CN111601355B - Optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology - Google Patents
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Abstract
The invention provides an optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology, which comprises the steps of firstly, utilizing an ultraviolet light non-direct vision single scattering model to establish an inter-machine communication path; setting a path weight by using the path loss of the communication link and the residual energy of the node; and finally, utilizing the path weight value to form an optimal communication path between any unmanned aerial vehicle nodes in the queue through a Floyd algorithm. The wireless ultraviolet light is adopted to cooperate with unmanned aerial vehicle bee colony formation flight, so that the unmanned aerial vehicle bee colony formation flight has the advantages of all weather, non-direct vision, no radio frequency interference, secret communication and the like, and can provide effective guarantee for unmanned aerial vehicle bee colony to successfully execute tasks in a strong electromagnetic interference environment. The path weight is set according to the path loss of the communication link and the residual energy of the node, so that the situation that the same path is selected for many times in the communication process and the energy of the node of the path is ignored can be avoided, the node is dead too early, and the life cycle of the network is prolonged.
Description
Technical Field
The invention belongs to the technical field of photoelectric information, and particularly relates to an optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology.
Background
In recent years, the emerging industry associated with unmanned aerial vehicles has come to a high-speed development stage. Unmanned aerial vehicles play an important role in civil and military fields. Because the single unmanned aerial vehicle has limited computing, detecting and operating capabilities, the capability of the unmanned aerial vehicle to execute tasks can be fully improved by using a multi-unmanned aerial vehicle cooperation form. The unmanned aerial vehicle 'bee colony' formation is formed by a group of miniature unmanned aerial vehicles which are networked independently to cooperatively work, has the excellent characteristics of low cost, high destruction resistance, good perceptibility, strong cooperation capability, distributed functions and the like, and can greatly improve the task completion efficiency.
The unmanned aerial vehicle communication network has self-organizing characteristic, and the electronic system is extremely easy to be influenced by electromagnetic pulse, radio frequency interference, high-intensity radiation field and the like, so that the adoption of an unmanned aerial vehicle cluster internal communication mode with high anti-interference capability is urgent. The unmanned aerial vehicle bee colony adopts a wireless ultraviolet communication technology in flight, and has the following advantages: the background noise is small; the anti-interference capability is strong; all-weather non-line-of-sight (NLOS) communication; low power consumption and easy integration. The wireless ultraviolet communication technology is applied to communication among unmanned aerial vehicle swarm machines, and can meet the reliable secret communication requirement of the unmanned aerial vehicle in a complex battlefield environment.
Unmanned aerial vehicle formation carries the energy limited in practical application, when unmanned aerial vehicle keeps the in-process at the formation, when certain unmanned aerial vehicle transmits the message or carries out the instruction to other arbitrary unmanned aerial vehicle, through setting up reasonable route weight and seek a minimum route of communication cost, can effectively reduce the transmission power and the total power of system of individual node, avoid selecting same route and neglecting the energy condition of node many times in communication process, the energy consumption of balanced unmanned aerial vehicle node, extension unmanned aerial vehicle network life cycle. Therefore, an optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology is provided. .
It is noted that this section is intended to provide a background or context for the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
The invention aims to provide an optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology, which solves the problem of reliability of communication among unmanned aerial vehicle formation machines, balances energy consumption of unmanned aerial vehicle nodes and prolongs network life cycle.
The invention adopts the following technical scheme to realize the purposes:
the optimal path selection method in the wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology is characterized by comprising the following steps of:
s1: establishing an inter-machine communication path by using an ultraviolet light non-direct vision single scattering model;
s2: setting a path weight value by using the path loss of the communication link and the residual energy of the node;
s3: and utilizing the path weight value to obtain an optimal communication path between any unmanned aerial vehicle nodes in the formation through a Floyd algorithm.
