CN111935729A - Seamless and efficient unmanned aerial vehicle network k-coverage algorithm - Google Patents

Seamless and efficient unmanned aerial vehicle network k-coverage algorithm Download PDF

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CN111935729A
CN111935729A CN202010681434.8A CN202010681434A CN111935729A CN 111935729 A CN111935729 A CN 111935729A CN 202010681434 A CN202010681434 A CN 202010681434A CN 111935729 A CN111935729 A CN 111935729A
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unmanned aerial
aerial vehicle
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cylinder
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CN111935729B (en
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郑博
张衡阳
谢铁城
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Air Force Engineering University of PLA
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/22—Traffic simulation tools or models

Abstract

The invention discloses a seamless and efficient k-coverage algorithm for an unmanned aerial vehicle network, and the communication distance of the unmanned aerial vehicle is assumed to be rsThe length, width and height of the AC cuboid to be covered are L respectivelyAC、WAC、HACThe covering weight is k, and the method is implemented according to the following steps: step 1, uniformly distributing m unmanned aerial vehicle movement tracks on the upper surface of an AC cuboid to be covered in an air corridor, wherein the unmanned aerial vehicle movement tracks are circular tracks, and the radius of each circular track is ro(ii) a Step 2, according to the covering requirement, n unmanned aerial vehicles are distributed on each moving track, the n unmanned aerial vehicles on each moving track are uniformly distributed, each unmanned aerial vehicle flies at the same speed and the uniform speed, and the covering range of each unmanned aerial vehicle is a radius rsThe sphere meets the requirements when laying the unmanned aerial vehicle
Figure DDA0002585975500000011
The seamless and efficient unmanned aerial vehicle network k-coverage algorithm fills the blank of the unmanned aerial vehicle network k-coverage algorithm, and realizes complete and efficient multiple coverage of AC by using a small number of unmanned aerial vehicles.

Description

Seamless and efficient unmanned aerial vehicle network k-coverage algorithm
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle networks, and relates to a seamless and efficient k-coverage algorithm for an unmanned aerial vehicle network.
Background
The unmanned aerial vehicle network is a high-speed backbone bearing network which is realized by long-dead-air platform networking and has large-scale, high-dynamic and beyond-the-horizon communication coverage, can provide access, forwarding and routing functions for users in and out of the horizon, and has higher military and civil values. The device can be temporarily arranged according to the needs, the transmission capability of the device can meet the real-time transmission of tactical information and large-capacity data such as voice, images, videos and the like, and the device has high information transmission rate, strong anti-interference and anti-interception capabilities and good robustness.
The coverage algorithm is a fundamental problem of the drone network. The method has high research value on how to perform stable and reliable seamless coverage on the airspace to be covered by using regular motion of a dead space platform such as an Unmanned Aerial Vehicle (UAV) in high altitude and long endurance. The challenge of this problem is how to achieve complete coverage of a three-dimensional space by reasonably and efficiently laying out nodes based on some motion pattern.
The unmanned aerial vehicle network utilizes a pre-laid UAV as a backbone node to realize the comprehensive access of various users in a certain airspace, and is a broadband communication infrastructure. An Air Corridor (AC) is a basic area to be covered by a network of drones, as shown in fig. 1(a), the AC can be modeled as a set of a certain number of cuboids, and an airplane passes through the AC according to a predetermined route, and is represented by a cuboid due to the complexity and particularity of the geometry of the AC, as shown in fig. 1(b), in order to provide real-time access capability to the airplane passing through the AC and ensure the real-time and reliable information transmission, a basic requirement of the network construction of drones is to perform seamless and multiple coverage on the AC.
The basic problem to be solved by the k-coverage strategy of the Unmanned Aerial Vehicle network is how to reasonably arrange stagnant platforms such as circular-motion high-altitude long-endurance Unmanned Aerial Vehicles (UAVs) and the like, so that stable, seamless and multiple coverage can be realized in a certain airspace.
In recent years, the problem of coverage control of Wireless Sensor Networks (WSNs) has attracted extensive attention from researchers. Among them, three-dimensional WSNs such as Underwater Sensor networks (UWSNs) and coverage problems of WSNs related to mobile nodes are also research focus problems. However, these research results have little reference value to the network coverage problem of the unmanned aerial vehicle, and the challenge of the problem lies in how to implement complete coverage on a three-dimensional space by reasonably and efficiently laying nodes based on a certain motion mode. Paper "evolutionary gaming based multiple unmanned plane sensor network K-coverage" (Sun Changhao, Secondemn, China science: technology science, 2016,46(10):1016-1023.doi:10.1360/N092015-00317.) for the multiple unmanned plane sensor network coverage problem, a distributed optimal sensor configuration method based on potential gaming and Log-linear learning was proposed, paper AL-HOURANI A, KANDEES PAN, and LARDNER. optimal LAP activity for maximum coverage [ J ]. IEEE Wireless Communications Letters,2014,3(6):569-572.doi: 10.1109/LWC.2014.2736, MOZAFFARI M, SAAD W, BENNIS M, Efficient deployment of multiple managed networks [ EAI ] 20, IEEE 632016I, 2016, 2000, and 2016, the design of unmanned aerial vehicle base station for maximum coverage of ground users is proposed by the following general 3-D placement of an unmanned aerial vehicle base station (UAV-BS) for energy-efficiency mass coverage [ J ] IEEE Wireless communication Letters,2017,6(4):434-437 doi:10.1109/LWC.2017.2700840, LYU J B, ZENG Y, ZHANG R, et al.A. plan optimization of UAV-mounted mobile base station [ J ] IEEE communication Letters,2017,21(3):604-607.doi:10.1109/LCOMM.2016.2633248. for maximum coverage of ground users by UAV base stations, minimum circle, etc. are proposed, and the above spiral results are not applicable to network research.
Disclosure of Invention
The invention aims to provide a seamless and efficient unmanned aerial vehicle network k-coverage algorithm, fills the blank of the unmanned aerial vehicle network k-coverage algorithm, and realizes complete and efficient multiple coverage of AC by using a small number of unmanned aerial vehicles.
The invention adopts the technical scheme that a seamless and efficient unmanned aerial vehicle network k-coverage algorithm is adopted, and the radius of the coverage range of the unmanned aerial vehicle is assumed to be rsThe sphere of (1), namely the unmanned aerial vehicle communication distance is rsThe length, width and height of the AC cuboid to be covered are L respectivelyAC、WAC、HACThe covering weight is k, and the method is implemented according to the following steps:
step 1, uniformly distributing m unmanned aerial vehicle movement tracks on the upper surface of an AC cuboid to be covered in an air corridor, wherein the unmanned aerial vehicle movement tracks are circular tracks, and the radius of each circular track is ro；
Step 2, according to the covering requirement, n unmanned aerial vehicles are distributed on each moving track, the n unmanned aerial vehicles on each moving track are uniformly distributed, each unmanned aerial vehicle flies at the same speed and the uniform speed, and the covering range of each unmanned aerial vehicle is a radius rsThe sphere meets the requirements when laying the unmanned aerial vehicle
Figure BDA0002585975480000031
The present invention is also characterized in that,
when the unmanned aerial vehicles move on the respective tracks, the spherical bodies covered by the unmanned aerial vehicles move along with the unmanned aerial vehicles, no matter how the unmanned aerial vehicles on the same track move, a certain partial area can be covered all the time, the partial area is called as an unchanged coverage area ICA, a cylinder is extracted from the ICA, and the cylinder is 2hcAnd a bottom surface radius of rcLet n be k, hc＝HACRadius r of the bottom surface of the cylindercAnd radius of motion orbit roSatisfy (r)c+ro)2＝rs 2-HAC 2According to (r)c+ro)2＝rs 2-HAC 2Selecting eligible rcAnd roThe value of (a).
ro＜rs。
Step 1, uniformly arranging m unmanned aerial vehicles on the upper surface of the AC cuboid of the air corridor to be coveredWhen moving the orbit, the largest square inscribed by a plurality of circles on the bottom surface of the cylinder is used for filling the length LACWidth W ofACIs rectangular.
Filling the length L with the largest square inscribed in the circle of the bottom surface of the cylinderACWidth W ofACWhen the shape of the cylinder is rectangular, the side length of the largest square inscribed in the circle on the bottom surface of each cylinder is
Figure BDA0002585975480000041
Then
Figure BDA0002585975480000042
The number of tracks laid and the number of drones per track satisfy the following requirements:
Figure BDA0002585975480000043
according to the selected rcThe value and m of (2) are calculated, the number n of frames for laying the unmanned aerial vehicle on each minimum motion track meeting the conditions is calculated, and when the motion tracks are laid, the circle center of each motion track is superposed with the circle center of the bottom surface circle of the cylinder.
When m unmanned aerial vehicle movement tracks are uniformly distributed on the upper surface of the AC cuboid to be covered in the step 1, the movement tracks are inscribed in the circle of the bottom surface of each cylinder and are connected with the rectangle LAC×WACMaximum rectangle with same length-width ratio, filling length LACWidth W ofACIs rectangular.
Each cylinder is inscribed in the circle at the bottom and connected with the rectangle LAC×WACMaximum rectangle with same length-width ratio, filling length LACWidth W ofACWhen the rectangle is formed, x and y respectively represent the circle inscribed on the bottom surface of the cylinder and are connected with the rectangle LAC×WACThe length and width of the largest rectangle with the same aspect ratio, then:
Figure BDA0002585975480000044
x2+y2＝(2rc)2 (15)
from formulae (14) and (15):
Figure BDA0002585975480000051
the number of tracks required to cover the entire area
Figure BDA0002585975480000052
The number of tracks laid and the number of drones per track satisfy the following requirements:
Figure BDA0002585975480000053
according to the selected rcAnd (3) calculating the number n of the unmanned aerial vehicles arranged on each minimum motion track meeting the conditions.
The method has the advantages of filling the blank of the k-coverage algorithm of the unmanned aerial vehicle network and realizing complete and efficient multiple coverage of the AC by using a small number of unmanned aerial vehicles.
Drawings
FIG. 1 is a schematic diagram of the structure of an empty corridor in the k-overlay algorithm of a seamless and efficient unmanned aerial vehicle network of the present invention;
FIG. 2 is a cylinder diagram of the intersection of unmanned aerial vehicle coverage spheres on the same orbit in a seamless and efficient unmanned aerial vehicle network k-coverage algorithm of the present invention;
FIG. 3 is a top view of k +1 consecutive UAVs on the same orbit in a seamless, efficient k-coverage algorithm for an unmanned aerial vehicle network of the present invention;
FIG. 4 shows two UAVs on the same orbit in a seamless, efficient k-coverage algorithm for an unmanned aerial vehicle network of the present invention1And UAVk+1Schematic diagrams of intersecting circles covering the spheres;
FIG. 5 is a schematic diagram of the coverage policy of the AC of policy 1 in the k-coverage algorithm of the seamless and efficient unmanned aerial vehicle network of the present invention;
FIG. 6 is a schematic diagram of the coverage policy of the AC of policy 2 in the k-coverage algorithm of the seamless and efficient unmanned aerial vehicle network of the present invention;
FIG. 7 shows a cylinder bottom radius r captured in an embodiment of a seamless, efficient k-overlay algorithm for unmanned aerial vehicle networks of the present inventionc、roAnd n;
FIG. 8 shows the number r of UAVs required by strategy 1 and strategy 2 in an embodiment of a seamless and efficient k-overlay algorithm for an unmanned aerial vehicle network according to the present inventionoAnd n;
FIG. 9 is a graph of the number of UAVs required versus n in an embodiment of a k-coverage algorithm for a seamless, efficient drone network of the present invention;
FIG. 10 shows the number of UAVs required and r for a seamless, efficient k-coverage algorithm for an UAV network according to an embodiment of the present inventionoA graph of the relationship (c).
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a seamless and efficient unmanned aerial vehicle network k-coverage algorithm, wherein the radius of the coverage range of an unmanned aerial vehicle is assumed to be rsThe sphere of (1), namely the unmanned aerial vehicle communication distance is rsThe length, width and height of the AC cuboid to be covered are L respectivelyAC、WAC、HACThe covering weight is k, and the method is implemented according to the following steps:
step 1, uniformly distributing m unmanned aerial vehicle movement tracks on the upper surface of an AC cuboid to be covered in an air corridor, wherein the unmanned aerial vehicle movement tracks are circular tracks, and the radius of each circular track is ro；
Step 2, according to the covering requirement, n unmanned aerial vehicles are distributed on each moving track, the n unmanned aerial vehicles on each moving track are uniformly distributed, each unmanned aerial vehicle flies at the same speed and the uniform speed, and the covering range of each unmanned aerial vehicle is a radius rsThe sphere meets the requirements when laying the unmanned aerial vehicle
Figure BDA0002585975480000061
When the unmanned aerial vehicle moves on the respective tracks, the ball covered by the unmanned aerial vehicleThe body also moves along with the unmanned aerial vehicle, no matter how each unmanned aerial vehicle on the same track moves, a certain part of area can be covered all the time, the part of area is called as an unchanged coverage area ICA, a cylinder is extracted from the ICA, and the cylinder is 2hcAnd a bottom surface radius of rcLet n be k, hc＝HACRadius r of the bottom surface of the cylindercAnd radius of motion orbit roSatisfy (r)c+ro)2＝rs 2-HAC 2According to (r)c+ro)2＝rs 2-HAC 2Selecting eligible rcAnd roValue of (a), ro＜rs。
When m unmanned aerial vehicle movement tracks are uniformly distributed on the upper surface of the AC cuboid to be covered in the step 1, filling the length L with the largest square inscribed in the circles on the bottom surfaces of the cylindersACWidth W ofACThe side length of the largest square inscribed in the circle on the bottom surface of each cylinder is
Figure BDA0002585975480000071
Then
Figure BDA0002585975480000072
The number of tracks laid and the number of drones per track satisfy the following requirements:
Figure BDA0002585975480000073
according to the selected rcAnd (3) calculating the number n of the unmanned aerial vehicles arranged on each minimum motion track meeting the conditions.
When m unmanned aerial vehicle movement tracks are uniformly distributed on the upper surface of the AC cuboid to be covered in the step 1, the movement tracks are inscribed in the circle of the bottom surface of each cylinder and are connected with the rectangle LAC×WACMaximum rectangle with same length-width ratio, filling length LACWidth W ofACIn this case, let x and y denote the bottom surface of the cylinder respectivelyInscribed in circle and rectangular LAC×WACThe length and width of the largest rectangle with the same aspect ratio, then:
Figure BDA0002585975480000074
x2+y2＝(2rc)2 (15)
from formulae (14) and (15):
Figure BDA0002585975480000075
the number of tracks required to cover the entire area
Figure BDA0002585975480000076
The number of tracks laid and the number of drones per track satisfy the following requirements:
Figure BDA0002585975480000081
according to the selected rcThe value and m of (2) are calculated, the number n of frames for laying the unmanned aerial vehicle on each minimum motion track meeting the conditions is calculated, and when the motion tracks are laid, the circle center of each motion track is superposed with the circle center of the bottom surface circle of the cylinder.
The Air Corridor (AC) is the basic area to be covered by the network of Unmanned Aerial Vehicles (UAV), as shown in fig. 1(a), the AC can be modeled as a set of a number of cuboids, the aircraft follows the predetermined course through the AC, and this text is approximately represented by cuboids due to the complexity and particularity of the geometry of the AC, as shown in fig. 1(b), in order to provide real-time access capability to the aircraft passing through the AC, and guarantee the real-time and reliable information transmission, one basic requirement of the network construction of unmanned aerial vehicles is seamless, multiple covering of the AC, therefore, the problem of the patent study is how to perform complete and efficient multiple covering of a volume of AC based on the movement pattern of the UAV, i.e. the objective of the coverage problem is to perform k-covering for the AC with a minimum number of UAVs.
When the UAVs move on the respective orbits, the covered spheres move along with the UAVs, and a certain part of area is covered only at certain time. However, regardless of the position to which each UAV moves, a certain partial Area can be covered all the time, and the partial Area is called an Invariant Coverage Area (ICA). The overlay strategy is to populate the AC with the ICA as the base building block. Since the ICA of the intersection portion of the sphere is irregular in shape, it is difficult to directly use it as a construction unit. In order to use a regular-shaped building block in the overlay model, one cylinder is extracted from the ICA and used to fill the AC, as shown in fig. 2, and fig. 2(a) and 2(b) are cylinders at the intersection of 2 spheres and 5 spheres, respectively.
It is easy to know that the height of the cylinder is 2hcAnd a bottom surface radius rcIs determined by the following parameters: 1) radius of track ro(ii) a 2) The number n of UAVs on each orbit; 3) coverage radius r of UAVs. Obviously, to obtain an effective cylinder, r needs to be satisfiedo＜rs. Since the UAV is disposed above the AC, the upper half of the cylinder cannot be utilized, and only the lower half of the cylinder can be utilized to cover the AC. Therefore, in order to cover the entire height of the AC, the constraint h must be satisfiedc≥HAC. In this case, the 3D coverage problem can be reduced to a planar coverage problem, i.e., using a radius rcHas a length and a width of Lac×WacThe objective function is to find the minimum UAV number that satisfies the condition, as shown in fig. 3, which can be obtained from fig. 3:
Figure BDA0002585975480000091
Figure BDA0002585975480000092
Figure BDA0002585975480000093
wherein, C1、C2、……、Ck+1For k +1 unmanned aerial vehicles on the same track, O is the centre of a circle of circular orbit, P, Q is unmanned aerial vehicle C respectively1And Ck+1At the intersection of the coverage areas on the horizontal plane, T is
Figure BDA0002585975480000094
And
Figure BDA0002585975480000095
the intersection of (2) and (3) can be obtained from the formulas (1), (2) and (3)
Figure BDA0002585975480000096
UAV1And UAVk+1The intersecting circles of the covering spheres are shown in FIG. 4, and can be obtained
Figure BDA0002585975480000097
Namely, it is
Figure BDA0002585975480000098
Satisfies the following conditions
Figure BDA0002585975480000099
Thus, for k-coverage, the radius of the bottom surface of the cylinder required to intercept coverage is
Figure BDA00025859754800000910
And satisfies the following conditions
ro 2+hc 2≤rs 2 (10)
1≤k≤n (11)
When n is 1, roWhen 0, the problem is derived as covering the AC with a quasi-static floating platform, where the radius and height of the bottom surface of the cylinder can be expressed as:
Figure BDA0002585975480000101
the overall goal of the coverage problem is to satisfy the constraint hc≥HACIn the case of (2), the minimum value of mn is obtained. There are two specific strategies:
strategy 1: maximum square filling length L inscribed by circle on bottom surface of cylinderACWidth W ofACAs shown in fig. 5, since the side length of the square is
Figure BDA0002585975480000102
Then
Figure BDA0002585975480000103
Thus, the optimization problem of strategy 1 is
Figure BDA0002585975480000104
Strategy 2: using circular inscribed connection of the bottom surface of the cylinder and the rectangle LAC×WACMaximum rectangle with same length-width ratio, filling length LACWidth W ofACLet x and y denote the length and width of the rectangle, respectively, as shown in FIG. 6
Figure BDA0002585975480000105
x2+y2＝(2rc)2 (15)
From formulae (14) and (15):
Figure BDA0002585975480000106
due to the number of tracks required to cover the entire area
Figure BDA0002585975480000107
The optimization problem of strategy 2 is
Figure BDA0002585975480000108
Examples
For LAC、WAC、HACRectangular AC of 2000 km, 400 km and 10km respectively, when communication radius rsAt 50km, the radius r of the bottom surface of the cylindercThe number n of UAVs on each orbit and the radius r of the orbitoAs shown in fig. 7, 7 shows that r is 1 when n is equal tocWith roIs increased and decreased, when n ≧ 3, rcWith roIs increased by an increase in; r iscIncreases with increasing n, and when n is smaller, rcThe amplification is obvious, when the value of n is larger, rcThe amplification is small; r iscDecreasing with increasing k.
The number of the required UAVs for the strategy 1 and the strategy 2 is respectively shown in FIGS. 8-10, and as can be seen from FIGS. 8-10, the number of the required UAVs increases with the increase of k; under the same conditions, compared with the two coverage strategies, the strategy 1 generally requires a smaller number of UAVs; when r isoWhen smaller, the number of UAVs required is less affected by n, when roLarger, the number of required UAVs decreases with increasing n; when n is small, the number of UAVs required is dependent on roIs increased, when n is larger, the number of required UAVs is limited by roThe change influence is not great, under the given condition, the circular orbit adopts the strategy 1, when n is 1, r0When the value is less than or equal to 12.5km, the minimum value 4 of the target function can be obtained; adopting strategy 2, when n is 1, r0Not more than 17.5km, or n is 4, r is not less than 200When the value is less than or equal to 50km, the minimum value 4 of the objective function can be obtained. Therefore, when the unmanned aerial vehicle network is designed and constructed, the optimal coverage strategy is to adopt a quasi-static floating platform, and the suboptimal coverage strategy is to adopt a smaller radiusSmall orbit, 1 UAV is arranged on a single orbit.

Claims (7)

1. A seamless and efficient unmanned aerial vehicle network k-coverage algorithm is characterized in that the coverage area of an unmanned aerial vehicle is assumed to be the radius rsThe sphere of (1), namely the unmanned aerial vehicle communication distance is rsThe length, width and height of the AC cuboid to be covered are L respectivelyAC、WAC、HACThe covering weight is k, and the method is implemented according to the following steps:
step 1, uniformly distributing m unmanned aerial vehicle movement tracks on the upper surface of an AC cuboid to be covered in an air corridor, wherein the unmanned aerial vehicle movement tracks are circular tracks, and the radius of each circular track is ro；
Step 2, according to the covering requirement, n unmanned aerial vehicles are distributed on each moving track, the n unmanned aerial vehicles on each moving track are uniformly distributed, each unmanned aerial vehicle flies at the same speed and the uniform speed, and the covering range of each unmanned aerial vehicle is a radius rsThe sphere meets the requirements when laying the unmanned aerial vehicle
Figure FDA0002585975470000011
2. The k-coverage algorithm of the seamless and efficient unmanned aerial vehicle network according to claim 1, wherein when the unmanned aerial vehicles move on the respective tracks, the sphere covered by the unmanned aerial vehicles also moves along with the respective tracks, no matter how the unmanned aerial vehicles move on the same track, a certain part of area can be covered all the time, the part of area is called an unchanged coverage area ICA, a cylinder is extracted from the ICA, and the cylinder is 2hcAnd a bottom surface radius of rcLet n be k, hc＝HACRadius r of the bottom surface of the cylindercAnd radius of motion orbit roSatisfy (r)c+ro)2＝rs 2-HAC 2According to (r)c+ro)2＝rs 2-HAC 2Selecting eligible rcAnd roThe value of (a).
3. The k-overlay algorithm for seamless and efficient drone network according to claim 2, wherein r is a function of time of dayo＜rs。
4. The seamless and efficient k-coverage algorithm for unmanned aerial vehicle network according to claim 2, wherein in the step 1, when the moving tracks of m unmanned aerial vehicles are uniformly distributed on the upper surface of the AC cuboid to be covered in the air corridor, the L length is filled by the largest square inscribed in the circles on the bottom surfaces of a plurality of cylindersACWidth W ofACIs rectangular.
5. The seamless and efficient k-cover algorithm for unmanned aerial vehicle network according to claim 4, wherein the length L is filled by the largest square inscribed in the circle of the bottom surface of the cylinderACWidth W ofACWhen the shape of the cylinder is rectangular, the side length of the largest square inscribed in the circle on the bottom surface of each cylinder is
Figure FDA0002585975470000021
Then
Figure FDA0002585975470000022
The number of tracks laid and the number of drones per track satisfy the following requirements:
Figure FDA0002585975470000023
according to the selected rcThe value and m of (2) are calculated, the number n of frames for laying the unmanned aerial vehicle on each minimum motion track meeting the conditions is calculated, and when the motion tracks are laid, the circle center of each motion track is superposed with the circle center of the bottom surface circle of the cylinder.
6. The k-coverage algorithm of the seamless and efficient unmanned aerial vehicle network according to claim 2, wherein the step 1 is to cover the nullWhen the upper surface of the middle corridor AC cuboid is uniformly provided with m unmanned aerial vehicle movement tracks, the movement tracks are inscribed in the circle of the bottom surface of each cylinder and are connected with the rectangle LAC×WACMaximum rectangle with same length-width ratio, filling length LACWidth W ofACIs rectangular.
7. The seamless and efficient k-cover algorithm for unmanned aerial vehicle network according to claim 6, wherein each cylinder is inscribed with a circle on the bottom surface and is connected with a rectangle LAC×WACMaximum rectangle with same length-width ratio, filling length LACWidth W ofACWhen the rectangle is formed, x and y respectively represent the circle inscribed on the bottom surface of the cylinder and are connected with the rectangle LAC×WACThe length and width of the largest rectangle with the same aspect ratio, then:
Figure FDA0002585975470000024
x2+y2＝(2rc)2 (15)
from formulae (14) and (15):
Figure FDA0002585975470000025
the number of tracks required to cover the entire area
Figure FDA0002585975470000031
The number of tracks laid and the number of drones per track satisfy the following requirements:
Figure FDA0002585975470000032
according to the selected rcThe value and m of (2) are calculated, the number n of frames for laying the unmanned aerial vehicle on each minimum motion track meeting the conditions is calculated, and when the motion tracks are laid, the circle center and the circle of the motion tracksThe centers of the circles on the bottom surfaces of the columns are overlapped.
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