CN108924788B - Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network - Google Patents
Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network Download PDFInfo
- Publication number
- CN108924788B CN108924788B CN201810642454.7A CN201810642454A CN108924788B CN 108924788 B CN108924788 B CN 108924788B CN 201810642454 A CN201810642454 A CN 201810642454A CN 108924788 B CN108924788 B CN 108924788B
- Authority
- CN
- China
- Prior art keywords
- energy
- node
- unmanned aerial
- data
- cluster head
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/28—TPC being performed according to specific parameters using user profile, e.g. mobile speed, priority or network state, e.g. standby, idle or non transmission
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/38—TPC being performed in particular situations
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Selective Calling Equipment (AREA)
- Optical Communication System (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network. Firstly, an ultraviolet light non-direct-view single scattering communication model is established, an energy attenuation formula of a channel under an ultraviolet light NILOS (c) type communication mode is determined, and on the basis, a wireless ultraviolet light communication energy consumption model is adopted to carry out energy consumption analysis on a flying unmanned aerial vehicle formation. And secondly, clustering management is carried out on unmanned aerial vehicle formation through cyclic execution of 3 stages of cluster head election, cluster establishment and stable data transmission, and the purpose of balancing network energy consumption is achieved. The method provided by the invention combines the advantages of wireless ultraviolet light scattering communication, and performs energy consumption balance on unmanned aerial vehicle formation through a clustering topology management mechanism, so that the energy distribution of the unmanned aerial vehicle formation can be effectively optimized, and the survival time of the unmanned aerial vehicle formation is prolonged.
Description
Technical Field
The invention belongs to the technical field of photoelectric information, and relates to an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network.
Background
In recent years, the development of unmanned aerial vehicle technology has become relatively mature, and plays a unique role in military and civil use. In order to improve single unmanned aerial vehicle's function and utility, formation cluster concept takes place at the same time, and its single unmanned aerial vehicle can greatly strengthen cluster unmanned aerial vehicle's viability relatively, and the perception that extension unmanned aerial vehicle was to battlefield information obtains the ability, improves the ability that unmanned aerial vehicle executed the task in coordination.
Since the application of the unmanned aerial vehicle, safety problems have been accompanied, and radio silence, radio monitoring, electronic interference and other conditions in practical application of traditional radio communication will affect normal communication of links between the unmanned aerial vehicles, resulting in generation of wrong control instructions, which causes that tasks cannot be executed and even a crash can be out of control, which is very disadvantageous for a transient and immediate battlefield environment. The wireless solar blind ultraviolet communication is a novel communication mode which mainly adopts 200-280nm ultraviolet band light waves as a transmission medium and utilizes particles, aerosol, dust and the like in the atmosphere to carry out information transmission on the scattering of the solar blind ultraviolet light. Because the ultraviolet light communication has the advantages of low eavesdropping rate, low position resolution, omnidirectionality and strong anti-jamming capability, can be used for non-line-of-sight (NLOS) communication, works in all weather, does not need to capture, align and track (APT) and the like, and can meet the requirement of reliable secret communication of the unmanned aerial vehicle in a complex battlefield environment.
In the military field, unmanned aerial vehicle formation can be used for carrying out intelligence reconnaissance and battlefield monitoring, and the information of reconnaissance is transmitted to long aircraft through data link, and long aircraft carries out analysis processes to the data of gathering, then makes a decision according to the processing result. The residual energy of the unmanned aerial vehicles in the formation is an important factor for determining the cooperative reconnaissance time, energy consumption among the unmanned aerial vehicles is balanced, and the reconnaissance time of unmanned aerial vehicle formation can be prolonged.
Disclosure of Invention
The invention aims to provide an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network, which solves the problem of low communication reliability of traditional radio communication in a complex battlefield environment and achieves the purposes of optimizing unmanned aerial vehicle formation energy distribution and increasing the life cycle of the network.
The technical scheme adopted by the invention is that the energy consumption balancing method in the wireless ultraviolet light cooperation unmanned aerial vehicle formation network is implemented according to the following steps:
step 1, establishing an inter-machine communication link by using an ultraviolet light non-direct-view single scattering model.
