CN112558628A - Ad-hoc network unmanned aerial vehicle-based control method and computer-readable storage medium - Google Patents
Ad-hoc network unmanned aerial vehicle-based control method and computer-readable storage medium Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The invention discloses a control method based on an ad hoc network unmanned aerial vehicle and a computer readable storage medium, wherein the control method based on the ad hoc network unmanned aerial vehicle comprises the following steps: when detecting that a new unmanned aerial vehicle enters a data link where an unmanned aerial vehicle cluster is located, acquiring the frequency of a data link signal of the newly entered unmanned aerial vehicle; comparing the frequency of the data link signal with the frequency of the data link signal where the unmanned aerial vehicle group is located; and when the frequency of the data link signal is different from that of the data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information, and sending the alarm prompt information to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located is illegally invaded. The method and the device can solve the problem that the data link of the unmanned aerial vehicle is low in safety and stability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control method based on an ad hoc network unmanned aerial vehicle and a computer readable storage medium.
Background
No matter it is civilian field or for military use field, unmanned aerial vehicle technique all is widely used, and under the holding of data link technique, unmanned aerial vehicle reconnoiters, detects and gathers data information through the mode that the network connection formed unmanned aerial vehicle crowd, but when having added new unmanned aerial vehicle in original unmanned aerial vehicle crowd, owing to whether can not effectively discern newly-added unmanned aerial vehicle be the unmanned aerial vehicle of external illegal invasion, if the unmanned aerial vehicle that adds is the unmanned aerial vehicle of illegal invasion, the data information of original unmanned aerial vehicle crowd can be stolen, lead to unmanned aerial vehicle's data link security and stability low.
Disclosure of Invention
The invention mainly aims to provide a control method based on an ad hoc network unmanned aerial vehicle and a computer readable storage medium, and solves the problem that the safety and the stability of a data link of the unmanned aerial vehicle are low.
In order to achieve the above object, the present invention provides a control method based on an ad hoc network unmanned aerial vehicle, including:
when detecting that a new unmanned aerial vehicle enters a data link where an unmanned aerial vehicle cluster is located, acquiring the frequency of a data link signal of the newly entered unmanned aerial vehicle;
comparing the frequency of the data link signal with the frequency of the data link signal where the unmanned aerial vehicle group is located;
and when the frequency of the data link signal is different from that of the data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information, and sending the alarm prompt information to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located is illegally invaded.
Optionally, when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information, and sending the alarm prompt information to a preset terminal includes:
when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, acquiring the coordinate position of the newly-entered unmanned aerial vehicle;
and generating alarm prompt information according to the coordinate position, and sending the alarm prompt information to a preset terminal.
Optionally, after the step of generating the alarm prompt information, the method further includes:
sending the alarm prompt information to each unmanned aerial vehicle in a data chain where the unmanned aerial vehicle cluster is located;
and closing the data communication of the data link where the unmanned aerial vehicle cluster is located.
Optionally, after the step of sending the alarm prompt information to each drone in a data chain where the drone group is located, the method further includes:
and transmitting an interference signal to the coordinate position of the newly entered unmanned aerial vehicle to hit down the unmanned aerial vehicle.
Optionally, after the step of comparing the frequency of the data link signal with the frequency of the data link signal where the unmanned aerial vehicle cluster is located, the method further includes:
when the frequency of the data link signal is the same as that of the data link signal where the unmanned aerial vehicle cluster is located, acquiring an identity of the newly-entered unmanned aerial vehicle, and verifying the identity;
and when the identity identification passes verification, establishing data communication between the newly entered unmanned aerial vehicle and the unmanned aerial vehicle in the data link where the unmanned aerial vehicle cluster is located so as to update the data link where the unmanned aerial vehicle cluster is located.
Optionally, the step of establishing data communication between the newly-entered unmanned aerial vehicle and an unmanned aerial vehicle in a data chain in which the unmanned aerial vehicle cluster is located, so as to update the data chain in which the unmanned aerial vehicle cluster is located, includes:
acquiring a routing protocol of the data link;
and updating the communication path between the unmanned aerial vehicles in the data chain according to the routing protocol so as to update the data chain where the unmanned aerial vehicle cluster is located.