Further, the step S2 specifically includes the following steps:
s201: calculating the path loss of the communication links of the two unmanned aerial vehicle nodes;
based on an ellipsoidal coordinate system, respectively placing an ultraviolet light emitting device and a receiving device on two focuses of the ellipsoidal coordinate system, wherein the path loss of ultraviolet light non-direct-view communication is as follows:
L＝ξr α (1)
where r is the communication distance, ζ is the path loss factor, and α is the path loss index;
s202: calculating the residual energy of the unmanned aerial vehicle node;
after formation is completed, the residual energy of each unmanned aerial vehicle node is as follows:
wherein e 0 The initial energy of unmanned plane node, P is mobile energy consumption, m p Is the effective load mass, the unit is kg, m v Is the mass of the unmanned aerial vehicle, the unit is kg, r is lift-drag ratio, eta is energy transfer efficiency of a motor and a propeller, p is power consumption of an electronic device, the unit is kW, and v=d ii And/t is the average speed in the process of unmanned aerial vehicle aggregation, and the unit is km/h and d ii The distance from the initial position to the fixed position in the formation in the unmanned aerial vehicle gathering process is the gathering time;
s203: setting a path weight;
setting a path weight according to the calculated path loss and the residual energy of each node:
wherein alpha is 1 And alpha is 2 For the weight coefficient, L is the path loss of the communication link,as the average value of the path loss of the communication link,e is the energy average value of node surplus rest Energy is left for the node.
Further, the step S3 is specifically as follows:
s301: initializing unmanned aerial vehicle UAV i And UAV (unmanned aerial vehicle) j When the path weight between the unmanned aerial vehicle and the unmanned aerial vehicle can be directly communicated, the unmanned aerial vehicle UAV is calculated by utilizing the step S2 i And UAV (unmanned aerial vehicle) j Path weights between; when the communication between two unmanned aerial vehicles needs to be forwarded through other unmanned aerial vehicle nodes, the path weight is infinite;
s302: in unmanned aerial vehicle UAV i And UAV (unmanned aerial vehicle) j Inter-vertex added UAV 1 Comparing UAVs i ，UAV 1 With UAV j And UAV (unmanned aerial vehicle) i With UAV j Taking the path with small weight as UAV i To UAV (unmanned aerial vehicle) j An optimal path having a vertex number of not more than 1;
s303, in unmanned aerial vehicle UAV i To UAV (unmanned aerial vehicle) j Inter-vertex added UAV 2 Obtaining UAV i ,...,UAV 2 And UAV (unmanned aerial vehicle) 2 ,...,UAV j Wherein the UAV i ,...,UAV 2 Is a UAV (unmanned aerial vehicle) i To UAV (unmanned aerial vehicle) 2 An optimal path with a middle vertex number not greater than 1; UAV (unmanned aerial vehicle) 2 ,...,UAV j Is a UAV (unmanned aerial vehicle) 2 To UAV (unmanned aerial vehicle) j An optimal path with a middle vertex number not greater than 1; UAV (unmanned aerial vehicle) i ,...,UAV 2 ,...,UAV j Comparing with the optimal path obtained in step S302, taking the shorter path as UAV i To UAV (unmanned aerial vehicle) j An optimal path with a middle vertex number not greater than 2;
s304, by analogy, the UAV is obtained in the n-1 th step after n times of comparison and correction i To UAV (unmanned aerial vehicle) j And the number of the middle top point is not greater than n-1 is the optimal path of any two-node UAV in unmanned aerial vehicle formation i To UAV (unmanned aerial vehicle) j Is provided for the optimal communication path of (a).
The invention has the beneficial effects that:
1) The wireless ultraviolet light is adopted to cooperate with unmanned aerial vehicle bee colony formation flight, so that the unmanned aerial vehicle bee colony formation flight has the advantages of all weather, non-direct vision, no radio frequency interference, secret communication and the like, and can provide effective guarantee for unmanned aerial vehicle bee colony to successfully execute tasks in a strong electromagnetic interference environment.
2) The invention sets the path weight according to the path loss of the communication link and the residual energy of the node, and can avoid the condition that the same path is selected for many times in the communication process to ignore the energy of the path node, thereby leading to premature death of the node and prolonging the life cycle of the network.
Drawings
FIG. 1 is a flow chart of a method for selecting an optimal path in a wireless ultraviolet light cooperative unmanned aerial vehicle formation holding topology;
FIG. 2 is a diagram of an ultraviolet light non-direct view single scattering communication model of the present invention;
FIG. 3 is a diagram of the relationship between transmit and receive elevation and path loss in accordance with the present invention;
fig. 4 is a topology structure diagram of an unmanned aerial vehicle formation flight network according to the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features or characteristics may be combined in any suitable manner in one or more embodiments.
