CN114859965A - Unmanned aerial vehicle launching deployment method and system based on distributed block chain - Google Patents
Unmanned aerial vehicle launching deployment method and system based on distributed block chain Download PDFInfo
- Publication number
- CN114859965A CN114859965A CN202210433838.4A CN202210433838A CN114859965A CN 114859965 A CN114859965 A CN 114859965A CN 202210433838 A CN202210433838 A CN 202210433838A CN 114859965 A CN114859965 A CN 114859965A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- block chain
- information
- cluster
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000015572 biosynthetic process Effects 0.000 claims description 22
- 238000003860 storage Methods 0.000 claims description 15
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000012546 transfer Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- 230000005389 magnetism Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 6
- 230000002776 aggregation Effects 0.000 description 4
- 238000004220 aggregation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
- G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/64—Protecting data integrity, e.g. using checksums, certificates or signatures
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- Bioethics (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses an unmanned aerial vehicle launching and deploying method and system based on a distributed block chain, which comprises the following steps: when the unmanned aerial vehicle reaches a target launching place, an initialization task is configured, a basic block chain is initialized, the unmanned aerial vehicle is selected according to a block chain consensus mechanism to communicate, task information is collected and issued according to the block chain, the unmanned aerial vehicle in the cluster responds after acquiring the task information, and the safety of the unmanned aerial vehicle cluster task is improved. According to the unmanned aerial vehicle group distribution method, the distributed block chain network communication is established, the unmanned aerial vehicles are grouped in military units, the requirements of tactical distribution, tactical transfer and the like are met on the premise of improving the stability and safety of a cluster, and the unmanned aerial vehicles are put in and recovered orderly and rapidly.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle launching and deploying method and system based on a distributed block chain.
Background
With the gradual development of the unmanned aerial vehicle technology, the application of the unmanned aerial vehicle in the scenes of military reconnaissance, attack and the like is gradually shown. However, most of the existing unmanned aerial vehicles execute tasks by a single or a plurality of unmanned aerial vehicles, even if the unmanned aerial vehicles are clustered, the unmanned aerial vehicles often only show advantages in quantity and queue shape, and an effective grouping formation tactical strategy and a hardware function and a software algorithm matched with the tactical strategy do not exist. The invention provides a formation cluster launching deployment scheme, the work division in formation by using mesh networking communication and a distributed block chain technology is clear, and the anti-interference and safety are obviously improved.
Most of the existing unmanned aerial vehicles execute tasks by a single or a plurality of unmanned aerial vehicles, even if the unmanned aerial vehicles are clustered, the unmanned aerial vehicles often only show advantages in quantity and queue shape, do not have a set of effective tactics for grouping formation and hardware functions and software algorithms matched with the tactics, cannot effectively carry out tactics such as division combat on a battlefield and the like, and cannot effectively cope with influences such as signal interference, network intrusion and the like.
Disclosure of Invention
In order to solve the technical problem, the invention provides an unmanned aerial vehicle launching and deploying method and system based on a distributed block chain.
The invention provides an unmanned aerial vehicle launching and deploying method based on a distributed block chain, which comprises the following steps:
before the unmanned aerial vehicle is ready to be launched, grouping the unmanned aerial vehicles in military units, configuring keys for the unmanned aerial vehicles through a take-off platform, configuring initialization tasks and initializing basic block chains, and sending current flight data to the unmanned aerial vehicle to be taken off by the take-off platform;
after the unmanned aerial vehicle takes off, a block chain consensus mechanism is used for selecting a preset number of unmanned aerial vehicles to participate in communication of the control station, and after new task information is received, the unmanned aerial vehicles participating in communication of the control station gather and issue the new task information through the block chain;
and after the unmanned aerial vehicle in the cluster receives the new task information, responding and analyzing the new task information into an attitude control instruction, and after the task instruction is completed, the takeoff platform acquires flight data again and sends the flight data to the unmanned aerial vehicle in the cluster to recover the unmanned aerial vehicle.
In this scheme, the platform through taking off to unmanned aerial vehicle configuration key specifically does:
the cluster is communicated by adopting a mesh multi-hop ad hoc network technology, a private key A and a public key A used for communication are configured for each unmanned aerial vehicle in the cluster, and military units to which the unmanned aerial vehicles belong are verified according to the private key A and the public key A;
the same private key B is configured for unmanned aerial vehicle communication between the same military units, and the same private key C is configured for wide area broadcast communication and emergency frequency bands.
In this scheme, the initial basic block chain includes: authentication block chain, task block chain and decision block chain.
In this scheme, the unmanned aerial vehicle participating in the communication of the control station collects and issues the new task information through a block chain, specifically:
after receiving the new task message, summarizing the new task message, voting in the decision block chain, and acquiring the number of unmanned aerial vehicle nodes which reach consensus in the decision block chain;
and if the number of the unmanned aerial vehicle nodes which reach the consensus is larger than a preset number threshold value, the corresponding new task information is proved to be correct task information, and the correct task information is issued to other airplanes in the cluster.