Optionally, the step of updating the communication path between drones in the data chain according to the routing protocol includes:
updating network parameters of the data link according to the routing protocol, wherein the network parameters comprise transmission distance between the unmanned aerial vehicles and signal transmitting power;
and updating the communication path between the unmanned aerial vehicles in the data chain according to the network parameters so as to update the data chain where the unmanned aerial vehicle cluster is located.
Optionally, after the step of updating the data chain in which the unmanned aerial vehicle cluster is located, the method further includes:
acquiring a service type corresponding to the current operation service of the unmanned aerial vehicle group;
and adjusting the communication waveform of the unmanned aerial vehicle cluster and allocating time slots according to the service type.
In addition, in order to achieve the above object, the present invention further provides a drone, where the drone includes a memory, a processor, and a drone control program stored in the memory and executable on the processor, and the drone control program, when executed by the processor, implements the steps of the ad hoc drone-based control method as described above.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, on which a control program of a drone is stored, where the control program of the drone, when executed by a processor, implements the steps of the ad hoc network drone-based control method as described above.
The invention provides a control method based on an ad hoc network unmanned aerial vehicle and a computer readable storage medium, when an unmanned aerial vehicle in an unmanned aerial vehicle cluster detects that a new unmanned aerial vehicle enters a data link where the unmanned aerial vehicle cluster is located, the frequency of a data link signal of the newly-entered unmanned aerial vehicle is obtained, the frequency of the data link signal is compared with the frequency of the data link signal where the unmanned aerial vehicle cluster is located, when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, alarm prompt information is generated and sent to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located has illegal intrusion. This scheme adds the unmanned aerial vehicle crowd when new unmanned aerial vehicle joins in, the feedback recognition mechanism has been increased, whether the frequency of data link signal through judging new entering unmanned aerial vehicle is the same with the frequency of former unmanned aerial vehicle crowd place data link signal, when inequality, confirm the unmanned aerial vehicle of newly joining to be illegal invasive unmanned aerial vehicle, and generate warning prompt message, the discernment ability of unmanned aerial vehicle crowd place data link to the unmanned aerial vehicle of pretending to invade has been improved, the problem that unmanned aerial vehicle's data link security and stability are low is solved.
Drawings
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a hardware architecture of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the control method based on the ad hoc network unmanned aerial vehicle of the present invention;
fig. 3 is a schematic flow chart of a second embodiment of the control method based on the ad hoc network unmanned aerial vehicle of the present invention;
fig. 4 is a schematic flowchart of a third embodiment of the control method based on the ad hoc network unmanned aerial vehicle of the present invention;
fig. 5 is a flowchart illustrating a fourth embodiment of the control method based on the ad hoc network unmanned aerial vehicle according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: when an unmanned aerial vehicle in the unmanned aerial vehicle cluster detects that a new unmanned aerial vehicle enters a data link where the unmanned aerial vehicle cluster is located, acquiring the frequency of a data link signal of the newly-entered unmanned aerial vehicle, comparing the frequency of the data link signal with the frequency of a data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, and sending the alarm prompt information to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located has illegal intrusion. This scheme adds the unmanned aerial vehicle crowd when new unmanned aerial vehicle joins in, the feedback recognition mechanism has been increased, whether the frequency of data link signal through judging new entering unmanned aerial vehicle is the same with the frequency of former unmanned aerial vehicle crowd place data link signal, when inequality, confirm the unmanned aerial vehicle of newly joining to be illegal invasive unmanned aerial vehicle, and generate warning prompt message, the discernment ability of unmanned aerial vehicle crowd place data link to the unmanned aerial vehicle of pretending to invade has been improved, the problem that unmanned aerial vehicle's data link security and stability are low is solved.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware architecture of a drone according to an embodiment of the present invention.
As shown in fig. 1, the drone may include: a processor 1001, such as a CPU, a memory 1002, a communication bus 1003, and a network interface 1004, wherein the communication bus 1003 is used for realizing connection communication between these components. The memory 1002 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the drone shown in fig. 1 is not intended to be limiting, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, the memory 1002, which is a kind of computer storage medium, may include therein an operating system and a control program of the drone.