As shown in fig. 1, assuming that the initial states of the nodes of the swarm unmanned aerial vehicle are equal before the nodes are gathered, the remaining energy of the nodes of the unmanned aerial vehicle is different after the unmanned aerial vehicle reaches the internal fixed position of the formation after the gathering is completed. And wireless ultraviolet light is used for assisting communication among the swarm unmanned aerial vehicles, and the path loss of a communication link is obtained according to the characteristics of ultraviolet light NLOS communication. The path weight is set according to the path loss and the residual energy of the nodes, and the Floyd algorithm is adopted to select the optimal communication path between any nodes in the unmanned aerial vehicle formation, so that the situation that the same node is selected for forwarding information for many times in the communication process, so that the node is insufficient in energy and dies can be avoided, and the life cycle of the unmanned aerial vehicle network is effectively prolonged.
The invention relates to an optimal path selection method in wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology, which is implemented according to the following steps:
and step 1, establishing an inter-machine communication path by using an ultraviolet light non-direct vision single scattering model.
As shown in fig. 2, the ultraviolet light emitting device and the receiving device are respectively placed on two focuses of an ellipsoidal coordinate system based on the ellipsoidal coordinate system. θ 1 To transmit elevation angle, θ 2 To receive elevation angle phi 1 To send the end divergence angle phi 2 For the receiving end view angle.
The path loss of the ultraviolet light non-direct vision communication is as follows:
L＝ξr α (1)
where r is the communication distance, ζ is the path loss factor, and α is the path loss index. The values of alpha and xi depend on the divergence angle phi of the transmitting end 1 Elevation angle θ of transmission 1 Angle phi of view at receiving end 2 Receiving elevation angle theta 2 When the divergence angle of the transmitting end and the view angle of the receiving end are fixed, different values of alpha and zeta are corresponding to different receiving and transmitting elevation angles for communication, namely the path loss values of communication links among unmanned aerial vehicles are different.
And 2, setting a path weight value by using the path loss of the communication link and the residual energy of the node.
And 2.1, calculating the path loss of the communication links of the two unmanned aerial vehicle nodes.
As can be seen from step 1, when phi 1 And phi 2 When the unmanned aerial vehicle is fixed, the space angle parameter theta of the receiving and transmitting end between unmanned aerial vehicles is randomly given 1 And theta 2 The path loss between the two unmanned aerial vehicles can be determined. As shown in the diagram of the relation between the transmission and reception elevation angle and the path loss in FIG. 3, when phi 1 ＝17°，φ 2 ＝30°When the receiving and transmitting end space angle parameter theta between unmanned aerial vehicles is randomly given 1 And theta 2 The path loss of the two drone communication links may be determined.
And 2.2, calculating the residual energy of the unmanned aerial vehicle node.
The energy of each unmanned aerial vehicle node at the initial position is equal, each unmanned aerial vehicle moves to the internal fixed position of the formation from the initial position in the gathering process, the consumed communication energy is approximately equal, and the mobile energy consumption is far greater than the communication energy consumption, so that only the mobile energy consumption is considered in the gathering process. After formation is completed, the residual energy of each unmanned aerial vehicle node is as follows:
wherein e 0 For the initial energy of each unmanned plane node, P is mobile energy consumption, m p Is the payload mass (kg), m v Is the mass (kg) of the unmanned aerial vehicle, r is the lift-drag ratio, eta is the energy transfer efficiency of the motor and the propeller, p is the power consumption (kW) of the electronic device, v=d ii And/t is the average speed (km/h) in the process of unmanned plane aggregation, d ii The distance from the initial position to the fixed position in the formation in the unmanned aerial vehicle gathering process is the gathering time.
And 2.3, setting a path weight.
The topology structure of the communication network among the clusters of the unmanned aerial vehicle formation is shown in fig. 4, each unmanned aerial vehicle corresponds to a fixed ID number, the numbers 1-9 respectively represent nine unmanned aerial vehicles, a connecting line between the unmanned aerial vehicles represents a communication path, the path between two nodes represents that the two nodes are in a communication range of each other, direct communication can be carried out, and at least one path between any two unmanned aerial vehicles in the figure is communicated. The link for direct communication sets a path weight by the formula (3), and the path weight for which direct communication is impossible is set to infinity.