In this scheme, still include:
unmanned aerial vehicles in the cluster have autonomous capability, make decisions on obstacle avoidance tasks and cooperative work tasks, acquire position information of obstacles or cooperative work targets, and perform information synchronization on the position information of unmanned aerial vehicle nodes and the position information of the obstacles or the cooperative work targets in a block chain;
each unmanned aerial vehicle node judges whether the unmanned aerial vehicle node needs to perform attitude adjustment according to the relative distance information and the relative speed information of the unmanned aerial vehicle node position information and the position information of the obstacle or the cooperative work target;
if the information that the unmanned aerial vehicles in the blockchain reach the consensus number meets the preset number threshold standard, updating the blockchain, and if the information that the unmanned aerial vehicles in the blockchain reach the consensus number does not meet the preset number threshold standard, removing the corresponding unmanned aerial vehicle node from the authentication blockchain, wherein the corresponding unmanned aerial vehicle node does not participate in any decision task in the current task;
and analyzing the attitude control instruction of the unmanned aerial vehicle according to the updated task block chain, and adjusting formation information of the unmanned aerial vehicle cluster according to the attitude control instruction.
In the scheme, all unmanned aerial vehicle nodes in the authentication block chain can participate in decision-making work, the authentication block chain is updated at regular time and is obtained through asymmetric encryption, a Hash algorithm and a block chain consensus mechanism.
The second aspect of the present invention further provides an unmanned aerial vehicle launch and deployment system based on a distributed block chain, where the system includes: the unmanned aerial vehicle launching and deploying method based on the distributed block chain comprises a storage and a processor, wherein the storage comprises the program of the unmanned aerial vehicle launching and deploying method based on the distributed block chain, and when the program of the unmanned aerial vehicle launching and deploying method based on the distributed block chain is executed by the processor, the following steps are realized:
before the unmanned aerial vehicle is ready to be launched, grouping the unmanned aerial vehicles in military units, configuring keys for the unmanned aerial vehicles through a take-off platform, configuring initialization tasks and initializing basic block chains, and sending current flight data to the unmanned aerial vehicle to be taken off by the take-off platform;
after the unmanned aerial vehicle takes off, a block chain consensus mechanism is used for selecting a preset number of unmanned aerial vehicles to participate in communication of the control station, and after new task information is received, the unmanned aerial vehicles participating in communication of the control station gather and issue the new task information through the block chain;
and after the unmanned aerial vehicle in the cluster receives the new task information, responding and analyzing the new task information into an attitude control instruction, and after the task instruction is completed, the takeoff platform acquires flight data again and sends the flight data to the unmanned aerial vehicle in the cluster to recover the unmanned aerial vehicle.
In this scheme, the platform through taking off to unmanned aerial vehicle configuration key specifically does:
the cluster is communicated by adopting a mesh multi-hop ad hoc network technology, a private key A and a public key A used for communication are configured for each unmanned aerial vehicle in the cluster, and military units to which the unmanned aerial vehicles belong are verified according to the private key A and the public key A;
the same private key B is configured for unmanned aerial vehicle communication between the same military units, and the same private key C is configured for wide area broadcast communication and emergency frequency bands.
In this scheme, the initial basic block chain includes: authentication block chain, task block chain and decision block chain.
In this scheme, the unmanned aerial vehicle participating in the communication of the control station collects and issues the new task information through a block chain, specifically:
after receiving the new task message, summarizing the new task message, voting in a decision block chain, and acquiring the number of unmanned aerial vehicle nodes which reach consensus in the decision block chain;
and if the number of the unmanned aerial vehicle nodes which reach the consensus is larger than a preset number threshold value, the corresponding new task information is proved to be correct task information, and the correct task information is issued to other airplanes in the cluster.
In this scheme, still include:
unmanned aerial vehicles in the cluster have autonomous capability, make decisions on obstacle avoidance tasks and cooperative work tasks, acquire position information of obstacles or cooperative work targets, and perform information synchronization on the position information of unmanned aerial vehicle nodes and the position information of the obstacles or the cooperative work targets in a block chain;
each unmanned aerial vehicle node judges whether the unmanned aerial vehicle node needs to perform attitude adjustment according to the relative distance information and the relative speed information of the unmanned aerial vehicle node position information and the position information of the obstacle or the cooperative work target;
if the information that the unmanned aerial vehicles in the blockchain reach the consensus number meets the preset number threshold standard, updating the blockchain, and if the information that the unmanned aerial vehicles in the blockchain reach the consensus number does not meet the preset number threshold standard, removing the corresponding unmanned aerial vehicle node from the authentication blockchain, wherein the corresponding unmanned aerial vehicle node does not participate in any decision task in the current task;
and analyzing the attitude control instruction of the unmanned aerial vehicle according to the updated task block chain, and adjusting formation information of the unmanned aerial vehicle cluster according to the attitude control instruction.