Based on an ellipsoid coordinate system, the ultraviolet light emitting device and the receiving device are respectively arranged on two focuses of the ellipsoid coordinate system. At the moment when t is 0, the energy is EtThe pulse is transmitted by the transmitting end and then reaches the receiving end after being scattered and absorbed by the isotropic medium. In the ultraviolet nlos (c) communication mode, and only rayleigh scattering is considered, the channel energy attenuation formula is:
in the formula, EtUnit J for transmit pulse energy;
Erenergy received by the receiver detector is in unit J;
r is the distance between the transmitting end and the receiving end in m;
βt、βrelevation angles of a transmitting end and a receiving end and unit radian are respectively;
θtis the emission half angle, unit radian;
θsscattering angle, unit radian;
ks、kescattering coefficient, attenuation coefficient, unit m-1；
P (mu) is a single scattering phase function;
Aris the area of the receiving aperture in cm2。
And 2, electing a cluster head in the unmanned aerial vehicle formation.
Unmanned aerial vehicle formation adopts "changji-liao plane" flight mode, all mounts ultraviolet communication transceiver on every unmanned aerial vehicle to the direction of receipt of data can know each other when supposing that each unmanned aerial vehicle communicates. All the bureaucratic nodes are isomorphic, i.e. have the same data processing capacity, communication capacity, initial energy, etc., and are equal in rank, and can act as cluster head nodes or member nodes, and each node has a unique Identification (ID).
The cluster election demand is based on the ratio of the remaining energy of the wing nodes to the average energy of the wing nodes in the network, and for simplifying the calculation, the cluster election probability of the nodes is calculated by adopting the estimated value of the average remaining energy to replace the average remaining energy in the actual network. Assuming average consumption of energy at a wing node in each round, the average energy at the wing node in the r round is:
in the formula, r is the number of current election rounds and a unit round;
n is the number of bureaucratic machines in the network, and the unit is;
Etotalis the initial total energy of the network, in units J;
rmaxand the unit wheel is the survival time of the network.
After the average energy of each wing node is estimated, the average energy is used as a reference value to be compared with the remaining energy of the wing node, the selection probability of the node with the remaining energy of the node larger than the average remaining energy of the node is increased by a corresponding value, the selection probability of the node with the small remaining energy is reduced by a corresponding proportion, and the cluster head election probability p of each wing node isiComprises the following steps:
in the formula, poptThe expected value of the percentage of the cluster head node in the unmanned plane swarm wing plane node is shown;
Ei(r) is the remaining energy of the bureaucratic node i at round r.
At this time, the election threshold of the cluster head in the network is defined as:
wherein G is most recently 1/piThe set of nodes in the round that have not elected the clusterhead.
A bureaucratic node generates a random number between 0 and 1, and if the random number is less than a threshold value t (n), it issues an announcement message that it is the cluster head.
And 3, establishing a cluster.
After the cluster head is selected, each cluster head node broadcasts election information to peripheral wing-plane nodes, and other member nodes calculate and obtain a distance d according to the received signal strengthCMinimum cluster head, simultaneous calculation and long machineA distance d betweenL. If d isC<dLIf so, the member node decides to join the cluster and sends a request message to the corresponding cluster head; if d isC>dLAnd if so, the member node does not choose to join any cluster and directly sends the data to the long machine.
And 4, scouting the data convergence transmission.
In a stable data transmission stage, a cluster head node adopts a time division multiplexing mode to assign a time point for transmitting data to each wing node in a cluster, the nodes in the cluster send the data to the cluster head, and the cluster head performs data fusion and sends a result to a leader. The cluster head needs to complete tasks such as data fusion, communication with a long machine and the like, and energy consumption is large. Therefore, at the end of each round, the cluster head is reselected according to the method so as to share the relay communication service evenly to balance the energy consumption.
