Construction method, storage medium and electronic device of UAV cooperative relay network

Abstract

The present invention provides a method for constructing a UAV cooperative relay network, a storage medium and an electronic device, and relates to the technical field of UAVs. This application uses multiple UAVs as relay nodes and proposes a method for quickly constructing a UAV cooperative relay network based on multiple shortest path theories and integer linear programming methods, wherein by deleting the previous L ‑1 element, so that the enumeration range can be narrowed in the subsequent solution, thereby shortening the program solution time. And it can ensure that the deployment time of all drones in the deployment plan to reach the relay node does not exceed h The output relay network construction plan can not only ensure the shortest network construction time, but also minimize the sum of all UAV flight times, which conforms to the actual situation and meets the battlefield decision-making needs.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method for constructing a cooperative relay network of unmanned aerial vehicles, a storage medium and an electronic device. Background Art

[0002] Wireless communication plays a vital role in information warfare. In a complex battlefield environment, it is particularly important to achieve and maintain wireless communication interaction between combat nodes. However, in the fierce battlefield confrontation, the communication infrastructure between combat nodes is easily damaged or even destroyed, resulting in communication interruption between nodes. At this time, in order to ensure communication connectivity and security, it is necessary to temporarily build a communication foundation between nodes. To address this problem, an effective solution is to deploy new communication relay nodes at appropriate locations, that is, relay node deployment, to ensure the effectiveness of wireless communication transmission. UAVs are very suitable for performing the task of building a communication relay network due to their high mobility, rapid deployment and strong anti-interference capabilities.

[0003] With the in-depth study of relay technology, domestic and foreign scholars have begun to conduct research on the construction and optimization of UAV communication relay networks. Wu Gaofeng and others established a new relay node deployment model with multiple UAVs as relay nodes, and proposed the PTRPA algorithm for the problem model. This algorithm first uses the breadth-first search method to find the minimum number of relay UAVs and narrow the solution space, and then optimizes the time spent on building relay links through a greedy strategy.

[0004] However, the above algorithm is not optimal in performance and cannot guarantee the shortest network construction time. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides a method for constructing a UAV collaborative relay network, a storage medium and an electronic device, which solves the problem that the existing algorithm cannot guarantee the shortest network construction time.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] In a first aspect, a method for constructing a UAV cooperative relay network is provided, the method comprising:

[0010] S1. Discretize the target area based on the maximum communication distance of the UAV, and remove the discrete points in the infeasible area to obtain a set of feasible layout points;

[0011] S2. construct an undirected graph based on the communication link relationship of the feasible layout point set; and obtain a set of shortest paths from the source node to the target node based on the undirected graph; each of the shortest paths includes a number of candidate layout points;

[0012] S3, calculating the flight time of all available UAVs from the initial position to any candidate deployment point in any shortest path, and arranging them in ascending order to obtain a flight time set;

[0013] S4. Delete the previous flight time in the collection L -1 element gets the set to be searched; and L Represents the number of alternative layout points in any shortest path;

[0014] S5. Constructing a relay network construction solution generation model according to the first element in the current to-be-searched set, and solving the relay network construction solution generation model using a solver;

[0015] S6. If there is a feasible solution after solving, save the drone selection plan and the maximum flight time of the drone corresponding to the current shortest path, and then execute S7; if there is no feasible solution after solving, delete the first element in the current set to be searched, and then return to S5;

[0016] S7. Select other shortest paths and return to S3 until all the shortest paths are traversed. The drone selection plan corresponding to the smallest drone maximum flight time in all the shortest paths is used as the relay network construction plan.

[0017] Further, the infeasible area includes: an area covered by terrain obstacles and an area covered by enemy air defense threats;

[0018] The Euclidean distance between two adjacent feasible layout points in the set of feasible layout points is not greater than the maximum communication distance of the UAV.

[0019] Furthermore, the communication link relationship of the feasible arrangement point set is:

[0020]

[0021] in,

[0022] Represents a set of feasible layout points X The number of feasible layout points in ;

[0023] =1, indicating a feasible layout point x i and x j There is a line of sight path and the distance is less than or equal to the maximum communication distance of the drone dmax ;otherwise, =0;

[0024] x 0 indicates the source node s ;

[0025] Indicates the target node t ;

[0026] And in the undirected graph:

[0027] ;

[0028] ;

[0029] .