In the scheme, all unmanned aerial vehicle nodes in the authentication block chain can participate in decision-making work, the authentication block chain is updated at regular time and is obtained through asymmetric encryption, a Hash algorithm and a block chain consensus mechanism.
By constructing the distributed block chain network communication, tactical teams composed of 8-12 airplanes are taken as team units, 2-4 teams are taken as tactical rows, and the like, the requirements of tactical distribution, tactical transfer and the like can be met on the premise of improving the stability and safety of the cluster, the cluster distribution is carried out by using military units, the tactical development space is effectively improved, and the migration of the existing tactical to a cluster unmanned aerial vehicle is possible.
Drawings
Fig. 1 shows a flowchart of an unmanned aerial vehicle launch and deployment method based on a distributed block chain according to the present invention;
fig. 2 shows a block diagram of an unmanned aerial vehicle delivery deployment system based on a distributed blockchain according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a flowchart of an unmanned aerial vehicle launch deployment method based on a distributed blockchain according to the present invention.
As shown in fig. 1, a first aspect of the present invention provides a method for unmanned aerial vehicle launch deployment based on a distributed blockchain, including:
s102, before the unmanned aerial vehicle is ready to be launched, grouping the unmanned aerial vehicles in military units, configuring keys for the unmanned aerial vehicles through a take-off platform, configuring initialization tasks and initializing basic block chains, and sending current flight data to the unmanned aerial vehicle to be taken off by the take-off platform;
s104, after the unmanned aerial vehicle takes off, a block chain consensus mechanism is used for selecting a preset number of unmanned aerial vehicles to participate in communication of the control station, and after new task information is received, the unmanned aerial vehicles participating in communication of the control station gather and issue the new task information through the block chain;
and S106, after receiving the new task information, the unmanned aerial vehicles in the cluster respond and resolve the new task information into attitude control instructions, and after the task instructions are completed, the takeoff platform acquires flight data again and sends the flight data to the unmanned aerial vehicles in the cluster to recover the unmanned aerial vehicles.
The unmanned aerial vehicle described in the invention comprises a multi-rotor unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, wherein the unmanned aerial vehicles in the class, the row or other military units are all mounted on an externally hung container and are carried to a large-scale transport plane or an armored vehicle, and then are released after being carried to a designated place along with a carrier, the power supply of the unmanned aerial vehicle depends on the power supply of an external carrier, the container is used as a take-off platform to complete the storage, take-off, ground command communication and recovery of the unmanned aerial vehicle, a storage mechanism of the take-off platform uses magnetic attraction charging and magnetic attraction data lines, and key transmission and instruction transmission are performed before take-off. Meanwhile, maintenance modules such as a battery replacement module and a maintenance module can be modularly additionally installed, a take-off mechanism adopts a mode of disengaging to launch (a multi-rotor aircraft is deployed during advancing) or electromagnetic ejection (a fixed-wing aircraft is deployed in situ), a ground communication command module is a multi-frequency multi-channel wireless motor, the communication unit of the wireless motor is a military unit of a class or a row, a recovery mechanism adopts a scheme of mechanical auxiliary recovery, and an unmanned aerial vehicle firstly uses visual positioning to be close to the recovery mechanism and then is captured and recovered by a mechanical arm of the mechanism.
It should be noted that, configuring a key for the unmanned aerial vehicle through the takeoff platform specifically includes: the cluster is communicated by adopting a mesh multi-hop ad hoc network technology, a private key A and a public key A used for communication are configured for each unmanned aerial vehicle in the cluster, and military units to which the unmanned aerial vehicles belong are verified according to the private key A and the public key A; the same private key B is configured for unmanned aerial vehicle communication between the same military units, and the same private key C is configured for wide area broadcast communication and emergency frequency bands. Magnetism is inhaled and is charged and inhale behind the data bus disconnection with magnetism and detect whether normal with the communication of ground satellite station in the unmanned aerial vehicle cluster to whether normal based on mesh multihop ad hoc network's detection unmanned aerial vehicle node P2P communication detects authentication system and is normal, if it is unusual to detect out the unmanned aerial vehicle in the cluster, then removes to the standby district through take-off platform's mechanical structure, carries out the inside self-checking of unmanned aerial vehicle or carries out outside maintenance. Meanwhile, the take-off and landing platform collects current flight data such as flight direction, speed and wind speed and sends the flight data to all unmanned aerial vehicles in real time.
It should be noted that the initial basic block chain includes: authentication block chain, task block chain and decision block chain.