Energy consumption for removing flying EFBesides, the unmanned aerial vehicle formation adopts a wireless ultraviolet light communication energy consumption model in flight, and mainly comprises the following 3 parts: energy consumption for sending data ETxEnergy consumption for receiving data ERxData fusion energy consumption Ec. From step 1, the energy attenuation L in the communication mode of ultraviolet NLOS (c) is known, and when the pulse energy E is emittedTWhen determined, the available transmission loss energy is:
EL＝ET(1-1/L)；
in order to obtain an acceptable signal-to-noise ratio, the unmanned aerial vehicle node transmits k bits of data to a position with a distance d, and consumed energy consists of transmission data loss and energy attenuation loss, namely
ETx(k)＝k(ET+EL)；
The energy consumed by the unmanned aerial vehicle node for receiving k bits of data is
ERx(k)＝kER；
Wherein ERRepresenting the energy consumed by receiving the bit data.
In addition, certain energy is consumed in data fusion, and if the data acquired by adjacent unmanned aerial vehicle node reconnaissance has certain redundancy, the cluster head can use the data of the members of the cluster headAnd the data of the self-body are fused into a data packet with fixed length, and then the data packet is sent to the long machine. Energy consumed in the fusion process EcIs composed of
Ec(M,k)＝(M+1)kEDA；
Wherein E isDARepresents the energy consumed by fusing bit data, and M is the number of members in the cluster.
The invention has the beneficial effects that:
1) by utilizing the ultraviolet light communication technology, the unmanned aerial vehicle formation system has the advantages of low eavesdropping rate, low position resolution, strong anti-interference capability, all-weather work, portability and the like, and can meet the reliable secret communication requirement of unmanned aerial vehicle formation in a complex battlefield environment.
2) Through unmanned aerial vehicle's energy perception in the formation to energy distribution is optimized to the mode of clustering, reduces each unmanned aerial vehicle's average energy consumption, prolongs the live time of unmanned aerial vehicle formation, obtains more acquisition information, provides reliable information guarantee for the operation.
Drawings
FIG. 1 is a diagram of a model of non-direct-view single-scattering communication of ultraviolet light in the present invention;
FIG. 2 is a diagram of a clustering model for unmanned aerial vehicle formation according to the present invention;
FIG. 3 is a graph showing a comparison of network residual energy for different packet lengths in accordance with the present invention;
fig. 4 is a comparison graph of network residual energy at different node densities in the present invention.
Detailed Description
The invention is explained in further detail below with reference to the figures and the specific embodiments.
Referring to fig. 2, in the formation of drones, cluster elections are performed based on the ratio of the remaining energy of the wing nodes to the estimated average remaining energy of the wing nodes in the network, for example, H1 to H4 in fig. 2 are elected as a cluster head, and then an advertisement message that the cluster head is itself is issued. The member nodes M1-M16 calculate the distance d according to the received signal strengthCMinimum cluster head and compare with distance d between long machinesL. As shown in FIG. 2, when dC<dLM1-M15 are respectively added into clusters C1-C4; when d isC>dLM16 does not choose to join any cluster and sends the data directly to the long machine. The cluster head node is used for managing or controlling member nodes in the whole cluster, coordinating the work among the member nodes, and taking charge of intra-cluster information collection, data fusion and inter-cluster forwarding, and finally the cluster head bureaucratic machine transmits the fused data to the leader machine. The functions of the member bureaucratic machines are simple, a large amount of routing tables are not needed to be maintained like the cluster bureaucratic machines, nodes which do not work can be in a dormant state, after the nodes continue to work for a period of time, the network enters a startup phase again, and the cluster bureaucratic machines of the next round are selected and the cluster is reestablished.
The invention discloses an energy consumption balancing method in a wireless ultraviolet light cooperation unmanned aerial vehicle formation network, which is implemented according to the following steps:
step 1, establishing an inter-machine communication link by using an ultraviolet light non-direct-view single scattering model.
Referring to fig. 1, the ultraviolet light emitting device and the receiving device are respectively disposed on two focal points of an ellipsoid coordinate system based on an ellipsoid coordinate system. At the moment when t is 0, the energy is EtThe pulse is transmitted by the transmitting end and then reaches the receiving end after being scattered and absorbed by the isotropic medium. In the ultraviolet nlos (c) communication mode, and only rayleigh scattering is considered, the channel energy attenuation formula is:
in the formula, EtUnit J for transmit pulse energy;
Erenergy received by the receiver detector is in unit J;
r is the distance between the transmitting end and the receiving end in m;
βt、βrelevation angles of a transmitting end and a receiving end and unit radian are respectively;
θtis the emission half angle, unit radian;
θsscattering angle, unit radian;
ks、keare respectively scatteringCoefficient, attenuation coefficient, unit m-1；
P (mu) is a single scattering phase function;
Aris the area of the receiving aperture in cm2。
And 2, electing a cluster head in the unmanned aerial vehicle formation.
