CN112034891A - Method and device for controlling mobility of self-organizing network in flight - Google Patents
Method and device for controlling mobility of self-organizing network in flight Download PDFInfo
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Abstract
The application discloses a method and a device for controlling the mobility of a flying ad hoc network, wherein the method comprises the steps that each unmanned aerial vehicle in the flying ad hoc network obtains the driving information of each adjacent unmanned aerial vehicle which can be directly interacted currently in real time through direct interaction; the driving information comprises the relative position, the real-time position and the real-time speed of the targets of the unmanned aerial vehicles in the formation; and each unmanned aerial vehicle calculates the current acceleration required to be adopted by the unmanned aerial vehicle according to the running information, the running information of the unmanned aerial vehicle and the preset target speed of each adjacent unmanned aerial vehicle which can be directly interacted at present, and controls the unmanned aerial vehicle to run according to the acceleration. By adopting the invention, the network performance of the flying ad hoc network can be ensured.
Description
Technical Field
The present invention relates to mobile communication technologies, and in particular, to a method and an apparatus for controlling mobility of a flying ad hoc network.
Background
A Flying ad hoc network (FANET) is an ad hoc network scheme specially oriented to a multi-unmanned aerial vehicle system. In the self-organizing network in flight, the high mobility of the nodes has a challenging influence on the network performance, and the problems of link quality change, intermittent connection, topology dynamic change and even network split are easily caused. Therefore, how to perform mobility control on the unmanned aerial vehicle in the network to solve the above problems is a key technology for designing and implementing the flying ad hoc network.
At present, research on a mobile control method of the self-organizing network is in an exploration stage, and a formed mobile control scheme of the self-organizing network is not provided.
Disclosure of Invention
In view of this, the present invention mainly aims to provide a method and an apparatus for controlling mobility of an ad hoc network, which can ensure network performance of the ad hoc network.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a method for controlling the mobility of an in-flight ad hoc network comprises the following steps:
each unmanned aerial vehicle in the flying ad hoc network obtains the driving information of each adjacent unmanned aerial vehicle which can be directly interacted currently through direct interaction in real time; the driving information comprises the relative position, the real-time position and the real-time speed of the targets of the unmanned aerial vehicles in the formation;
and each unmanned aerial vehicle calculates the current acceleration required to be adopted by the unmanned aerial vehicle according to the running information, the running information of the unmanned aerial vehicle and the preset target speed of each adjacent unmanned aerial vehicle which can be directly interacted at present, and controls the unmanned aerial vehicle to run according to the acceleration.
Preferably, the calculating the currently required acceleration includes:
for each of the drones i, according to
Calculating the acceleration ui(t)；
Wherein, v isi(t) real-time speed of drone i, v*For a preset target speed of all drones in the flying ad hoc network,
n is the number of unmanned aerial vehicles in the flying ad hoc network, vj(t) real-time speed of drone j, pi(t) is the real-time position of drone i,itarget relative position, p, for drone ij(t) is the real-time position of drone j,jand alpha is a preset first coefficient, beta is a preset second coefficient, and alpha multiplied by beta is larger than 1.
The utility model provides a flight is from network deployment mobility control device, sets up in the unmanned aerial vehicle of flight from network deployment, includes:
the driving data acquisition module is used for acquiring the driving information of each adjacent unmanned aerial vehicle which can be directly interacted currently in real time through direct interaction; the driving information comprises the relative position, the real-time position and the real-time speed of the targets of the unmanned aerial vehicles in the formation;
and the mobile control module is used for calculating the current acceleration required to be adopted by the unmanned aerial vehicle according to the running information of each current adjacent unmanned aerial vehicle which can be directly interacted, the running information of the unmanned aerial vehicle and the preset target speed, and controlling the unmanned aerial vehicle to run according to the acceleration.
Preferably, the mobile control module is specifically configured to calculate an acceleration that needs to be adopted by the unmanned aerial vehicle, and includes:
according to
Calculating the current required acceleration u of the unmanned aerial vehicle ii(t)；
Wherein, v isi(t) real-time speed of drone i, v*For a preset target speed of all drones in the flying ad hoc network,
n is the number of unmanned aerial vehicles in the flying ad hoc network, vj(t) real-time speed of drone j, pi(t) is the real-time position of drone i,itarget relative position, p, for drone ij(t) is the real-time position of drone j,jand alpha is a preset first coefficient, beta is a preset second coefficient, and alpha multiplied by beta is larger than 1.
The application also discloses an unmanned aerial vehicle, which comprises a processor and a memory;
the memory has stored therein an application program executable by the processor for causing the processor to execute the method of flying ad hoc network mobility control as described above.