It should be noted that, after the unmanned aerial vehicle takes off, 3 or 5 airplanes are selected to participate in communication with the control station by using the block chain consensus mechanism, the rest airplanes enter the cruise state, after receiving new task information, the airplanes participating in communication can use the block chain to gather the received information, and the unmanned aerial vehicle participating in communication with the control station gathers and issues the new task information by using the block chain, specifically:
after receiving the new task message, summarizing the new task message, voting in a decision block chain, and acquiring the number of unmanned aerial vehicle nodes which reach consensus in the decision block chain;
and if the number of the unmanned aerial vehicle nodes which reach the consensus is larger than a preset number threshold value, the corresponding new task information is proved to be correct task information, and the correct task information is issued to other airplanes in the cluster.
It should be noted that the present invention further includes that the unmanned aerial vehicle in the cluster has a certain autonomous capability, specifically:
unmanned aerial vehicles in the cluster have autonomous capability, make decisions on obstacle avoidance tasks and cooperative work tasks, acquire position information of obstacles or cooperative work targets, and perform information synchronization on the position information of unmanned aerial vehicle nodes and the position information of the obstacles or the cooperative work targets in a block chain;
each unmanned aerial vehicle node judges whether the unmanned aerial vehicle node needs to perform attitude adjustment according to the relative distance information and the relative speed information of the unmanned aerial vehicle node position information and the position information of the obstacle or the cooperative work target;
if the information that the unmanned aerial vehicles in the blockchain reach the consensus number meets the preset number threshold standard, updating the blockchain, and if the information that the unmanned aerial vehicles in the blockchain reach the consensus number does not meet the preset number threshold standard, removing the corresponding unmanned aerial vehicle node from the authentication blockchain, wherein the corresponding unmanned aerial vehicle node does not participate in any decision task in the current task;
analyzing the attitude control instruction of the unmanned aerial vehicle according to the updated task block chain, and adjusting the formation information of the unmanned aerial vehicle cluster according to the attitude control instruction;
all unmanned aerial vehicle nodes in the authentication block chain can participate in decision-making work, the authentication block chain is updated at regular time and is obtained through asymmetric encryption, a Hash algorithm and a block chain consensus mechanism.
It should be noted that, after completing the task, the unmanned aerial vehicle will land again on the take-off and landing platform, specifically: the district of taking off that will take off the platform with the module of launching is separated with the landing district to use to launch off, the district of taking off that the platform of taking off and landing that the adoption breaks away from to put in takes off and take off will stretch out the arm and convert into the landing district, the landing district also is the safety of side direction in order to guarantee other aircraft, the platform of taking off collects current flight direction, speed, data such as wind speed and real-time unmanned aerial vehicle in sending the cluster, unmanned aerial vehicle uses the airborne camera discernment location hatch door, make unmanned aerial vehicle hover and arm top, unmanned aerial vehicle reduces behind the speed, the action is caught to the arm, accomplish the butt joint behind the lock position, the arm income, transport the under-deck to unmanned aerial vehicle, the arm is inhaled to magnetism and is inhaled the data line, the arm stretches out again, begin next unmanned aerial vehicle's recovery.
According to the embodiment of the invention, before the unmanned aerial vehicle is launched, the unmanned aerial vehicle cluster formation information is generated according to the characteristics of the terrain, the environment and the like of a target launching place, and the method specifically comprises the following steps:
acquiring topographic information and environmental information of a target throwing place of the unmanned aerial vehicle, extracting the characteristics of the topographic information and the meteorological information, acquiring an initial aggregation position point of the unmanned aerial vehicle, and acquiring a flight track according to the initial aggregation position point and the topographic information through an A-x algorithm;
initializing formation information of the cluster unmanned aerial vehicle, dividing the flight track into N sections of sub-flight sections, acquiring meteorological features and moving obstacle information in the sub-flight sections in real time, and correcting path points in the sub-flight sections according to the meteorological features and the moving obstacle information;
acquiring formation information change schemes of the cluster unmanned aerial vehicles according to the corrected path points, and acquiring the unmanned aerial vehicle energy consumption condition and the adjustment time condition of each change scheme;
and sequencing according to the energy consumption condition and the adjustment time condition of the unmanned aerial vehicles to obtain an optimal cluster unmanned aerial vehicle formation information change scheme, and adjusting formation information of each flight section according to the optimal cluster unmanned aerial vehicle formation information change scheme.
Fig. 2 shows a block diagram of an unmanned aerial vehicle delivery deployment system based on a distributed blockchain according to the present invention.
