KR101636486B1 - Method for forming topology according to user location in drone network - Google Patents

Method for forming topology according to user location in drone network Download PDF

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KR101636486B1
KR101636486B1 KR1020150027438A KR20150027438A KR101636486B1 KR 101636486 B1 KR101636486 B1 KR 101636486B1 KR 1020150027438 A KR1020150027438 A KR 1020150027438A KR 20150027438 A KR20150027438 A KR 20150027438A KR 101636486 B1 KR101636486 B1 KR 101636486B1
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South Korea
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user
drones
gcs
users
information
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KR1020150027438A
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Korean (ko)
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KR20150129602A (en
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김황남
유승호
김강호
이석규
이지연
정종택
정용준
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고려대학교 산학협력단
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/02Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04Large scale networks; Deep hierarchical networks
    • H04W84/06Airborne or Satellite Networks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/122Unmanned aerial vehicles; Equipment therefor adapted for particular use as communication relays, e.g. high altitude platforms
    • Y02D70/122
    • Y02D70/30

Abstract

A method for configuring a topology of a drone network is disclosed. The method of the present invention is a method for constructing a topology of a drone network which is implemented by a plurality of drones constituting a flight and controlled by a ground control device (GCS) for managing the location, configuration and mobility information of each of the plurality of drones Detecting a location of users and their users included in a service area of the drones network; Dividing the users into a number of clusters according to the degree of cluster of the users; And a topology configuration step in which the terrestrial control apparatus (GCS) determines the arrangement type of the drones based on distance information between users included in the cluster for each cluster.

Description

METHOD FOR FORMING TOPOLOGY ACCORDING TO USER LOCATION IN DRONE NETWORK BACKGROUND OF THE INVENTION [0001]

The present invention relates to a drones network, and more particularly, to a method for configuring a topology of a drones network to efficiently structure users in disaster-prone areas.

In the case of disaster areas, sudden crowded areas, war zones or mountainous areas, the base station is difficult to operate normally, or the network service is not properly provided due to the absence of the base station. This reality is not only a mere inconvenience but also a security guarantee for users. For example, in the event of a major disaster such as an earthquake, war, or aircraft accident, the availability of Internet services has a direct impact on life sciences.

Accordingly, various attempts have been made to provide network services for the network shadow areas where the network service is not properly provided. For example, it is attempting to provide network service to a corresponding area through a mobile base station. However, most of these methods are limited due to physical limitations, or the quality of services is limited to some areas.

Cisco's Network Emergency Response Vehicle (NERV) is a representative service for urgent internet service delivery to disaster areas. The NERV has the form of a truck equipped with various network equipments, and is dispatched to the disaster area to quickly provide satellite communication based network service. Therefore, it can be quickly connected with various disaster prevention agencies outside the area. However, the NERV is more meaningful in that its purpose is to provide a base for communication with various disaster response agencies, rather than providing services to users in the disaster area. In addition, due to the limitation of movement along the ground, it is disadvantageous in that it is limited to provide the network service throughout the disaster area, or a lot of time is consumed.

On the other hand, the technology to find people in the disaster area is DELSAR of Savox. It uses vibration sensors and sound sensors to detect people trapped in structures collapsed by earthquakes, landslides, etc. Detecting victims trapped invisible by attaching sensors and instruments directly to the disaster area. However, these DELSARs have to install the sensors directly in the disaster area and use headphones to detect the victims. Therefore, it is not suitable for cases where large disasters occur and access is difficult. In addition, if the victim of the second disaster is concerned, it is difficult to guarantee the survival rate even if a person is detected because the work should be performed after waiting until the risk of the second damage is small.

As a result, conventional methods have not been able to efficiently rescue users in disaster areas.

Accordingly, the present invention provides a method of constructing a topology of a drone network for efficiently managing users in a disaster-affected area.

The present invention also provides a topology configuration method of a drone network that detects a user's location and configures a topology of a drone network according to the location of the user.

