CN114217634A - Unmanned aerial vehicle Bluetooth communication system and method based on Internet of things - Google Patents
Unmanned aerial vehicle Bluetooth communication system and method based on Internet of things Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle Bluetooth communication system and method based on the Internet of things, wherein the communication system is used for communication data exchange of unmanned aerial vehicle flight cruising in the low-altitude field, the low-altitude field is a whole system formed by a plurality of unmanned aerial vehicles cooperatively cruising, detecting and acquiring data and transmitting the data to a remote cloud platform, the system further comprises a Bluetooth communication data receiving module, a data acquisition module and an energy real-time monitoring module, and the cloud platform comprises a central processing module, a coordination management module, a task allocation module, a cruising track planning module and an energy consumption evaluation module. According to the invention, different energy consumption levels of all the multiple unmanned aerial vehicles can be planned according to the energy consumption level of each unmanned aerial vehicle calculated by the energy consumption evaluation module obtained through real-time monitoring through the central processing module, the first circular cruise area, the second annular cruise area and the third annular cruise area with the radius changed according to the energy consumption level changed in real time are divided, and the cruise path suitable for each unmanned aerial vehicle is planned.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle Bluetooth communication system and method based on the Internet of things.
Background
An Unmanned Aerial Vehicle (UAV), i.e., an unmanned vehicle, is an unmanned vehicle that does not require manual real-time control or is controlled by its own program. Compared with manned aircraft, unmanned aerial vehicle cost is lower relatively, the volume is less relatively, factor of safety is high, battlefield viability is strong, maneuverability fault-tolerant rate is low, advantages such as easy maintenance are maintained, receive people's favor. Because unmanned aerial vehicle does not need professional flight personnel to drive, consequently, under the condition that power is sufficient, can carry out long-time cruise and work, can explore the dangerous area that human beings can't be close to, replace the task that human beings carried out danger.
With the advent of the intelligent era, unmanned aerial vehicles are gradually popularized, and more industries begin to use unmanned aerial vehicles to engage in operations. How the unmanned aerial vehicle efficiently finishes the operation task depends on a path planning system, and the unmanned aerial vehicle path planning refers to a process of designing an optimal flight path in order to ensure that the unmanned aerial vehicle finishes a specific flight task and avoid various obstacles and threat areas in the process of finishing the task.
But unmanned aerial vehicle among the prior art is at the in-process that cruises, unable real-time collection unmanned aerial vehicle's energy consumption state, only can be in energy consumption level sufficient state at unmanned aerial vehicle, can cruise under all the regional circumstances of crusing a cruise by monitoring, the path planning of the flight path of crusing a cruise, and unmanned aerial vehicle data acquisition among the prior art adopts wifi usually, 3G or 4G wireless communication module, cruise simultaneously and carry out the data communication exchange in-process with the remote computer of cloud platform or headquarters at many unmanned aerial vehicles, the frequency domain data signal that many unmanned aerial vehicles gathered communicates through complicated frequency domain channel, it is too big to have caused signal noise, the inaccurate or mixed and disorderly condition emergence of the data that the cloud platform stored.
Disclosure of Invention
Aiming at the defects, the invention provides an Internet of things-based method, which adopts the periodicity and linear properties of fast Fourier transform to convert multiple complex frequency domain channel estimation instructions (flight state instructions sent by a coordination management module of multiple unmanned aerial vehicles, flight area instructions sent by a task allocation module and navigation track instructions sent by a cruise track module) of multiple unmanned aerial vehicles to be received and monitored in different real time into a fast Fourier transform algorithm of a Bluetooth communication data processing module for time domain noise reduction processing, so that more accurate channel frequency domain response estimation can be obtained, further, instruction signals of the coordination management module, instruction signals of the task allocation module and noise of signal instructions of the cruise track module received by each unmanned aerial vehicle are reduced, and different energy consumption water of all the multiple unmanned aerial vehicles can be distributed according to the energy consumption level of each unmanned aerial vehicle calculated by an energy consumption evaluation module obtained by real-time monitoring through a central processing module The unmanned aerial vehicle Bluetooth communication system and the method are used for leveling (the first energy consumption level, the second energy consumption level and the third energy consumption level), dividing a first circular cruise area, a second annular cruise area and a third annular cruise area according to the energy consumption level changing radius changing in real time, and planning the cruise path suitable for each unmanned aerial vehicle.