[0030] Furthermore, the step of constructing a relay network construction scheme generation model according to the first element in the current set to be searched includes:

[0031] The objective function is to minimize the sum of the flight times of all deployed relay drones to the deployment point:

[0032]

[0033] And the constraints of shortest relay network construction time are taken into consideration:

[0034]

[0035]

[0036] in, h Indicates the value of the first element in the current collection to be searched;

[0037] M Indicates the number of available drones;

[0038] Indicates m The drone arrived l The flight time required for each alternative deployment point;

[0039] =1 means l The alternative layout point is m Otherwise, =0.

[0040] Furthermore, if there is a line-of-sight path between the available UAV from the initial position to the alternative deployment point, the flight time is calculated using the Euclidean distance and the flight speed of the UAV;

[0041] If there is no line of sight path between the available UAV's initial position and the alternative deployment point, the Dijkstra algorithm is used to calculate the shortest arrival time between the available UAV's initial position and the alternative deployment point as the flight time.

[0042] Furthermore, the solver adopts the CPLEX mathematical programming solver.

[0043] In a second aspect, a computer-readable storage medium is provided, which stores a computer program for quickly constructing a UAV cooperative relay network, wherein the computer program enables a computer to execute the above-mentioned method for constructing a UAV cooperative relay network.

[0044] According to a third aspect, an electronic device includes:

[0045] one or more processors;

[0046] Memory; and

[0047] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing the above-mentioned construction method of the UAV cooperative relay network.

[0048] (III) Beneficial effects

[0049] The present invention provides a method for constructing a UAV cooperative relay network, a storage medium and an electronic device. Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1) This application uses multiple drones as relay nodes and proposes a method for quickly building a drone cooperative relay network based on multiple shortest path theories and integer linear programming methods. L -1 element, so that the enumeration range can be narrowed in the subsequent solution, thereby shortening the program solution time.

[0051] 2) This application builds a relay network construction plan generation model to ensure that the deployment time for all drones in the deployment plan to reach the relay node does not exceed h ; and compared with the existing algorithms, the relay network construction solution output by this application can not only ensure the shortest network construction time, but also ensure that the sum of the flight times of all drones is the shortest, which is in line with the actual situation and meets the battlefield decision-making needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 is a flow chart of the present invention;

[0054] Figure 2 It is a schematic diagram of a simulation scenario of the cooperative communication relay of unmanned aerial vehicles of the present invention;

[0055] Figure 3 is a schematic diagram of the discretized target area of ​​the present invention;

[0056] Figure 4 A schematic diagram of a relay network construction scheme for the first shortest path in a simulation scenario of the present invention;

[0057] Figure 5 A schematic diagram of a relay network construction scheme for the second shortest path in a simulation scenario of the present invention;

[0058] Figure 6 A schematic diagram of a relay network construction scheme for the third shortest path in a simulation scenario of the present invention;

[0059] Figure 7 It is a schematic diagram of a relay network construction scheme for the fourth shortest path in the simulation scenario of the present invention. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] The embodiments of the present application solve the problem that existing algorithms cannot guarantee the shortest network construction time by providing a method for constructing a drone collaborative relay network, a storage medium, and an electronic device.

[0062] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0063] Embodiment 1:

[0064] like Figure 1As shown, the present invention provides a method for constructing a UAV cooperative relay network, which is executed by a computer and includes:

[0065] S1. Discretize the target area based on the maximum communication distance of the UAV, and remove the discrete points in the infeasible area to obtain a set of feasible layout points;

[0066] S2. construct an undirected graph based on the communication link relationship of the feasible layout point set; and obtain a set of shortest paths from the source node to the target node based on the undirected graph; each of the shortest paths includes a number of candidate layout points;

[0067] S3, calculating the flight time of all available UAVs from the initial position to any candidate deployment point in any shortest path, and arranging them in ascending order to obtain a flight time set;

