Multi-unmanned-aerial-vehicle communication relay platform collaborative autonomous layout method

Abstract

The invention discloses a multi-unmanned-aerial-vehicle communication relay platform collaborative autonomous layout method. The method comprises the following steps of A, multi-unmanned-aerial-vehicle relay platform collaborative system and frame design; B, communication geographical environment and communication electromagnetic environment modeling; and C, multi-unmanned-aerial-vehicle collaborative relay node position planning. The multi-unmanned-aerial-vehicle communication relay platform collaborative autonomous layout method has the advantages that an unmanned aerial vehicle is utilizedas a communication relay platform, the mobility and autonomy advantages of the unmanned aerial vehicle are fully utilized, a complex terrain environment and electromagnetic propagation can be modeled,the scientific model support is provided for communication relay node position planning, and relay node position planning is carried out by adopting a heuristic algorithm, thereby improving the real-time performance and effectiveness of the algorithm; a distributed task allocation and unmanned aerial vehicle control method is adopted, autonomous mobile characteristics and team advantages of a multi-robot system can be fully utilized, so that the application range of a relay system is more extensive, the communication maintaining capacity is stronger, and the layout of nodes is quicker and more efficient.

Description

Technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for cooperative and autonomous deployment of multiple unmanned aerial vehicle communication relay platforms. Background technique [0002] Line-of-Sight Communications (LoSC) has the characteristics of high information transmission rate and good confidentiality. Therefore, in many application backgrounds (for example, high-definition video live broadcast), it is necessary to maintain line-of-sight communication between execution units to achieve large Real-time transmission of capacity information. However, due to the occlusion of environmental obstacles and the limitation of communication distance, it is impossible to directly establish line-of-sight connectivity between different units. At this time, it is necessary to set the working environment and communication distance between the execution units as constraints. A series of relay nodes realize the estab...

AI Technical Summary

Problems solved by technology

RNP can be understood as generating a relay tree (Relay Tree) with the base station (Base Station, BS) as the root node, the target station (Target Station, TS) as the leaf node, and the relay station (Relay Station, RS) as the intermediate node. RT), the goal of its planning is to determine the number and location of relay nodes to meet certain criteria (for example, the shortest distance sum, the highest connectivity, etc.), the existing research results have proved that RNP is an NP-hard problem, so it is difficult to find Optimal solution

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