In the drone shown in fig. 1, the processor 1001 may be configured to invoke a control program for the drone stored in the memory 1002 and perform the following operations:
when detecting that a new unmanned aerial vehicle enters a data link where an unmanned aerial vehicle cluster is located, acquiring the frequency of a data link signal of the newly entered unmanned aerial vehicle;
comparing the frequency of the data link signal with the frequency of the data link signal where the unmanned aerial vehicle group is located;
and when the frequency of the data link signal is different from that of the data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information, and sending the alarm prompt information to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located is illegally invaded.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, acquiring the coordinate position of the newly-entered unmanned aerial vehicle;
and generating alarm prompt information according to the coordinate position, and sending the alarm prompt information to a preset terminal.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
sending the alarm prompt information to each unmanned aerial vehicle in a data chain where the unmanned aerial vehicle cluster is located;
and closing the data communication of the data link where the unmanned aerial vehicle cluster is located.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
and transmitting an interference signal to the coordinate position of the newly entered unmanned aerial vehicle to hit down the unmanned aerial vehicle.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
when the frequency of the data link signal is the same as that of the data link signal where the unmanned aerial vehicle cluster is located, acquiring an identity of the newly-entered unmanned aerial vehicle, and verifying the identity;
and when the identity identification passes verification, establishing data communication between the newly entered unmanned aerial vehicle and the unmanned aerial vehicle in the data link where the unmanned aerial vehicle cluster is located so as to update the data link where the unmanned aerial vehicle cluster is located.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
acquiring a routing protocol of the data link;
and updating the communication path between the unmanned aerial vehicles in the data chain according to the routing protocol so as to update the data chain where the unmanned aerial vehicle cluster is located.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
updating network parameters of the data link according to the routing protocol, wherein the network parameters comprise transmission distance between the unmanned aerial vehicles and signal transmitting power;
and updating the communication path between the unmanned aerial vehicles in the data chain according to the network parameters so as to update the data chain where the unmanned aerial vehicle cluster is located.
Further, the processor 1001 may call the control program of the drone stored in the memory 1002, and also perform the following operations:
acquiring a service type corresponding to the current operation service of the unmanned aerial vehicle group;
and adjusting the communication waveform of the unmanned aerial vehicle cluster and allocating time slots according to the service type.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the control method based on the ad hoc network unmanned aerial vehicle, and the control method based on the ad hoc network unmanned aerial vehicle includes the following steps:
step S10, when detecting that a new unmanned aerial vehicle enters a data link where the unmanned aerial vehicle cluster is located, acquiring the frequency of a data link signal of the newly entered unmanned aerial vehicle;
in this embodiment, the execution subject is an unmanned aerial vehicle, the unmanned aerial vehicle is an unmanned aerial vehicle operated by a radio remote control device and a self-contained program control device, or an aircraft operated by a vehicle-mounted computer completely or intermittently and autonomously, the unmanned aerial vehicle is often used for information acquisition of rescue, detection or dangerous work, and under the support of a data link technology, the unmanned aerial vehicle can be self-organized to form an unmanned aerial vehicle cluster to form a data link, so that the rescue or detection range of the unmanned aerial vehicle is greatly improved, the data link is a data intercommunication link or a data network, the data link is formed by the unmanned aerial vehicle cluster, each unmanned aerial vehicle in the data link is a communication node, data communication can be performed between the communication nodes, information acquired by one unmanned aerial vehicle node can be synchronously transmitted to other unmanned aerial vehicle nodes in the data link, however, when a new unmanned aerial vehicle joins the data link, if the identity information of the newly-added unmanned aerial vehicle cannot be effectively judged, if the data communication is directly established with the newly-entered unmanned aerial vehicle, the newly-entered unmanned aerial vehicle may be a disguised and invaded unmanned aerial vehicle, so that the information in the data chain is stolen, and the safety and the stability of the data chain are low.
In this embodiment, the unmanned aerial vehicle forms a data link through the ad hoc network, for example, dynamically establishes a data link through the MESH ad hoc network, the MESH ad hoc network is a novel wireless network, the data link is established according to a networking frequency band, and the MESH is divided into a multi-frequency multi-channel networking and a single-frequency networking. The single-frequency networking adopts single frequency for receiving and transmitting, and the bandwidth capacity is reduced by half. Under multi-frequency multi-channel networking, the equipment uses a plurality of orthogonal frequencies which are respectively used for different links, the system throughput can be increased, and data link signals formed by networking have different frequencies due to different networking frequency bands.
It should be noted that the data link network formed by the MESH ad hoc network is a data link network of a topology structure, the unmanned aerial vehicle is a communication node, and there is no parent-child relationship between nodes in the topology structure, as long as nodes within a range where wireless transmission power can reach can directly communicate, a fault of one node only affects a wireless link related to the node, and other links can communicate as usual, so that the stability of the topology network is high.
In this embodiment, when it is detected that a new unmanned aerial vehicle enters a data link in which the unmanned aerial vehicle cluster is located, the frequency of a data link signal of the new unmanned aerial vehicle is acquired.
Specifically, including a plurality of unmanned aerial vehicles in the data link, unmanned aerial vehicle real-time detection in the data link whether has new unmanned aerial vehicle to get into the data link, when detecting that there is new unmanned aerial vehicle to get into the data link that unmanned aerial vehicle crowd belongs to, read this new data link signal that gets into unmanned aerial vehicle to this data link signal of analysis obtains the frequency of this data link signal.
Optionally, when an unmanned aerial vehicle closest to a newly entering unmanned aerial vehicle in the unmanned aerial vehicle fleet detects that an unmanned aerial vehicle enters a data link where the unmanned aerial vehicle fleet is located, the frequency of a data link signal of the newly entering unmanned aerial vehicle is obtained, and the obtained frequency is synchronously transmitted to other unmanned aerial vehicles in the data link where the unmanned aerial vehicle fleet is located.
Step S20, comparing the frequency of the data link signal with the frequency of the data link signal where the unmanned aerial vehicle cluster is located;
in this embodiment, after the frequency of the data link signal of the newly entered unmanned aerial vehicle is obtained, the frequency of the data link signal of the newly entered unmanned aerial vehicle is compared with the frequency of the data link signal where the unmanned aerial vehicle fleet is located. Specifically, the frequency of a data link signal where the pre-stored unmanned aerial vehicle cluster is located is obtained, the frequency of the pre-stored data link signal is compared with the frequency of a data link signal newly entering the unmanned aerial vehicle, and whether the frequency of the data link signal newly entering the unmanned aerial vehicle is the same as the frequency of the pre-stored data link signal is judged, wherein the frequency of the pre-stored data link signal is the frequency of the data link signal where the unmanned aerial vehicle cluster is located, and the frequency is determined when a data link is formed in an ad hoc network.
And step S30, when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information, and sending the alarm prompt information to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located has illegal intrusion.
In this embodiment, after comparing the frequency of the data link signal of the newly entered unmanned aerial vehicle with the frequency of the data link signal of the unmanned aerial vehicle cluster, if the frequency of the data link signal of the newly entered unmanned aerial vehicle is different from the frequency of the data link signal of the unmanned aerial vehicle cluster, it indicates that the newly entered unmanned aerial vehicle may be a disguised unmanned aerial vehicle which is illegally intruded, and when the frequencies are different, alarm prompt information is generated and sent to a preset terminal to prompt that the data link of the unmanned aerial vehicle cluster is illegally intruded. The preset terminal is a control terminal of the unmanned aerial vehicle data chain, a ground control device can be selected, interaction is carried out between the preset terminal and a user, and the user can control the data chain where the unmanned aerial vehicle cluster is located through the preset terminal.
In the technical scheme provided by this embodiment, when an unmanned aerial vehicle in an unmanned aerial vehicle cluster detects that a new unmanned aerial vehicle enters a data link where the unmanned aerial vehicle cluster is located, the frequency of a data link signal of the newly-entered unmanned aerial vehicle is obtained, the frequency of the data link signal is compared with the frequency of a data link signal where the unmanned aerial vehicle cluster is located, when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, alarm prompt information is generated, and the alarm prompt information is sent to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located has illegal intrusion. This scheme adds the unmanned aerial vehicle crowd when new unmanned aerial vehicle joins in, the feedback recognition mechanism has been increased, whether the frequency of data link signal through judging new entering unmanned aerial vehicle is the same with the frequency of former unmanned aerial vehicle crowd place data link signal, when inequality, confirm the unmanned aerial vehicle of newly joining to be illegal invasive unmanned aerial vehicle, and generate warning prompt message, the discernment ability of unmanned aerial vehicle crowd place data link to the unmanned aerial vehicle of pretending to invade has been improved, the problem that unmanned aerial vehicle's data link security and stability are low is solved.