Unmanned aerial vehicle formation adopts "changji-liao plane" flight mode, all mounts ultraviolet communication transceiver on every unmanned aerial vehicle to the direction of receipt of data can know each other when supposing that each unmanned aerial vehicle communicates. All the bureaucratic nodes are isomorphic, i.e., have the same data processing capacity, communication capacity and initial energy, and equal in rank, and can act as cluster head nodes or member nodes, each node having a unique Identification (ID).
The cluster election demand is based on the ratio of the remaining energy of the wing nodes to the average energy of the wing nodes in the network, and for simplifying the calculation, the cluster election probability of the nodes is calculated by adopting the estimated value of the average remaining energy to replace the average remaining energy in the actual network. Assuming average consumption of energy at a wing node in each round, the average energy at the wing node in the r round is:
in the formula, r is the number of current election rounds and a unit round;
n is the number of bureaucratic machines in the network, and the unit is;
Etotalis the initial total energy of the network, in units J;
rmaxand the unit wheel is the survival time of the network.
After the average energy of each wing node is estimated, the average energy is used as a reference value to be compared with the remaining energy of the wing node, the selection probability of the node with the remaining energy of the node larger than the remaining energy of the average node is increased by a corresponding value, the selection probability of the node with the small remaining energy is reduced by a corresponding proportion, and then the cluster head election probability p of each wing nodeiComprises the following steps:
in the formula, poptThe expected value of the percentage of the cluster head node in the unmanned plane swarm wing plane node is shown;
Ei(r) is the remaining energy of the bureaucratic node i at round r.
At this time, the election threshold of the cluster head in the network is defined as:
wherein G is most recently 1/piThe set of nodes in the round that have not elected the clusterhead.
A bureaucratic node generates a random number between 0 and 1, and if the random number is less than a threshold value t (n), it issues an announcement message that it is the cluster head.
And 3, establishing a cluster.
After the cluster head is selected, each cluster head node broadcasts election information to peripheral wing-plane nodes, and other member nodes calculate and obtain a distance d according to the received signal strengthCThe smallest cluster head, and the distance d between the cluster head and the long machineL. If d isC<dLIf so, the member node decides to join the cluster and sends a request message to the corresponding cluster head; if d isC>dLAnd if so, the member node does not choose to join any cluster and directly sends the data to the long machine.
And 4, scouting the data convergence transmission.
In a stable data transmission stage, a cluster head node adopts a time division multiplexing mode to assign a time point for transmitting data to each wing node in a cluster, the nodes in the cluster send the data to the cluster head, and the cluster head performs data fusion and sends a result to a leader. The cluster head needs to complete data fusion and communication tasks with the long machine, and energy consumption is large. Therefore, at the end of each round, the cluster head is reselected according to the method so as to share the relay communication service evenly to balance the energy consumption.
The remaining energy of the network obtained by simulation under different packet lengths and different node densities is shown in fig. 3 and 4, which indicates that the life cycle of unmanned aerial vehicle formation can be prolonged by selecting an appropriate packet length and node density.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.