Wherein alpha is 1 And alpha is 2 For the weight coefficient, L is the path loss of the communication link,as the average value of the path loss of the communication link,e is the energy average value of node surplus rest Energy is left for the node.
And 3, utilizing a path weight value to form an optimal communication path between any unmanned aerial vehicle nodes in the team by using a Floyd algorithm.
Step 3.1, initializing UAV from step 2 i And UAV (unmanned aerial vehicle) j Path weights between.
Step 3.2, in UAV i ，UAV j Inter-vertex added UAV 1 Comparison (UAV) i ，UAV 1 ，UAV j ) Sum (UAV) i ，UAV j ) Taking the path with small weight as UAV i To UAV (unmanned aerial vehicle) j And the vertex number is not greater than 1.
Step 3.3, at UAV i To UAV (unmanned aerial vehicle) j Inter-vertex added UAV 2 Get (UAV) i ,...,UAV 2 ) Sum (UAV) 2 ,...,UAV j ). Wherein, (UAV) i ,...,UAV 2 ) Is a UAV (unmanned aerial vehicle) i To UAV (unmanned aerial vehicle) 2 An optimal path with a middle vertex number not greater than 1; (UAV (UAV) 2 ,...,UAV j ) Is a UAV (unmanned aerial vehicle) 2 To UAV (unmanned aerial vehicle) j The optimal path of the middle vertex number not greater than 1, both paths being found in step 3.2. Will (UAV) i ,...,UAV 2 ,...,UAV j ) Comparing with the optimal path obtained in step 3.2, taking the shorter path as UAV i To UAV (unmanned aerial vehicle) j Optimal path with intermediate vertex number not greater than 2
Step 3.4, and so on, after n comparisons and corrections, the UAV will be found in step (n-1) i To UAV (unmanned aerial vehicle) j The optimal path with the middle vertex number not larger than n-1 is the UAV of any two nodes in the unmanned aerial vehicle formation i To UAV (unmanned aerial vehicle) j Is provided for the optimal communication path of (a).
Examples:
step 1, each unmanned aerial vehicle is provided with an ultraviolet light receiving and transmitting device, the ultraviolet light wavelength emitted by an ultraviolet light emitting device is 260nm, and the luminous power is 0.6mw.
Step 2, fixing the divergence angle phi of the transmitting end and the view field angle phi of the receiving end 1 =17°, receiving end field angle Φ 2 =30°, randomly giving the spatial angle parameters of the transceiver end between the unmanned aerial vehicles, and the obtained relationship between the transmission and reception elevation angles and the path loss is shown in fig. 3. m is m p ＝2kg，m v ＝8kg，r＝3，η＝0.5，p＝0.1kW，e 0 ＝300J，v＝d ii And/t. From the formulaAnd calculating the residual energy of each unmanned aerial vehicle node after formation is completed.
From the path weight formulaAnd FIG. 4 is a structural diagram of unmanned aerial vehicle formation flight network topology, and a path weight matrix of the unmanned aerial vehicle network topology is obtained by calculation, wherein the path weight matrix is as follows:
A＝[0 0.9950 1.2566 1.0788 inf inf inf inf inf；0.9950 0 1.2314 inf inf 0.9912 1.8027 inf inf；1.2566 1.2314 0 1.0314 0.9192 0.9811 inf inf inf；1.0788 inf 1.0314 0 1.0148 inf inf inf inf；inf inf 0.9192 1.0148 0 inf inf inf 1.0377；inf 0.9912 0.9811 inf inf 0 inf 0.8563 1.0583；inf 1.8027 inf inf inf inf 0 0.8353 inf；inf inf inf inf inf 0.8563 0.83530 0.9744；inf inf inf inf 1.0377 1.0583 inf 0.9744 0]；
and 3, simulating according to the Floyd algorithm, inputting node IDs of any two unmanned aerial vehicles as a starting point and a finishing point, and outputting the node ID for obtaining the optimal communication path, namely the optimal communication path selected when any two nodes in unmanned aerial vehicle formation communicate.
(1) Input starting point: 1, a step of; input end point: 9, a step of performing the process;
optimal communication path: 1-2-6-9
(2) Input starting point: 3, a step of; input end point: 7, preparing a base material;
optimal communication path: 3-6-8-7
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (2)
1. The optimal path selection method in the wireless ultraviolet light cooperation unmanned aerial vehicle formation maintenance topology is characterized by comprising the following steps of:
s1: establishing an inter-machine communication path by using an ultraviolet light non-direct vision single scattering model;
s2: setting a path weight value by using the path loss of the communication link and the residual energy of the node;
s201: calculating the path loss of the communication links of the two unmanned aerial vehicle nodes;
based on an ellipsoidal coordinate system, respectively placing an ultraviolet light emitting device and a receiving device on two focuses of the ellipsoidal coordinate system, wherein the path loss of ultraviolet light non-direct-view communication is as follows:
L＝ξr α (1)
where r is the communication distance, ζ is the path loss factor, and α is the path loss index;
s202: calculating the residual energy of the unmanned aerial vehicle node;
after formation is completed, the residual energy of each unmanned aerial vehicle node is as follows:
wherein e 0 Is the beginning of unmanned plane nodeInitial energy, P is mobile energy consumption, m p Is the effective load mass, the unit is kg, m v Is the mass of the unmanned aerial vehicle, the unit is kg, r is lift-drag ratio, eta is energy transfer efficiency of a motor and a propeller, p is power consumption of an electronic device, the unit is kW, and v=d ii And/t is the average speed in the process of unmanned aerial vehicle aggregation, and the unit is km/h and d ii The distance from the initial position to the fixed position in the formation in the unmanned aerial vehicle gathering process is the gathering time;
s203: setting a path weight;
setting a path weight according to the calculated path loss and the residual energy of each node:
wherein alpha is 1 And alpha is 2 As the weight coefficient, alpha 1 +α 2 =1, l is the path loss of the communication link,for the communication link path loss mean +.>E is the energy average value of node surplus rest Surplus energy for the node;
s3: and utilizing the path weight value to obtain an optimal communication path between any unmanned aerial vehicle nodes in the formation through a Floyd algorithm.
2. The method for selecting an optimal path in a wireless ultraviolet light cooperative unmanned aerial vehicle formation holding topology according to claim 1, wherein the step S3 is specifically as follows:
s301: initializing unmanned aerial vehicle UAV i And UAV (unmanned aerial vehicle) j When the path weight between the unmanned aerial vehicle and the unmanned aerial vehicle can be directly communicated, the unmanned aerial vehicle UAV is calculated by utilizing the step S2 i And UAV (unmanned aerial vehicle) j Path weights between; when communication between two unmanned aerial vehicles needs to pass through other unmanned aerial vehiclesWhen the machine node forwards the message, the path weight is infinite;
s302: in unmanned aerial vehicle UAV i And UAV (unmanned aerial vehicle) j Inter-vertex added UAV 1 Comparing UAVs i ，UAV 1 With UAV j And UAV (unmanned aerial vehicle) i With UAV j Taking the path with small weight as UAV i To UAV (unmanned aerial vehicle) j An optimal path having a vertex number of not more than 1;
s303, in unmanned aerial vehicle UAV i To UAV (unmanned aerial vehicle) j Inter-vertex added UAV 2 Obtaining UAV i ,...,UAV 2 And UAV (unmanned aerial vehicle) 2 ,...,UAV j Wherein the UAV i ,...,UAV 2 Is a UAV (unmanned aerial vehicle) i To UAV (unmanned aerial vehicle) 2 An optimal path with a middle vertex number not greater than 1; UAV (unmanned aerial vehicle) 2 ,...,UAV j Is a UAV (unmanned aerial vehicle) 2 To UAV (unmanned aerial vehicle) j An optimal path with a middle vertex number not greater than 1; UAV (unmanned aerial vehicle) i ,...,UAV 2 ,...,UAV j Comparing with the optimal path obtained in step S302, taking the shorter path as UAV i To UAV (unmanned aerial vehicle) j An optimal path with a middle vertex number not greater than 2;
s304, by analogy, the UAV is obtained in the n-1 th step after n times of comparison and correction i To UAV (unmanned aerial vehicle) j The optimal path with the middle vertex number not larger than n-1 is any two-node UAV in unmanned aerial vehicle formation i To UAV (unmanned aerial vehicle) j Is provided for the optimal communication path of (a).
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