[0068] S4. Delete the previous flight time in the collection L -1 element gets the set to be searched; and L Represents the number of alternative layout points in any shortest path;

[0069] S5. Constructing a relay network construction solution generation model according to the first element in the current to-be-searched set, and solving the relay network construction solution generation model using a solver;

[0070] S6. If there is a feasible solution after solving, save the drone selection plan and the maximum flight time of the drone corresponding to the current shortest path, and then execute S7; if there is no feasible solution after solving, delete the first element in the current set to be searched, and then return to S5;

[0071] S7. Select other shortest paths and return to S3 until all the shortest paths are traversed. The drone selection plan corresponding to the smallest drone maximum flight time in all the shortest paths is used as the relay network construction plan.

[0072] The beneficial effects of this embodiment are:

[0073] This application uses multiple drones as relay nodes and proposes a method for quickly building a drone cooperative relay network based on multiple shortest path theories and integer linear programming methods. L -1 element, so that the enumeration range can be narrowed in the subsequent solution, thereby shortening the program solution time.

[0074] Compared with existing algorithms, the relay network construction solution output by this application can not only ensure the shortest network construction time, but also ensure that the sum of the flight time of all drones is the shortest, meeting battlefield decision-making needs.

[0075] The implementation process of the embodiment of the present invention is described in detail below:

[0076] S1. Discretize the target area based on the maximum communication distance of the UAV, and eliminate the discrete points in the infeasible area to obtain a set of feasible layout points.

[0077] The target area in this embodiment is the battlefield area;

[0078] Infeasible areas include areas covered by terrain obstacles Y and enemy air defense threat coverage areas Z .

[0079] Therefore, S1 specifically includes the following steps:

[0080] S1-1. Get the source node s , target node t , battlefield area D 、UAV maximum communication distance d max , Terrain obstacle coverage area Y , Enemy air defense threat coverage area Z , the initial position of the drone.

[0081] S1-2: Assuming that the communication capabilities of drones are the same and the maximum communication distance is limited, based on the maximum communication distance of drones d max The battlefield area D Discretization can obtain a set of discrete points D’ , where the spacing of discrete points γ≤ d max .

[0082] S1-3. In order to ensure the safety of drones and the continuous and reliable operation of the relay network, the feasible deployment points must first avoid terrain obstacles and enemy air defense threat coverage areas. Therefore, based on the terrain obstacle coverage area Y Calculate discretized terrain obstacle coverage area Y'=Y ∩ D’ , and then based on the enemy air defense threat coverage area Z , calculate the discretized enemy air defense threat coverage area Z'=Z ∩ D’ ; Then we can get a set of feasible layout points ;

[0083] x i and x j represents two adjacent feasible layout points, represents the number of feasible layout points; let Indicates feasible layout points x l andx l+1 The Euclidean distance between them, then two adjacent feasible layout points satisfy:

[0084]

[0085] S2, constructing an undirected graph based on the communication link relationship of the feasible layout point set; and obtaining a set of shortest paths from the source node to the target node based on the undirected graph; each of the shortest paths includes a number of candidate layout points. Specifically, the steps include:

[0086] S2-1, based on source node s , target node t 、UAV maximum communication distance And the set of feasible layout points X Get the communication link relationship matrix C .

[0087] Specifically,

[0088] in,

[0089] Represents a set of feasible layout points X The number of feasible layout points in ;

[0090] =1, indicating a feasible layout point x i and x j There is a line of sight path and the distance is less than or equal to the maximum communication distance of the drone d max ;otherwise, =0;

[0091] x 0 indicates the source node s ;

[0092] Indicates the target node t .

[0093] S2-2, based on the communication link relationship matrix C Constructing an undirected graph ,and

[0094] ;

[0095] ;

[0096] .

[0097] S2-3. Based on undirected graph Take from the source node s To the target node t The set of shortest paths ;in, N represents the total number of shortest paths, Indicates i The shortest path, Indicates i The shortest path l Alternative layout points, L Represents the number of candidate layout points in any shortest path. Among them, obtaining all the shortest paths can adopt the existing multiple shortest path algorithm based on the improved Dijkstra algorithm.