Claims (2)
1. The energy consumption balancing method in the wireless ultraviolet light cooperation unmanned aerial vehicle formation network is characterized by comprising the following steps:
step 1, establishing an inter-machine communication link by using an ultraviolet light non-direct-view single scattering model;
based on an ellipsoid coordinate system, an ultraviolet light emitting device and a receiving device are respectively arranged on two focuses of the ellipsoid coordinate system, and the energy is E at the moment when t is 0tThe pulse is transmitted by a transmitting end, scattered and absorbed by an isotropic medium and then reaches a receiving end, and under the communication mode of ultraviolet light NLOS (c) and only Rayleigh scattering is considered, the channel energy attenuation formula is as follows:
in the formula, EtUnit J for transmit pulse energy;
Erenergy received by the receiver detector is in unit J;
r is the distance between the transmitting end and the receiving end in m;
βt、βrelevation angles of a transmitting end and a receiving end and unit radian are respectively;
θtis the emission half angle, unit radian;
θsscattering angle, unit radian;
ks、kescattering coefficient and attenuation coefficient respectivelyUnit m of-1；
P (mu) is a single scattering phase function;
Aris the area of the receiving aperture in cm2；
Step 2, electing a cluster head in the unmanned aerial vehicle formation;
unmanned aerial vehicle formation adopts a flight mode of 'long plane-wing plane', each unmanned aerial vehicle is provided with an ultraviolet light communication transmitting and receiving device, and assuming that the receiving directions of data during communication among the unmanned aerial vehicles are known to each other, all wing plane nodes are isomorphic, namely have the same data processing capacity, communication capacity and initial energy, and have equal status, can serve as cluster head nodes or member nodes, and each node has a unique Identification (ID);
the cluster election demand is based on the ratio of the remaining energy of the wing nodes to the average remaining energy of the wing nodes in the network, for simplified calculation, the average remaining energy estimation value is used to replace the average remaining energy in the actual network to calculate the cluster election probability of the nodes, and assuming that the average energy consumption of the wing nodes in each round is as follows:
in the formula, r is the number of current election rounds and a unit round;
n is the number of bureaucratic machines in the network, and the unit is;
Etotalis the initial total energy of the network, in units J;
rmaxunit wheel for network survival time;
after the average residual energy of each bureau-plane node is estimated, the average residual energy is used as a reference value to be compared with the residual energy of the bureau-plane node, the selection probability of the node with the residual energy larger than the average residual energy of the node is increased by a corresponding value, the selection probability of the node with the small residual energy is reduced by a corresponding proportion, and then the cluster head election probability p of each bureau-plane nodeiComprises the following steps:
in the formula, poptThe expected value of the percentage of the cluster head node in the unmanned plane swarm wing plane node is shown;
Ei(r) is the remaining energy of the bureaucratic node i at round r;
at this time, the election threshold of the cluster head in the network is defined as:
wherein G is most recently 1/piThe node set of the cluster head is not selected in the round;
a wing node generates a random number between 0 and 1, and if the random number is less than a threshold value T (n), publishes the announcement information of the wing node which is a cluster head;
step 3, establishing a cluster;
after the cluster head is selected, each cluster head node broadcasts election information to peripheral wing-plane nodes, and other member nodes calculate and obtain a distance d according to the received signal strengthCThe smallest cluster head, and the distance d between the cluster head and the long machineLIf d isC<dLIf so, the member node decides to join the cluster and sends a request message to the corresponding cluster head; if d isC>dLIf the member node does not choose to join any cluster, the member node directly sends data to the long machine;
step 4, scout data convergence transmission;
in a stable data transmission stage, a cluster head node adopts a time division multiplexing mode to assign a time point for each assistant node in a cluster to transmit data to the cluster head, the nodes in the cluster send the data to the cluster head, the cluster head performs data fusion and sends a result to a long machine, the cluster head needs to complete data fusion and communication tasks with the long machine, energy consumption is high, and the cluster head needs to be reselected according to the method after each round of completion to averagely share a relay communication service to balance the energy consumption.
