Bee colony unmanned aerial vehicle inter-vehicle avoidance early warning method based on wireless ultraviolet light virtual fence

Abstract

The invention discloses a bee colony unmanned aerial vehicle inter-vehicle avoidance early warning method based on a wireless ultraviolet light virtual fence. The method comprises the following steps:1, establishing a wireless ultraviolet light virtual fence model; 2, improving a Gaussian mixture probability hypothesis density filtering algorithm by utilizing an improved unscented Kalman filtering framework; 3, analyzing and proposing an inter-vehicle avoidance early warning strategy of the swarm unmanned aerial vehicle; 4, improving an enhanced vector field histogram algorithm by utilizing the step 1; and 5, utilizing the step 2, the step 3 and the step 4 to realize trajectory prediction and avoidance early warning of the unmanned aerial vehicle. Bee colony unmanned aerial vehicle inter-vehicle avoidance early warning can be realized; and the method has the characteristics of strong anti-interference capability and high efficiency.

Description

technical field [0001] The invention belongs to the field of ultraviolet light early warning technology and unmanned aerial vehicle control technology, and in particular relates to an early warning method for bee colony unmanned aerial vehicles based on a wireless ultraviolet light virtual fence. Background technique [0002] In recent years, with the rapid development of the UAV civilian market, UAV cluster technology has also matured. At present, domestic UAVs are mainly used in logistics distribution, agricultural plant protection and other fields. Due to the cluster operation capability of swarm UAVs, it can better reflect its application advantages than single UAVs in the above application scenarios. The communication network in the swarm UAV can also be called aeronautical ad hoc network. Each UAV node in the network can not only send and receive information, but also forward information as a relay node. Whether it is a civilian scenario or a military application scen...

AI Technical Summary

Problems solved by technology

In complex environments such as strong electromagnetic interference, it is feasible to use wireless ultraviolet light to build an aeronautical ad hoc network, and there are already mature technologies, but the airborne wireless ultraviolet light is used as the payload of the UAV, and its ranging function is not yet available. Utilization, and the basis of avoidance between UAVs in the UAV cluster is the distance information

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