The application also discloses a computer readable storage medium, wherein computer readable instructions are stored, and the computer readable instructions are used for executing the method for controlling the mobility of the self-organizing network.
According to the technical scheme, each unmanned aerial vehicle in the network needs to acquire the driving information of the adjacent unmanned aerial vehicle from the adjacent unmanned aerial vehicle capable of directly interacting in real time, then the acceleration which enables the position of the unmanned aerial vehicle in the network to tend to a fixed relative position and the speed to tend to an average speed is calculated based on the target relative position, the real-time position and the speed information of the unmanned aerial vehicle and the adjacent nodes, and the unmanned aerial vehicle is controlled to run based on the acceleration. Therefore, each unmanned aerial vehicle in the network can gather near the center of the network position and tend to the determined relative position, and the speed tends to the average speed, so that a plurality of problems caused by the damage of the high mobility of the unmanned aerial vehicle to the network topology can be avoided. In addition, because the invention does not control the absolute position and speed of each unmanned aerial vehicle, but realizes the mobility control target by adjusting the relative position and speed of the unmanned aerial vehicle and the neighboring unmanned aerial vehicle, thus, when each unmanned aerial vehicle controls the mobility of the self-body, the unmanned aerial vehicle only needs to directly interact to obtain the driving information of the neighboring unmanned aerial vehicle, and does not need the information of all unmanned aerial vehicles in the network, thus, the distributed mobile control is realized by utilizing the point-to-point direct interaction between nodes, thereby improving the expansibility of the network, being capable of flexibly adapting to the change of the number of the unmanned aerial vehicles, and avoiding the problems of control delay and poor expandability caused by the centralized scheduling and calculation of the whole network. In conclusion, the network performance of the flying ad hoc network can be effectively guaranteed by adopting the method and the system.
Drawings
Fig. 1 is a flowchart illustrating a method for controlling mobility of an ad hoc network according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a single unmanned aerial vehicle interacting with an adjacent unmanned aerial vehicle to acquire driving information in the embodiment of the present invention;
FIG. 3 is a block diagram of an Ad hoc network in flight mobility control device according to the present invention;
fig. 4 is a block diagram of a drone according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic flow diagram of an embodiment of the present invention, and as shown in fig. 1, a method for controlling mobility of an ad hoc network in flight implemented by the embodiment mainly includes:
In this step, every unmanned aerial vehicle in the flight ad hoc network needs to obtain the traveling information of each adjacent unmanned aerial vehicle that can directly interact at present through direct interaction in real time, so that the acceleration that needs to be adopted at present is determined in real time based on these information and in combination with the corresponding information of this machine, so that the position and the speed of unmanned aerial vehicle tend to preset the target, thereby the stability of network topology can be ensured, and then the guarantee network performance is not influenced by the high mobility of node.
Here, each drone only needs to directly interact to acquire the driving data of neighboring drones in the network, and does not need to acquire the driving data from all drones in the network (as shown in the scenario of fig. 2). Therefore, point-to-point direct interaction among the nodes is utilized, distributed mobile control is achieved, compared with centralized control, the control mode can reduce mobile control time delay, further can meet the control requirement of high mobility of the nodes, meanwhile fully improves network expansibility, and can flexibly adapt to the change of the number of unmanned aerial vehicles.
102, each unmanned aerial vehicle calculates the current required acceleration of the unmanned aerial vehicle according to the running information of each adjacent unmanned aerial vehicle, the running information of the unmanned aerial vehicle and the preset target speed, wherein the running information, the running information and the preset target speed can be directly interacted with each unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to run according to the acceleration.
In this step, each unmanned aerial vehicle generates an acceleration for performing mobility control on the local machine in real time according to the currently acquired running information of the adjacent unmanned aerial vehicle and in combination with the running information and the target speed of the local machine. Because the acceleration is calculated based on the target speed and the target relative position of the unmanned aerial vehicle, each unmanned aerial vehicle in the network can gather near the center of the network position and tends to the determined relative position, and the speed tends to the average speed, so that various problems caused by the damage of the high mobility of the unmanned aerial vehicle to the network topology can be avoided.
In one embodiment, for each drone in this step, the following method may be used to calculate the acceleration that needs to be used currently:
for each of the drones i, according to
Calculating the acceleration ui(t)。
Wherein the content of the first and second substances,
vi(t) real-time speed of drone i, vj(t) is the real-time speed of drone j. .
v*For the target speeds of all drones in the preset flying ad hoc network, the parameter value is shared by all drones and is also the target average speed of all drones in the network, and the parameter can be configured to each drone by the control center.
Said g isijWhether direct interaction can be performed between the unmanned aerial vehicle i and the unmanned aerial vehicle j or not is represented, and when direct interaction cannot be performed between the unmanned aerial vehicle i and the unmanned aerial vehicle j, gijWhen can directly interact between unmanned aerial vehicle i and unmanned aerial vehicle j, g ═ 0ij1, namely:
and n is the number of unmanned planes in the flying ad hoc network.
pi(t) is the real-time position of drone i, pj(t) is the real-time position of drone j.
iIs the target relative position of the drone i,jfor the target relative position of drone j, the target relative position of each drone may be preconfigured by the control center to the respective drone.
Alpha is a preset first coefficient, beta is a preset second coefficient, and alpha multiplied by beta is larger than 1.
According to the above formula
Controlling the acceleration of the drone so that the mobility of the flying ad hoc network will be controlled to some extent, the group movement of the drones in the network having the characteristics of location aggregation and speed matching, which can be expressed as:
wherein, cpAnd cvIs a negative constant (determined by the topology of the network) such that
And
decays exponentially as t increases. In the above-mentioned formula, the compound of formula,
can represent the location center of the network of drones, and
mean velocity is indicated, thus meaning that the positions of all drones are clustered near the center of the network and tend to a determined relative position over time (position clustering), while the velocities of all drones tend to mean velocity (velocity matching).
It can be seen from the above-mentioned scheme that, in the above-mentioned method embodiment, all unmanned aerial vehicle nodes of the flying ad hoc network are driven by a distributed control mechanism, and based on the target relative position and the target speed, the acceleration of the unmanned aerial vehicle is controlled, so that the position aggregation of all unmanned aerial vehicles and the speed matching of all unmanned aerial vehicles are effectively realized, a network forms a predetermined spatial structure, and the structural stability is maintained under the influence of certain random interference (noise), therefore, the influence of the high mobility of the nodes on the ad hoc network performance can be effectively overcome, and the performance of the flying ad hoc network can be effectively guaranteed.
Corresponding to the above method embodiment, the present application further provides a device for controlling mobility of a flying ad hoc network, where the device is disposed in an unmanned aerial vehicle of the flying ad hoc network, and includes, as shown in fig. 3:
the driving data acquisition module 301 is configured to acquire driving information of each adjacent unmanned aerial vehicle which can be directly interacted currently in real time through direct interaction; the driving information comprises the relative position, the real-time position and the real-time speed of the targets of the unmanned aerial vehicles in the formation;
the mobile control module 302 is configured to calculate an acceleration that the unmanned aerial vehicle currently needs to adopt according to the running information of each current directly interactive adjacent unmanned aerial vehicle, the running information of the unmanned aerial vehicle and a preset target speed, and control the unmanned aerial vehicle to run according to the acceleration.
In one embodiment, the mobile control module is specifically configured to calculate an acceleration that needs to be currently adopted by the drone, and includes:
according to
Calculating the current required acceleration u of the unmanned aerial vehicle ii(t)；
Wherein the content of the first and second substances,
vi(t) real-time speed of drone i, vj(t) is the real-time speed of drone j. .
v*The target speed of all unmanned aerial vehicles in the preset flying ad hoc network is set.
Said g isijThe method is used for indicating whether the unmanned aerial vehicle i and the unmanned aerial vehicle j can be directly interacted, and when the unmanned aerial vehicle i and the unmanned aerial vehicle j cannot be directly interacted, gijWhen can directly interact between unmanned aerial vehicle i and unmanned aerial vehicle j, g ═ 0ij1, namely:
and n is the number of unmanned planes in the flying ad hoc network.
pi(t) is the real-time position of drone i, pj(t) is the real-time position of drone j.
iIs the target relative position of the drone i,jis the target relative position of drone j.
Alpha is a preset first coefficient, beta is a preset second coefficient, and alpha multiplied by beta is larger than 1.
Fig. 4 is a structure diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
As shown in fig. 4, the drone includes: a processor 401 and a memory 402; in which a memory 402 has stored therein an application program executable by the processor 601 for causing the processor 601 to execute the in-flight ad hoc network mobility control method as described above.
The memory 402 may be embodied as various storage media such as an Electrically Erasable Programmable Read Only Memory (EEPROM), a Flash memory (Flash memory), and a Programmable Read Only Memory (PROM). Processor 401 may be implemented to include one or more central processors or one or more field programmable gate arrays that integrate one or more central processor cores. In particular, the central processor or central processor core may be implemented as a CPU or MCU.
It should be noted that not all steps and modules in the above flows and structures are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The division of each module is only for convenience of describing adopted functional division, and in actual implementation, one module may be divided into multiple modules, and the functions of multiple modules may also be implemented by the same module, and these modules may be located in the same device or in different devices.
The hardware modules in the various embodiments may be implemented mechanically or electronically. For example, a hardware module may include a specially designed permanent circuit or logic device (e.g., a special purpose processor such as an FPGA or ASIC) for performing specific operations. A hardware module may also include programmable logic devices or circuits (e.g., including a general-purpose processor or other programmable processor) that are temporarily configured by software to perform certain operations. The implementation of the hardware module in a mechanical manner, or in a dedicated permanent circuit, or in a temporarily configured circuit (e.g., configured by software), may be determined based on cost and time considerations.
The present invention also provides a machine-readable storage medium storing instructions for causing a machine to perform a method as described herein. Specifically, a system or an apparatus equipped with a storage medium on which a software program code that realizes the functions of any of the embodiments described above is stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program code stored in the storage medium. Further, part or all of the actual operations may be performed by an operating system or the like operating on the computer by instructions based on the program code. The functions of any of the above-described embodiments may also be implemented by writing the program code read out from the storage medium to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the program code.
Examples of the storage medium for supplying the program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD + RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or the cloud by a communication network.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative. For the sake of simplicity, the drawings are only schematic representations of the parts relevant to the invention, and do not represent the actual structure of the product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "a" does not mean that the number of the relevant portions of the present invention is limited to "only one", and "a" does not mean that the number of the relevant portions of the present invention "more than one" is excluded. In this document, "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method for controlling mobility of an Ad hoc network in flight is characterized by comprising the following steps:
each unmanned aerial vehicle in the flying ad hoc network obtains the driving information of each adjacent unmanned aerial vehicle which can be directly interacted currently through direct interaction in real time; the driving information comprises the relative position, the real-time position and the real-time speed of the targets of the unmanned aerial vehicles in the formation;
and each unmanned aerial vehicle calculates the current acceleration required to be adopted by the unmanned aerial vehicle according to the running information, the running information of the unmanned aerial vehicle and the preset target speed of each adjacent unmanned aerial vehicle which can be directly interacted at present, and controls the unmanned aerial vehicle to run according to the acceleration.
2. The method of claim 1, wherein said calculating the acceleration currently required to be applied by the native machine comprises:
for each of the drones i, according to
Calculating the acceleration ui(t)；
Wherein, v isi(t) real-time speed of drone i, v*For a preset target speed of all drones in the flying ad hoc network,
n is the number of unmanned aerial vehicles in the flying ad hoc network, vj(t) real-time speed of drone j, pi(t) is the real-time position of drone i,itarget relative position, p, for drone ij(t) is the real-time position of drone j,jand alpha is a preset first coefficient, beta is a preset second coefficient, and alpha multiplied by beta is larger than 1.
3. The utility model provides a flight is from network deployment mobility control device, sets up in the unmanned aerial vehicle of flight from network deployment, its characterized in that includes:
the driving data acquisition module is used for acquiring the driving information of each adjacent unmanned aerial vehicle which can be directly interacted currently in real time through direct interaction; the driving information comprises the relative position, the real-time position and the real-time speed of the targets of the unmanned aerial vehicles in the formation;
and the mobile control module is used for calculating the current acceleration required to be adopted by the unmanned aerial vehicle according to the running information of each current adjacent unmanned aerial vehicle which can be directly interacted, the running information of the unmanned aerial vehicle and the preset target speed, and controlling the unmanned aerial vehicle to run according to the acceleration.
4. The apparatus according to claim 3, wherein the movement control module, specifically configured to calculate an acceleration that the drone currently needs to adopt, includes:
according to
Calculating the current required acceleration u of the unmanned aerial vehicle ii(t)；
Wherein, v isi(t) real-time speed of drone i, v*For a preset target speed of all drones in the flying ad hoc network,
n is the number of unmanned aerial vehicles in the flying ad hoc network, vj(t) real-time speed of drone j, pi(t) is the real-time position of drone i,itarget relative position, p, for drone ij(t) is the real-time position of drone j,jand alpha is a preset first coefficient, beta is a preset second coefficient, and alpha multiplied by beta is larger than 1.
5. An unmanned aerial vehicle comprising a processor and a memory;
the memory has stored therein an application executable by the processor for causing the processor to execute the method of the flying ad hoc network mobility control according to any one of claims 1 to 2.
6. A computer-readable storage medium having computer-readable instructions stored thereon for performing the method for controlling the mobility of an ad hoc network in flight according to any one of claims 1 to 2.
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