2. The method for balancing energy consumption in the formation network of the wireless ultraviolet light cooperation unmanned aerial vehicles according to claim 1, comprising the following steps:
energy consumption for flying EFBesides, the unmanned aerial vehicle formation adopts a wireless ultraviolet light communication energy consumption model in flight, and mainly comprises the following 3 parts: energy consumption for sending data ETxEnergy consumption for receiving data ERxData fusion energy consumption EcObtaining the energy attenuation L in the communication mode of ultraviolet NLOS (c) from the step 1, and when the pulse energy E is transmittedTWhen determined, the available transmission loss energy is:
EL＝ET(1-1/L)；
in order to obtain an acceptable signal-to-noise ratio, the unmanned aerial vehicle node transmits k bits of data to a position with a distance d, and consumed energy consists of transmission data loss and energy attenuation loss, namely
ETx(k)＝k(ET+EL)；
The energy consumed by the unmanned aerial vehicle node for receiving k bits of data is
ERx(k)＝kER；
Wherein ERRepresents the energy consumed by receiving the bit data;
in addition, certain energy is consumed in data fusion, namely the data acquired by the nodes of the adjacent unmanned aerial vehicles in a scout mode have certain redundancy, the cluster head can fuse the data of the members of the cluster head and the data of the cluster head into a data packet with fixed length and then send the data packet to the long aircraft, and energy E consumed in the fusion process iscIs composed of
Ec(M,k)＝(M+1)kEDA；
Wherein E isDARepresents the energy consumed by fusing bit data, and M is the number of members in the cluster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810642454.7A CN108924788B (en) | 2018-06-21 | 2018-06-21 | Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810642454.7A CN108924788B (en) | 2018-06-21 | 2018-06-21 | Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108924788A CN108924788A (en) | 2018-11-30 |
| CN108924788B true CN108924788B (en) | 2021-06-15 |
Family
ID=64419791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810642454.7A Active CN108924788B (en) | 2018-06-21 | 2018-06-21 | Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108924788B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109547039B (en) * | 2019-01-16 | 2020-10-27 | 西安交通大学 | Intelligent environment backscattering communication method |
| CN109866938B (en) * | 2019-02-19 | 2021-05-25 | 西安理工大学 | Unmanned aerial vehicle landing assisting system based on ship surface wireless ultraviolet light and landing assisting guiding method thereof |
| CN110456813B (en) * | 2019-04-16 | 2022-08-12 | 西安理工大学 | Wireless ultraviolet light guided method for maintaining optimal clustering formation of unmanned aerial vehicle formation |
| CN110069074B (en) * | 2019-04-17 | 2020-08-18 | 南京航空航天大学 | Unmanned aerial vehicle collaborative flight path planning method based on multi-target three-point positioning |
| CN110471445B (en) * | 2019-08-22 | 2023-02-21 | 合肥工业大学 | Multi-stage multi-objective optimization method and device for communication energy consumption of multiple unmanned platforms |
| CN110536266B (en) * | 2019-08-22 | 2022-04-01 | 合肥工业大学 | Periodic online balancing method and device for communication energy consumption of unmanned aerial vehicle formation |
| CN110658821B (en) * | 2019-10-10 | 2021-12-14 | 中国科学技术大学 | Multi-robot anti-interference grouping time-varying formation control method and system |
| CN111417081B (en) * | 2020-03-30 | 2020-12-29 | 清华大学 | Reliable broadcasting method for mixed traffic system with formation as center |
| CN111601355B (en) * | 2020-04-09 | 2024-01-19 | 绍兴市上虞区舜兴电力有限公司 | Optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology |
| CN111628818B (en) * | 2020-05-15 | 2022-04-01 | 哈尔滨工业大学 | Distributed real-time communication method and device for air-ground unmanned system and multi-unmanned system |
| CN111970658A (en) * | 2020-07-16 | 2020-11-20 | 西安理工大学 | Unmanned aerial vehicle swarm formation network routing method based on optimal rigid graph |
| CN111954281A (en) * | 2020-07-28 | 2020-11-17 | 西安理工大学 | Swarm unmanned aerial vehicle formation clustering routing method based on wireless ultraviolet light communication |
| CN112468230B (en) * | 2020-11-19 | 2022-08-09 | 西安华企众信科技发展有限公司 | Wireless ultraviolet light scattering channel estimation method based on deep learning |
| CN113110569B (en) * | 2021-03-19 | 2024-03-05 | 深圳万知达科技有限公司 | Multi-unmanned aerial vehicle cyclic formation dynamic trapping method under wireless ultraviolet light cooperation |
