Method and system for acquiring UAV formation communication topology based on minimal tree graph
A technology of communication topology and tree diagram, applied in the field of unmanned aerial vehicle communication, can solve the problems of different communication costs, consumption of UAV battery power or fuel, etc., and achieve the effect of low communication cost
Active Publication Date: 2017-05-03
HEFEI UNIV OF TECH
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Because of the difference in communication distance, the communication links in the communication topology usually have different communication costs and consume the corresponding battery power or fuel of the UAV
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[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0040] figure 1 A schematic flow diagram of a method for obtaining a UAV formation communication topology based on a minimum tree diagram provided by an embodiment of the present invention, as shown in figure 1 As shown, the method includes:
[0041] 101. Constructing a formation communication diagram according to the formation of the preset formation;
[0042] The method includes: linking the UAVs in the preset formation to construct a formation communicati...
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The invention provides a method and system for obtaining formation communication topology of an unmanned aerial vehicle based on the minimum arborescence. The method comprises the following steps of: constructing a formation communication graph according to pre-set formation; calculating the minimum arborescence of the formation communication graph; and judging whether the unmanned aerial vehicle, which a root node of the minimum arborescence belongs to, can be used as a formation navigator or not, and obtaining the optimal communication topology according to the judgement result. According to the method disclosed by the invention, the formation communication graph is constructed according to the pre-set formation; the minimum arborescence of the formation communication graph is calculated; then, whether the unmanned aerial vehicle, which the root node of the minimum arborescence belongs to, can be used as the formation navigator or not can be judged; the optimal communication topology is obtained according to the judgement result; and thus, the overall communication cost in the formation keeping process is minimum.
Description
technical field [0001] The present invention relates to the technical field of unmanned aerial vehicle communication, in particular to a method and system for acquiring an unmanned aerial vehicle formation communication topology based on a minimum tree diagram. Background technique [0002] During the take-off and cruising phase, all unmanned aerial vehicles (UAVs) usually exchange information through point-to-point communication links (communication links) to form a certain formation shape (formation shape or formation geometry), and maintain this formation formation to continue flying towards the target area . The communication links used are called the communication topology, information exchange topology, or connection topology of the UAV formation, which are only a part of the set of all available communication links between UAVs. Because of the difference in communication distance, the communication links in the communication topology usually have different communicat...
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IPC IPC(8): H04W40/24
CPCH04W40/24H04W40/246
Inventor 罗贺王国强胡笑旋马华伟靳鹏夏维
Owner HEFEI UNIV OF TECH