According to an aspect of the present invention, there is provided a method of configuring a topology of a drone network, the method comprising: providing a plurality of drones forming a flight; managing a location, A method of configuring a topology of a drone network controlled by a terrestrial control unit (GCS), the method comprising: detecting a location of users and their users included in a service area of the drones network; Dividing the users into a number of clusters according to the degree of cluster of the users; And a topology configuration step in which the terrestrial control apparatus (GCS) determines the arrangement type of the drones based on distance information between users included in the cluster for each cluster.

Preferably, the location detecting step of the users can detect the location of the user based on the structure information message periodically received from the user by the terrestrial control unit (GCS).

Advantageously, said structure information message comprises: a message flag indicating that said message is a structure information message; User identification information for identifying a user who transmitted the structure information message; Location information of the user including information obtained via GPS and information of a dron connected to the user; Sensor information indicative of a circumstance of the user; Surrounding user information including user information located within an area of the dron to which the user is connected; And other information including status information of the user terminal.

Preferably, the sensor information includes an illuminance sensor for measuring the ambient illuminance of the user and notifying the user of the surroundings of the surroundings; And an accelerometer and a magnet for informing the mobility information of the user.

Advantageously, the step of detecting the location of the users may further include receiving a last message of the drones that the ground control unit (GCS) detects that the connection with the user is broken.

Preferably, the location detecting step of the users may transmit a response message (ACK MSG) to the GCS that has received the last message.

Preferably, the step of detecting the position of the users includes the steps of controlling the ground control unit (GCS) to control the drones to inform all users located in the service area of the position of the drones; Controlling the ground control unit (GCS) to overhead the neighboring message flow to the drones; Controlling the ground control device (GCS) to inform the surrounding drills or the ground control device (GCS) of the ID of the user who tried to connect to the drones; And extracting a signal strength of a user who has attempted to make the connection by the ground control unit (GCS), and determining the position of the user based on the signal strength.

Advantageously, the position notification step of the drones can be controlled by the ground control device (GCS) such that the drones transmit beacon messages or separate user detection messages at full power.

Preferably, the method for extracting a signal strength of the user further comprises a step in which the GCS transmits a packet message, which is an ID of a user whose source address of the packet message received by the drones attempts to connect to the drones, And to extract the signal strength of the packet message.

Preferably, the method for locating the user includes: determining whether the center of the intersection of the circles having the radius corresponding to the strength of the signal from the drones, based on a path loss model, The point can be determined by the user's location.

Preferably, the topology configuration step comprises: generating a minimum spanning tree (MST) having a vertex of a user for each cluster; Transforming all vertices into a virtual vertex in the minimum extension tree (MST); Dispatching drones to the positions of the finally obtained vertices; And providing network services over a topology created by the drones.

Preferably, the virtual vertex transformation step may include a step of, when two vertexes connected at a leaf vertex on the minimum extension tree (MST) are included in the maximum communication distance d of the drones, And it is possible to repeat the process of connecting the existing minimum extension tree (MST) by creating a virtual new vertex at the average position.

Preferably, the dragon dispatching step may include drones of ceil (L / d) -1 when the distance L between the vertexes exceeds a maximum communicable distance d between predetermined drones, vertex).

The present invention can detect the position of the user relatively accurately by detecting the position of the user using the GPS and the network signal strength of the drones in a situation (for example, a disaster occurrence) in which quick response and structure are required, The network topology of the drone network can be configured so that a very efficient structure can be achieved.

1 is a general system configuration diagram of a drone network to which the present invention is applied.
2 is a flowchart illustrating a method of configuring a topology of a drone network according to a user location according to an exemplary embodiment of the present invention.
3 is a diagram illustrating an example of a structure information message structure transmitted by a user according to an embodiment of the present invention.
4 is a flowchart illustrating a process of detecting a location of a user according to an exemplary embodiment of the present invention.
5 is a diagram for explaining a method of detecting a position of a user according to an embodiment of the present invention.
6 is a flowchart illustrating a process of configuring a topology according to an embodiment of the present invention.
7 and 8 are views for explaining a method of configuring a topology according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Throughout the specification and claims, where a section includes a constituent, it does not exclude other elements unless specifically stated otherwise, but may include other elements.

1 is a general system configuration diagram of a drone network to which the present invention is applied. 1, a drone network to which the present invention is applied includes a plurality of drones 100a, 100b, 100c, and 100d that are controlled by a ground control unit (GCS) And a plurality of drones 100a, 100b, 100c, and 100d provide network services to user terminals 300a, 300b, 300c, 300d, 300e, and 300f located in its own area. Here, the drones include all flying objects, such as UAVs, unmanned aerial vehicles, and unmanned aerial vehicles, which can be operated remotely without any person on board, or according to preliminary information. On the other hand, a dragon squadron is a bundle of drones that are jointly tasked to carry out one great task. By managing the drones in units of units rather than a single object, it is possible for a single dron to carry out tasks that are difficult to perform alone. In the example of FIG. 1, the four drones 100a, 100b, 100c, and 100d constitute a flight and are controlled by the GCS 200 to provide a network service.

2 is a flowchart illustrating a method of configuring a topology of a drone network according to a user location according to an exemplary embodiment of the present invention. Referring to FIGS. 1 and 2, a method of configuring a topology of a drone network according to an embodiment of the present invention is as follows.

First, in step S100, the GCS 200 receives a structure information message transmitted by users included in the service area of the drone network in the drone network as illustrated in FIG. That is, the GCS 200 receives a structure information message from a user terminal of a user located in the service area of the drone network. To this end, the user terminal periodically transmits the structure information message.

In step S200, the GCS 200 detects the location of the user based on the received structure information message. At this time, an example of the data format of the received structure information message is illustrated in FIG.

FIG. 3 is a diagram illustrating an example of a structure information message structure transmitted by a user according to an embodiment of the present invention. Referring to FIG. 3, a structure information message 400 includes a message flag indicating that the message is a structure information message Msg.flag) 401, user identification information (Src.ID) 402 for identifying a user who has transmitted the structure information message, information about the drones connected to the user, (GPS Location) 403 of the user, sensor information (Sonsor info.1, Sonsor info.2, Sonsor info.n) 405, 406, 407 for indicating the user's surroundings, Neighbor user information (Neighbor info) 408 including user information to be located; And other information (Etc.) 409 including status information of the user terminal.

At this time, the user identification information (Src.ID) 402 may be, for example, an IP address. Since the GCS manages the information of the drone as the location information 403 of the user, the GCS can greatly reduce the search range by knowing the information of the drone connected with the user. On the other hand, the sensor information 405, 406, 407 includes an illuminance sensor, and information received from the accelerometer and the machine. At this time, the illuminance sensor measures the ambient illuminance of the user and delivers the surrounding state of the user (for example, whether the user is indoors, outdoors, or isolated by an obstacle) The accelerometer and the jammer communicate information about whether the user is free to move, or whether the user is free to move. At this time, the number of sensor information is not limited. Thus, information from other sensors that can assist in user detection in such a disaster area can be freely added.

Referring back to FIG. 2, in step S300, the user is divided into several clusters according to the degree of cluster of users based on the detected location information of the users. FIG. 7 shows an example in which users detected in a disaster area are divided into three clusters (Cluster1, Cluster2, and Cluster3) based on their location information.

In step S400, the terrestrial control unit (GCS) determines the arrangement type of the drones based on the distance information between the users included in the cluster for each cluster.

At this time, the drones which have detected that the connection with the user is disconnected, further include transmitting the last message of the user to the GCS, repeating the last message until the response message (ACK MSG) is received from the GCS, It is possible to improve the reliability.

FIG. 4 is a flowchart of a process of detecting a location of a user according to an exemplary embodiment of the present invention, illustrating a more detailed process for the user location detection process (S200) of FIG.

1 and 4, in step S210, the GCS 200 periodically transmits a user detection message (e.g., a beacon message) to the drones 100a, 100b, 100c, and 100d, Ensure that all users located within the area are informed of the location of the drones.

In step S220, the GCS 200 controls the drones 100a, 100b, 100c, and 100d so that the ID of the user who tried to connect to the drones 100a, 100b, 100c, . This is to allow the GCS, which manages the position information of all drones, to detect the position of the user more precisely by referring to the position of the surrounding drone. At this stage, the GCS may control the drones to overhear the surrounding message flow.

In step S230, the GCS 200 controls the drones 100a, 100b, 100c, and 100d to extract the signal strength of the user who tried to connect to the drones 100a, 100b, 100c, and 100d. To this end, the GCS 200 detects packet messages whose source address is the ID of the user who tried to connect to the drones among the packet messages received by the drones, and extracts the signal strength of the packet message .

In step S240, the GCS 200 executes a localization algorithm to determine the location of the user. In this case, the GCS 200 applies a position measurement algorithm based on a path loss model, wherein the path loss model is a circle having a radius corresponding to the intensity of the signal from the dron, The center point of the intersection of the users is determined as the position of the user. FIG. 5 is a view for explaining a method of detecting a position of a user according to an embodiment of the present invention, which describes the path loss model. Referring to FIG. 5, the GCS 200 generates a circle C1 having a radius d 1 between the third drones 100c and the user 300 as a radius based on a path loss model algorithm, second drone (100b) and the source of the radial distance (d 3) of a circle (C2), the fourth drone (100d) and the user 300 that the distance (d 2) of the user (300) with a radius (C3 And determines the center point of the intersection of the circles C1, C2, and C3 as the position of the user.

FIG. 6 is a process flow diagram of a process of configuring a topology according to an embodiment of the present invention, and the topology configuration process (S400) of FIG. 2 will be described in detail. Meanwhile, FIG. 8 is a diagram for explaining the topology configuration process.

Referring to FIGS. 1, 6, and 8, in step S410, the GCS 200 determines a minimum extension tree (MST: Minimum) having a vertex of a user for each cluster generated in step S300 of FIG. Spanning Tree). 8 (a) shows an example of a minimum extension tree (MST) generated in a specific cluster.

In step S420, the GCS 200 converts all the vertexes into the virtual vertexes within the minimum extension tree (MST). To do this, the GCS 200 performs the above process from an arbitrary leaf vertex on the MST, and searches for a vertex connected to an edge having a low cost, ) Is less than the maximum communicable distance (d) of the drones, two vertices are erased and a new virtual vertex is created at the average position to connect with the existing MST. At this time, the generated virtual vertex has a weight corresponding to the number of vertexes included when forming the virtual vertex, and this weight is used in the next average position calculation. This is to prevent the generated virtual vertex from being treated as the same importance as the normal vertex.

8 (b) and 8 (c) show an example in which virtual vertexes 1 and 2 are generated by this process. When this process is repeated to convert all the vertexes to virtual vertexes, the minimum extension tree (MST) is newly constructed as shown in FIG. 8 (d). This new configuration of the topology is intended to cover the maximum number of users with a minimum of drones.

In step S430, drones are dispatched to the positions of the vertexes finally obtained as shown in FIG. 8 (d). At this time, if the distance L between the vertexes exceeds the maximum communicable distance d between the predetermined drones, the GCS 200 assigns the darts of ceil (L / d) -1 to two vertexes ).

The above-described embodiments of the present invention can be embodied in a general-purpose digital computer that can be embodied as a program that can be executed by a computer and operates the program using a computer-readable recording medium.

The computer readable recording medium includes a magnetic storage medium (e.g., ROM, floppy disk, hard disk, etc.), optical reading medium (e.g., CD ROM, DVD, etc.).

The present invention has been described with reference to the preferred embodiments.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

Claims (13)

  1. A method for configuring a topology of a drone network, the method being implemented by a plurality of drone (s) constituting a formation, and controlled by a geotechnical control system (GCS) for managing location, configuration and mobility information of each of the plurality of drones,
    Detecting a location of users and their users included in the service area of the drones network by the ground control device (GCS);
    Dividing the users into a number of clusters according to the degree of cluster of the users; And
    And a topology configuration step in which the terrestrial control device (GCS) determines a layout type of the drone based on distance information between users included in the cluster for each cluster,
    The location detection of the users
    The GCS detects the position of the user based on the structural information message periodically received from the user, and when the GCS detects that the connection with the user is broken, the last message of the drones Wherein the step of receiving the topology information comprises receiving the topology information of the drones.
  2. delete
  3. 2. The method of claim 1,
    A message flag indicating that the message is a structure information message;
    User identification information for identifying a user who transmitted the structure information message;
    Location information of the user including information obtained via GPS and information of a dron connected to the user;
    Sensor information indicative of a circumstance of the user;
    Surrounding user information including user information located within an area of the dron to which the user is connected; And
    And other information including status information of the user terminal.
  4. 4. The method of claim 3,
    An illuminance sensor for measuring the ambient illuminance of the user and informing the user of the surroundings of the surroundings; And
    And an accelerometer and a magnetic machine for informing the mobility information of the user.
  5. delete
  6. 2. The method of claim 1,
    And the GCS receiving the last message transmits a response message (ACK MSG).
  7. A method for configuring a topology of a drone network, the method being implemented by a plurality of drone (s) constituting a formation, and controlled by a geotechnical control system (GCS) for managing location, configuration and mobility information of each of the plurality of drones,
    Detecting a location of users and their users included in the service area of the drones network by the ground control device (GCS);
    Dividing the users into a number of clusters according to the degree of cluster of the users; And
    And a topology configuration step in which the terrestrial control device (GCS) determines a layout type of the drone based on distance information between users included in the cluster for each cluster,
    The location detection of the users
    Controlling the drones so that the ground control unit (GCS) informs all users located in the service area of the location of the drones;
    Controlling the ground control unit (GCS) to overhead the neighboring message flow to the drones;
    Controlling the ground control device (GCS) to inform the surrounding drills or the ground control device (GCS) of the ID of the user who tried to connect to the drones; And
    Extracting a signal strength of a user who has attempted the connection by the GCS, and determining a position of a user based on the signal strength.
  8. 8. The method of claim 7, wherein the step of informing the position of the drones
    Wherein the ground control device (GCS) controls the drones to transmit a beacon message or a separate user detection message at maximum power.
  9. 8. The method of claim 7,
    The GCS detects packet messages whose source address is the ID of the user who tried to connect to the drones among the packet messages received by the drones and extracts the signal strength of the packet messages Wherein the controller is configured to control the topology of the drone network.
  10. 8. The method of claim 7,
    The ground control unit determines the center point of the intersection of the circles having the radius corresponding to the intensity of the signal from the drones as the position of the user based on the path loss model How to configure the topology of a drone network.
  11. A method for configuring a topology of a drone network, the method being implemented by a plurality of drone (s) constituting a formation, and controlled by a geotechnical control system (GCS) for managing location, configuration and mobility information of each of the plurality of drones,
    Detecting a location of users and their users included in the service area of the drones network by the ground control device (GCS);
    Dividing the users into a number of clusters according to the degree of cluster of the users; And
    And a topology configuration step in which the terrestrial control device (GCS) determines a layout type of the drone based on distance information between users included in the cluster for each cluster,
    The topology configuration step
    Generating a minimum spanning tree (MST) having a vertex of a user for each of the clusters;
    Transforming all vertices into a virtual vertex in the minimum extension tree (MST);
    Dispatching drones to the positions of the finally obtained vertices; And
    And providing network services on the topology generated by the drones. ≪ Desc / Clms Page number 22 >
  12. 12. The method of claim 11, wherein the virtual vertex transformation step
    When two vertexes connected starting from a leaf vertex on the minimum extension tree (MST) belong to the maximum communicable distance d of the drones, the two vertexes are grouped into one, and a new virtual vertex and repeating the process of connecting the minimum extension tree (MST) to the existing minimum extension tree (MST).
  13. 12. The method of claim 11, wherein the droning step
    If the distance L between the vertexes exceeds the maximum communicable distance d between predetermined drones, it is also possible to further dispatch a dron as ceil (L / d) -1 between two vertexes A method for configuring a topology of a drone network.

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