| CN113485431B (en) * | 2021-07-23 | 2023-12-26 | 唐山梦之翼无人机科技有限公司 | Unmanned aerial vehicle cluster clustering control method for ultraviolet light communication cooperation |
| CN113726410B (en) * | 2021-08-27 | 2023-03-17 | 酷黑科技（北京）有限公司 | Unmanned aerial vehicle cluster networking method and device and unmanned aerial vehicle cluster operation system |
| CN117555350B (en) * | 2024-01-12 | 2024-04-05 | 沈阳赫霆科技有限公司 | Unmanned aerial vehicle cluster monitoring method and related equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103826251A (en) * | 2013-12-17 | 2014-05-28 | 西北工业大学 | Mobile element and clustering mixed sensor network data collection method |
| WO2014105893A1 (en) * | 2012-12-26 | 2014-07-03 | Ict Research Llc | Mobility extensions to industrial-strength wireless sensor networks |
| CN104994554A (en) * | 2015-05-04 | 2015-10-21 | 四川大学 | Mobile assistance WSNs routing method based on unequal clustering |
-
2018
- 2018-06-21 CN CN201810642454.7A patent/CN108924788B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014105893A1 (en) * | 2012-12-26 | 2014-07-03 | Ict Research Llc | Mobility extensions to industrial-strength wireless sensor networks |
| CN103826251A (en) * | 2013-12-17 | 2014-05-28 | 西北工业大学 | Mobile element and clustering mixed sensor network data collection method |
| CN104994554A (en) * | 2015-05-04 | 2015-10-21 | 四川大学 | Mobile assistance WSNs routing method based on unequal clustering |
Non-Patent Citations (2)
| Title |
|---|
| "Algorithm for energy efficient inter-UAV collision avoidance";Hasini Viranga Abeywickrama等;《2017 17th International Symposium on Communications and Information Technologies (ISCIT)》;20180118;全文 * |
| "无人机群自组网方法探析";张旻南;《公安科技》;20171028(第5期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108924788A (en) | 2018-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108924788B (en) | Energy consumption balancing method in wireless ultraviolet light cooperation unmanned aerial vehicle formation network | |
| Zhao et al. | UAV-assisted emergency networks in disasters | |
| CN110149671B (en) | Routing method of unmanned aerial vehicle swarm network | |
| You et al. | Joint optimization of area coverage and mobile-edge computing with clustering for FANETs | |
| CN101013926A (en) | Method and system for network communication of wireless sensor | |
| CN105871717A (en) | Unmanned aerial vehicle ad hoc network routing method based on link stability | |
| CN105025547A (en) | Relay selection and power distribution method of energy acquisition node network | |
| CN109067488B (en) | Energy accumulation-based information and energy bidirectional transmission system performance optimization method | |
| Li et al. | Energy-efficient multipath routing in wireless sensor network considering wireless interference | |
| CN111356203B (en) | Three-dimensional wireless optical sensor network routing method based on clustering | |
| Zhu et al. | Latency aware IPv6 packet delivery scheme over IEEE 802.15. 4 based battery-free wireless sensor networks | |
| Xu et al. | Energy‐efficient UAV communication with multiple GTs based on trajectory optimization | |
| CN110730028A (en) | Unmanned aerial vehicle-assisted backscatter communication device and resource allocation control method | |
| CN111601355B (en) | Optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology | |
| CN109951834A (en) | Bluetooth mesh method for routing based on the improved algorithm that floods | |
| Hussain et al. | Co-DLSA: Cooperative delay and link stability aware with relay strategy routing protocol for flying Ad-hoc network | |
| CN116261202A (en) | Farmland data opportunity transmission method and device, electronic equipment and medium | |
| Li et al. | An optimal relay number selection algorithm for balancing multiple performance in flying ad hoc networks | |
| CN116321197A (en) | Energy self-maintenance scheduling method applied to remote environment intensive monitoring network | |
| CN109362086B (en) | Wireless sensor network charging strategy cross-layer optimization method based on serial interference elimination | |
| Qiu et al. | Energy level based transmission power control scheme for energy harvesting WSNs | |
| JP5438614B2 (en) | Network reconstruction method and network system | |
| Chenthil et al. | Energy-Aware QoS Based Cluster Routing With Aggregation Management Algorithm in Underwater Wireless Sensor Network | |
| CN117240359B (en) | Ultraviolet light-based unmanned aerial vehicle cluster photoelectric hybrid networking method | |
| Xie et al. | Age of information for preemptive transmission in dual-sensor networks with energy harvesting |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |