initial information interaction topology T 1 And failed unmanned aerial vehicle V 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V based on break down 1 Topology T for interaction with initial information 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if yes, T 2 The final information interaction topology is obtained; if not, based on unmanned plane cooperative situation awareness network and information interaction topology T 2 Acquiring a standby edge set; adding a spare edge to T based on a set of spare edges 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the standby edge is added to the information interaction topology with faults, so that the information interaction topology corresponding to the execution task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle can stably maintain the team shape when executing the task, and the safety and reliability are high.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a method for fast responding to a cooperative situation awareness network of an unmanned aerial vehicle in a countermeasure environment, which is executed by a computer, as shown in fig. 1, and comprises the following steps:
s1, acquiring an unmanned aerial vehicle collaborative situation awareness network D when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 ；
S2, unmanned aerial vehicle V based on faults 1 And the initial information interaction topology T 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 ；
S3, judging the information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 The final information interaction topology is obtained;
s4, based on the unmanned aerial vehicle collaborative situation awareness network and the information interaction topology T 2 Acquiring a standby edge set;
s5, adding the standby edge to T based on the standby edge set 2 And obtaining the final information interaction topology.
According to the embodiment of the invention, the unmanned aerial vehicle cooperative situation awareness network D in the case of no fault is obtained 1 Initial information interaction topology T 1 And failed unmanned aerial vehicle V 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V based on break down 1 Topology T for interaction with initial information 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if yes, T 2 The final information interaction topology is obtained; if not, based on unmanned plane cooperative situation awareness network and information interaction topology T 2 Acquiring a standby edge set; adding a spare edge to T based on a set of spare edges 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the standby edge is added to the information interaction topology with faults, so that the information interaction topology corresponding to the execution task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle can stably maintain the team shape when executing the task, and the safety and reliability are high.
Specifically, when the embodiment of the invention is implemented, the method is executed by a computer of a ground control center, and then the calculation result is sent to each unmanned aerial vehicle, so that the information interaction topology required by the unmanned aerial vehicle to execute the task is quickly generated.
Specific analyses are performed for each step as follows.
In step S1, an unmanned aerial vehicle collaborative situation awareness network D is obtained when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 。
Specifically, first, an unmanned plane collaborative situation awareness network D is obtained when no communication fault occurs in the unmanned plane 1 Topology T for interaction with initial information 1 。
The embodiment of the invention sets n UAVs to form a collaborative situation awareness network through unmanned aerial vehicle collaborative situation awareness links among the UAVs. The n positions in the collaborative situation awareness network are respectively numbered as {1,2, …, n }, and the positions of all unmanned aerial vehicles at least comprise two heights so as to form three dimensions.
Specifically, the collaborative situation awareness network is denoted as g= (V, E).
Wherein:
V＝{v i 1.ltoreq.i.ltoreq.n is the set of nodes represented by the drone, where v i Representing UAVs i I.e. the ith unmanned aerial vehicle.
E＝{e ij 1.ltoreq.i, j.ltoreq.n is the set of edges made up of every two unmanned nodes, where edge e ij Representing UAVs i And UAV (unmanned aerial vehicle) j Communication link between such that UAV i And UAV (unmanned aerial vehicle) j And can send information to each other.
Initial information interaction topology T of unmanned aerial vehicle 1 ＝(V,E * )。
E * Is the set of edges corresponding to the communication links in the information interaction topology.
Acquiring damaged unmanned aerial vehicle V in unmanned aerial vehicle when unmanned aerial vehicle fails 1 . In particular, damaged unmanned aerial vehicle V 1 Can be one frame or a plurality of frames, and V in the embodiment of the invention 1 Refer to the collection of drones that all damaged drones make up.
In step S2, unmanned aerial vehicle V based on the failure 1 And the initial information interaction topology V 1 Acquisition ofT 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 。
Acquiring communication link E interrupted by unmanned aerial vehicle when unmanned aerial vehicle has communication fault 1 . In particular, the interrupted communication link may be one or more, and in the embodiment of the present invention, E 1 Refer to the collection of edges made up of all interrupted communication links.
Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 。
In step S3, the information interaction topology T is determined 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 And the final information interaction topology is obtained.
Specifically, the information interaction topology T is judged 2 Whether the unmanned aerial vehicle can be guaranteed to normally execute the collaborative situation awareness task or not, including:
judgment T 2 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 2 The unmanned aerial vehicle can be guaranteed to normally execute collaborative situation awareness tasks; if not, T 2 The unmanned aerial vehicle cannot be guaranteed to normally execute the collaborative situation awareness task.
Wherein, judge T 2 Whether a three-dimensional minimum stiffness map is provided, comprising:
acquiring information interaction topology T 2 Number N of communication links in a network 1 And T 2 Number N of unmanned aerial vehicles in (a) 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging whether or not N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, T 2 Is a three-dimensional minimum stiffness map; if the condition is not satisfied, T 2 Not a three-dimensional minimum stiffness map.
It should be noted that, for the information interaction topology T 1 For the direct deletion of V 1 And E is 1 T obtained after 2 It may be possible to ensure that the unmanned aerial vehicle is working properly.
