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Control method of swarm drone

A control method and UAV technology, applied in wireless communication, network traffic/resource management, power management, etc., can solve the problem of short task execution period, fast change of link quality, and inability to meet "swarm" UAV control and other problems, to achieve the effect of good practicability, low bandwidth occupation, and low energy consumption

Active Publication Date: 2021-06-11
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

The present invention adopts the GM(1,1) model of gray prediction, which solves the technical problem that the "bee colony" unmanned aerial vehicle cannot satisfy the control of "bee colony" UAV due to the rapid change of the link quality and the short task execution period.

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  • Control method of swarm drone
  • Control method of swarm drone
  • Control method of swarm drone

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Embodiment Construction

[0044] refer to figure 1 . The concrete steps of the control method of the swarm unmanned aerial vehicle of the present invention are as follows:

[0045] Step 1: Sampling the link quality of all connected links of the node, and obtaining the link evaluation value L of the t-th measurement ij (t). Among them, i represents node i, and j represents the neighbors of node i.

[0046] Step 2. According to the evaluation value of each link from t-4 to t times, use the gray prediction method to predict Specific steps are as follows:

[0047] 1. Introduce the second-order weakening buffer operator (AWBO) to reduce the randomness of U(k),

[0048]

[0049]

[0050] Among them, n represents the total number of sampling samples, k represents the kth sampling; d represents the buffer operator, d 2 Indicates the second-order buffer operator;

[0051] According to the invariant theorem in gray prediction:

[0052] L (0) (k)=L(k)d 2 = L(k) (3)

[...

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Abstract

The invention discloses a control method of a swarm drone, which is used to solve the technical problem that the existing control method of the drone is poor in practicability. The technical solution is to first use the GM(1,1) model in gray prediction to quickly estimate the degree distribution of nodes, then use the average consistency algorithm to calculate the average degree of the entire network, and judge the connectivity of the network according to the MOLLY-REED criterion, and then control its robustness. The invention adopts the GM(1,1) model of gray prediction, and solves the technical problem that the control of the "swarm" UAV cannot be satisfied because of the rapid change of the link quality and the short task execution period. The average consensus algorithm is adopted to only exchange information between adjacent nodes, avoiding the flooding broadcast of the entire network that takes up a large amount of bandwidth and consumes a lot of energy. It has the advantages of high speed and high efficiency, less occupied bandwidth and low energy consumption, and has good practicability.

Description

technical field [0001] The invention relates to a method for controlling a drone, in particular to a method for controlling a swarm drone. Background technique [0002] UAV swarm cooperative operations are an important part of future network-centric warfare, and "bee swarm" UAVs are also an important part of UAV swarms because they realize the distribution of task loads, reduce costs and improve robustness. important direction of development. "Bee swarm" UAV swarm coordinated operations are the key development direction of the world's military powers in the field of network-centric warfare in the future. The "swarm" UAV works in a confrontational environment, its communication link will be interfered, and its nodes may be lost. It also needs to have the ability to complete its combat objectives under the condition of nodes and links being damaged. In other words, the robustness of the "swarm" UAV not only requires the system to have the ability to resist damage, but also t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W24/08H04W28/22H04W52/24
CPCH04W24/08H04W28/22H04W52/241
Inventor 陈旿范铭楷金鑫李泽宏燕熊邹松洪亮
Owner NORTHWESTERN POLYTECHNICAL UNIV
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