CN112564766A - Unmanned aerial vehicle network communication restoration method - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle communication repairing method, which is suitable for the condition that an unmanned aerial vehicle group which is not in a communication range needs to exchange data or part of unmanned aerial vehicles lose communication. The unmanned aerial vehicle is divided into the task unmanned aerial vehicle and the standby unmanned aerial vehicle, the task unmanned aerial vehicle executes system tasks, and the standby unmanned aerial vehicle is used for constructing the communication path.
Description
Technical Field
The invention relates to an unmanned aerial vehicle network communication repairing method, in particular to an unmanned aerial vehicle network communication repairing method which achieves reconnection by constructing a communication path under the condition that an unmanned aerial vehicle unit is deployed in an unconnectable range or loses communication.
Background
Along with the rapid growth of the application of unmanned aerial vehicles, the repair of the communication path of the unmanned aerial vehicle becomes an important problem in the unmanned aerial vehicle, the original unmanned aerial vehicles are limited in the range of a deployable communication area and cannot exceed the communication range, so that the communication path construction by using the standby unmanned aerial vehicle is proposed, the problem of disconnection between unmanned aerial vehicle units can be solved, the reconnection between the unmanned aerial vehicle units is achieved, and the research of the unmanned aerial vehicle is mainly divided into two aspects of connectivity maintenance in the communicable range and communication path construction and planning in the non-communicable range; the two aspects all comprise the endurance problem, the cluster path planning problem and the unmanned aerial vehicle deployment problem of the unmanned aerial vehicle, the three problems of unmanned aerial vehicle research are all correlated, and the minimum required energy consumption problem is finally achieved by determining the path planning and the unmanned aerial vehicle deployment, so that the maximum endurance time is achieved. The unmanned aerial vehicle communication restoration method mainly aims at achieving total energy consumption minimization of communication restoration by constructing an optimal deployment path under the condition of an unconnectable range, and achieving the purpose of prolonging the endurance time of the unmanned aerial vehicle.
The existing unmanned aerial vehicle connectivity problem is that connectivity in a communication range is maintained mostly, the situation that unmanned aerial vehicles which are not in the communication range need to exchange data or part of unmanned aerial vehicles lose communication is not considered, and the unmanned aerial vehicles which are not in the communication range need to establish a communication path to communicate the unmanned aerial vehicles in two different communication areas.
Chinese patent CN108983825A discloses a tracking method for time-varying formation of unmanned aerial vehicles, which proposes a tracking method for achieving collision prevention and connectivity maintenance of unmanned aerial vehicles, in which both the following unmanned aerial vehicle and the followed unmanned aerial vehicle are in a communicable range, and only the communication needs to be maintained. IEEE Journal on Selected Areas in Communications, volume 36, Energy-Efficient UAV Control for Efficient and Fair Communication code, A Deep discovery Learning Approach, and IEEE Access 2019, volume 7, A Two-Step Environment Learning Method for Optimal UAV delivery, respectively, provide new methods for maintaining connectivity and reducing Energy consumption. These methods are limited to studies in the range of connectivity, and as a practical matter, there is certainly a case where connectivity is lost.
Disclosure of Invention
The object of the invention; the unmanned aerial vehicle network communication repairing method provided by the invention can ensure that the disconnected unmanned aerial vehicle units can achieve the effect of reconnection under the condition of minimum energy consumption. The communication path is constructed by selecting the optimal number of the standby unmanned aerial vehicles through comprehensively considering the communication distance between any adjacent standby unmanned aerial vehicles, the number of the standby unmanned aerial vehicles deployed and the distance required to move by the standby unmanned aerial vehicles, so that the unmanned aerial vehicle units can be communicated with one another. The method aims at minimizing the communication restoration energy consumption to prolong the whole life cycle of the unmanned aerial vehicle unit.
The technical scheme is as follows: in order to achieve the purpose, the unmanned aerial vehicle communication restoration method comprises an unmanned aerial vehicle set A and an unmanned aerial vehicle set B, wherein the unmanned aerial vehicle set comprises m task unmanned aerial vehicles and n standby unmanned aerial vehicles (n is less than m), and each unmanned aerial vehicle set comprises a task unmanned aerial vehicle and a standby unmanned aerial vehicle; the unmanned aerial vehicle communication repairing method comprises the following steps:
the method comprises the following steps: determining the positions of the unmanned aerial vehicles A and B according to the existing position information, wherein the position coordinates of A and B are known as A (x)A,yA,zA) And B (x)B,yB,zB) A, B unmanned aerial vehicle set has a coverage radius RAAnd RBAnd the intersection points of the centers of the A and B unmanned aerial vehicle sets and the coverage areas of A and B are respectively (x)q1,yq1,zq1) And (x)q2,yq2,zq2) (ii) a All drone locations are known.
Step two: the number of standby unmanned aerial vehicles to be deployed and the communication distance of the unmanned aerial vehicles are calculated through the existing position information, and the calculation method comprises the following steps:
wherein d iscFor the communication distance between the deployed unmanned aerial vehicles, the communication distance is set as an unknown quantity, and d is more than 0cR is less than or equal to R, and R is the largest unmanned aerial vehicle communication radius; order to
Is the distance between a and B.
Step three: calculating the position, P, at which the spare drone should be deployed1,P2,…PNThe coordinate points which represent the standby unmanned aerial vehicle should be deployed are calculated by the following steps:
P1＝(xq1+dABsinα,yq1+dABcosαsinβ,zq1+dABcosαcosβ) (2)
P2＝(xq1+2dABsinα,yq1+2dABcosαsinβ,zq1+2dABcosαcosβ) (3)
…
PN＝(xq1+NdABsinα,yq1+NdABcosαsinβ,zq1+NdABcosαcosβ) (4)
Wherein
Step four: a standby drone to be deployed is selected.
Step five: sequentially moving the selected standby unmanned aerial vehicles to the determined deployment coordinates, wherein the moving distances are dmP1,dmP2,…,dmPN。
Step six: and calculating the total energy consumption of unmanned aerial vehicle communication restoration, wherein the total energy consumption of unmanned aerial vehicle communication restoration is divided into the energy of unmanned aerial vehicle movement loss and the energy of unmanned aerial vehicle communication loss. Divide the energy of unmanned aerial vehicle into flight power PfHovering power PhAnd communication power Pc。
First, the energy E lost by the unmanned aerial vehicle movementmoveThe calculation method comprises the following steps:
wherein T is the unit time of the unit time,
representing the sum of the travel distances of the standby drones that need to be moved.
Secondly, energy E of unmanned aerial vehicle communication losscomThe Shannon formula shows that the channel capacity of the link between any two adjacent nodes can be expressed as Ci,i+1＝Wlog(1+SNRi,i+1),
Wherein W is the link bandwidth of the unmanned aerial vehicle, beta0Is the signal power at a distance of 1m, σ2The communication distance is Gaussian white noise power, and the relationship between the communication power and the communication distance of the unmanned aerial vehicle is obtained as follows:
finally, total energy consumption E for unmanned aerial vehicle communication restorationtotalEnergy including unmanned aerial vehicle movement losses, unmanned aerial vehicle hovering in the air, and unmanned aerial vehicle communication losses, may be expressed as:
Etotal＝Emove+Eh+Ecom (7)
Wherein EhThe energy lost when hovering can be expressed as:
Eh＝PhTh (8)
the total energy consumption per unit time can be calculated by combining (5) to (8):
step seven: combining step two, step three and step four, substituting (1) in formula (9) by letting EtotalTo dcDerived to obtain
Association
Jointly deducing dcIs the minimum value.
Step eight: d is calculated by the step sevencAnd substituting the number N of the standby unmanned aerial vehicles which need to be deployed into the step II, and sequentially going downwards to obtain the minimum total energy consumption value.
Further, the unmanned aerial vehicle communication repairing method is suitable for the condition that the communication range is exceeded and part of unmanned aerial vehicles lose communication.
Further, unmanned aerial vehicle divide into task unmanned aerial vehicle and reserve unmanned aerial vehicle, task unmanned aerial vehicle execution system task utilizes reserve unmanned aerial vehicle to carry out the communication path and builds, does not influence the communication originally between the unmanned aerial vehicle system.
Further, in step four, in the selection process of the standby unmanned aerial vehicle, two unmanned aerial vehicle groups A, B need to be selected respectively, and the selection method is as follows:
step1, calculating N according to formula (1), judging whether N is an integer, if so, jumping to Step3, and if not, jumping to Step 2.
Step2, if N is not an integer, rounding up, and then Step 3.
Step3, determining whether N is even number, if so, A, B respectively
A spare unmanned aerial vehicle, if the number is odd, A is taken
B taking
And Step4, sequentially selecting the nearest standby unmanned aerial vehicle by taking the selected deployment coordinates as a starting point and the standby unmanned aerial vehicle in A, B as a terminal point through geometric distance calculation.
Further, the distance is obtained by comprehensively considering the communication distance between any adjacent standby unmanned aerial vehicles, the number of deployed standby unmanned aerial vehicles and the distance required to be moved by the standby unmanned aerial vehicles, and finally E is usedtotalAnd calculating the optimal communication distance for the index.
Compared with the prior art, the invention has the beneficial effects that: 1. the unmanned aerial vehicles which exceed the communication range and are partially out of communication are reconnected by constructing a communication path; 2. in the process of constructing the communication path, the standby unmanned aerial vehicle is set as a relay deployed on the communication path, so that the reconnection of the unmanned aerial vehicle communication network is realized; 3. in the process of constructing the path, the optimal communication distance is calculated by comprehensively considering the communication distance between any adjacent standby unmanned aerial vehicles, the number of deployed standby unmanned aerial vehicles and the distance required by the standby unmanned aerial vehicles to move, and finally taking the minimum total energy consumption as a target; 4. under the condition that the communication path is constructed, the total energy consumption of the system is controlled, the energy consumption of the unmanned aerial vehicle is reduced, the endurance of the unmanned aerial vehicle communication network is prolonged, and the communication system is suitable for wireless communication under the unmanned aerial vehicle scene.
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FIG. 1 is a diagram of a system model of the present invention;
FIG. 2 is a flow chart of a basic implementation of the present invention;
FIG. 3 is a flowchart of the energy consumption calculation in step six according to the present invention;
fig. 4 is a flow chart of the invention for selecting a standby drone during step four.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 to fig. 4, in the model of possible deployment of the network connectivity repair method for an unmanned aerial vehicle according to this embodiment, the parameter ranges in the first step are as follows: if the drone is a fixed wing drone then zA,zB,zq1,zq2All are in the range of 1km to 10 km; if isRotor unmanned plane zA,zB,zq1,zq2All are below 100 meters. Wherein R is less than or equal to 600m and N is less than N in the second step.
The utility model provides an unmanned aerial vehicle network connectivity repair method, includes unmanned aerial vehicle unit A and unmanned aerial vehicle unit B, these two unmanned aerial vehicle units lose the intercommunication, can not directly communicate, contain 16 task unmanned aerial vehicles and 10 reserve unmanned aerial vehicles in the unmanned aerial vehicle unit, wherein all contain task unmanned aerial vehicle and reserve unmanned aerial vehicle in the A, B unmanned aerial vehicle unit.
An unmanned aerial vehicle communication restoration method comprises an unmanned aerial vehicle set A and an unmanned aerial vehicle set B, wherein the unmanned aerial vehicle sets can not directly communicate, and comprise m task unmanned aerial vehicles and n standby unmanned aerial vehicles (n is less than m), wherein each unmanned aerial vehicle set comprises a task unmanned aerial vehicle and a standby unmanned aerial vehicle; the unmanned aerial vehicle communication repairing method comprises the following steps:
The method comprises the following steps: determining the positions of the unmanned aerial vehicles A and B according to the existing position information, wherein the position coordinates of A and B are known as A (x)A,yA,zA) And B (x)B,yB,zB) A, B unmanned aerial vehicle set has a coverage radius RAAnd RBAnd the intersection points of the centers of the A and B unmanned aerial vehicle sets and the coverage areas of A and B are respectively (x)q1,yq1,zq1) And (x)q2,yq2,zq2) (ii) a All drone locations are known;
step two: the number of standby unmanned aerial vehicles to be deployed and the communication distance of the unmanned aerial vehicles are calculated through the existing position information, and the calculation method comprises the following steps:
wherein d iscFor the communication distance between the deployed unmanned aerial vehicles, the communication distance is set as an unknown quantity, and d is more than 0cR is less than or equal to R, and R is the largest unmanned aerial vehicle communication radius; order to
Is the distance between A and B;
step three: calculating the position, P, at which the spare drone should be deployed1,P2,…PNThe coordinate points which represent the standby unmanned aerial vehicle should be deployed are calculated by the following steps:
P1＝(xq1+dABsinα,yq1+dABcosαsinβ,zq1+dABcosαcosβ) (2)
P2＝(xq1+2dABsinα,yq1+2dABcosαsinβ,zq1+2dABcosαcosβ) (3)
…
PN＝(xq1+NdABsinα,yq1+NdABcosαsinβ,zq1+NdABcosαcosβ) (4)
wherein
Step four: a standby drone to be deployed is selected.
Step five: sequentially moving the selected standby unmanned aerial vehicles to the determined deployment coordinates, wherein the moving distances are dmP1,dmP2,…,dmPN；
Step six: and calculating the total energy consumption of unmanned aerial vehicle communication restoration, wherein the total energy consumption of unmanned aerial vehicle communication restoration is divided into the energy of unmanned aerial vehicle movement loss and the energy of unmanned aerial vehicle communication loss. Divide the energy of unmanned aerial vehicle into flight power P fHovering power PhAnd communication power Pc；
First, the energy E lost by the unmanned aerial vehicle movementmoveThe calculation method comprises the following steps:
wherein T is the unit time of the unit time,
indicating need for moving standbyThe sum of the moving distances of the unmanned aerial vehicles;
secondly, energy E of unmanned aerial vehicle communication losscomThe Shannon formula shows that the channel capacity of the link between any two adjacent nodes can be expressed as Ci,i+1＝Wlog(1+SNRi,i+1),
Wherein W is the link bandwidth of the unmanned aerial vehicle, beta0Is the signal power at a distance of 1m, σ2The communication distance is Gaussian white noise power, and the relationship between the communication power and the communication distance of the unmanned aerial vehicle is obtained as follows:
finally, total energy consumption E for unmanned aerial vehicle communication restorationtotalEnergy including unmanned aerial vehicle movement losses, unmanned aerial vehicle hovering in the air, and unmanned aerial vehicle communication losses, may be expressed as:
Etotal＝Emove+Eh+Ecom (7)
wherein EhThe energy lost when hovering can be expressed as:
Eh＝PhTh (8)
the total energy consumption per unit time can be calculated by combining (5) to (8):
step seven: combining step two, step three and step four, substituting (1) in formula (9) by letting EtotalTo dcDerived to obtain
Association
Jointly deducing the resultdcIs the minimum value;
step eight: d is calculated by the step sevencAnd substituting the number N of the standby unmanned aerial vehicles which need to be deployed into the step II, and sequentially going downwards to obtain the minimum total energy consumption value.
Further preferably, the unmanned aerial vehicle communication restoration method is suitable for the situation that the communication range is exceeded and part of unmanned aerial vehicles lose communication.
Preferably, the unmanned aerial vehicle is divided into a task unmanned aerial vehicle and a standby unmanned aerial vehicle, the task unmanned aerial vehicle executes a system task, and the standby unmanned aerial vehicle is used for constructing a communication path, so that original communication between unmanned aerial vehicle systems is not influenced.
Preferably, in step four, in the selection process of the standby unmanned aerial vehicle, the standby unmanned aerial vehicle needs to be selected from A, B two unmanned aerial vehicle groups respectively, and the selection method is as follows:
step1, calculating N according to the formula (1), judging whether N is an integer, if so, jumping to Step3, and if not, jumping to Step 2;
step2, rounding up if N is not an integer, and then performing Step 3;
step3, determining whether N is even number, if so, A, B respectively
A spare unmanned aerial vehicle, if the number is odd, A is taken
B taking
And Step4, sequentially selecting the nearest standby unmanned aerial vehicle by taking the selected deployment coordinates as a starting point and the standby unmanned aerial vehicle in A, B as a terminal point through geometric distance calculation.
As a further preference, the distance is a distance which is finally obtained by comprehensively considering the communication distance between any adjacent standby unmanned aerial vehicles, the number of deployed standby unmanned aerial vehicles and the distance which the standby unmanned aerial vehicles need to move With EtotalAnd calculating the optimal communication distance for the index.
In addition to the above embodiments, the present invention may have other embodiments, and any technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of the claims of the present invention.
Claims (5)
1. An unmanned aerial vehicle communication restoration method is characterized by comprising an unmanned aerial vehicle set A and an unmanned aerial vehicle set B, wherein the unmanned aerial vehicle set comprises m task unmanned aerial vehicles and n standby unmanned aerial vehicles (n is less than m), and each unmanned aerial vehicle set comprises a task unmanned aerial vehicle and a standby unmanned aerial vehicle; the unmanned aerial vehicle communication repairing method comprises the following steps:
the method comprises the following steps: determining the positions of the unmanned aerial vehicles A and B according to the existing position information, wherein the position coordinates of A and B are known as A (x)A,yA,zA) And B (x)B,yB,zB) A, B unmanned aerial vehicle set has a coverage radius RAAnd RBAnd the intersection points of the centers of the A and B unmanned aerial vehicle sets and the coverage areas of A and B are respectively (x)q1,yq1,zq1) And (x)q2,yq2,zq2) (ii) a All drone locations are known;
step two: the number of standby unmanned aerial vehicles to be deployed and the communication distance of the unmanned aerial vehicles are calculated through the existing position information, and the calculation method comprises the following steps:
wherein d iscFor the communication distance between the deployed unmanned aerial vehicles, the communication distance is set as an unknown quantity, and d is more than 0 cR is less than or equal to R, and R is the largest unmanned aerial vehicle communication radius; order to
Is the distance between A and B;
step three: calculating the position, P, at which the spare drone should be deployed1,P2,…PNIndicates stand-byThe calculation method of the coordinate points which should be deployed by the man-machine comprises the following steps:
P1＝(xq1+dABsinα,yq1+dABcosαsinβ,zq1+dABcosαcosβ) (2)
P2＝(xq1+2dABsinα,yq1+2dABcosαsinβ,zq1+2dABcosαcosβ) (3)
…
PN＝(xq1+NdABsinα,yq1+NdABcosαsinβ,zq1+NdABcosαcosβ) (4)
wherein
Step four: selecting a standby unmanned aerial vehicle to be deployed;
step five: sequentially moving the selected standby unmanned aerial vehicles to the determined deployment coordinates, wherein the moving distances are dmP1,dmP2,…,dmPN；
Step six: calculating total energy consumption of unmanned aerial vehicle communication restoration, dividing the total energy consumption of unmanned aerial vehicle communication restoration into energy of unmanned aerial vehicle movement loss and energy of unmanned aerial vehicle communication loss, and dividing the energy of unmanned aerial vehicle into flight power PfHovering power PhAnd communication power Pc；
First, the energy E lost by the unmanned aerial vehicle movementmoveThe calculation method comprises the following steps:
wherein T is the unit time of the unit time,
representing the sum of the movement distances of the standby unmanned aerial vehicles needing to move;
secondly, the ability of the unmanned aerial vehicle to communicate lossesQuantity EcomThe Shannon formula shows that the channel capacity of the link between any two adjacent nodes can be expressed as Ci,i+1＝Wlog(1+SNRi,i+1),
Wherein W is the link bandwidth of the unmanned aerial vehicle, beta0Is the signal power at a distance of 1m, σ2The communication distance is Gaussian white noise power, and the relationship between the communication power and the communication distance of the unmanned aerial vehicle is obtained as follows:
Finally, total energy consumption E for unmanned aerial vehicle communication restorationtotalEnergy including unmanned aerial vehicle movement losses, unmanned aerial vehicle hovering in the air, and unmanned aerial vehicle communication losses, may be expressed as:
Etotal＝Emove+Eh+Ecom (7)
wherein EhThe energy lost when hovering can be expressed as:
Eh＝PhTh (8)
the total energy consumption per unit time can be calculated by combining (5) to (8):
step seven: combining step two, step three and step four, substituting (1) in formula (9) by letting EtotalTo dcDerived to obtain
Association
Jointly deducing dcIs the minimum value;
step eight: d is calculated by the step sevencAnd substituting the number N of the standby unmanned aerial vehicles which need to be deployed into the step II, and sequentially going downwards to obtain the minimum total energy consumption value.
2. The unmanned aerial vehicle communication restoration method according to claim 1, wherein the unmanned aerial vehicle communication restoration method is applicable to a situation where a part of unmanned aerial vehicles lose communication beyond a communication range.
3. The unmanned aerial vehicle communication restoration method according to claim 1, wherein the unmanned aerial vehicles are divided into a task unmanned aerial vehicle and a standby unmanned aerial vehicle, the task unmanned aerial vehicle executes system tasks, and communication paths are established by using the standby unmanned aerial vehicle without affecting original communication between unmanned aerial vehicle systems.
4. The unmanned aerial vehicle communication restoration method according to claim 1, wherein in step four, the spare unmanned aerial vehicle needs to be selected from A, B two unmanned aerial vehicle groups respectively in the selection process, and the selection method is as follows:
step1, calculating N according to the formula (1), judging whether N is an integer, if so, jumping to Step3, and if not, jumping to Step 2;
step2, rounding up if N is not an integer, and then performing Step 3;
step3, determining whether N is even number, if so, A, B respectively
A spare unmanned aerial vehicle, if the number is odd, A is taken
B taking
And Step4, sequentially selecting the nearest standby unmanned aerial vehicle by taking the selected deployment coordinates as a starting point and the standby unmanned aerial vehicle in A, B as a terminal point through geometric distance calculation.
5. The unmanned aerial vehicle communication restoration method according to claim 1, wherein the distance is finally calculated as E by comprehensively considering the communication distance between any adjacent standby unmanned aerial vehicles, the number of deployed standby unmanned aerial vehicles and the distance that the standby unmanned aerial vehicle needs to movetotalAnd calculating the optimal communication distance for the index.
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