Namely: when T is 2 In the case of a three-dimensional minimum rigidity graph, T can be adopted 2 Letter operating as a droneThe topology of interaction is described.
In step S4, the network and the information interaction topology T are perceived based on the above-mentioned unmanned aerial vehicle cooperative situation 2 A set of spare edges is obtained.
Specifically, the method for acquiring the standby edge set includes:
above-mentioned initial unmanned aerial vehicle collaborative situation perception network D 1 And the above-mentioned failed unmanned aerial vehicle V 1 Acquisition of D 1 In a faulty communication link E 2 V is set up 1 And E is 2 From D 1 And deleting to obtain the unmanned plane collaborative situation awareness network D 2 。
The T is set 2 From the edge of D 2 Obtaining the rest edges as standby edges; by a means of
'
Some spare edges constitute a spare edge set E.
In step S5, adding a spare edge to T based on the set of spare edges 2 And obtaining the final information interaction topology.
Specifically, the final method for acquiring the information interaction topology comprises the following steps:
acquiring the T 2 Corresponding stiffness matrix M 1 。
Adding a spare edge L to the stiffness matrix M 1 In (3) obtaining a new stiffness matrix M 2 And judging: the stiffness matrix M 2 Whether the rank is full rank.
If not, do not operate and will T 2 Designated as T 3 The method comprises the steps of carrying out a first treatment on the surface of the If yes, adding the standby edge L to T 2 Obtaining information interaction topology T 3 And matrix the rigidity M 1 Is updated to the stiffness matrix M 2 Is a data set of the data set.
Judgment T 3 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 3 If not, continuing to add the next standby edge, and repeating the steps.
Specifically, the following algorithm steps can be also expressed:
the obtained final information interaction topology is the information interaction topology executed when the unmanned aerial vehicle continues to work. Compared with the prior art, the method provided by the embodiment of the invention provides a solving algorithm based on edge adding operation; therefore, the method is relatively simple, the overall time complexity of the method is low, the information interaction topology of the unmanned aerial vehicle collaborative situation awareness network can be calculated rapidly, the energy consumed by calculating the information interaction topology is reduced, the efficiency of the unmanned aerial vehicle collaborative execution of the situation awareness task is improved, and the unmanned aerial vehicle is more efficient and stable when the unmanned aerial vehicle collaborative execution of the situation awareness task.
The embodiment of the invention also provides a device for fast responding to the unmanned aerial vehicle collaborative situation awareness network in the countermeasure environment, the device comprises a computer, and the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit stores at least one instruction, and the at least one instruction is loaded and executed by the at least one processing unit to implement the following steps:
s1, acquiring an unmanned aerial vehicle collaborative situation awareness network D when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 ；
S2, unmanned aerial vehicle V based on faults 1 And the initial information interaction topology T 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 ；
S3, judging the information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 The final information interaction topology is obtained;
s4, based on the unmanned aerial vehicle collaborative situation senseKnowing network and information interaction topology T 2 Acquiring a standby edge set;
s5, adding the standby edge to T based on the standby edge set 2 And obtaining the final information interaction topology.
It can be understood that the response device provided by the embodiment of the present invention corresponds to the response method, and the explanation, the example, the beneficial effects, and the like of the relevant content can refer to the corresponding content in the unmanned plane collaborative situation awareness network rapid response method in the countermeasure environment, which is not described herein.
In summary, compared with the prior art, the method has the following beneficial effects:
according to the embodiment of the invention, the unmanned aerial vehicle cooperative situation awareness network D in the case of no fault is obtained 1 Initial information interaction topology T 1 And failed unmanned aerial vehicle V 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V based on break down 1 Topology T for interaction with initial information 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if yes, T 2 The final information interaction topology is obtained; if not, based on unmanned plane cooperative situation awareness network and information interaction topology T 2 Acquiring a standby edge set; adding a spare edge to T based on a set of spare edges 2 And obtaining the final information interaction topology. According to the embodiment of the invention, the standby edge is added to the information interaction topology with faults, so that the information interaction topology corresponding to the execution task of the unmanned aerial vehicle is obtained, the unmanned aerial vehicle can stably maintain the team shape when executing the task, and the safety and reliability are high.
It should be noted that, from the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by means of software plus necessary general hardware platform. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The unmanned aerial vehicle collaborative situation awareness network rapid response method under the countermeasure environment is characterized by being executed by a computer and comprising the following steps of:
s1, acquiring an unmanned aerial vehicle collaborative situation awareness network D when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 ；
S2, unmanned aerial vehicle V based on faults 1 And the initial information interaction topology T 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 ；
S3, judging the information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 The final information interaction topology is obtained;
s4, based on the unmanned aerial vehicle collaborative situation awareness network D 1 And information interaction topology T 2 Acquiring a standby edge set;
s5, adding the standby edge to T based on the standby edge set 2 Obtaining a final information interaction topology;
judging whether the information interaction topology can ensure that the unmanned aerial vehicle normally executes a collaborative situation awareness task or not, comprising:
judgment T 2 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 2 The unmanned aerial vehicle can be guaranteed to normally execute collaborative situation awareness tasks; if not, T 2 The unmanned aerial vehicle cannot be guaranteed to normally execute the collaborative situation awareness task;
said determination T 2 Whether a three-dimensional minimum stiffness map is provided, comprising:
acquiring information interaction topology T 2 Number N of communication links in a network 1 And T 2 Number N of unmanned aerial vehicles in (a) 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging whether or not N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, T 2 Is a three-dimensional minimum stiffness map; if the condition is not satisfied, T 2 Not a three-dimensional minimum stiffness map.
