CN112631331A - Multi-unmanned-aerial-vehicle search and rescue system and method based on mobile communication - Google Patents
Multi-unmanned-aerial-vehicle search and rescue system and method based on mobile communication Download PDFInfo
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- CN112631331A CN112631331A CN202011552637.3A CN202011552637A CN112631331A CN 112631331 A CN112631331 A CN 112631331A CN 202011552637 A CN202011552637 A CN 202011552637A CN 112631331 A CN112631331 A CN 112631331A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000010295 mobile communication Methods 0.000 title claims description 18
- 238000004891 communication Methods 0.000 claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 241000283074 Equus asinus Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a multi-unmanned aerial vehicle search and rescue system based on wireless communication, which comprises a wireless communication base station and a life detection instrument, wherein the wireless communication base station can be used for self-networking among unmanned aerial vehicles, establishes communication connection with a ground station through an unmanned aerial vehicle antenna, and sends search and rescue information to a ground terminal carried by a searched and rescued person; the life detector is used for accurately positioning the searched and rescued personnel in a smaller range, and can be used as an auxiliary positioning means for the searched and rescued personnel if the environmental conditions are poor; the ground station is used for controlling the unmanned aerial vehicle, receiving the returned data of the unmanned aerial vehicle and adjusting the flight track of the unmanned aerial vehicle in real time. The invention relates to a multi-unmanned-aerial-vehicle search and rescue method based on wireless communication.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle rescue, and particularly relates to a multi-unmanned aerial vehicle search and rescue system based on mobile communication and a multi-unmanned aerial vehicle search and rescue method based on mobile communication.
Background
Unmanned Aerial Vehicles (UAVs), also commonly referred to as drones or remotely piloted aircraft, have gained widespread use over the past decades due to their high maneuverability and low cost. The UAV has the advantages of being flexible in movement, easy to deploy, free of terrain limitation, high in reliability, low in cost, capable of being adjusted dynamically and the like.
The defects and shortcomings of the prior art are as follows: when people walk in the field, for example, donkey friends illegally enter a mountain missing path, search and rescue are needed. Search and rescue personnel enter a search and rescue area to search and rescue, the positions of trapped personnel cannot be quickly positioned, and the problems of long time consumption, low efficiency, high cost and the like are solved.
The prior art provides a method for searching and rescuing by using an unmanned aerial vehicle, but a single unmanned aerial vehicle is mostly adopted, the unmanned aerial vehicle cannot leave the control range of a ground station, the range of one-time searching and rescuing is limited, and the method is low in efficiency and long in time consumption in a large-range searching and rescuing area.
At present, no method for saving time and improving efficiency is available for search and rescue actions.
Disclosure of Invention
The invention aims to provide a multi-unmanned aerial vehicle search and rescue system based on wireless communication, which can quickly position the personnel to be rescued in a search and rescue range by establishing an ad hoc network among a plurality of unmanned aerial vehicles.
The invention further aims to provide a multi-unmanned aerial vehicle search and rescue method based on wireless communication.
The technical scheme includes that the multi-unmanned aerial vehicle search and rescue system based on wireless communication comprises a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is provided with a wireless communication base station, each wireless communication base station comprises a signal transmitting module and a signal receiving module, the wireless communication base stations are connected with a ground station through wireless signals, the wireless communication base stations are connected through the wireless signals to form an ad hoc network, and each unmanned aerial vehicle is connected with a life detection instrument.
The invention adopts another technical scheme that a multi-unmanned aerial vehicle search and rescue method based on mobile communication uses a multi-unmanned aerial vehicle search and rescue system based on wireless communication, and is implemented according to the following steps:
and 5, accurately positioning the searched and rescued personnel through the life detection instrument so as to facilitate the search and rescue personnel to accurately rescue.
The invention is also characterized in that:
the specific process of the step 2 is as follows: starting the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly according to the flight path through the ground station, taking the unmanned aerial vehicle as a network node, and establishing a wireless mobile network, namely the ad hoc network, through wireless signal connection among all nodes.
The specific process of the step 3 is as follows: searching signals which can be accessed through a wireless communication base station in the flying process of the unmanned aerial vehicle, marking the searched area where the signals can be accessed as an initial area, and returning to the step 1 if the signals which can be accessed are not searched after flying according to the flying path.
The specific process of the step 4 is as follows: judging whether the initial area is the minimum search and rescue area or not according to the specific landform and the landform of the search and rescue area and the flight height of the unmanned aerial vehicle, if not, adjusting the flight path of the unmanned aerial vehicle to use the initial area as the search and rescue range, and executing the step 1 until the obtained initial area is the minimum search and rescue area.