The invention provides the following technical scheme: an unmanned aerial vehicle Bluetooth communication system based on the Internet of things is used for communication data exchange of unmanned aerial vehicle flight cruising in the low-altitude field, the low-altitude field is a whole system formed by a plurality of unmanned aerial vehicles cooperatively cruising, detecting and collecting data and then transmitting the data to a remote cloud platform, the system further comprises a Bluetooth communication data receiving module arranged on the unmanned aerial vehicle, a data collecting module used for monitoring the flight data of the unmanned aerial vehicle in real time and an energy real-time monitoring module, and the cloud platform comprises a central processing module, a coordination management module, a task allocation module, a cruising track planning module and an energy consumption evaluation module;
the Bluetooth communication data receiving modules on the multiple unmanned aerial vehicles are used for receiving task data transmitted by a remote cloud platform, and executing tasks according to instructions sent by the coordination management module, the task distribution module and the cruise track module after central processing calculation of the cloud platform central processing module;
the energy consumption evaluation module is used for monitoring the flight cruise state of each unmanned aerial vehicle in the multiple unmanned aerial vehicles according to the data acquired by the energy real-time monitoring module and feeding back the monitoring data to the central processing module in real time;
the central processing module is used for coordinating flight states, flight tasks and cruise track plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles according to flight states allowed by the energy consumption levels of the unmanned aerial vehicles in the multiple unmanned aerial vehicles estimated by the energy consumption estimation module, and sending the flight states, the flight tasks and the cruise track plans to the coordination management module, the task allocation module and the cruise track module respectively;
the coordination management module is used for receiving flight state plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module, sending instructions to the multiple unmanned aerial vehicles and flying in a flight area allowed by the energy consumption levels;
the task allocation module is used for respectively controlling the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level, which are low in energy consumption, to fly back, the unmanned aerial vehicle with the second energy consumption level and the second energy consumption level continues to fly to a far area in the cruise field, and the unmanned aerial vehicle with the third energy consumption level and the second energy consumption level are high in energy consumption flies to the boundary of the cruise field;
the cruise track module is used for controlling each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in different energy consumption levels to cruise within an energy consumption level allowable range according to the cruise track planned by the central processing module.
Furthermore, the system also comprises a Bluetooth communication data transmitting module and a Bluetooth data signal processing module of the remote cloud platform, wherein the Bluetooth communication data transmitting module is used for receiving the instructions sent by the coordination management module, the task allocation module and the cruise track module, and then the instructions are transmitted to the Bluetooth communication data receiving module after passing through the Bluetooth data signal processing module.
Further, the remote cloud platform further comprises a cloud data management module for storing data information collected by the data collection modules on the multiple unmanned aerial vehicles.
Furthermore, the energy real-time monitoring module comprises an electric energy real-time monitoring and collecting module and an oil quantity real-time monitoring and collecting module.
Further, the energy consumption real-time monitoring module collects the electric energy storage margin E of the jth unmanned aerial vehicle at m momentsj(m) and oil amount remaining amount Oj(m), after the energy consumption evaluation module calculates the process from the monitored t-k moment to the t moment of the jth unmanned aerial vehicle, the energy consumption level L of the jth frame at the t momentjThe calculation formula is as follows:
wherein ,
electric energy margin E for jth unmanned aerial vehicle at m momentj(m) calculating a weighting factor for the weight,
oil quantity margin O of jth unmanned aerial vehicle at m momentj(m) calculating a weighting factor, λ being the efficiency of converting electrical energy into power, φ being the efficiency of converting fuel oil into power, αE(m) is that the jth frame stores the surplus E in the electric energy of the unmanned aerial vehicle at the moment of mjError term of (m), βO(m) is the oil quantity margin O of the j-th frame at the moment of mj(m) an error term; j is 1,2,3, …, n; m-t-k, t-k +1, …, t.
Further, the efficiency lambda of converting the electric energy into the power is 40% -50%, and the efficiency phi of converting the fuel oil into the power is 15% -30%.
Further, the first energy consumption level is 10% -20%, the second energy consumption level is 20% -50%, and the third energy consumption level is 50% -90%.
The invention also provides an unmanned aerial vehicle Bluetooth communication method based on the Internet of things, which comprises the following steps:
s101, the energy real-time monitoring module monitors the electric energy surplus of the unmanned aerial vehicles at m-moment of collection of the multiple unmanned aerial vehicles in real timeEj(m) and oil amount remaining amount Oj(m) and transmitting to the remote cloud platform through a Bluetooth communication data receiving module
S102, an energy consumption evaluation module of the cloud platform receives the electric energy storage allowance E of the unmanned aerial vehicle at the moment m collected in the step S101j(m) and oil amount remaining amount Oj(m), calculating the energy consumption level L of the jth frame at the tth moment after the process from the monitored t-k moment to the tth moment of the jth unmanned aerial vehiclejAnd transmitting the calculation result to the central processing module;
s103, the central processing module counts the energy consumption levels of multiple unmanned aerial vehicles at m moments, the proportion x of the unmanned aerial vehicle at the first energy consumption level, the proportion y of the unmanned aerial vehicle at the second energy consumption level and the proportion z of the unmanned aerial vehicle at the third energy consumption level are obtained through calculation, x + y + z is 1, and a first circular cruising area, a second annular cruising area and a third annular cruising area are divided according to different proportions of the length r of the area where the multiple unmanned aerial vehicles cruise, wherein the length r is equal to the radius of the whole area and is occupied by a central point O; the first circular cruising area is circular, and the radius of the first circular cruising area is r1(ii) a The second annular cruise area is annular, the inner radius is the radius of the first circular cruise area, and the outer radius is the second radius r2(ii) a The third annular cruise area is annular, and the inner radius is a second annular radius r2The outer radius is the third radius r3；
The central computing module calculates the cruising number of the multiple unmanned planes in the first circular cruising area, the second cruising area and the third cruising area, and continuously performs iterative optimization to perform dynamic adjustment by adopting a particle swarm optimization algorithm according to the difference of the proportion x of the unmanned plane with the first energy consumption level, the proportion y of the unmanned plane with the second energy consumption level and the proportion z of the unmanned plane with the third energy consumption level at each moment m which changes in real time, and calculates the cruising track of each unmanned plane in the multiple unmanned planes in the first circular cruising area, the second cruising area and the third cruising area;
the energy consumption level of each unmanned aerial vehicle is sent to a coordination management module, the cruising number of the multiple unmanned aerial vehicles in the first circular cruising area, the second cruising area and the third cruising area is sent to a task distribution module, and the cruising track of each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in the first circular cruising area, the second cruising area and the third cruising area is sent to a cruising track module;
s104, the coordination management module receives flight states allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module and sends instructions to the multiple unmanned aerial vehicles to coordinate the multiple unmanned aerial vehicles to fly in a flight area allowed by the energy consumption levels; the task allocation module receives an instruction of the central processing module, and respectively controls the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level with insufficient energy consumption to fly back, the unmanned aerial vehicle with the second energy consumption level with the energy consumption at the intermediate level continuously flies to a far region in the cruise field, and the unmanned aerial vehicle with the third energy consumption level with the energy consumption at the higher level flies to the boundary of the cruise field; the cruise track module receives an instruction of the central processing module and controls the cruise track of each unmanned aerial vehicle in the multi-shelf unmanned aerial vehicles to cruise within an energy consumption level allowable range according to the cruise track.