[0098] Meeting the communication link validity constraint: On the basis of node security, to ensure the normal functioning of the relay link, it is necessary to avoid disconnection of the communication connection between any adjacent nodes in the relay link. This requires that there is a line of sight path between any adjacent nodes:

[0099]

[0100] Considering that terrain obstacles can easily block the propagation of wireless signals, while enemy air defense weapons have difficulty blocking the propagation of wireless signals:

[0101]

[0102] Represents two adjacent relay nodes in a relay link; They represent the source node and the destination node in the relay link respectively;

[0103] Represents the line of sight between two adjacent relay nodes in a relay link;

[0104] Represents a plane.

[0105] S3. Calculate the flight time of all available UAVs from the initial position to any candidate deployment point in any shortest path, and arrange them in ascending order to obtain a flight time set.

[0106] Assuming the shortest path Number of alternative layout points L =5, the number of available drones M =10, then the number of elements in the flight time set is 50.

[0107] Indicates m The available drones move from their initial position to the l The flight time of the alternative deployment points;

[0108] In order to reduce the calculation To reduce the difficulty and focus of the study, assuming that the UAVs have the same flight speed and not considering the dynamic characteristics of the UAVs, the shortest flight path from the initial position of the UAV to the alternative deployment point includes two situations:

[0109] 1. The shortest flight path is a line-of-sight path that does not cross any type of obstacles or threat coverage areas;

[0110] 2. A zigzag path that passes through other feasible deployment points due to terrain obstacles or enemy air defense threats on the line of sight path.

[0111] make , then the specific calculation steps for the flight time of all available drones from the initial position to the alternative deployment point are as follows:

[0112] If the shortest path from the initial position to the alternative deployment point of the available drone does not pass through the infeasible area, there is a line of sight path, which can be calculated using the Euclidean distance and the flight speed of the drone. ;

[0113] If the shortest path from the initial position of the available drone to the alternative deployment point passes through the infeasible area, there is no line of sight path, and the Dijkstra algorithm can be used to calculate the shortest arrival time from the initial position of the available drone to the alternative deployment point as .

[0114] That is, when calculating the flight time, the following constraints need to be considered:

[0115] The path that the relay drone flies from the initial position to the deployment point must avoid terrain obstacles and areas covered by enemy air defense threats:

[0116]

[0117]

[0118] in, Indicates the first The shortest path vector of each UAV from its initial position to the corresponding relay node.

[0119] S4. Delete the previous flight time in the collection L -1 element gets the set to be searched.

[0120] L The final layout points correspond to L flight time, even if they correspond to the smallest L flight time, and all drones arrive LThe minimum value of the deployment time of relay nodes must be greater than L -1 element corresponds to the flight time, so the first element in the flight time set L -1 element is definitely not a feasible solution. Before deletion L -1 element, which can narrow the enumeration range in subsequent solutions, thereby shortening the program solution time.

[0121] S5. According to the first element in the current set to be searched, a relay network construction solution generation model is constructed, and the relay network construction solution generation model is solved by a solver.

[0122] The elements of the current set to be searched are the flight times of all drones from the initial position to any relay deployment node in the shortest path, and the elements are arranged in ascending order. Therefore, the first element in the set is the shortest drone flight time in the set after deletion.

[0123] Specifically, in this embodiment, the objective function is to minimize the sum of the flight times of all deployed relay drones to the deployment point:

[0124]

[0125] And the constraints of shortest relay network construction time are taken into consideration:

[0126] a. Minimization constraint: that is, to ensure that the deployment time for all drones in the deployment plan to reach the relay node is less than or equal to h .

[0127]

[0128] b. Uniqueness constraint: During the relay node layout, the uniqueness constraint of the relay drone needs to be considered. M Available drones, L Each drone can deploy at most one deployment point, so m Each drone is not necessarily assigned to a deployment point.

[0129]

[0130] The constraint that a deployment point is deployed by only one drone:

[0131] in, h Indicates the value of the first element in the current collection to be searched;

[0132] M Indicates the number of available drones;

[0133] Indicatesm The drone arrived l The flight time required for each alternative deployment point;

[0134] =1 means l The alternative layout point is m Otherwise, =0.

[0135] In this model, there are not only integer variables, but also multiple sets of feasible node layouts in the region. At the same time, terrain obstacles and enemy air defense threat areas will also cause certain uncertainties in the results. Therefore, it is a mixed integer multi-objective optimization model that is difficult to solve.

[0136] The solver of this embodiment selects IBM ILOG CPLEX Optimization Studio V12.7.1 for solving.

[0137] S6. If there is a feasible solution after solving, save the drone selection plan and the maximum flight time of the drone corresponding to the current shortest path, and then execute S7; if there is no feasible solution after solving, delete the first element in the current set to be searched, and then return to S5.

[0138] S7. Select other shortest paths and return to S3 until all shortest paths are traversed. The drone selection plan corresponding to the smallest drone maximum flight time in all shortest paths is used as the relay network construction plan.

[0139] The relay network construction solution generation model is based on the first element of the current search set h , an integer programming model constructed under the constraints of minimization and uniqueness. Among them, h The value is obtained by arranging the flight time set of all available drones from the initial position to any relay deployment point of the currently selected shortest path in ascending order and assigning the values ​​in sequence. When CPLEX finds a feasible solution, the optimal relay communication network construction plan is obtained. If no feasible solution is found, the next element in the set is assigned to h , until CPLEX finds a feasible solution. This algorithm ensures that the first feasible solution obtained is the optimal solution to the optimization problem.

[0140] The working principle of this embodiment:

[0141] First, in view of the urgent need to build an effective communication link between nodes that cannot communicate in a battlefield environment, the present invention uses multiple UAVs as relay nodes and establishes a model based on integer linear programming.

[0142] The model constructed by the present invention is constructed according to actual conditions.

[0143] According to the actual situation, in the process of relay node layout, this model takes into account the safety of relay drones, that is, the security threat of terrain factors in the environment to drones. In battlefield environments, there are often enemy air defense coverage areas, so relay drones should also be avoided from being deployed in these areas. It is worth noting that wireless signals can often pass through these areas. In order to ensure the safety of drones and to ensure the continuous and reliable operation of relay links, first of all, the relay deployment points are required to avoid terrain obstacles and enemy air defense threat coverage areas. Secondly, the path of the relay drone flying from the initial position to the deployment point position must avoid terrain obstacles and enemy air defense threat coverage areas. The effectiveness constraint of the communication link is also taken into account: on the basis of node security, to ensure the normal functioning of the relay link, it is necessary to avoid the disconnection of the communication connection between any adjacent nodes in the relay link. This requires the existence of a line of sight path between any adjacent nodes. In addition, in the process of relay node layout, any drone can only be deployed at a unique deployment point.

[0144] Secondly, the above article constructs a sub-optimization problem model, that is, to determine h The model of the problem of quickly building a cooperative communication relay network for unmanned aerial vehicles under the value of is constructed. According to the sub-optimization problem model, the CPLEX mathematical programming solver is used to solve it. The present invention can give a certain h The optimal solution of the model under the value .

[0145] The sub-optimization problem model constructed by the present invention is a linear programming model, in which the minimization constraint in the model can ensure that the deployment time of all drones in the deployment plan to reach the relay node does not exceed h ; The uniqueness constraint can ensure that each drone has at most one deployment point, and one deployment point is deployed by only one drone; The objective function and the constraint conditions can ensure that the relay network construction time is the shortest and the sum of the flight time of all drones is the smallest. At the same time, the CPLEX mathematical programming solver is used to solve the problem, which can give a definite h The optimal solution of the sub-optimization model under the value.

[0146] Finally, the present invention is achieved by h Sort in ascending order and loop from small to large to find a feasible solution h* Since this optimization problem is to minimize the solution time, the elements in the flight time set are arranged from small to large to ensure that the first feasible solution obtained is the optimal solution to this optimization problem. h* . It can be proved by contradiction: Assume that there is a smaller feasible solution h’ ,but h’ < h* ,and h*The optimal solution is contradictory. Therefore, the assumption does not hold. That is, the feasible solution obtained for the first time is the optimal solution to this optimization problem.

[0147] In summary, for the situation where a UAV is used as a relay node to urgently build a relay link between two nodes, this model takes into account the communication distance, terrain obstacles and enemy air defense threat constraints, the effectiveness of the communication link, and the constraint that a UAV can only be deployed to one relay deployment point. In the case of emergency application, the model is constructed with the dual goals of minimizing the construction time and minimizing the sum of the flight time of all deployed relay UAVs to the deployment point. The method for quickly building a UAV cooperative communication relay network proposed in the present invention can not only ensure the shortest network construction time, but also minimize the sum of the flight time of all UAVs, which is in line with the actual situation and meets the battlefield decision-making needs.

[0148] Simulation experiment and result analysis

[0149] Experiments are conducted in simulation scenarios to verify the global optimality and local optimality of the algorithm. Figure 2 As shown in the figure, the battlefield area is 30km long and wide, the feasible node spacing is 2km, the maximum communication distance of the UAV is 8km, and the flight speed of the UAV is 50m / s. The black circular area represents terrain obstacles and enemy air defense threats, and the upward arrow represents the initial position of the UAV.

[0150] The initial position coordinates of the drone are shown in Table 1:

[0151] Table 1

[0152] Drones Coordinate x / m Coordinate y / m U1 28479 2271 U2 24054 28031 U3 29797 22881 U4 11989 3315 U5 21528 9047 U6 11264 16774 U7 1329 3004 U8 27479 1530 U9 17078 15928 U10 28597 24545

[0153] The center coordinates and coordinates of terrain obstacles and enemy air defense threats are shown in Table 2:

[0154] Table 2

[0155] threaten Center coordinate x / m Center coordinate y / m Radius / m Terrain obstacles 1 28517 5873 3000 Terrain Obstacle 2 1602 25645 4000 Air defense threats 12342 7844 3000

[0156] For this simulation scenario, the calculation process of the present invention is as follows: first, the battlefield area is discretized, and the discretized area is as follows: Figure 3 As shown;

[0157] Secondly, all the shortest paths are obtained, a total of 4 paths, and the corresponding number of relay drones required is 5 in total.

[0158] According to the first shortest path, the integer linear programming method is used to obtain the drone corresponding to each relay deployment node, and the obtained drone cooperative relay network is as follows: Figure 4 The construction time of this UAV cooperative relay network is 169.706s, which is the time when UAV 2 arrives at the relay deployment node.

[0159] According to the second shortest path, the integer linear programming method is used to obtain the drone corresponding to each relay deployment node, and the obtained drone cooperative relay network is as follows: Figure 5 The construction time of this UAV cooperative relay network is 169.706s, which is the time when UAV 2 arrives at the relay deployment node.

[0160] According to the third shortest path, the integer linear programming method is used to obtain the drone corresponding to each relay deployment node, and the obtained drone cooperative relay network is as follows: Figure 6 The construction time of this UAV cooperative relay network is 164.924s, which is the time when UAV 3 arrives at the relay deployment node.

[0161] According to the fourth shortest path, the integer linear programming method is used to obtain the drone corresponding to each relay deployment node, and the obtained drone cooperative relay network is as follows: Figure 7 The construction time of this UAV cooperative relay network is 164.924s, which is the time it takes UAV 3 to reach the relay deployment node.

[0162] After the calculation of the layout time of the four shortest paths is completed, the third and fourth shortest paths are compared to have the shortest layout time, and the total flight time of all drones in the third and fourth paths is the same. The shortest path that appears first, that is, the third path, is selected by default as the final result, and the relay network construction time is 164.924s. Specifically, the coordinates of each relay layout node and the corresponding drone and drone arrival time are shown in Table 3.

[0163] Table 3

[0164] Relay deployment node Coordinate x / m Coordinate y / m Support drones Spend time L1 4000 6000 U7 113.14 L2 10000 10000 U6 89.44 L3 14000 16000 U9 56.57 L4 20000 20000 U3 164.92 L5 24000 26000 U2 40.00

[0165] The following two existing algorithms are selected for comparison:

[0166] (1) Wu Gaofeng, Gao Xiaoguang, Fu Xiaowei. Modeling and optimization method for relay node deployment problem based on multiple UAVs[J]. Acta Aeronautica et Astronautics, 2017, 38(11): 241-253. (PTRPA)

[0167] (2) G. Wang, P. Cheng and H. Luo, "Fast Construction Algorithm ofCooperative Relay Network for Unmanned Aerial Vehicle," 2021 33rd ChineseControl and Decision Conference (CCDC), 2021, pp. 6869-6874, doi: 10.1109 / CCDC52312. 2021. 9602067. (Wang'algorithm)

[0168] The three algorithms are calculated in this simulation scenario, and the final layout results of the UAV cooperative relay network are shown in Table 4:

[0169] Table 4

[0170] Obviously, the method of the present invention is shorter in construction time and total flight time of all UAVs than the two existing algorithms.

[0171] Embodiment 2:

[0172] A computer-readable storage medium stores a computer program for quickly building a drone cooperative relay network, wherein the computer program enables a computer to execute the following steps:

[0173] S1. Discretize the target area based on the maximum communication distance of the UAV, and remove the discrete points in the infeasible area to obtain a set of feasible layout points;

[0174] S2. construct an undirected graph based on the communication link relationship of the feasible layout point set; and obtain a set of shortest paths from the source node to the target node based on the undirected graph; each of the shortest paths includes a number of candidate layout points;

[0175] S3, calculating the flight time of all available UAVs from the initial position to any candidate deployment point in any shortest path, and arranging them in ascending order to obtain a flight time set;

[0176] S4. Delete the previous flight time in the collection L -1 element gets the set to be searched; and L Represents the number of alternative layout points in any shortest path;

[0177] S5. Constructing a relay network construction solution generation model according to the first element in the current to-be-searched set, and solving the relay network construction solution generation model using a solver;

[0178] S6. If there is a feasible solution after solving, save the drone selection plan and the maximum flight time of the drone corresponding to the current shortest path, and then execute S7; if there is no feasible solution after solving, delete the first element in the current set to be searched, and then return to S5;

[0179] S7. Select other shortest paths and return to S3 until all the shortest paths are traversed. The drone selection plan corresponding to the smallest drone maximum flight time in all the shortest paths is used as the relay network construction plan.

[0180] Embodiment 3:

[0181] An electronic device, comprising:

[0182] one or more processors;

[0183] Memory; and

[0184] One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising steps for performing the following steps:

[0185] S1. Discretize the target area based on the maximum communication distance of the UAV, and remove the discrete points in the infeasible area to obtain a set of feasible layout points;

[0186] S2. construct an undirected graph based on the communication link relationship of the feasible layout point set; and obtain a set of shortest paths from the source node to the target node based on the undirected graph; each of the shortest paths includes a number of candidate layout points;

[0187] S3, calculating the flight time of all available UAVs from the initial position to any candidate deployment point in any shortest path, and arranging them in ascending order to obtain a flight time set;

[0188] S4. Delete the previous flight time in the collection L -1 element gets the set to be searched; L Represents the number of alternative layout points in any shortest path;

[0189] S5. Constructing a relay network construction solution generation model according to the first element in the current to-be-searched set, and solving the relay network construction solution generation model using a solver;

[0190] S6. If there is a feasible solution after solving, save the drone selection plan and the maximum flight time of the drone corresponding to the current shortest path, and then execute S7; if there is no feasible solution after solving, delete the first element in the current set to be searched, and then return to S5;

[0191] S7. Select other shortest paths and return to S3 until all the shortest paths are traversed. The drone selection plan corresponding to the smallest drone maximum flight time in all the shortest paths is used as the relay network construction plan.

[0192] It can be understood that the storage medium and electronic device for constructing the drone collaborative relay network provided in the embodiments of the present invention correspond to the above-mentioned method for constructing the drone collaborative relay network. The explanations, examples, beneficial effects, etc. of the relevant contents can refer to the corresponding contents in the method for constructing the drone collaborative relay network, and will not be repeated here.

[0193] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0194] This application uses multiple drones as relay nodes and proposes a method for quickly building a drone cooperative relay network based on multiple shortest path theories and integer linear programming methods. L -1 element, so that the enumeration range can be narrowed in the subsequent solution, thereby shortening the program solution time.

[0195] This application builds a relay network construction plan generation model to ensure that the deployment time of all drones in the deployment plan to reach the relay node does not exceed h ; and compared with existing algorithms, the relay network construction solution output by this application can not only ensure the shortest network construction time, but also ensure that the sum of the flight times of all drones is the shortest, which is in line with the actual situation and meets the battlefield decision-making needs.

[0196] It should be noted that, through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment. In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "includes", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0197] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing a UAV cooperative relay network, characterized in that: The method includes: S1. Discretize the target area based on the maximum communication distance of the UAV, and remove the discrete points in the infeasible area to obtain a set of feasible layout points; S2. construct an undirected graph based on the communication link relationship of the set of feasible layout points; and obtain a set of shortest paths from a source node to a target node based on the undirected graph; each of the shortest paths includes a number of candidate layout points; S3, calculating the flight time of all available UAVs from the initial position to any candidate deployment point in any shortest path, and arranging them in ascending order to obtain a flight time set; S4. Delete the first L-1 elements in the flight time set to obtain a to-be-searched set; and L represents the number of candidate arrangement points in any shortest path; S5. Constructing a relay network construction solution generation model according to the first element in the current to-be-searched set, and solving the relay network construction solution generation model using a solver; S6. If there is a feasible solution after solving, save the drone selection plan and the maximum flight time of the drone corresponding to the current shortest path, and then execute S7; if there is no feasible solution after solving, delete the first element in the current set to be searched, and then return to S5; S7, select other shortest paths and return to S3 until all the shortest paths are traversed, and then use the drone selection scheme corresponding to the smallest drone maximum flight time in all the shortest paths as the relay network construction scheme; The step of constructing a relay network construction scheme generation model according to the first element in the current set to be searched includes: The objective function is to minimize the sum of the flight times of all deployed relay drones to the deployment point: And the constraints of shortest relay network construction time are taken into consideration: S lm x lm ≤h Among them, h represents the value of the first element in the current set to be searched; M represents the number of available drones; S lm represents the flight time required for the mth UAV to reach the lth alternative deployment point; x lm =1 means that the lth candidate deployment point is deployed by the mth drone; otherwise, x lm =0; The solver adopts CPLEX mathematical programming solver.

2. The method for constructing a UAV cooperative relay network according to claim 1, characterized in that: The infeasible areas include: areas covered by terrain obstacles and areas covered by enemy air defense threats; The Euclidean distance between two adjacent feasible layout points in the set of feasible layout points is not greater than the maximum communication distance of the UAV.

3. The method for constructing a UAV cooperative relay network according to claim 1, characterized in that: The communication link relationship of the feasible arrangement point set is: C=[c ij ] (|X|+2)×(|X|+2) (0≤i,j≤|X|+1) in, |X| represents the number of feasible layout points in the feasible layout point set X; c ij =1, indicating a feasible layout point x i and x j There is a line of sight path between them and the distance is less than or equal to the maximum communication distance d of the UAV max Otherwise, c ij =0; x0 represents the source node s; x |X|+1 represents the target node t; And in the undirected graph G = (V, E, W): V = X∪{s,t}; And={and ij |c ij =1}(0≤i,j≤|X|+1); W={w ij =1|c ij =1}。 4. The method for constructing a UAV cooperative relay network according to claim 1, characterized in that: If there is a line of sight path between the available UAVs from the initial position to the alternative deployment point, the flight time is calculated using the Euclidean distance and the flight speed of the UAV; If there is no line of sight path between the available UAV's initial position and the alternative deployment point, the Dijkstra algorithm is used to calculate the shortest arrival time between the available UAV's initial position and the alternative deployment point as the flight time.

5. A computer-readable storage medium, characterized in that: It stores a computer program for quickly constructing a UAV cooperative relay network, wherein the computer program enables a computer to execute the method for constructing a UAV cooperative relay network as described in any one of claims 1-4.

6. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing a method for constructing a UAV cooperative relay network as described in any one of claims 1 to 4.

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