A method and system for trajectory generation and tracking for UAV formation communication
A trajectory generation and communication system technology, applied in the field of drones, can solve problems such as failure to re-establish link connection, communication interruption of high-speed mobile drones, shadow fading, etc.
Active Publication Date: 2022-07-05
HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
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[0009] However, when a high-speed moving UAV is flying at low altitude, shadow fading will occur when encountering occlusion, and the communication will be interrupted when the environment is complex, that is, the communication of the high-speed mobile UAV is interrupted, and the link connection cannot be re-established, resulting in communication interruption.
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[0045] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0046] A trajectory generation and tracking method for UAV formation communication, using relay UAV for auxiliary communication, adopting DF forwarding method, and using PSO algorithm planning with penalty factor when UAV is constantly moving Create a relay UAV trajectory that allows the separated formations to reconnect to communicate and obtain the optimal transmission rate, and predict the position of the source UAV and relay UAV considering the real-time movement of the UAV. The real-time planning of the position of the relay UAV ensures the real-time and effectiveness of the algorithm. Considering the dynamic constraints of the UAV itself, the characteristics of the actual flight of the UAV are highlighted. Using the UAV control algorithm, the relay UAV is controlled to fly according to the planned smooth trajectory, and the trajectory devi...
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The present invention provides a trajectory generation and tracking method for UAV formation communication, comprising the following steps: S1, constructing a UAV communication system model, and using relay UAVs to re-establish origin UAV and destination UAV Communication between the two; S2, predict the trajectory of the source UAV and the destination UAV, and transmit it to the relay UAV in real time; S3, plan the relay in real time according to the predicted trajectory of the source UAV and the destination UAV The trajectory of the drone. The invention also provides a trajectory generation and tracking system oriented to formation communication of unmanned aerial vehicles. The beneficial effects of the present invention are: a method for re-establishing a stable connection is provided for the situation where there are shadows and fading in a low-altitude environment under harsh environments, and the link between the two communication drones is disconnected, and the source node and the traditional communication system are broken. The assumption that the destination node is fixed.
Description
technical field [0001] The invention relates to unmanned aerial vehicles, in particular to a method and system for trajectory generation and tracking oriented to formation communication of unmanned aerial vehicles. Background technique [0002] Low-altitude and high-speed civilian drones have played an important role in many fields such as logistics and transportation, party performances, and live events. In the process of performing some tasks, UAVs inevitably encounter complex communication environments. Compared with fixed ground base stations, UAVs have the characteristics of high mobility and flexible deployment. Therefore, UAVs are widely used in various applications. Among them, including drone relay in emergency conditions, offloading data from satellites in hotspot areas, etc. [0003] In wireless communication, relay is a method to improve the communication throughput of the system and help the system to re-communicate if the direct link is lost due to channel cha...
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IPC IPC(8): H04B7/185H04W76/19H04W4/029G06Q10/04
CPCH04B7/18502H04B7/18504H04W76/19H04W4/029G06Q10/047Y02T10/40
Inventor 杨志华任安宁齐晓晗
Owner HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)