Unmanned-manned-machine formation information interaction topology fault-tolerant optimization method and device

Abstract

The invention provides a fault-tolerant optimization method and apparatus of information interaction topology of unmanned aerial vehicle-manned vehicle formation. The method comprises the following steps: S1, obtaining a formation communication graph according to the formation of two-dimensional persistent formation formed by the unmanned aerial vehicle-manned vehicle formation; S2, in the case of a communication fault of the unmanned aerial vehicle-manned vehicle formation, deleting a communication fault arc or a communication fault node in the formation communication graph according to the type of the communication fault to obtain a first reconstruction formation communication graph; S3, obtaining first optimal reconstruction formation interaction topology corresponding to the first reconstruction formation communication graph according to an information interaction topology reconstruction algorithm; and S4, obtaining second optimal reconstruction formation interaction topology, namely, re-optimized information interaction topology of the unmanned aerial vehicle-manned vehicle formation, satisfying a preset condition n > V! according to the first optimal reconstruction formation interaction topology, each position configuration of the unmanned aerial vehicle-manned vehicle formation and the information interaction topology reconstruction algorithm. By adoption of the fault-tolerant optimization method and apparatus provided by the invention, an aerial vehicle collision accident can be avoided, the formation is restored, and the minimum communication cost of the formation is maintained at the same time.

Description

technical field [0001] The present invention relates to the field of communication technology, in particular to a topology fault-tolerant optimization method and device for unmanned-manned formation information interaction topology. Background technique [0002] During the take-off and cruise phase, the aircraft in the unmanned-manned formation 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 Fly towards the target area. The communication link used in it is called information exchange topology, communication topology, connection topology, information structure or information topology of the formation. Man-Part of the set of all available communication links between any two aircraft in the man-aircraft formation. For a unified expression, the name "information exchange topology" is used below. At the same ...

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Problems solved by technology

In addition, communication failures may occur in one or more aircrafts during the formation flight, making some communication links in the current information exchange topology unusable, resulting in the inability of the aircraft to continue to maintain the formation formation, and in severe cases, even causing the aircraft to collision accident

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