The second aspect of the present invention also provides an unmanned aerial vehicle launch and deployment system 2 based on a distributed block chain, which includes: a memory 21 and a processor 22, where the memory includes a distributed blockchain-based unmanned aerial vehicle launch deployment method program, and when executed by the processor, the distributed blockchain-based unmanned aerial vehicle launch deployment method program implements the following steps:
before the unmanned aerial vehicle is ready to be launched, grouping the unmanned aerial vehicles in military units, configuring keys for the unmanned aerial vehicles through a take-off platform, configuring initialization tasks and initializing basic block chains, and sending current flight data to the unmanned aerial vehicle to be taken off by the take-off platform;
after the unmanned aerial vehicle takes off, a block chain consensus mechanism is used for selecting a preset number of unmanned aerial vehicles to participate in communication of the control station, and after new task information is received, the unmanned aerial vehicles participating in communication of the control station gather and issue the new task information through the block chain;
and after the unmanned aerial vehicle in the cluster receives the new task information, responding and analyzing the new task information into an attitude control instruction, and after the task instruction is completed, the takeoff platform acquires flight data again and sends the flight data to the unmanned aerial vehicle in the cluster to recover the unmanned aerial vehicle.
The unmanned aerial vehicle described in the invention comprises a multi-rotor unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, wherein the unmanned aerial vehicles in the class, the row or other military units are all mounted on an externally hung container and are carried to a large-scale transport plane or an armored vehicle, and then are released after being carried to a designated place along with a carrier, the power supply of the unmanned aerial vehicle depends on the power supply of an external carrier, the container is used as a take-off platform to complete the storage, take-off, ground command communication and recovery of the unmanned aerial vehicle, a storage mechanism of the take-off platform uses magnetic attraction charging and magnetic attraction data lines, and key transmission and instruction transmission are performed before take-off. Meanwhile, maintenance modules such as a battery replacement module and a maintenance module can be modularly additionally installed, a take-off mechanism adopts a mode of disengaging to launch (a multi-rotor aircraft is deployed during advancing) or electromagnetic ejection (a fixed-wing aircraft is deployed in situ), a ground communication command module is a multi-frequency multi-channel wireless motor, the communication unit of the wireless motor is a military unit of a class or a row, a recovery mechanism adopts a scheme of mechanical auxiliary recovery, and an unmanned aerial vehicle firstly uses visual positioning to be close to the recovery mechanism and then is captured and recovered by a mechanical arm of the mechanism.
It should be noted that, configuring a key for the unmanned aerial vehicle through the takeoff platform specifically includes: the cluster is communicated by adopting a mesh multi-hop ad hoc network technology, a private key A and a public key A used for communication are configured for each unmanned aerial vehicle in the cluster, and military units to which the unmanned aerial vehicles belong are verified according to the private key A and the public key A; the same private key B is configured for unmanned aerial vehicle communication between the same military units, and the same private key C is configured for wide area broadcast communication and emergency frequency bands. Magnetism is inhaled and is charged and inhale behind the data bus disconnection with magnetism and detect whether normal with the communication of ground station in the unmanned aerial vehicle cluster to whether normal based on mesh multihop from the communication of the detection unmanned aerial vehicle node P2P communication of network, whether normal, the authentication system of detection, if detect out unmanned aerial vehicle in the cluster and have unusually, then move to the district for use through the mechanical structure of the platform of taking off, carry out the inside self-checking of unmanned aerial vehicle or carry out outside maintenance. Meanwhile, the take-off and landing platform collects current flight data such as flight direction, speed and wind speed and sends the flight data to all unmanned aerial vehicles in real time.
It should be noted that the initial basic block chain includes: authentication block chain, task block chain and decision block chain.
It should be noted that, after the unmanned aerial vehicle takes off, 3 or 5 airplanes are selected to participate in communication with the control station by using the block chain consensus mechanism, the rest airplanes enter the cruise state, after receiving new task information, the airplanes participating in communication can use the block chain to gather the received information, and the unmanned aerial vehicle participating in communication with the control station gathers and issues the new task information by using the block chain, specifically:
after receiving the new task message, summarizing the new task message, voting in a decision block chain, and acquiring the number of unmanned aerial vehicle nodes which reach consensus in the decision block chain;
and if the number of the unmanned aerial vehicle nodes which reach the consensus is larger than a preset number threshold value, the corresponding new task information is proved to be correct task information, and the correct task information is issued to other airplanes in the cluster.