Further, the radius of the first circular cruise area
A second radius of the second annular cruise zone
A third radius of the third annular region
Furthermore, before the coordination management module, the task allocation module and the cruise track module send control instructions to bluetooth communication data receiving modules arranged on multiple unmanned aerial vehicles, signals of three frequency domain channels of the coordination management module, the task allocation module and the cruise track module are converted into time domain signals through the bluetooth data signal processing module by adopting a fast fourier transform algorithm, noise reduction is performed, then the time domain signals subjected to noise reduction are transmitted to the bluetooth communication data transmitting module and transmitted to the bluetooth communication data receiving module, and then the flight of each unmanned aerial vehicle in the multiple unmanned aerial vehicles is controlled;
the fast Fourier transform algorithm of the Bluetooth communication data processing module comprises the following steps:
1) and (3) constructing a channel stimulus response model k (g, epsilon) from signals of three frequency domain channels:
k(g,ε)＝∑qγq(g)ρ(ε-εq)；
wherein ,γq(g) The amplitude values of the q signal transmission paths satisfy a stable Gaussian random process, and q is 1,2 and 3, which respectively represent a first path of the signal transmission paths of the coordination management module, a second path of the signal transmission paths of the task allocation module, a third path of the signal transmission paths of the cruise track module, and gammaq(g) Are independent of each other; ε is the signal transmission time of the q-th pathqThe time delay of the q path is the time delay of the q path; rho (·) is calculated for the q path signal transmission stimulation response time difference; g is the g-th moment of signal transmission; and sigmaqE[γq(g)|2ρ(ε-εq)]＝1；
2) Constructing frequency domain calculation models of three frequency domain channels:
3) under the ideal conditions of symbol synchronization and sampling clock synchronization, after a cyclic prefix is inserted, converting the linear convolution x (i) of the three path channels on the discrete time domain to a cyclic convolution y (i), wherein the received signal with the cyclic convolution y (i) obtained by sampling the signals of the channels is as follows:
wherein k (i) is a convolution conversion channel stimulus response value calculated according to the channel stimulus response model constructed in the step 1), and v (i) is a signal value of the noise signal in the convolution conversion process;
4) the frequency domain signal to be transmitted by the Bluetooth communication data transmitting module, which is finally obtained through the fast Fourier transform algorithm, is as follows:
Yq＝KqXq+Vq；
wherein ,KqCalculating the channel frequency domain stimulus response value V obtained according to the frequency domain calculation model of the three frequency domain channels constructed in the step 2)qAnd the noise frequency domain signal value of the noise signal in the final fast Fourier transform process is obtained.
The invention has the beneficial effects that:
1. planning a navigation route according to the proportion x of the unmanned aerial vehicle at the first energy consumption level, the proportion y of the unmanned aerial vehicle at the second energy consumption level and the proportion z of the unmanned aerial vehicle at the third energy consumption level, wherein the length r of the area, which is the radius of the whole area, is occupied by the central point O
Divide annular region of cruising, and then central computation module calculates the amount of cruising of many unmanned aerial vehicle H platform in r1 radius, the amount of cruising in r2 radius and the amount of cruising in r3 radius, if and according to the first energy consumption level of every moment m, the difference of the shared proportion of second energy consumption level and third energy consumption level y and carry out dynamic adjustment, constantly iterative optimization carries out, finally can be according to the energy consumption condition of every unmanned aerial vehicle and account for all unmanned aerial vehicle's that cruises proportion, the amount and the scope of cruising of the unmanned aerial vehicle in the whole region of cruises of real-time coordinated adjustment, the object is put.
