CN117077443A - Unmanned aerial vehicle simulation system for completing internal communication based on redis - Google Patents

Unmanned aerial vehicle simulation system for completing internal communication based on redis Download PDF

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CN117077443A
CN117077443A CN202311330915.4A CN202311330915A CN117077443A CN 117077443 A CN117077443 A CN 117077443A CN 202311330915 A CN202311330915 A CN 202311330915A CN 117077443 A CN117077443 A CN 117077443A
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redis
unmanned aerial
aerial vehicle
matrix
protocol
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CN117077443B (en
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任雪峰
侯晨曦
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Beijing Zhuoyi Intelligent Technology Co Ltd
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Beijing Zhuoyi Intelligent Technology Co Ltd
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    • G06F9/00—Arrangements for program control, e.g. control units
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    • G—PHYSICS
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    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
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    • G06F9/5061—Partitioning or combining of resources
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    • G06—COMPUTING; CALCULATING OR COUNTING
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Abstract

The invention relates to the technical field of unmanned aerial vehicle simulation, in particular to an unmanned aerial vehicle simulation system for completing internal communication based on redis, which comprises the following components: and a data acquisition module: the system data acquisition module is used for acquiring system data; redis substitution module: the method is used for replacing UDP protocol in parallel by adopting redis middleware; and (3) a containerized reconstruction module: the method is used for carrying out containerization transformation on the CoptimSim model service; and the system application module: the model service is used for applying the model service after redis substitution and containerization transformation to system communication. The invention adopts redis middleware to replace UDP protocol, realizes reliable communication among system components, and then performs containerization transformation of CoptimSim model service, can be deployed in a plurality of physical machines through redis buses, and can increase total computation resources of running CoptimSim and PX4 clusters through adding hosts, thereby improving the upper limit of supported cluster scale through horizontal capacity expansion.

Description

Unmanned aerial vehicle simulation system for completing internal communication based on redis
Technical Field
The invention relates to the technical field of unmanned aerial vehicle simulation, in particular to an unmanned aerial vehicle simulation system for completing internal communication based on redis.
Background
The unmanned aerial vehicle simulation system is a software tool for simulating the flight, control and sensor operation of the unmanned aerial vehicle. Such a simulation system may help drone manufacturers, researchers and users test the performance of the drone, verify new control algorithms, evaluate the accuracy of the sensors, perform system integration, and train the drone operators. The unmanned aerial vehicle simulation system can provide real unmanned aerial vehicle flight and operation experience, and meanwhile, safety risks and cost problems in flight tests are avoided. The unmanned aerial vehicle test system can help unmanned aerial vehicle manufacturers save time and cost when designing and testing new unmanned aerial vehicles; helping researchers verify new control algorithms and sensor technologies; helping the user become familiar with the operation and operation procedure of the unmanned aerial vehicle.
The RfySim platform is an ecosystem or tool chain released by a North aviation reliable flight control group, is a typical implementation of the unmanned aerial vehicle simulation system, is maintained and updated at present mainly by a Fei Si laboratory of Zhuo Yi intelligent science and technology limited company, all application software can mutually send and receive messages in a local area network through a UDP protocol, the distributed framework is based on the UDP network to realize communication among components, the number of physical machines can be increased as required in a local area network environment, and the capacity of the unmanned aerial vehicle in the simulation system is increased.
The RfySim platform mainly adopts UDP communication protocol to realize communication among unmanned aerial vehicle simulation system components, and data receiving and transmitting based on UDP protocol has no connection establishment process, so that data receiving and transmitting are relatively simple, but the following disadvantages are also caused:
1. unreliability: UDP does not provide reliable transmission because it does not confirm whether a packet has been received or resend a lost packet. Thus, if a packet is lost or corrupted during transmission, the receiving party will not be able to detect the error or correct the error.
2. Data packet sequence problem: UDP does not guarantee the order of packets because each packet is independent and can arrive at the receiver in any order. This means that if an application needs to process packets in a particular order, it must implement the packet ordering logic itself.
3. No congestion control: UDP does not provide congestion control, and therefore, when the network is congested, UDP packets may be lost or delayed, resulting in a slow or unusable data transmission rate.
4. Data integrity cannot be guaranteed: UDP does not provide data integrity protection and therefore data packets may be tampered with, lost or repeated during transmission. This means that if an application needs to guarantee the integrity of data, it must implement the logic of the data integrity check itself.
The stability and accuracy of the simulation system are reduced due to the increase of the traffic on the network under the large-scale cluster simulation scene due to the defect of UDP, so that the accuracy of the simulation result is affected, even abnormal interruption of the simulation process is caused, such as loss of critical data of unmanned aerial vehicle flight control, and the unmanned aerial vehicle is out of control and cannot fly or fly according to a planned track.
Therefore, the unmanned aerial vehicle simulation system based on redis for completing internal communication is provided, the stability problem of an Rflysim platform in a large-scale cluster simulation process is solved, meanwhile, the limitation of computing resources caused by the deployment of the simulation system on the same host computer is relieved through containerization transformation, and the simulation of a larger cluster scale is supported.
Disclosure of Invention
The invention aims to solve the defects in the background technology by providing an unmanned aerial vehicle simulation system for completing internal communication based on redis.
The technical scheme adopted by the invention is as follows:
provided is a unmanned aerial vehicle simulation system for completing internal communication based on redis, comprising:
and a data acquisition module: the system data acquisition module is used for acquiring system data;
redis substitution module: the method is used for replacing UDP protocol in parallel by adopting redis middleware;
and (3) a containerized reconstruction module: the method is used for carrying out containerization transformation on the CoptimSim model service;
and the system application module: the model service is used for applying the model service after redis substitution and containerization transformation to system communication.
As a preferred technical scheme of the invention: the redis replacing module is used for transmitting the communication between the components from a sender to a receiver through a UDP protocol, changing a specific message queue transmitted to the redis middleware by the prior sender, and receiving the specific message queue from the same message queue by the receiver according to the protocol port concept of UDP.
As a preferred technical scheme of the invention: the sender-to-redis middleware and redis middleware-to-receiver communication are accomplished based on the connected TCP protocol.
As a preferred technical scheme of the invention: the redis middleware performs self-adaptive correspondence between a specific message queue and a protocol port of UDP based on a protocol self-adaptive switching algorithm.
As a preferred technical scheme of the invention: the protocol self-adaptive switching algorithm is specifically as follows:
establishing a state matrix according to system switching state conditions of specific message queues affecting a redis substitution module, processing a configured weighting parameter matrix, quantifying the state of the specific message queues into competing factors, and determining the system switching state of each specific message queue according to the size of the competing factors;
the competing factor function for discrete time is defined as follows:
;
wherein,is a protocol of +.>Competing factors of time of day->The system state matrix for influencing the communication is about discrete time +.>Function of->The matrix is an influence factor matrix of various states;
state matrix affecting system switch state of a particular message queueThe following are provided:
;
wherein the matrix elementsAn abstract model of state information for a particular message queue with respect to discrete time,is a state matrix->The number of elements, T, is the transpose of the matrix, +.>When=1 indicates normal status, ++>When=0, the state is abnormal;
impact factor matrix of various statesThe following are provided:
;
wherein the matrix elementsDegree of correspondence of protocol port for UDP, +.>Influence factor matrix for various states>Is a number of elements of (a).
As a preferred technical scheme of the invention: the protocol self-adaptive switching algorithm rootAccording toThe value of the (C) is searched based on the self-adaptive ant colony algorithm to obtain the maximum value, and the optimal protocol port is selected to correspond to the maximum value, so that data communication of the system is performed.
As a preferred technical scheme of the invention: the self-adaptive ant colony algorithm is specifically as follows:
simulating a feature data set of a divided section as an ant-selected edgeIntegration of pheromone concentration->Heuristic function->For the s-th ant at the position of the u-th point, when u does not belong to +.>When then choose the probability of v->The method comprises the following steps:;
wherein,inlet heuristic factor representing the number of iterations t>Representing visibility factor,/->For ants s to move from node u to node +.>Pheromone intensity, & gt>Feasible nodes representing the s-th ant set, < ->Is edge->State coefficients on;
;
wherein W is the maximum iteration number;
;
wherein,informative concentration of s+1st ant, ++>Representing the volatility coefficient of pheromone->For pheromone at the side->Is (are) changed by->Representing that the s-th ant is at the side +.>An increment of occurrence;
;
wherein,to initialize pheromones, F is the pheromone constant, < ->Is the path length traversed by ant s.
As a preferred technical scheme of the invention: and the containerized transformation module cancels the display control window after starting and transforms the control window into a background process of the console application.
As a preferred technical scheme of the invention: in the containerized transformation module, copterSim and PX4 are packaged in pairs to be used as container components for unmanned aerial vehicle simulation.
As a preferred technical scheme of the invention: and initializing an application instance by the container management system according to the system requirement by the container assembly simulated by the unmanned aerial vehicle.
Compared with the prior art, the unmanned aerial vehicle simulation system for completing internal communication based on redis has the beneficial effects that:
the invention adopts redis middleware to replace UDP protocol, realizes reliable communication among system components, and on the basis, performs containerization transformation of CoptrSim model service, can be deployed in a plurality of physical machines through redis buses, and can theoretically increase total computing resources of running CoptrSim and PX4 clusters through adding hosts, thereby improving the upper limit of supported cluster scale through horizontal capacity expansion. Redis and containerization transformation of the Rflysim platform improve the stability of a simulation system, support the expansion to a larger cluster scale, and improve the automation degree of unmanned aerial vehicle instance deployment.
Drawings
FIG. 1 is a system block diagram of a preferred embodiment of the present invention;
FIG. 2 is a diagram of a system architecture in accordance with a preferred embodiment of the present invention;
FIG. 3 is a diagram of a redis bus deployment prior to containerization modification in a preferred embodiment of the present invention;
FIG. 4 is a diagram of a modified dis bus deployment after containerization in a preferred embodiment of the present invention.
The meaning of each label in the figure is: 100. a data acquisition module; 200. a redis substitution module; 300. a containerized reconstruction module; 400. and a system application module.
Detailed Description
It should be noted that, under the condition of no conflict, the embodiments of the present embodiments and features in the embodiments may be combined with each other, and 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 obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a preferred embodiment of the present invention provides a drone simulation system for performing internal communication based on redis, including:
the data acquisition module 100: the system data acquisition module is used for acquiring system data;
redis substitution module 200: the method is used for replacing UDP protocol in parallel by adopting redis middleware;
containerized retrofit module 300: the method is used for carrying out containerization transformation on the CoptimSim model service;
system application module 400: the model service is used for applying the model service after redis substitution and containerization transformation to system communication.
The redis substitution module 200 changes the communication between components from a sender to a receiver through a UDP protocol into a specific message queue sent to redis middleware by a prior sender, corresponds to the protocol port concept of UDP, and is received by the receiver from the same message queue.
The sender-to-redis middleware and redis middleware-to-receiver communication are accomplished based on the connected TCP protocol.
The redis middleware performs self-adaptive correspondence between a specific message queue and a protocol port of UDP based on a protocol self-adaptive switching algorithm.
The protocol self-adaptive switching algorithm is specifically as follows:
establishing a state matrix according to the system switching state conditions affecting the specific message queues of the redis substitution module 200, processing the configured weighting parameter matrix, quantifying the states of the specific message queues into competing factors, and determining the system switching state of each specific message queue according to the sizes of the competing factors;
the competing factor function for discrete time is defined as follows:
;
wherein,is a protocol of +.>Competing factors of time of day->The system state matrix for influencing the communication is about discrete time +.>Function of->The matrix is an influence factor matrix of various states;
state matrix affecting system switch state of a particular message queueThe following are provided:
;
wherein the matrix elementsAn abstract model of state information for a particular message queue with respect to discrete time,is a state matrix->The number of elements, T, is the transpose of the matrix, when +.>When=1, it indicates that the state is normal, +.>When=0, the state is abnormal;
impact factor matrix of various statesThe following are provided:
;
wherein the matrix elementsDegree of correspondence of protocol port for UDP, +.>Influence factor matrix for various states>Is a number of elements of (a).
The protocol self-adaptive switching algorithm is based onThe value of the (C) is searched based on the self-adaptive ant colony algorithm to obtain the maximum value, and the optimal protocol port is selected to correspond to the maximum value, so that data communication of the system is performed.
The self-adaptive ant colony algorithm is specifically as follows:
simulating a feature data set of a divided section as an ant-selected edgeIntegration of pheromone concentration->Heuristic function->For the s-th ant at the position of the u-th point, when u does not belong to +.>When v is selected, the probability of v is +.>：;
Wherein,inlet heuristic factor representing the number of iterations t>Representing visibility factor,/->For ants s to move from node u to node +.>Pheromone intensity, & gt>Feasible nodes representing the s-th ant set, < ->Is edge->State coefficients on;
;
wherein W is the maximum iteration number;
;
wherein,informative concentration of s+1st ant, ++>Representing the volatility coefficient of pheromone->For pheromone at the side->Is (are) changed by->Representing that the s-th ant is at the side +.>An increment of occurrence;
;
wherein,to initialize pheromones, F is the pheromone constant, < ->Is the path length traversed by ant s.
The containerized modification module 300 cancels the display control window after startup and modifies the control window into a background process of the console application.
In the containerized modification module 300, the CopterSim and the PX4 are packaged in pairs to serve as container components for unmanned aerial vehicle simulation.
And initializing an application instance by the container management system according to the system requirement by the container assembly simulated by the unmanned aerial vehicle.
In this embodiment, the data acquisition module 100 acquires system data, and the redis replacing module 200 adopts redis middleware to replace UDP in parallel, so as to realize reliable communication between system components; redis is an open-source high-performance memory database, and is also widely used as a caching system and message queue middleware. It supports a variety of data structures including strings, lists, collections, ordered collections, hash tables, and the like. As middleware, the following advantages of redis are applicable to solving the reliability problem of UDP-based communication between components in an Rflysim platform:
high performance: redis is a type of memory-based database that is very high in performance. redis is an ideal message queue middleware.
Multilingual support: redis provides a client library of multiple programming languages, including Java, python, ruby, PHP, C ++, c#, and the like.
The redis middleware high-performance data receiving and transmitting and multi-language support are matched with the realization of coexistence of large data volume communication and multiple development languages of the Rflysim platform, the UDP protocol can be replaced in parallel, and meanwhile, the self-adaption correspondence between a specific message queue and a protocol port of the UDP is carried out based on a protocol self-adaption switching algorithm:
establishing a state matrix according to the system switching state conditions affecting the specific message queues of the redis substitution module 200, processing the configured weighting parameter matrix, quantifying the states of the specific message queues into competing factors, and determining the system switching state of each specific message queue according to the sizes of the competing factors;
the competing factor function for discrete time is defined as follows:
;
wherein,is a protocol of +.>Competing factors of time of day->The system state matrix for influencing the communication is about discrete time +.>Function of->The matrix is an influence factor matrix of various states;
state matrix affecting system switch state of a particular message queueThe following are provided:
;
wherein the matrix elementsAn abstract model of state information for a particular message queue with respect to discrete time,is a state matrix->The number of elements, T, is the transpose of the matrix, when +.>When=1, it indicates that the state is normal, +.>When=0, the state is abnormal;
impact factor matrix of various statesThe following are provided:
;
wherein the matrix elementsDegree of correspondence of protocol port for UDP, +.>Influence factor matrix for various states>Is a number of elements of (a).
Protocol adaptive handover algorithm is based onThe value of (1) is searched based on the self-adaptive ant colony algorithm to obtain the maximum value, and the optimal protocol port is selected to correspond to the maximum value, so that data communication of the system is performed:
simulating a feature data set of a divided section as an ant-selected edgeIntegration of pheromone concentration->Heuristic function->For the s-th ant at the position of the u-th point, when u does not belong +.>Then the probability of selecting v is +.>：;
Wherein,inlet heuristic factor representing the number of iterations t>Representing visibility factor,/->For ants to move from s node u to node +.>Pheromone intensity, & gt>Feasible section representing the s-th ant setPoint (S)>Is edge->State coefficients on;
;
wherein W is the maximum iteration number;
;
wherein,informative concentration of s+1st ant, ++>Representing the volatility coefficient of pheromone->For pheromone at the side->Is (are) changed by->Representing that the s-th ant is at the side +.>An increment of occurrence;
;
wherein,to initialize pheromones, F is the pheromone constant, < ->Is the path length traversed by ant s.
In the self-adaptive ant colony algorithm, the system state of each protocol of UDP is corresponding to the state coefficient, the global optimizing capability and the connection speed are accelerated in the early searching period by initializing pheromones of each road section according to the protocol state in the current system, the problems that the algorithm convergence speed is too slow or the algorithm falls into local optimum are avoided by adjusting the volatilization factors, the volatilization factors are set to be larger in the early algorithm period, the algorithm has stronger global searching capability, and the pheromone volatilization coefficient is gradually reduced after a certain iteration number is reached, so that the ant colony algorithm has better convergence speed. And the adaptive searching and switching of the system switching state condition of the specific message queue are realized through the adaptive ant colony algorithm, so that the information transmission efficiency of the redis middleware is improved.
The communication between the components is changed from the prior specific message queue which is directly sent from the sender to the receiver through the UDP protocol and is firstly sent to the redis middleware by the sender, the protocol port concept corresponding to UDP is changed, and then the communication between the sender and the redis middleware and the communication between the redis middleware and the receiver are received from the same message queue by the receiver, because the communication between the sender and the redis middleware and the receiver are completed based on the TCP protocol with connection, once the connection is established, the communication between the sender and the receiver through the redis middleware is reliable and orderly, and the reliability and the stability of the whole unmanned aerial vehicle simulation system are greatly improved.
After the UDP protocol is replaced by the redis, the limitation that all components of the system must be located in the same local area network is removed, so that the components can be distributed and deployed in a wide area network environment. Therefore, the distributed deployment of the component clusters which are similar to the Internet application and cross the machine room and the switch can be realized through component containerization, and the unmanned aerial vehicle capacity of the simulation system is further improved.
Based on introducing the modification of the redis communication mode, the containerization modification module 300 carries out containerization modification on the dynamic model simulation application CopterSim of the Rflysim platform, cancels the dependence on the display control window after starting, modifies the display control window into a background process of a console application, and carries out flight control with PX4 to form a container component packaged into unmanned aerial vehicle simulation, wherein the component can be a containerization platform with an open source by a dock/K8 Sdock, and can enable a developer to package an application program and dependence items thereof into a portable container, thereby realizing rapid deployment and operation of the application program in different environments. The isovolumetric management system initializes the application instance as required, and realizes the automatic deployment of the large-scale cluster.
Before the containerization transformation, copterSim and PX4PX4 are autonomous flight control software of a development source, which is professional autonomous flight control software and is designed for unmanned aerial vehicles UAVs, including multiple rotors, fixed wings, vertical take-off and landing machines, VTOL and the like. The goal of PX4 is to provide a highly reliable, flexible, and open software platform for autonomous flight control. The dynamic model service of the system is required to be located in the same machine, the resources such as a CPU (central processing unit), a memory, a display card and the like of a single host are relatively limited, and the upper limit of the resources is reached earlier when the cluster scale is increased, so that the horizontal capacity expansion cannot be realized.
After the containerization transformation, the dynamic model services of CopterSim and PX4 are uniformly packaged in a dock container and can be deployed in a plurality of physical machines through a redis bus, and the total computing resources for running CopterSim and PX4 clusters can be increased theoretically through adding a host, so that the upper limit of the supported cluster scale is improved through horizontal capacity expansion.
After the communication mode is transformed from the UDP-based protocol to the bearded relay and the CopterSim component containerization, the stability problem of the starting of the unmanned aerial vehicle instance of the simulation system is greatly improved, and the phenomenon that the original unmanned aerial vehicle of about 2-3% cannot finish initialization in the large-scale cluster initialization stage is avoided. After the Coptirsim is componentized, the installation and configuration of the fussy application program on the physical machine are greatly simplified, and the large-scale simulation system can be conveniently built by only newly establishing a specified number of containers from the pre-packaged Coptirsim mirror image, starting the processes inside the containers one by one according to the configuration of the clusters and connecting the containers to the redis middleware.
The system application module 400 applies the model service after redis substitution and containerization transformation to system communication.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. An unmanned aerial vehicle simulation system based on redis accomplishes internal communication, which is characterized in that: comprising the following steps:
data acquisition module (100): the system data acquisition module is used for acquiring system data;
redis substitution module (200): the method is used for replacing UDP protocol in parallel by adopting redis middleware;
containerized retrofit module (300): the method is used for carrying out containerization transformation on the CoptimSim model service;
system application module (400): the model service is used for applying the model service after redis substitution and containerization transformation to system communication.
2. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 1, wherein: the redis replacing module (200) changes the communication between the components from a sender to a receiver through UDP protocol into a specific message queue which is sent to redis middleware by the prior sender, corresponds to the protocol port concept of UDP and is received by the receiver from the same message queue.
3. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 2, wherein: the sender-to-redis middleware and redis middleware-to-receiver communication are accomplished based on the connected TCP protocol.
4. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 3, wherein: the redis middleware performs self-adaptive correspondence between a specific message queue and a protocol port of UDP based on a protocol self-adaptive switching algorithm.
5. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 4, wherein: the protocol self-adaptive switching algorithm is specifically as follows:
establishing a state matrix according to the system switching state conditions of the specific message queues affecting the redis substitution module (200), processing the configured weighting parameter matrix, quantifying the state of the specific message queues into competing factors, and determining the system switching state of each specific message queue according to the size of the competing factors;
the competing factor function for discrete time is defined as follows:
;
wherein,is a protocol of +.>Competing factors of time of day->System state matrix for influencing communication with respect to discrete timeFunction of->The matrix is an influence factor matrix of various states;
state matrix affecting system switch state of a particular message queueThe following are provided:
;
wherein the matrix elementsAbstract model of state information about discrete time for a particular message queue, +.>Is a state matrix->The number of elements, T, is the transpose of the matrix, when +.>When=1, it indicates that the state is normal, +.>When=0, the state is abnormal;
impact factor matrix of various statesThe following are provided:
;
wherein the matrix elementsDegree of correspondence of protocol port for UDP, +.>Influence factor matrix for various states>Is a number of elements of (a).
6. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 5, wherein: the protocol self-adaptive switching algorithm is based onThe value of the (C) is searched based on the self-adaptive ant colony algorithm to obtain the maximum value, and the optimal protocol port is selected to correspond to the maximum value, so that data communication of the system is performed.
7. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 6, wherein: the self-adaptive ant colony algorithm is specifically as follows:
simulating a feature data set of a divided section as an ant-selected edgeIntegration of pheromone concentration->Heuristic function->For the s-th ant at the position of the u-th point, when u does not belong to +.>When v is selected, the probability of v is +.>：;
Wherein,inlet heuristic factor representing the number of iterations t>Representing visibility factor,/->For ants s to move from node u to node +.>Pheromone intensity, & gt>Feasible nodes representing the s-th ant set, < ->Is edge->State coefficients on;
;
wherein W is the maximum iteration number;
;
wherein,informative concentration of s+1st ant, ++>Representing the volatility coefficient of pheromone->For pheromone at the side->Is (are) changed by->Representing that the s-th ant is at the side +.>An increment of occurrence;
;
wherein,to initialize pheromones, F is the pheromone constant, < ->Is the path length traversed by ant s.
8. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 1, wherein: the containerized modification module (300) cancels the display control window after starting and modifies the control window into a background process of the console application.
9. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 8, wherein: in the containerized modification module (300), copterSim and PX4 are packaged in pairs to be used as a container component for unmanned aerial vehicle simulation.
10. The unmanned aerial vehicle simulation system for performing internal communication based on redis according to claim 9, wherein: and initializing an application instance by the container management system according to the system requirement by the container assembly simulated by the unmanned aerial vehicle.
CN202311330915.4A 2023-10-16 2023-10-16 Unmanned aerial vehicle simulation system for completing internal communication based on redis Active CN117077443B (en)

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CN107247631A (en) * 2017-07-04 2017-10-13 深圳市西迪特科技有限公司 General GPON OLT system communication between plates middleware systems
WO2021179462A1 (en) * 2020-03-12 2021-09-16 重庆邮电大学 Improved quantum ant colony algorithm-based spark platform task scheduling method
CN116578035A (en) * 2023-07-14 2023-08-11 南京理工大学 Rotor unmanned aerial vehicle autonomous landing control system based on digital twin technology

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107247631A (en) * 2017-07-04 2017-10-13 深圳市西迪特科技有限公司 General GPON OLT system communication between plates middleware systems
WO2021179462A1 (en) * 2020-03-12 2021-09-16 重庆邮电大学 Improved quantum ant colony algorithm-based spark platform task scheduling method
CN116578035A (en) * 2023-07-14 2023-08-11 南京理工大学 Rotor unmanned aerial vehicle autonomous landing control system based on digital twin technology

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