It should be noted that the present invention further includes that the unmanned aerial vehicle in the cluster has a certain autonomous capability, specifically:
unmanned aerial vehicles in the cluster have autonomous capability, make decisions on obstacle avoidance tasks and cooperative work tasks, acquire position information of obstacles or cooperative work targets, and perform information synchronization on the position information of unmanned aerial vehicle nodes and the position information of the obstacles or the cooperative work targets in a block chain;
each unmanned aerial vehicle node judges whether the unmanned aerial vehicle node needs to perform attitude adjustment according to the relative distance information and the relative speed information of the unmanned aerial vehicle node position information and the position information of the obstacle or the cooperative work target;
if the information that the unmanned aerial vehicles in the blockchain reach the consensus number meets the preset number threshold standard, updating the blockchain, and if the information that the unmanned aerial vehicles in the blockchain reach the consensus number does not meet the preset number threshold standard, removing the corresponding unmanned aerial vehicle node from the authentication blockchain, wherein the corresponding unmanned aerial vehicle node does not participate in any decision task in the current task;
analyzing an attitude control instruction of the unmanned aerial vehicle according to the updated task block chain, and adjusting formation information of the unmanned aerial vehicle cluster according to the attitude control instruction;
all unmanned aerial vehicle nodes in the authentication block chain can participate in decision-making work, the authentication block chain is updated at regular time and is obtained through asymmetric encryption, a Hash algorithm and a block chain consensus mechanism.
It should be noted that, after completing the task, the unmanned aerial vehicle will land again on the take-off and landing platform, specifically: the district of taking off that will take off the platform with the module of launching is separated with the landing district to use to launch off, the district of taking off that the platform of taking off and landing that the adoption breaks away from to put in takes off and take off will stretch out the arm and convert into the landing district, the landing district also is the safety of side direction in order to guarantee other aircraft, the platform of taking off collects current flight direction, speed, data such as wind speed and real-time unmanned aerial vehicle in sending the cluster, unmanned aerial vehicle uses the airborne camera discernment location hatch door, make unmanned aerial vehicle hover and arm top, unmanned aerial vehicle reduces behind the speed, the action is caught to the arm, accomplish the butt joint behind the lock position, the arm income, transport the under-deck to unmanned aerial vehicle, the arm is inhaled to magnetism and is inhaled the data line, the arm stretches out again, begin next unmanned aerial vehicle's recovery.
According to the embodiment of the invention, before the unmanned aerial vehicle is launched, the unmanned aerial vehicle cluster formation information is generated according to the characteristics of the terrain, the environment and the like of a target launching place, and the method specifically comprises the following steps:
acquiring topographic information and environmental information of a target throwing place of the unmanned aerial vehicle, extracting the characteristics of the topographic information and the meteorological information, acquiring an initial aggregation position point of the unmanned aerial vehicle, and acquiring a flight track according to the initial aggregation position point and the topographic information through an A-x algorithm;
initializing formation information of the cluster unmanned aerial vehicle, dividing the flight track into N sections of sub-flight sections, acquiring meteorological features and moving obstacle information in the sub-flight sections in real time, and correcting path points in the sub-flight sections according to the meteorological features and the moving obstacle information;
acquiring formation information change schemes of the cluster unmanned aerial vehicles according to the corrected path points, and acquiring the unmanned aerial vehicle energy consumption condition and the adjustment time condition of each change scheme;
and sequencing according to the energy consumption condition and the adjustment time condition of the unmanned aerial vehicles to obtain an optimal cluster unmanned aerial vehicle formation information change scheme, and adjusting formation information of each flight section according to the optimal cluster unmanned aerial vehicle formation information change scheme.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit may be implemented in the form of hardware, or in the form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An unmanned aerial vehicle launching and deploying method based on a distributed block chain is characterized by comprising the following steps:
before the unmanned aerial vehicle is ready to be launched, grouping the unmanned aerial vehicles in military units, configuring keys for the unmanned aerial vehicles through a take-off platform, configuring initialization tasks and initializing basic block chains, and sending current flight data to the unmanned aerial vehicle to be taken off by the take-off platform;
after the unmanned aerial vehicle takes off, a block chain consensus mechanism is used for selecting a preset number of unmanned aerial vehicles to participate in communication of the control station, and after new task information is received, the unmanned aerial vehicles participating in communication of the control station gather and issue the new task information through the block chain;
and after the unmanned aerial vehicle in the cluster receives the new task information, responding and analyzing the new task information into an attitude control instruction, and after the task instruction is completed, the takeoff platform acquires flight data again and sends the flight data to the unmanned aerial vehicle in the cluster to recover the unmanned aerial vehicle.
2. The unmanned aerial vehicle launching and deployment method based on the distributed block chain as claimed in claim 1, wherein the key is configured for the unmanned aerial vehicle through a takeoff platform, specifically:
the cluster is communicated by adopting a mesh multi-hop ad hoc network technology, the cluster is communicated by adopting the mesh multi-hop ad hoc network technology, each unmanned aerial vehicle in the cluster is configured with a private key A and a public key A used for communication, and military units to which the unmanned aerial vehicles belong are verified according to the private key A and the public key A;
the same private key B is configured for unmanned aerial vehicle communication between the same military units, and the same private key C is configured for wide area broadcast communication and emergency frequency bands.
3. The method of claim 1, wherein the initial basic blockchain comprises: authentication block chain, task block chain and decision block chain.