Referring to fig. 3, fig. 3 is a schematic flowchart of a second embodiment of the control method based on the ad hoc network unmanned aerial vehicle of the present invention, and based on the first embodiment, the step of S30 includes:
step S31, when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, acquiring the coordinate position of the newly entered unmanned aerial vehicle;
in this embodiment, when the frequency of the data link signal of the newly entered unmanned aerial vehicle is determined to be different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, the coordinate position of the newly entered unmanned aerial vehicle is obtained, and the coordinate position is the position where the newly entered unmanned aerial vehicle is located. Specifically, be provided with orientation module among the unmanned aerial vehicle, when the unmanned aerial vehicle of new entering, fix a position this new coordinate position who gets into unmanned aerial vehicle in real time through orientation module.
Optionally, the drone closest to the newly entering drone acquires the coordinate position of the newly entering drone through the positioning module.
And step S32, generating alarm prompt information according to the coordinate position, and sending the alarm prompt information to a preset terminal.
In this embodiment, after the coordinate position of the newly entered unmanned aerial vehicle is obtained, alarm prompt information is generated according to the coordinate position, and the alarm prompt information is sent to the preset terminal, and optionally, the coordinate position of the newly entered unmanned aerial vehicle is sent to the preset terminal.
Furthermore, after the alarm prompt information is generated, the alarm prompt information is sent to each unmanned aerial vehicle in the data chain where the unmanned aerial vehicle cluster is located, data communication of the data chain where the unmanned aerial vehicle cluster is located is closed, and through synchronous pushing of the alarm prompt information, each unmanned aerial vehicle in the data chain where the unmanned aerial vehicle cluster is located timely masters the situation of newly entering the unmanned aerial vehicle, and through temporarily closing the data communication of the data chain, the newly entering unmanned aerial vehicle is effectively prevented from stealing information in the data chain, and the communication safety of the data chain is improved.
Further, after the alarm prompt information is sent to each unmanned aerial vehicle in the data chain, an interference signal is transmitted to the coordinate position where the newly-entered unmanned aerial vehicle is located, and the newly-entered unmanned aerial vehicle is knocked down through interference of the signal, wherein the interference signal may be selected as a co-channel interference signal, and in other embodiments, the interference signal may be selected according to actual needs, for example, an intermodulation interference signal or a spurious interference signal, which is not limited herein. The newly-entered unmanned aerial vehicle is knocked down by transmitting the interference signal, so that the safety and the stability of the data chain are further improved.
In the technical scheme that this embodiment provided, when the frequency of the data link signal of the unmanned aerial vehicle that newly gets into is inequality with the frequency of the data link signal that unmanned aerial vehicle crowd belongs to, through the coordinate position who obtains newly getting into unmanned aerial vehicle, generate alarm prompt information according to the coordinate position, send alarm prompt information to preset terminal, can directly lock newly getting into unmanned aerial vehicle's specific position, in time discover the position that the unmanned aerial vehicle that pretends to invade belongs to.
Referring to fig. 4, fig. 4 is a schematic flowchart of a third embodiment of the control method based on an ad hoc network drone, where based on the first embodiment, after the step of S20, the method includes:
step S40, when the frequency of the data link signal is the same as the frequency of the data link signal where the unmanned aerial vehicle cluster is located, acquiring the identity of the newly-entered unmanned aerial vehicle, and verifying the identity;
in this embodiment, when the frequency of the data link signal of the newly entered unmanned aerial vehicle is the same as the frequency of the data link signal of the unmanned aerial vehicle cluster, the identity of the newly entered unmanned aerial vehicle is further obtained, and the identity of the newly entered unmanned aerial vehicle is verified, where the identity is an identity used for indicating the validity of the identity of the unmanned aerial vehicle.
Specifically, the frequency of the data link signal of the newly entered unmanned aerial vehicle is the same as the frequency of the data link signal of the unmanned aerial vehicle cluster, and the newly entered unmanned aerial vehicle cannot be determined to be a safe unmanned aerial vehicle, the identity of the newly entered unmanned aerial vehicle is acquired by sending identity authentication information to the newly entered unmanned aerial vehicle, the acquired identity is matched with the preset identity in the database, and whether the identity of the newly entered unmanned aerial vehicle is the identity acknowledged by the data link is determined to verify the identity of the newly entered unmanned aerial vehicle.
Step S50, when the identification passes verification, establishing data communication between the newly entered unmanned aerial vehicle and the unmanned aerial vehicle in the data chain where the unmanned aerial vehicle cluster is located, so as to update the data chain where the unmanned aerial vehicle cluster is located.
In this embodiment, after the identity authentication of the newly entered unmanned aerial vehicle passes, the newly entered unmanned aerial vehicle is determined to be the unmanned aerial vehicle admitted by the data chain, data communication between the newly entered unmanned aerial vehicle and the unmanned aerial vehicle in the data chain where the unmanned aerial vehicle cluster is located is established, and the data chain where the unmanned aerial vehicle cluster is located is updated.
It can be understood that, if the identity identification verification of the newly entered unmanned aerial vehicle does not pass, it is determined that the newly entered unmanned aerial vehicle is a disguised unmanned aerial vehicle, the step of generating the alarm prompt information and sending the alarm prompt information to the preset terminal is performed, and specific reference may be made to the content of the first embodiment, which is not repeated herein.
In the technical scheme that this embodiment provided, when the frequency of data link signal is the same with the frequency of the data link signal that unmanned aerial vehicle crowd is located, whether the unmanned aerial vehicle that further confirms through the identification of verifying newly-entered unmanned aerial vehicle is the invasion, through the dual judgement of the frequency of data link signal and unmanned aerial vehicle's identification, improved the data link and discerned disguised unmanned aerial vehicle's ability, improved the security and the stability of data link.
Referring to fig. 5, fig. 5 is a schematic flowchart of a fourth embodiment of the control method based on the ad hoc network unmanned aerial vehicle in the present invention, and based on the third embodiment, the step of S50 includes:
s51, when the ID is verified, obtaining the routing protocol of the data link;
in this embodiment, after the identity authentication of the newly entered drone passes, a routing protocol of the data link is acquired, where the routing protocol is a protocol for managing a communication path between the drones, and the communication path between the drones in the data link can be updated and adjusted by the routing protocol. The existence of the routing protocol enables the communication path between the unmanned aerial vehicles to be the optimal communication path.
And S52, updating the communication path among the unmanned aerial vehicles in the data chain according to the routing protocol so as to update the data chain where the unmanned aerial vehicle cluster is located.
In this embodiment, after the routing protocol is acquired, the communication path between the drones in the data chain is updated according to the routing protocol, so as to update the data chain where the drone cluster is located.
Specifically, network parameters of the data chain are updated through a routing protocol, wherein the network parameters of the data chain are related parameters for planning a communication path, and the network parameters can be selected from transmission distance between the unmanned aerial vehicles, transmission power of adjacent unmanned aerial vehicle nodes and the like. And replanning the communication path between the unmanned aerial vehicles in the data chain according to the updated network parameters. And then updating the data chain where the unmanned aerial vehicle cluster is located.
Further, after the data link where the unmanned aerial vehicle cluster is located is updated, the data link tends to be stable, and the communication waveform and the allocation time slot of the unmanned aerial vehicle cluster are automatically adjusted according to the service type by acquiring the service type of the current operation service of the unmanned aerial vehicle cluster in real time. The currently running service is a service function executed by the unmanned aerial vehicle cluster, such as a rescue service, a detection service, and the like.
In the technical scheme provided by this embodiment, when the identity authentication of newly getting into unmanned aerial vehicle passes, through the network parameter that obtains routing protocol update data chain, unmanned aerial vehicle's communication path in the data chain is updated according to network parameter to the data chain at unmanned aerial vehicle crowd place is updated, because join new unmanned aerial vehicle node, the data chain changes, updates the data chain and has expanded unmanned aerial vehicle's in the data chain node, richenes the data chain function.
Based on the above embodiment, the present invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle may include a memory, a processor, and a control program of the unmanned aerial vehicle stored in the memory and operable on the processor, and when the processor executes the computer program, the steps of the control method based on the ad hoc network unmanned aerial vehicle according to any one of the above embodiments are implemented.
Based on the foregoing embodiments, the present invention further provides a computer-readable storage medium, on which a control program of a drone is stored, where the control program of the drone, when executed by a processor, implements the steps of the ad hoc network drone-based control method according to any one of the foregoing embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method based on an ad hoc network unmanned aerial vehicle is characterized in that the control method based on the ad hoc network unmanned aerial vehicle comprises the following steps:
when detecting that a new unmanned aerial vehicle enters a data link where an unmanned aerial vehicle cluster is located, acquiring the frequency of a data link signal of the newly entered unmanned aerial vehicle;
comparing the frequency of the data link signal with the frequency of the data link signal where the unmanned aerial vehicle group is located;
and when the frequency of the data link signal is different from that of the data link signal where the unmanned aerial vehicle cluster is located, generating alarm prompt information, and sending the alarm prompt information to a preset terminal to prompt that the data link where the unmanned aerial vehicle cluster is located is illegally invaded.
2. The ad-hoc network unmanned aerial vehicle-based control method of claim 1, wherein the step of generating alarm prompt information and sending the alarm prompt information to a preset terminal when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located comprises:
when the frequency of the data link signal is different from the frequency of the data link signal where the unmanned aerial vehicle cluster is located, acquiring the coordinate position of the newly-entered unmanned aerial vehicle;
and generating alarm prompt information according to the coordinate position, and sending the alarm prompt information to a preset terminal.
3. The ad-hoc network unmanned aerial vehicle-based control method according to claim 1, wherein after the step of generating the alarm prompt message, the method further comprises:
sending the alarm prompt information to each unmanned aerial vehicle in a data chain where the unmanned aerial vehicle cluster is located;
and closing the data communication of the data link where the unmanned aerial vehicle cluster is located.
4. The ad-hoc network unmanned aerial vehicle-based control method according to claim 3, wherein after the step of sending the alarm prompt information to each unmanned aerial vehicle in a data chain in which the unmanned aerial vehicle cluster is located, the method further comprises:
and transmitting an interference signal to the coordinate position of the newly entered unmanned aerial vehicle to hit down the unmanned aerial vehicle.
5. The ad-hoc network unmanned aerial vehicle-based control method according to claim 1, wherein after the step of comparing the frequency of the data link signal with the frequency of the data link signal in which the unmanned aerial vehicle cluster is located, the method further comprises:
when the frequency of the data link signal is the same as that of the data link signal where the unmanned aerial vehicle cluster is located, acquiring an identity of the newly-entered unmanned aerial vehicle, and verifying the identity;
and when the identity identification passes verification, establishing data communication between the newly entered unmanned aerial vehicle and the unmanned aerial vehicle in the data link where the unmanned aerial vehicle cluster is located so as to update the data link where the unmanned aerial vehicle cluster is located.
6. The ad-hoc network-based unmanned aerial vehicle control method according to claim 5, wherein the step of establishing data communication between the newly-entered unmanned aerial vehicle and an unmanned aerial vehicle in a data chain in which the unmanned aerial vehicle cluster is located, so as to update the data chain in which the unmanned aerial vehicle cluster is located, comprises:
acquiring a routing protocol of the data link;
and updating the communication path between the unmanned aerial vehicles in the data chain according to the routing protocol so as to update the data chain where the unmanned aerial vehicle cluster is located.
7. The ad-hoc network drone based control method of claim 6, wherein said step of updating the communication path between drones within the data chain according to the routing protocol comprises:
updating network parameters of the data link according to the routing protocol, wherein the network parameters comprise transmission distance between the unmanned aerial vehicles and signal transmitting power;
and updating the communication path between the unmanned aerial vehicles in the data chain according to the network parameters so as to update the data chain where the unmanned aerial vehicle cluster is located.
8. The ad-hoc network drone-based control method according to claim 6, wherein after the step of updating the data chain in which the drone swarm is located, further comprising:
acquiring a service type corresponding to the current operation service of the unmanned aerial vehicle group;
and adjusting the communication waveform of the unmanned aerial vehicle cluster and allocating time slots according to the service type.
9. A drone, characterized in that it comprises a memory, a processor and a drone control program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the ad hoc network drone-based control method according to any one of claims 1 to 8.
10. A computer-readable storage medium, wherein a control program of a drone is stored on the computer-readable storage medium, and when executed by a processor, the control program of the drone implements the steps of the ad hoc network drone-based control method according to any one of claims 1 to 8.
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