2. The invention can realize the signal synchronization and channel estimation by the Bluetooth communication data processing module under the requirement that the command communication signals of the coordination management module, the task allocation module and the cruise track module to be transmitted by the cloud platform share the same wireless Bluetooth transmission channel under the condition that the Bluetooth communication data processing module is provided with the Bluetooth communication data processing module for receiving the three modules and the fast Fourier transform algorithm is adopted to process the frequency domain command communication signals of the coordination management module, the task allocation module and the cruise track module, and the command communication signals to be transmitted by the cloud platform to coordinate and manage the flight state, the flight area task and the flight track of the unmanned aerial vehicle are required to share the same wireless Bluetooth transmission channel, the Bluetooth communication data processing module utilizes a complete frame of training data to realize the signal synchronization and the channel estimation, and utilizes the fast Fourier transform algorithm to convert the frequency domain channel estimation for a plurality of times into time domain noise reduction processing, then convert the time domain channel estimation into a frequency domain and finally transmit the frequency domain by the Bluetooth communication data transmitting module, thereby reducing the complexity of realization, the method can obtain a more accurate channel frequency domain response estimation value, can realize the technical effects that the node adopts a burst communication mode, has short communication time and requires a link to complete synchronization in a shorter time.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
fig. 1 is an overall schematic diagram of an unmanned aerial vehicle bluetooth communication system based on the internet of things provided by the invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle bluetooth communication system based on the internet of things according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of an unmanned aerial vehicle bluetooth communication system based on the internet of things according to embodiment 2 of the present invention;
fig. 4 is a schematic structural diagram of an energy real-time monitoring module according to embodiment 2 of the present invention;
fig. 5 is a schematic structural view of a first circular cruise area, a second annular cruise area and a third annular cruise area, which are divided by different proportions of a central point O occupying the length r of the radius of the whole area, in an area where multiple unmanned aerial vehicles cruise, according to embodiment 4 of the present invention;
fig. 6 is a schematic flowchart of a fast fourier transform algorithm of a bluetooth communication data processing module according to embodiment 5 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-2, the communication system is used for communication data exchange in the low-altitude field in which the unmanned aerial vehicle flies and cruises, and the low-altitude field is an entire system formed by multiple unmanned aerial vehicles cooperatively cruises, detects and acquires data and then transmits the data to a remote cloud platform, and is characterized in that the system further comprises a bluetooth communication data receiving module arranged on the unmanned aerial vehicle, a data acquisition module used for monitoring flight data of the unmanned aerial vehicle in real time, and an energy real-time monitoring module, and the cloud platform comprises a central processing module, a coordination management module, a task allocation module, a cruise track planning module and an energy consumption evaluation module;
the Bluetooth communication data receiving modules on the multiple unmanned aerial vehicles are used for receiving task data transmitted by the remote cloud platform, and coordinating instructions sent by the management module, the task distribution module and the cruise track module to execute tasks after central processing calculation of the cloud platform central processing module;
the energy consumption evaluation module is used for monitoring the flight cruise state of each unmanned aerial vehicle in the multiple unmanned aerial vehicles according to the data acquired by the energy real-time monitoring module and feeding back the monitoring data to the central processing module in real time;
the central processing module is used for coordinating flight states, flight tasks and cruise track plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles according to flight states allowed by the energy consumption levels of the unmanned aerial vehicles in the multiple unmanned aerial vehicles, which are obtained by the energy consumption evaluation module, and sending the flight states, the flight tasks and the cruise track plans to the coordination management module, the task allocation module and the cruise track module respectively;
the coordination management module is used for receiving flight state plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module, sending instructions to the multiple unmanned aerial vehicles and flying in a flight area allowed by the energy consumption levels;
the task allocation module is used for respectively controlling the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level, which is low in energy consumption, to fly back, the unmanned aerial vehicle with the second energy consumption level and the second energy consumption level continues to fly to a far area in the cruise field, and the unmanned aerial vehicle with the third energy consumption level and the second energy consumption level is high in energy consumption flies to the boundary of the cruise field;
and the cruise track module is used for controlling each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in different energy consumption levels to cruise within an energy consumption level allowable range according to the cruise track planned by the central processing module.
Example 2
As shown in fig. 1-2, the communication system is used for communication data exchange in the low-altitude field in which the unmanned aerial vehicle flies and cruises, and the low-altitude field is an entire system formed by multiple unmanned aerial vehicles cooperatively cruises, detects and acquires data and then transmits the data to a remote cloud platform, and is characterized in that the system further comprises a bluetooth communication data receiving module arranged on the unmanned aerial vehicle, a data acquisition module used for monitoring flight data of the unmanned aerial vehicle in real time, and an energy real-time monitoring module, and the cloud platform comprises a central processing module, a coordination management module, a task allocation module, a cruise track planning module and an energy consumption evaluation module;
the Bluetooth communication data receiving modules on the multiple unmanned aerial vehicles are used for receiving task data transmitted by the remote cloud platform, and coordinating instructions sent by the management module, the task distribution module and the cruise track module to execute tasks after central processing calculation of the cloud platform central processing module;
the energy consumption evaluation module is used for monitoring the flight cruise state of each unmanned aerial vehicle in the multiple unmanned aerial vehicles according to the data acquired by the energy real-time monitoring module and feeding back the monitoring data to the central processing module in real time;
the central processing module is used for coordinating flight states, flight tasks and cruise track plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles according to flight states allowed by the energy consumption levels of the unmanned aerial vehicles in the multiple unmanned aerial vehicles, which are obtained by the energy consumption evaluation module, and sending the flight states, the flight tasks and the cruise track plans to the coordination management module, the task allocation module and the cruise track module respectively;
the coordination management module is used for receiving flight state plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module, sending instructions to the multiple unmanned aerial vehicles and flying in a flight area allowed by the energy consumption levels;
the task allocation module is used for respectively controlling the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level, which is low in energy consumption, to fly back, the unmanned aerial vehicle with the second energy consumption level and the second energy consumption level continues to fly to a far area in the cruise field, and the unmanned aerial vehicle with the third energy consumption level and the second energy consumption level is high in energy consumption flies to the boundary of the cruise field;
and the cruise track module is used for controlling each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in different energy consumption levels to cruise within an energy consumption level allowable range according to the cruise track planned by the central processing module.
As shown in fig. 3, the system provided in this embodiment further includes a bluetooth communication data transmitting module and a bluetooth data signal processing module of the remote cloud platform, where the bluetooth communication data transmitting module is configured to receive the instructions sent by the coordination management module, the task allocation module, and the cruise track module, and then transmit the instructions to the bluetooth communication data receiving module after passing through the bluetooth data signal processing module. The remote cloud platform further comprises a cloud data management module for storing data information acquired by the data acquisition modules on the multiple unmanned aerial vehicles.
As shown in fig. 4, the energy real-time monitoring module provided in this embodiment includes an electric energy real-time monitoring acquisition module and an oil amount real-time monitoring acquisition module, and the energy consumption real-time monitoring module acquires the electric energy remaining amount E of the jth unmanned aerial vehicle at the moment mj(m) and oil amount remaining amount Oj(m), after the energy consumption evaluation module calculates the process from the monitored t-k moment of the jth unmanned aerial vehicle to the t moment, the energy consumption level L of the jth frame at the t momentjThe calculation formula is as follows:
wherein ,
for jth unmanned aerial vehicle in m moment electric energy marginEj(m) calculating a weighting factor for the weight,
oil quantity margin O of jth unmanned aerial vehicle at m momentj(m) calculating a weighting factor, λ being the efficiency of converting electrical energy into power, φ being the efficiency of converting fuel oil into power, αE(m) is that the jth frame stores the surplus E in the electric energy of the unmanned aerial vehicle at the moment of mjError term of (m), βO(m) is the oil quantity margin O of the j-th frame at the moment of mj(m) an error term; j is 1,2,3, …, n; m-t-k, t-k +1, …, t.
The efficiency lambda of converting electric energy into power is 40-50%, and the efficiency phi of converting fuel oil into power is 15-30%.
Example 3
On the basis of example 1 or example 2, the first energy consumption level is 10% to 20%, the second energy consumption level is 20% to 50%, and the third energy consumption level is 50% to 90%.
Example 4
The embodiment further provides an unmanned aerial vehicle bluetooth communication method based on the internet of things, which adopts the system provided by the embodiment, and the method comprises the following steps:
s101, monitoring electric energy surplus E of unmanned aerial vehicles at m moments acquired by a plurality of unmanned aerial vehicles in real time by an energy real-time monitoring modulej(m) and oil amount remaining amount Oj(m) and transmitting the data to a remote cloud platform through a Bluetooth communication data receiving module
S102, receiving the electric energy storage allowance E of the unmanned aerial vehicle at the moment m collected in the step S101 by an energy consumption evaluation module of the cloud platformj(m) and oil amount remaining amount Oj(m), calculating the energy consumption level L of the jth frame at the tth moment after the process from the monitored t-k moment to the tth moment of the jth unmanned aerial vehiclejAnd transmitting the calculation result to the central processing module;
s103, the central processing module counts the energy consumption levels of multiple unmanned aerial vehicles m times, calculates the proportion x occupied by the unmanned aerial vehicle at the first energy consumption level, the proportion y occupied by the unmanned aerial vehicle at the second energy consumption level, and the proportion z occupied by the unmanned aerial vehicle at the third energy consumption level, and obtains the sum of x + y + z as 1, as shown in fig. 5Dividing a first circular cruise area, a second annular cruise area and a third annular cruise area according to different proportions of the length r of the area where the multiple unmanned aerial vehicles cruise, wherein the central point O occupies the radius of the whole area; the first circular cruising area is circular, and the radius of the first circular cruising area is r1(ii) a The second annular cruise area is annular, the inner radius is the radius of the first circular cruise area, and the outer radius is the second radius r2(ii) a The third annular cruise area is annular, and the inner radius is a second annular radius r2The outer radius is the third radius r3；
The central computing module calculates the cruising number of the H stations of the multiple unmanned aerial vehicles in a first circular cruising area, a second cruising area and a third cruising area, continuously performs iterative optimization to perform dynamic adjustment by adopting a particle swarm optimization algorithm according to the difference of the proportion x of the unmanned aerial vehicle with the first energy consumption level, the proportion y of the unmanned aerial vehicle with the second energy consumption level and the proportion z of the unmanned aerial vehicle with the third energy consumption level at each moment m, which changes in real time, and calculates the cruising track of each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in the first circular cruising area, the second cruising area and the third cruising area;
the energy consumption level of each unmanned aerial vehicle is sent to a coordination management module, the cruising number of the multiple unmanned aerial vehicles in a first circular cruising area, a second cruising area and a third cruising area is sent to a task distribution module, and the cruising track of each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in the first circular cruising area, the second cruising area and the third cruising area is sent to a cruising track module;
s104, the coordination management module receives flight states allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module and sends instructions to the multiple unmanned aerial vehicles to coordinate the multiple unmanned aerial vehicles to fly in a flight area allowed by the energy consumption levels; the task allocation module receives an instruction of the central processing module, and respectively controls the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level with insufficient energy consumption to fly back, the unmanned aerial vehicle with the second energy consumption level with the energy consumption at the intermediate level continuously flies to a far area in the cruise field, and the unmanned aerial vehicle with the third energy consumption level with the energy consumption at the higher level flies to the boundary of the cruise field; the cruise track module receives an instruction of the central processing module and controls the cruise track of each unmanned aerial vehicle in the multi-shelf unmanned aerial vehicles to cruise within an energy consumption level allowable range according to the cruise track.
Radius of the first circular cruise zone
Second radius of second annular cruise zone
Third radius of third annular zone
Example 5
On the basis of embodiment 4, as shown in fig. 6, before the coordination management module, the task allocation module, and the cruise track module send the control command to the bluetooth communication data receiving modules arranged on the multiple unmanned aerial vehicles, signals of three frequency domain channels of the coordination management module, the task allocation module, and the cruise track module are converted into time domain signals by the bluetooth data signal processing module by using a fast fourier transform algorithm, noise reduction processing is performed, and then the time domain signals subjected to noise reduction are transmitted to the bluetooth communication data transmitting module and transmitted to the bluetooth communication data receiving module, so that the flight of each unmanned aerial vehicle in the multiple unmanned aerial vehicles is controlled;
the fast Fourier transform algorithm of the Bluetooth communication data processing module comprises the following steps:
1) and (3) constructing a channel stimulus response model k (g, epsilon) from signals of three frequency domain channels:
k(g,ε)＝∑qγq(g)ρ(ε-εq)；
wherein ,γq(g) The amplitude value of the q signal transmission path satisfies a stable Gaussian random process, and q is 1,2 and 3 respectively representing the first path of the signal transmission path of the coordination management module, the second path of the signal transmission path of the task allocation module, the third path of the signal transmission path of the cruise track module, and gammaq(g) Are independent of each other; epsilon is the q-th pathSignal transmission time of epsilonqThe time delay of the q path is the time delay of the q path; rho (·) is calculated for the q path signal transmission stimulation response time difference; g is the g-th moment of signal transmission; and sigmaqE[γq(g)|2ρ(ε-εq)]＝1；
2) Constructing frequency domain calculation models of three frequency domain channels:
3) under the ideal conditions of symbol synchronization and sampling clock synchronization, after a cyclic prefix is inserted, converting the linear convolution x (i) of the three path channels on the discrete time domain to a cyclic convolution y (i), wherein the received signal with the cyclic convolution y (i) obtained by sampling the signals of the channels is as follows:
wherein k (i) is a convolution conversion channel stimulus response value calculated according to the channel stimulus response model constructed in the step 1), and v (i) is a signal value of the noise signal in the convolution conversion process;
4) the frequency domain signal to be transmitted by the Bluetooth communication data transmitting module finally obtained through the fast Fourier transform algorithm is as follows:
Yq＝KqXq+Vq；
wherein ,KqCalculating the frequency domain stimulus response value V of the channel obtained according to the frequency domain calculation model of the three frequency domain channels constructed in the step 2)qIs the noise frequency domain signal value of the noise signal in the final fast Fourier transform process.
The fast Fourier transform algorithm completes signal synchronization and channel response estimation by using a training frame, performs noise reduction processing on a received signal by converting frequency domain multiple estimation into a time domain, is simple to realize, improves the system channel estimation precision under the condition of not increasing the system overhead, and has accurate timing and smaller frequency estimation error.
The system and the method provided by the invention can make clear the type of the task, the area and the time for completing the task when the task is planned; moreover, the environment, the target and the situation in the cruise area can be effectively and accurately analyzed; and the maximum benefit can be completed under the condition of ensuring the minimum cost, so that the setting of constraint conditions, the evaluation of data, the determination of distribution schemes and the planning of flight trajectories are carried out. The technical problem that multiple unmanned aerial vehicles face multiple operational targets and multiple cruise tasks in cooperation with cruise during task planning is effectively solved, the high-value target priority principle, the near-target priority principle and the task execution time short priority principle are effectively followed during task planning, and the priority principle that the number of the delegated unmanned aerial vehicles is small is effectively achieved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An unmanned aerial vehicle Bluetooth communication system based on the Internet of things is used for communication data exchange of unmanned aerial vehicle flight cruising in the low-altitude field, the low-altitude field is a whole system formed by a plurality of unmanned aerial vehicles cooperatively cruising, detecting and acquiring data and then transmitting the data to a remote cloud platform, and the system is characterized by further comprising a Bluetooth communication data receiving module arranged on the unmanned aerial vehicle, a data acquisition module used for monitoring the flight data of the unmanned aerial vehicle in real time and an energy real-time monitoring module, wherein the cloud platform comprises a central processing module, a coordination management module, a task allocation module, a cruising track planning module and an energy consumption evaluation module;
the Bluetooth communication data receiving modules on the multiple unmanned aerial vehicles are used for receiving task data transmitted by a remote cloud platform, and executing tasks according to instructions sent by the coordination management module, the task distribution module and the cruise track module after central processing calculation of the cloud platform central processing module;
the energy consumption evaluation module is used for monitoring the flight cruise state of each unmanned aerial vehicle in the multiple unmanned aerial vehicles according to the data acquired by the energy real-time monitoring module and feeding back the monitoring data to the central processing module in real time;
the central processing module is used for coordinating flight states, flight tasks and cruise track plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles according to flight states allowed by the energy consumption levels of the unmanned aerial vehicles in the multiple unmanned aerial vehicles estimated by the energy consumption estimation module, and sending the flight states, the flight tasks and the cruise track plans to the coordination management module, the task allocation module and the cruise track module respectively;
the coordination management module is used for receiving flight state plans allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module, sending instructions to the multiple unmanned aerial vehicles and flying in a flight area allowed by the energy consumption levels;
the task allocation module is used for respectively controlling the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level, which are low in energy consumption, to fly back, the unmanned aerial vehicle with the second energy consumption level and the second energy consumption level continues to fly to a far area in the cruise field, and the unmanned aerial vehicle with the third energy consumption level and the second energy consumption level are high in energy consumption flies to the boundary of the cruise field;
the cruise track module is used for controlling each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in different energy consumption levels to cruise within an energy consumption level allowable range according to the cruise track planned by the central processing module.
2. The unmanned aerial vehicle Bluetooth communication system based on the Internet of things as claimed in claim 1, further comprising a Bluetooth communication data transmitting module and a Bluetooth data signal processing module of a remote cloud platform, wherein the Bluetooth communication data transmitting module is used for receiving instructions sent by the coordination management module, the task allocation module and the cruise track module, and then transmitting the instructions to the Bluetooth communication data receiving module after passing through the Bluetooth data signal processing module.
3. The internet of things-based unmanned aerial vehicle Bluetooth communication system of claim 1, wherein the remote cloud platform further comprises a cloud data management module for storing data information collected by data collection modules on the plurality of unmanned aerial vehicles.
4. The unmanned aerial vehicle Bluetooth communication system based on the Internet of things of claim 1, wherein the energy real-time monitoring module comprises an electric energy real-time monitoring and collecting module and an oil quantity real-time monitoring and collecting module.
5. The Internet of things-based unmanned aerial vehicle Bluetooth communication system of claim 4, wherein the energy consumption real-time monitoring module collects the electric energy reserve E of the jth unmanned aerial vehicle at m timej(m) and oil amount remaining amount Oj(m), after the energy consumption evaluation module calculates the process from the monitored t-k moment to the t moment of the jth unmanned aerial vehicle, the energy consumption level L of the jth frame at the t momentjThe calculation formula is as follows:
wherein ,
electric energy margin E for jth unmanned aerial vehicle at m momentj(m) calculating a weighting factor for the weight,
oil quantity margin O of jth unmanned aerial vehicle at m momentj(m) calculating a weighting factor, λ being the efficiency of converting electrical energy into power, φ being the efficiency of converting fuel oil into power, αE(m) is that the jth frame stores the surplus E in the electric energy of the unmanned aerial vehicle at the moment of mjError term of (m), βO(m) j is the oil mass storage of the unmanned aerial vehicle erected at m timeThe balance Oj(m) an error term; j is 1,2,3, …, n; m-t-k, t-k +1, …, t.
6. The Internet of things-based unmanned aerial vehicle Bluetooth communication system of claim 5, wherein the efficiency λ of converting electric energy into power is 40% -50%, and the efficiency φ of converting fuel oil into power is 15% -30%.
7. The internet of things-based unmanned aerial vehicle Bluetooth communication system of claim 1, wherein the first energy consumption level is 10% -20%, the second energy consumption level is 20% -50%, and the third energy consumption level is 50% -90%.
8. An unmanned aerial vehicle Bluetooth communication method based on the Internet of things according to any one of the systems of claims 1-7, characterized by comprising the following steps:
s101, the energy real-time monitoring module monitors the electric energy surplus E of the unmanned aerial vehicles of the plurality of unmanned aerial vehicles at the moment of collecting m in real timej(m) and oil amount remaining amount Oj(m) and transmitting to the remote cloud platform through a Bluetooth communication data receiving module
S102, an energy consumption evaluation module of the cloud platform receives the electric energy storage allowance E of the unmanned aerial vehicle at the moment m collected in the step S101j(m) and oil amount remaining amount Oj(m), calculating the energy consumption level L of the jth frame at the tth moment after the process from the monitored t-k moment to the tth moment of the jth unmanned aerial vehiclejAnd transmitting the calculation result to the central processing module;
s103, the central processing module counts the energy consumption levels of multiple unmanned aerial vehicles at m moments, the proportion x of the unmanned aerial vehicle at the first energy consumption level, the proportion y of the unmanned aerial vehicle at the second energy consumption level and the proportion z of the unmanned aerial vehicle at the third energy consumption level are obtained through calculation, x + y + z is 1, and a first circular cruising area, a second annular cruising area and a third annular cruising area are divided according to different proportions of the length r of the area where the multiple unmanned aerial vehicles cruise, wherein the length r is equal to the radius of the whole area and is occupied by a central point O;the first circular cruising area is circular, and the radius of the first circular cruising area is r1(ii) a The second annular cruise area is annular, the inner radius is the radius of the first circular cruise area, and the outer radius is the second radius r2(ii) a The third annular cruise area is annular, and the inner radius is a second annular radius r2The outer radius is the third radius r3；
The central computing module calculates the cruising number of multiple unmanned aerial vehicles H in the first circular cruising area, the second cruising area and the third cruising area, and continuously iterates and optimizes by adopting a particle swarm optimization algorithm according to the difference of the proportion x of the unmanned aerial vehicle with the first energy consumption level, the proportion y of the unmanned aerial vehicle with the second energy consumption level and the proportion z of the unmanned aerial vehicle with the third energy consumption level at each moment m which changes in real time to dynamically adjust, and calculates the cruising track of each unmanned aerial vehicle in the multiple unmanned aerial vehicles H in the first circular cruising area, the second cruising area and the third cruising area;
the energy consumption level of each unmanned aerial vehicle is sent to a coordination management module, the cruising number of the multiple unmanned aerial vehicles in the first circular cruising area, the second cruising area and the third cruising area is sent to a task distribution module, and the cruising track of each unmanned aerial vehicle in the multiple sub-unmanned aerial vehicles in the first circular cruising area, the second cruising area and the third cruising area is sent to a cruising track module;
s104, the coordination management module receives flight states allowed by the energy consumption levels of the multiple unmanned aerial vehicles of the central processing module and sends instructions to the multiple unmanned aerial vehicles to coordinate the multiple unmanned aerial vehicles to fly in a flight area allowed by the energy consumption levels; the task allocation module receives an instruction of the central processing module, and respectively controls the unmanned aerial vehicle with the first energy consumption level and the second energy consumption level with insufficient energy consumption to fly back, the unmanned aerial vehicle with the second energy consumption level with the energy consumption at the intermediate level continuously flies to a far region in the cruise field, and the unmanned aerial vehicle with the third energy consumption level with the energy consumption at the higher level flies to the boundary of the cruise field; the cruise track module receives an instruction of the central processing module and controls the cruise track of each unmanned aerial vehicle in the multi-shelf unmanned aerial vehicles to cruise within an energy consumption level allowable range according to the cruise track.
9. The unmanned aerial vehicle Bluetooth communication method based on the Internet of things of claim 8, wherein the radius of the first circular cruising area is
A second radius of the second annular cruise zone
A third radius of the third annular region
10. The unmanned aerial vehicle Bluetooth communication method based on the Internet of things according to claim 8, wherein before sending a control command to Bluetooth communication data receiving modules arranged on a plurality of unmanned aerial vehicles, the coordination management module, the task allocation module and the cruise track module convert signals of three frequency domain channels of the coordination management module, the task allocation module and the cruise track module into time domain signals by the Bluetooth data signal processing module through a fast Fourier transform algorithm, perform noise reduction processing, transmit the noise-reduced time domain signals to the Bluetooth communication data transmitting module and transmit the noise-reduced time domain signals to the Bluetooth communication data receiving module, and further control the flight of each unmanned aerial vehicle of the plurality of unmanned aerial vehicles;
the fast Fourier transform algorithm of the Bluetooth communication data processing module comprises the following steps:
1) and (3) constructing a channel stimulus response model k (g, epsilon) from signals of three frequency domain channels:
k(g,ε)＝∑qγq(g)ρ(ε-εq)；
wherein ,γq(g) The amplitude value of the q signal transmission path satisfies the stable Gaussian random process, and q is equal to1,2,3 respectively representing a first path of the signal transmission path of the coordination management module, a second path of the signal transmission path of the task assignment module, a third path of the signal transmission path of the cruise track module, γq(g) Are independent of each other; ε is the signal transmission time of the q-th pathqThe time delay of the q path is the time delay of the q path; rho (·) is calculated for the q path signal transmission stimulation response time difference; g is the g-th moment of signal transmission; and sigmaqE[γq(g)|2ρ(ε-εq)]＝1；
2) Constructing frequency domain calculation models of three frequency domain channels:
3) under the ideal conditions of symbol synchronization and sampling clock synchronization, after a cyclic prefix is inserted, converting the linear convolution x (i) of the three path channels on the discrete time domain to a cyclic convolution y (i), wherein the received signal with the cyclic convolution y (i) obtained by sampling the signals of the channels is as follows:
wherein k (i) is a convolution conversion channel stimulus response value calculated according to the channel stimulus response model constructed in the step 1), and v (i) is a signal value of the noise signal in the convolution conversion process;
4) the frequency domain signal to be transmitted by the Bluetooth communication data transmitting module, which is finally obtained through the fast Fourier transform algorithm, is as follows:
Yq＝KqXq+Vq；
wherein ,KqCalculating the channel frequency domain stimulus response value V obtained according to the frequency domain calculation model of the three frequency domain channels constructed in the step 2)qAnd the noise frequency domain signal value of the noise signal in the final fast Fourier transform process is obtained.
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