4. The unmanned aerial vehicle launching and deployment method based on the distributed block chain as claimed in claim 1, wherein the unmanned aerial vehicle participating in communication with the control station collects and issues the new task information through the block chain, specifically:
after receiving the new task message, summarizing the new task message, voting in a decision block chain, and acquiring the number of unmanned aerial vehicle nodes which reach consensus in the decision block chain;
and if the number of the unmanned aerial vehicle nodes which reach the consensus is larger than a preset number threshold value, the corresponding new task information is proved to be correct task information, and the correct task information is issued to other airplanes in the cluster.
5. The unmanned aerial vehicle release deployment method based on the distributed blockchain according to claim 1, further comprising:
unmanned aerial vehicles in the cluster have autonomous capability, make decisions on obstacle avoidance tasks and cooperative work tasks, acquire position information of obstacles or cooperative work targets, and perform information synchronization on the position information of unmanned aerial vehicle nodes and the position information of the obstacles or the cooperative work targets in a block chain;
each unmanned aerial vehicle node judges whether the unmanned aerial vehicle node needs to perform attitude adjustment according to the relative distance information and the relative speed information of the unmanned aerial vehicle node position information and the position information of the obstacle or the cooperative work target;
if the information that the unmanned aerial vehicles in the blockchain reach the consensus number meets the preset number threshold standard, updating the blockchain, and if the information that the unmanned aerial vehicles in the blockchain reach the consensus number does not meet the preset number threshold standard, removing the corresponding unmanned aerial vehicle node from the authentication blockchain, wherein the corresponding unmanned aerial vehicle node does not participate in any decision task in the current task;
and analyzing the attitude control instruction of the unmanned aerial vehicle according to the updated task block chain, and adjusting formation information of the unmanned aerial vehicle cluster according to the attitude control instruction.
6. The unmanned aerial vehicle launching and deployment method based on the distributed blockchain as claimed in claim 5, wherein all unmanned aerial vehicle nodes in the authentication blockchain can participate in decision-making work, and the authentication blockchain is updated regularly and is obtained through asymmetric encryption, a hash algorithm and a blockchain consensus mechanism.
7. An unmanned aerial vehicle puts in deployment system based on distributed blockchain, its characterized in that, this system includes: the unmanned aerial vehicle launching and deploying method based on the distributed block chain comprises a storage and a processor, wherein the storage comprises the program of the unmanned aerial vehicle launching and deploying method based on the distributed block chain, and when the program of the unmanned aerial vehicle launching and deploying method based on the distributed block chain is executed by the processor, the following steps are realized:
before the unmanned aerial vehicle is ready to be launched, grouping the unmanned aerial vehicles in military units, configuring keys for the unmanned aerial vehicles through a take-off platform, configuring initialization tasks and initializing basic block chains, and sending current flight data to the unmanned aerial vehicle to be taken off by the take-off platform;
after the unmanned aerial vehicle takes off, a block chain consensus mechanism is used for selecting a preset number of unmanned aerial vehicles to participate in communication of the control station, and after new task information is received, the unmanned aerial vehicles participating in communication of the control station gather and issue the new task information through the block chain;
after receiving the new task information, the unmanned aerial vehicles in the cluster respond and analyze the new task information into attitude control instructions, and after the task instructions are completed, the takeoff platform acquires flight data again and sends the flight data to the unmanned aerial vehicles in the cluster to recover the unmanned aerial vehicles;
the initial basic block chain comprises: authentication block chain, task block chain and decision block chain.
8. The unmanned aerial vehicle launching and deployment system based on the distributed block chain as claimed in claim 7, wherein the key is configured for the unmanned aerial vehicle through the takeoff platform, specifically:
the cluster is communicated by adopting a mesh multi-hop ad hoc network technology, a private key A and a public key A used for communication are configured for each unmanned aerial vehicle in the cluster, and military units to which the unmanned aerial vehicles belong are verified according to the private key A and the public key A;
the same private key B is configured for unmanned aerial vehicle communication between the same military units, and the same private key C is configured for wide area broadcast communication and emergency frequency bands.
9. The unmanned aerial vehicle launching and deployment system based on the distributed block chain as claimed in claim 7, wherein the unmanned aerial vehicle participating in communication with the control station collects and issues the new task information through the block chain, specifically:
after receiving the new task message, summarizing the new task message, voting in a decision block chain, and acquiring the number of unmanned aerial vehicle nodes which reach consensus in the decision block chain;
and if the number of the unmanned aerial vehicle nodes which reach the consensus is larger than a preset number threshold value, the corresponding new task information is proved to be correct task information, and the correct task information is issued to other airplanes in the cluster.