2. The response method of claim 1, wherein in S4, the method for obtaining the spare edge set includes:
based on initial unmanned aerial vehicle cooperative situation perception network D 1 And said failed unmanned aerial vehicle V 1 Acquisition of D 1 In a faulty communication link E 2 V is set up 1 And E is 2 From D 1 And deleting to obtain the unmanned plane collaborative situation awareness network D 2 ；
The T is set 2 From the edge of D 2 Obtaining the rest edges as standby edges; all the spare edges constitute a spare edge set.
3. The response method according to claim 2, wherein in S5, the method for obtaining the final information interaction topology includes:
acquiring the T 2 Corresponding stiffness matrix M 1 ；
Adding a spare edge L to the stiffness matrix M 1 In (3) obtaining a new stiffness matrix M 2 And judging: the stiffness matrix M 2 Whether the rank of (2) is full rank;
if not, do not operate and will T 2 Designated as T 3 ；
If yes, adding the standby edge L to T 2 Obtaining information interaction topology T 3 And matrix the rigidity M 1 Is updated to the stiffness matrix M 2 Data in (a);
judgment T 3 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 3 If not, continuing to add the next standby edge, and repeating the steps.
4. An unmanned aerial vehicle collaborative situation awareness network quick response device under a countermeasure environment, which is characterized in that 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 stores at least one instruction therein, the at least one instruction being loaded and executed by the at least one processing unit to implement the steps of:
s1, acquiring an unmanned aerial vehicle collaborative situation awareness network D when no fault occurs 1 Topology T for interaction with initial information 1 The method comprises the steps of carrying out a first treatment on the surface of the Unmanned aerial vehicle V with failure acquisition function 1 ；
S2, unmanned aerial vehicle V based on faults 1 And the initial information interaction topology T 1 Acquisition of T 1 In a faulty communication link E 1 The method comprises the steps of carrying out a first treatment on the surface of the Will V 1 And E is 1 From T 1 Delete to obtain information interaction topology T 2 ；
S3, judging the information interaction topology T 2 Whether the unmanned aerial vehicle can normally execute a collaborative situation awareness task or not can be ensured; if not, jumping to S4; if yes, T 2 The final information interaction topology is obtained;
s4, based on the unmanned aerial vehicle collaborative situation awareness network D 1 And information interaction topology T 2 Acquiring a standby edge set;
s5, adding the standby edge to T based on the standby edge set 2 Obtaining a final information interaction topology;
judging whether the information interaction topology can ensure that the unmanned aerial vehicle normally executes a collaborative situation awareness task or not, comprising:
judgment T 2 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 2 The unmanned aerial vehicle can be guaranteed to normally execute collaborative situation awareness tasks; if not, T 2 The unmanned aerial vehicle cannot be guaranteed to normally execute the collaborative situation awareness task;
said determination T 2 Whether a three-dimensional minimum stiffness map is provided, comprising:
acquiring information interaction topology T 2 Number N of communication links in a network 1 And T 2 Number N of unmanned aerial vehicles in (a) 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging whether or not N is satisfied 1 ＝3N 2 -6, if the condition is satisfied, T 2 Is a three-dimensional minimum stiffness map; if the condition is not satisfied, T 2 Not a three-dimensional minimum stiffness map.
5. The response device of claim 4, wherein in S4, the method for acquiring the spare edge set includes:
based on initial unmanned aerial vehicle cooperative situation perception network D 1 And said failed unmanned aerial vehicle V 1 Acquisition of D 1 In a faulty communication link E 2 V is set up 1 And E is 2 From D 1 And deleting to obtain the unmanned plane collaborative situation awareness network D 2 ；
The T is set 2 From the edge of D 2 Obtaining the rest edges as standby edges; all the spare edges constitute a spare edge set.
6. The response device according to claim 5, wherein in S5, the method for obtaining the final information interaction topology includes:
acquiring the T 2 Corresponding stiffness matrix M 1 ；
Adding a spare edge L to the stiffness matrix M 1 In (3) obtaining a new stiffness matrix M 2 And judging: the stiffness matrix M 2 Whether the rank of (2) is full rank;
if not, do not operate and will T 2 Designated as T 3 The method comprises the steps of carrying out a first treatment on the surface of the If yes, adding the standby edge L to T 2 Obtaining information interaction topology T 3 And matrix the rigidity M 1 Is updated to the stiffness matrix M 2 Data in (a);
judgment T 3 Whether the three-dimensional minimum rigidity diagram is adopted, if so, T is 3 If not, continuing to add the next standby edge, and repeating the steps.
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