The invention has the beneficial effects that:
the invention relates to a mobile communication-based multi-unmanned aerial vehicle search and rescue system, which comprises a wireless communication base station and a life detection instrument, wherein the wireless communication base station can be used for self-networking among unmanned aerial vehicles and establishing communication connection with a ground station through an unmanned aerial vehicle antenna; the life detector is used for accurately positioning the searched and rescued personnel in a smaller range, and can be used as an auxiliary positioning means for the searched and rescued personnel if the environmental conditions are poor; the ground station is used for controlling the unmanned aerial vehicle, receiving the returned data of the unmanned aerial vehicle and adjusting the flight track of the unmanned aerial vehicle in real time.
The invention relates to a multi-unmanned-aerial-vehicle search and rescue method based on wireless communication.
Drawings
FIG. 1 is a connection diagram of a multi-UAV search and rescue system module based on mobile communication according to the present invention;
FIG. 2 is a flow chart of a multi-UAV search and rescue method based on mobile communication according to the present invention;
fig. 3 is a schematic diagram of establishing an ad hoc network according to the present invention.
In the figure, 1 is an unmanned aerial vehicle, 2 is a wireless communication base station, 3 is a ground station, and 4 is a life detector.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention is suitable for the conditions of personnel search and rescue or equipment recovery and the like.
The premise that search and rescue are needed is that personnel or equipment positioning information cannot be obtained and only within a certain range is known, so that search and rescue, namely positioning, is needed.
Under the condition that no base station or relevant relay exists, the transmission range of wireless signals carried by people is limited, for example, in mountainous areas, desert or sea, a mobile phone is normal but has no signals, and cannot make a call, but the mobile phone is started, an access signal for searching a base station is continuously sent out, and base station equipment carried by an unmanned aerial vehicle can receive the access signal, so that a rough personnel area can be located.
In the landing process of the satellite re-entry capsule, positioning wireless signals can be continuously sent out, but the signals cannot be transmitted over a long distance due to the consideration of confidentiality and safety and can be received within a certain range.
The invention relates to a multi-unmanned aerial vehicle search and rescue system based on mobile communication, which comprises a plurality of unmanned aerial vehicles 1, wherein each unmanned aerial vehicle 1 is connected with a wireless communication base station 2, each wireless communication base station 2 comprises a signal transmitting module and a signal receiving module, each wireless communication base station 2 is connected with a ground station 3 through a wireless signal, the wireless communication base stations 2 are connected through wireless signals to form a self-networking, and each unmanned aerial vehicle 1 is connected with a life detector 4.
The invention discloses a multi-unmanned aerial vehicle search and rescue method based on mobile communication, which uses a multi-unmanned aerial vehicle 1 search and rescue system based on mobile communication as shown in figure 2, and is implemented according to the following steps:
And 5, accurately positioning the searched and rescued people through the life detection instrument 4 so as to facilitate the search and rescue people to accurately rescue.
The single unmanned aerial vehicle signal transmission scope of use is limited, and under the condition of searching on a large scale, the unable retransmission of far-end unmanned aerial vehicle signal to ground satellite station must be relayed through other unmanned aerial vehicles and just can be with data transmission to ground satellite station, consequently must establish this problem of ad hoc network solution.
Example (b):
assuming that the donkey friends lose the desert and only know that the donkey friends are within 100 square kilometers of the square circle, under the environment, the flight height of the unmanned aerial vehicle is calculated to be 1000 meters, and the coverage range of a base station signal is 1 square kilometer, the search and rescue range is divided into 100 areas.
The search and rescue team carries 10 unmanned aerial vehicles, plans unmanned aerial vehicle and searches for ands rescue to 1-100 regions, and every unmanned aerial vehicle is responsible for one or more regions, and unmanned aerial vehicle's path planning guarantees that unmanned aerial vehicle can cover the whole regional scope, does not have the omission, and can carry out the ad hoc network each other and return data transmission to the ground station.
Assuming that the unmanned aerial vehicle in area 56 receives the wireless signal of the person to be searched and rescued, the search and rescue area can be reduced to 1 square kilometer.
And (3) replanning the flight path of the unmanned aerial vehicle, modifying the calculation parameters to obtain that the flight height of the unmanned aerial vehicle is 300 meters, and the coverage range of the base station signal is 200 meters, wherein 1 square kilometer can be divided into 25 blocks, and the unmanned aerial vehicle plans and flies the 25 blocks.
Suppose that wireless signal is found in 5 blocks, judge this moment whether for unmanned aerial vehicle minimum coverage, if, then unmanned aerial vehicle adopts the life detection instrument to carry out accurate positioning, search and rescue personnel get into this region simultaneously and search and rescue. Otherwise, the search and rescue range is continuously reduced until the minimum coverage range of the unmanned aerial vehicle.
The invention uses the multi-unmanned aerial vehicle technology to shorten the search and rescue time (the unmanned aerial vehicle preparation and flying time is far shorter than that of a manned vehicle, which is obviously reduced compared with the man-machine search by pulling a network), reduce the search and rescue cost (the unmanned aerial vehicle flying cost is far shorter than that of the manned vehicle), and is more excellent than the prior method.
By the mode, the invention discloses a multi-unmanned aerial vehicle search and rescue system based on wireless communication, which comprises a wireless communication base station and a life detection instrument, wherein the wireless communication base station can be used for self-networking among unmanned aerial vehicles, establishes communication connection with a ground station through an unmanned aerial vehicle antenna, and sends search and rescue information to a ground terminal carried by a searched and rescued person; the life detector is used for accurately positioning the searched and rescued personnel in a smaller range, and can be used as an auxiliary positioning means for the searched and rescued personnel if the environmental conditions are poor; the ground station is used for controlling the unmanned aerial vehicle, receiving the returned data of the unmanned aerial vehicle and adjusting the flight track of the unmanned aerial vehicle in real time. The invention provides a multi-unmanned-aerial-vehicle search and rescue method based on mobile communication.
Claims (5)
1. The utility model provides a many unmanned aerial vehicle search and rescue system based on mobile communication, its characterized in that, includes a plurality of unmanned aerial vehicle (1), every connect wireless communication basic station (2) on unmanned aerial vehicle (1), wireless communication basic station (2) are including signal emission module and signal receiving module, wireless communication basic station (2) are through wireless signal connection ground satellite station (3), and are a plurality of form the ad hoc network through wireless signal connection between wireless communication basic station (2), every connect life detection instrument (4) on unmanned aerial vehicle (1).
2. A multi-unmanned aerial vehicle search and rescue method based on mobile communication is characterized in that the multi-unmanned aerial vehicle search and rescue system based on mobile communication in claim 1 is used and is implemented according to the following steps:
step 1, determining a search and rescue range, dividing the search and rescue area according to the landform and the landform of the search and rescue area and the number of unmanned aerial vehicles (1), and planning the flight path of the unmanned aerial vehicles (1);
step 2, starting the unmanned aerial vehicle (1), controlling the unmanned aerial vehicle (1) to fly according to a flight path through the ground station (3), and simultaneously establishing an ad hoc network through the wireless communication base station (2);
step 3, searching a signal transmitted by rescued people through the wireless communication base station (2), and taking a region where the signal is searched as an initial region;
step 4, judging whether the initial area is the minimum wireless coverage area of the unmanned aerial vehicle (1) in the current environment, if not, taking the initial area as a search and rescue area, returning to the step 1, otherwise, executing the step 5;
and 5, accurately positioning the searched and rescued personnel through the life detector (4) so as to facilitate the search and rescue personnel to accurately rescue.
3. The multi-unmanned-aerial-vehicle search and rescue method based on mobile communication as claimed in claim 1, wherein the specific process of step 2 is as follows: starting the unmanned aerial vehicle (1), controlling the unmanned aerial vehicle (1) to fly according to a flight path through the ground station (3), taking the unmanned aerial vehicle (1) as a network node, connecting the nodes through wireless signals, and establishing a wireless mobile network, namely the ad hoc network.
4. The multi-unmanned-aerial-vehicle search and rescue method based on mobile communication as claimed in claim 2, wherein the specific process of step 3 is as follows: searching signals which can be accessed through the wireless communication base station (2) in the flying process of the unmanned aerial vehicle (1), marking the searched area where the signals can be accessed as an initial area, and returning to the step 1 if the signals which can be accessed are not searched after flying according to the flying path.
5. The method for searching and rescuing by multiple unmanned aerial vehicles based on mobile communication as claimed in claim 1, wherein the specific process of step 4 is: judging whether the initial area is the minimum search and rescue area or not according to the specific landform and the landform of the search and rescue area and the flight height of the unmanned aerial vehicle (1), if not, adjusting the flight path of the unmanned aerial vehicle (1) to take the initial area as the search and rescue range, and executing the step 1 until the obtained initial area is the minimum search and rescue area.
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Cited By (1)
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| CN113534830A (en) * | 2021-07-08 | 2021-10-22 | 广东纳萨斯通信科技有限公司 | Unmanned aerial vehicle search and rescue device and search and rescue method thereof |
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