10. The unmanned aerial vehicle delivery deployment system based on distributed blockchain of claim 7, further comprising:
unmanned aerial vehicles in the cluster have autonomous capability, make decisions on obstacle avoidance tasks and cooperative work tasks, acquire position information of obstacles or cooperative work targets, and perform information synchronization on the position information of unmanned aerial vehicle nodes and the position information of the obstacles or the cooperative work targets in a block chain;
each unmanned aerial vehicle node judges whether the unmanned aerial vehicle node needs to perform attitude adjustment according to the relative distance information and the relative speed information of the unmanned aerial vehicle node position information and the position information of the obstacle or the cooperative work target;
if the information that the unmanned aerial vehicles in the blockchain reach the consensus number meets the preset number threshold standard, updating the blockchain, and if the information that the unmanned aerial vehicles in the blockchain reach the consensus number does not meet the preset number threshold standard, removing the corresponding unmanned aerial vehicle node from the authentication blockchain, wherein the corresponding unmanned aerial vehicle node does not participate in any decision task in the current task;
and analyzing the attitude control instruction of the unmanned aerial vehicle according to the updated task block chain, and adjusting formation information of the unmanned aerial vehicle cluster according to the attitude control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210433838.4A CN114859965A (en) | 2022-04-24 | 2022-04-24 | Unmanned aerial vehicle launching deployment method and system based on distributed block chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210433838.4A CN114859965A (en) | 2022-04-24 | 2022-04-24 | Unmanned aerial vehicle launching deployment method and system based on distributed block chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114859965A true CN114859965A (en) | 2022-08-05 |
Family
ID=82633006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210433838.4A Pending CN114859965A (en) | 2022-04-24 | 2022-04-24 | Unmanned aerial vehicle launching deployment method and system based on distributed block chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114859965A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115617073A (en) * | 2022-10-10 | 2023-01-17 | 北京捷翔天地信息技术有限公司 | Unmanned equipment cluster command and control method based on ad hoc network |
| CN117250986A (en) * | 2023-10-10 | 2023-12-19 | 广东昊一航空科技有限公司 | Unmanned aerial vehicle matrix control method based on computer |
-
2022
- 2022-04-24 CN CN202210433838.4A patent/CN114859965A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115617073A (en) * | 2022-10-10 | 2023-01-17 | 北京捷翔天地信息技术有限公司 | Unmanned equipment cluster command and control method based on ad hoc network |
| CN117250986A (en) * | 2023-10-10 | 2023-12-19 | 广东昊一航空科技有限公司 | Unmanned aerial vehicle matrix control method based on computer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114859965A (en) | Unmanned aerial vehicle launching deployment method and system based on distributed block chain | |
| CN107632614B (en) | Multi-unmanned aerial vehicle formation self-organization cooperative control method based on rigid graph theory | |
| US11899473B2 (en) | Counter drone system | |
| CN110364031A (en) | The path planning and wireless communications method of unmanned plane cluster in ground sensors network | |
| CN107544541A (en) | A kind of unmanned aerial vehicle (UAV) control method and system | |
| Qu et al. | Rapid deployment of UAVs based on bandwidth resources in emergency scenarios | |
| CN113971461A (en) | Distributed federal learning method and system for unmanned aerial vehicle ad hoc network | |
| CN113612528B (en) | Network connectivity repairing method for unmanned aerial vehicle cluster digital twin simulation system | |
| CN114115329B (en) | Relay collaborative unmanned aerial vehicle task planning method and device | |
| Sharma | Evolution of unmanned aerial vehicles (UAVs) with machine learning | |
| US11686556B2 (en) | Operational section of armored vehicles communicating with a fleet of drones | |
| Rolly et al. | Unmanned aerial vehicles: Applications, techniques, and challenges as aerial base stations | |
| Consul et al. | Security reassessing in UAV-assisted cyber-physical systems based on federated learning | |
| Miličević et al. | From the early days of unmanned aerial vehicles (UAVS) to their integration into wireless networks | |
| Qi et al. | Autonomous reconnaissance and attack test of UAV swarm based on mosaic warfare thought | |
| JP2024516360A (en) | Processing information relating to one or more monitored areas | |
| CN207850190U (en) | A kind of anti-unmanned aerial vehicle control system | |
| Zadeh et al. | A multiagent mission coordination system for continuous situational awareness of bushfires | |
| Phadke et al. | Examining application-specific resiliency implementations in UAV swarm scenarios | |
| CN107121016A (en) | A kind of unmanned plane follows the trail of counter method and device | |
| CN112306088B (en) | DSP-based cooperative task planner of multi-unmanned aerial vehicle system | |
| CN108508907A (en) | Smooth trajectory control system when unmanned plane formation formation converts | |
| Oliveira et al. | An application of command, control, computing, communication, intelligence, surveillance and reconnaissance systems in the protection of the amazon rainforest | |
| Al-Turjman et al. | Deployment strategies for drones in the IoT Era: a survey | |
| Zadeh et al. | Multi-uavs for bushfire situational awareness: a comparison of environment traversal algorithms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |