A UAV trajectory optimization and resource allocation method

Abstract

The present invention discloses a method for optimizing the trajectory of an unmanned aerial vehicle (UAV) and allocating resources, which belongs to the field of UAVs and is used to solve the problem of uneven power distribution among users when the UAV is flying. The method comprises the following steps: step S1: modeling the UAV trajectory optimization and resource allocation problem based on a UAV base station system; step S2: planning the power consumption parameters of the UAV serving each user and the flight time period, and selecting the data involved in the UAV during the flight time; step S3: comparing the power consumption values ​​of the flight trajectory and the user parameters within the same time period; step S4: optimizing the flight trajectory of the UAV and allocating resources to the user based on the compared parameter values. The present invention measures the flight trajectory within multiple sections of the same time, monitors the power consumption of the UAV connected to each user during flight, performs real-time monitoring, and obtains the optimal movement rate and flight altitude of the UAV during flight.

Description

Technical Field

[0001] The present invention belongs to the field of variable UAV trajectory optimization equipment, relates to UAV technology, and specifically provides a UAV trajectory optimization and resource allocation method. Background Art

[0002] Unmanned aerial vehicles (UAVs) have been widely used in military and civilian applications such as search and rescue, inspection, surveillance, and cargo transportation due to their low cost, high mobility, and on-demand deployment. In recent years, UAVs have also seen a growing number of practical applications in wireless communications, sparking significant interest among researchers. The use of UAVs as base station communications has been a hot topic of research in recent years. Compared to traditional fixed-location base stations, UAVs offer inherent advantages as base stations. Their flexible mobility allows for rapid, on-demand deployment, addressing communication issues in signal blind spots that are beyond the reach of fixed base stations.

[0003] In the existing technology, drones connect to multiple data accounts during flight. Because drones fly at different speeds, the power consumption of each user varies. The amount of power consumed by flying different trajectories at a certain altitude during the same time period varies. Drones are powered by battery panels, and their trajectory and power resources cannot be optimally allocated during flight. This results in wasteful use of drones and reduced flight time. To address this issue, we propose a drone trajectory optimization and resource allocation method. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a UAV trajectory optimization and resource allocation method.

[0005] The technical problems to be solved by the present invention are:

[0006] (1) Solved the problem that the power consumption of UAVs cannot be distributed according to their flight altitude and flight speed when they are in the air;

[0007] (2) Solved the problem that the trajectory of a drone cannot be optimized while it is flying in the air.

[0008] The purpose of the present invention can be achieved through the following technical solutions:

[0009] A method for optimizing UAV trajectory and allocating resources, comprising the following steps:

[0010] Step S1: Modeling the UAV trajectory optimization and resource allocation problem based on the UAV base station system;

[0011] Step S2: Plan the power consumption parameters of each user served by the drone and during the flight time period, and select the data involved in the drone's flight time;

[0012] Step S3: comparing the power consumption values ​​of the flight trajectory to the user parameters within the same time period;

[0013] Step S4: Based on the compared parameter values, the flight trajectory of the UAV is optimized and the user's resources are allocated.

[0014] Furthermore, in step S1, a drone base station is established. The drone base station includes a control center connected to the drone by wireless data, a support platform for placing the drone, a charging port for charging the drone, and a measurement system for measuring parameters of the drone. The control center includes a wireless output module, an information receiving module, a data processing module, a power monitoring module, a parameter allocation module, and a display module. The wireless output module and the information receiving module are wirelessly connected to the drone. The control center receives data information from the information receiving module and the measurement system. The data processing module processes the received data parameters. The control center allocates the power consumption parameters to each user through the parameter allocation module according to the parameter values ​​at the processing position, thereby optimizing the flight trajectory of the drone.

[0015] Furthermore, the measurement system includes a numerical selection unit, a numerical comparison unit and a numerical receiving unit. The positioning system on the UAV sends the position information to the control center. The control center converts the UAV position information into horizontal distance SJL and vertical distance CJL through the data processing module. The control center receives multiple horizontal distances converted from the position information, which are SJL1, SJL2, SJL3...SJLn, and the vertical distances are CJL1, CJL2, CJL3...CJLn. The numerical receiving unit receives the numerical information. The numerical comparison unit filters the maximum value Hmax and the minimum value Hmin of the vertical distance. The numerical selection unit selects the maximum value and the minimum value of the vertical distance, calculates the difference between the maximum value and the minimum value, and selects SJL1 and SJLn in the horizontal distance value. Then, in the T time period, SJL1 is SPLo and SJLn is SPLs. SJL1 and SJLn are calculated, and the numerical values ​​are measured, and the measured values ​​are transmitted to the data processing module.

[0016] Furthermore, in step S2, the total power consumption parameter value of each user is YDZ, the maximum flight altitude within the time T is HTmax, the minimum flight altitude within the time T is HTmin, the horizontal initial distance is SPLo, the horizontal end distance is SPLs, and the average flight speed within the time T is: The average horizontal flight speed during time T is: The distance moved in time T is The average moving speed of the moving distance Tl in the time T is

[0017] Furthermore, in step S2, there are multiple time periods, namely T1, T2, T3, ... Tn, T1 = T2 = T3, ... = Tn, and the moving distances Tl in the multiple time periods are calculated respectively, and the average moving rates TsL1, TsL2, TsL3 ... TsLn in the multiple time periods are calculated according to the moving distances. The control center sorts the power consumption values ​​corresponding to different average rates in the multiple time periods through the power monitoring module, and selects the value with the smallest total power consumption according to the total power consumption corresponding to different average rate values, and obtains the average rate TSLmin corresponding to the time period Tm with the least total power consumption, and the corresponding power consumption is YDZtm.

[0018] Furthermore, the control center displays the UAV's motion trajectory in the time period corresponding to the average rate with the lowest Tm power through the display module, calculates the distance ratio between the vertical height and the horizontal height during the movement in the time period, and adjusts the angle according to the obtained ratio of the vertical height to the horizontal height flight distance when the UAV ascends, allocates the power consumption parameters of each user in the time period, and compares the ratios of various UAV data.

[0019] Furthermore, during the Tm time period, the control center re-controls the horizontal movement of the drone based on the obtained average rate value to obtain the total power consumption YDZtmsp, and re-controls the vertical movement of the drone to obtain the total power consumption YDZtmcz. YDZtm, YDZtmsp, and YDZtmcz in the same time period are compared to determine which trajectory of the drone is most energy-saving when flying, select a suitable trajectory route, and optimize the original drone trajectory. The control center makes appropriate resource allocation for the power consumption of each user through the parameter allocation module.

[0020] Furthermore, the control center monitors the changes in power consumption at the highest flight altitude (HTmax) and the lowest flight altitude (HTmin) during the Tm time period through the power monitoring unit, and displays the power consumption at different altitudes through the display module to determine the power consumption of each user at the flight altitude. The power consumption of user a at altitude HT1 is YDZ1a, the power consumption of user b at altitude HT1 is YDZ1b, the power consumption of user c at altitude HT1 is YDZ1c..., and the power consumption of user s at altitude HT1 is YDZ1s. The total power consumption at HT2 is YDZht2 = YDZ2a + YDZ2b + YDZ2c +...YDZ2s. The total power consumption at HT1, HT2, HT3...HTn is thus calculated, the lowest power consumption altitude value is selected, and the appropriate flight altitude of the UAV is calculated.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention measures the flight trajectory of a drone over multiple periods of time to measure its flight speed. During flight, the power consumption of each user connected to the drone is monitored in real time. By comparing the power consumption of each user in each time period, the optimal movement speed and flight altitude of the drone are determined.

[0023] 2. The present invention sets up a control center to monitor the position information of the UAV in real time. The position information fed back by the UAV is converted into horizontal distance and altitude distance, and the movement speed is measured. The power consumption of different movement speeds in the same time period is measured, and the flight trajectory of the UAV is optimized according to the power consumption.

[0024] 3. The present invention calculates the sum of the power consumption of each user within multiple short flight times with the same duration, calculates the most energy-saving UAV flight trajectory, and makes appropriate resource allocation for the power consumption of each user. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0026] Figure 1 This is a block diagram of the control system of the present invention;

[0027] Figure 2 It is a diagram of the overall method steps of the present invention. DETAILED DESCRIPTION

[0028] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figure 1 and Figure 2 As shown, a method for optimizing UAV trajectory and allocating resources comprises the following steps:

[0030] Step S1: Modeling the UAV trajectory optimization and resource allocation problem based on the UAV base station system;

[0031] Step S2: Plan the power consumption parameters of each user served by the drone and during the flight time period, and select the data involved in the drone's flight time;

[0032] Step S3: comparing the power consumption values ​​of the flight trajectory to the user parameters within the same time period;

[0033] Step S4: Based on the compared parameter values, the flight trajectory of the UAV is optimized and the user's resources are allocated.

[0034] In step S1, a drone base station is established. The drone base station includes a control center connected to the drone by wireless data, a support platform for placing the drone, a charging port for charging the drone, and a measurement system for measuring parameters of the drone. The control center includes a wireless output module, an information receiving module, a data processing module, a power monitoring module, a parameter allocation module, and a display module. The wireless output module and the information receiving module are wirelessly connected to the drone. The control center receives data information from the information receiving module and the measurement system. The data processing module processes the received data parameters. The control center allocates the power parameters of each user through the parameter allocation module according to the parameter values ​​at the processing position, thereby optimizing the flight trajectory of the drone.

[0035] The measurement system includes a numerical selection unit, a numerical comparison unit and a numerical receiving unit. The positioning system on the UAV sends the position information to the control center. The control center converts the UAV position information into horizontal distance SJL and vertical distance CJL through the data processing module. The control center receives multiple horizontal distances converted from position information, which are SJL1, SJL2, SJL3...SJLn, and the vertical distances are CJL1, CJL2, CJL3...CJLn. The numerical receiving unit receives the numerical information. The numerical comparison unit screens the maximum value Hmax and the minimum value Hmin of the vertical distance. The numerical selection unit selects the maximum value and the minimum value of the vertical distance, calculates the difference between the maximum value and the minimum value, and selects SJL1 and SJLn in the horizontal distance value. Then, in the T time period, SJL1 is SPLo and SJLn is SPLs. SJL1 and SJLn are calculated, and the numerical values ​​are measured. The measured values ​​are transmitted to the data processing module.

[0036] In step S2, the total power consumption parameter of each user is YDZ, the maximum flight altitude within the time T is HTmax, the minimum flight altitude within the time T is HTmin, the horizontal initial distance is SPLo, the horizontal end distance is SPLs, and the average flight speed within the time T is: The average horizontal flight speed during time T is: The distance moved in time T is The average moving speed of the moving distance Tl in the time T is

[0037] In step S2, there are multiple time periods, namely T1, T2, T3, ... Tn, T1 = T2 = T3, ... = Tn, and the moving distances Tl in multiple time periods are calculated respectively. According to the moving distances, the average moving rates TsL1, TsL2, Ts L3 ... TsLn in multiple time periods are calculated. The control center sorts the power consumption values ​​corresponding to different average rates in multiple time periods through the power monitoring module. According to the total power consumption corresponding to different average rate values, the value with the smallest total power consumption is selected to obtain the average rate TSLmin corresponding to the time period Tm with the least total power consumption, and the corresponding power consumption is YDZtm.

[0038] The control center displays the UAV's motion trajectory during the time period corresponding to the average rate with the lowest Tm power consumption through the display module, calculates the distance ratio between the vertical height and the horizontal height during the movement during the time period, and adjusts the angle of the UAV according to the obtained ratio of the vertical height to the horizontal height flight distance when the UAV ascends. The power consumption parameters of each user in the time period are allocated, and the ratios of various UAV data are compared.

[0039] During the Tm time period, the control center re-controls the horizontal movement of the drone based on the obtained average rate value to obtain the total power consumption YDZtmsp, and re-controls the vertical movement of the drone to obtain the total power consumption YDZtmcz. By comparing YDZtm, YDZtmsp, and YDZtmcz in the same time period, it is determined which trajectory of the drone is most energy-saving when flying, and the appropriate trajectory route is selected to optimize the original drone trajectory. The control center makes appropriate resource allocation for the power consumption of each user through the parameter allocation module.

[0040] The control center monitors the changes in power consumption at the highest flight altitude (HTmax) and the lowest flight altitude (HTmin) during the Tm time period through the power monitoring unit, and displays the power consumption at different altitudes through the display module to judge the power consumption of each user at the flight altitude. The power consumption of user a at altitude HT1 is YDZ1a, the power consumption of user b at altitude HT1 is YDZ1b, the power consumption of user c at altitude HT1 is YDZ1c... and the power consumption of user s at altitude HT1 is YDZ1s. The total power consumption at HT2 is YDZht2 = YDZ2a + YDZ2b + YDZ2c +...YDZ2s. The total power consumption at HT1, HT2, HT3...HTn is calculated, the lowest power consumption altitude value is selected, and the appropriate flight altitude of the drone is calculated.

[0041] A method for optimizing the trajectory of a drone and allocating resources. When working, a drone base station is established. The drone base station includes a control center connected to the drone by wireless data, a support platform for placing the drone, which supports the drone during flight and landing, a charging port for charging the drone, and a measurement system for measuring the parameters of the drone. The measurement system includes a value selection unit, a value comparison unit, and a value receiving unit. The positioning system on the drone sends the position information to the control center, which converts the drone position information into a horizontal distance SJL and a vertical distance CJL through a data processing module. The control center The center receives the horizontal distance points and vertical distance converted from multiple position information, the numerical receiving unit receives the numerical information, the numerical comparison unit screens the maximum value Hmax and the minimum value Hmin of the vertical distance, the numerical selection unit selects the maximum value and the minimum value of the vertical distance, calculates the difference between the maximum value and the minimum value, measures the value, and transmits the measured value to the data processing module. The control center receives the data information of the information receiving module and the measurement system, the data processing module processes the received data parameters, and the control center allocates the power parameters to each user through the parameter allocation module according to the parameter values ​​at the processing point, so as to optimize the flight trajectory of the drone.

[0042] Plan the power consumption parameters of each user and flight time period of the drone service. Select the data involved in the drone's flight time. The total power consumption parameter value of each user is YDZ. The maximum flight altitude within T time is HTmax, the minimum flight altitude within T time is HTmin, the horizontal initial distance is SPLo, the horizontal end distance is SPLs, and the average flight speed at altitude within T time is: The average horizontal flight speed during time T is: The distance moved in time T is The average moving speed of the moving distance Tl in the time T is The power consumption of user a at height HT1 is YDZ1a, the power consumption of user b at height HT1 is YDZ1b, the power consumption of user c at height HT1 is YDZ1c... and the power consumption of user s at height HT1 is YDZ1s. Then the total power consumption at HT2 is YDZht2 = YDZ2a + YDZ2b + YDZ2c +...YDZ2s. From this, the total power consumption of each user at heights HT1, HT2, HT3...HTn can be calculated.

[0043] There are multiple time periods when a drone is flying, and the multiple time periods are T1, T2, T3, ... Tn, T1 = T2 = T3, ... = Tn, and the moving distances Tl in the multiple time periods are calculated respectively. According to the moving distances, the average moving speeds TsL1, TsL2, TsL3 ... TsLn in the multiple time periods are calculated. The control center sorts the power consumption values ​​corresponding to the different average speeds in the multiple time periods through the power monitoring module. According to the total power consumption corresponding to different average speed values, the value with the smallest total power consumption is selected, and the average speed TSLmin corresponding to the time period Tm with the least total power consumption is obtained, and the corresponding power consumption is YDZtm.

[0044] The control center displays the UAV's motion trajectory during the time period corresponding to the average rate with the lowest Tm power consumption through a display module, calculates the distance ratio between the vertical height and the horizontal height during the movement during the time period, and adjusts the angle of the UAV according to the obtained ratio of the vertical height to the horizontal height flight distance when the UAV ascends. The power consumption parameters of each user in the time period are allocated, and the ratios of various UAV data are compared. Based on the compared parameter values, the UAV's flight trajectory is optimized and the user's resources are allocated.

[0045] The above formulas are all dimensionless and numerically calculated. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions. The size of the weight coefficient and the proportional coefficient is to quantify each parameter to obtain a specific value, which is convenient for subsequent comparison. Regarding the size of the weight coefficient and the proportional coefficient, as long as it does not affect the proportional relationship between the parameter and the quantized value, it is fine.

[0046] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for optimizing UAV trajectory and allocating resources, characterized in that: The method comprises the following steps: Step S1: Modeling the UAV trajectory optimization and resource allocation problem based on the UAV base station system; Step S2: Plan the power consumption parameters of each user served by the drone and during the flight time period, and select the data involved in the drone's flight time; Step S3: comparing the power consumption values ​​of the flight trajectory to the user parameters within the same time period; Step S4: Optimizing the flight trajectory of the UAV and allocating user resources based on the compared parameter values; In step S1, a drone base station is established. The drone base station includes a control center connected to the drone by wireless data, a support platform for placing the drone, a charging port for charging the drone, and a measurement system for measuring parameters of the drone. The control center includes a wireless output module, an information receiving module, a data processing module, a power monitoring module, a parameter allocation module, and a display module. The wireless output module and the information receiving module are wirelessly connected to the drone. The control center receives data information from the information receiving module and the measurement system. The data processing module processes the received data parameters. The control center allocates the power consumption parameters of each user through the parameter allocation module according to the parameter values ​​at the processing position, thereby optimizing the flight trajectory of the drone. The measurement system includes a value selection unit, a value comparison unit and a value receiving unit. The positioning system on the UAV sends the position information to the control center. The control center converts the UAV position information into a horizontal distance SJL and a vertical distance CJL through a data processing module. The control center receives multiple horizontal distances converted from the position information, which are SJL1, SJL2, SJL3...SJLn, and the vertical distances are CJL1, CJL2, CJL3...CJLn. The value receiving unit receives the numerical information. The value comparison unit screens the maximum value Hmax and the minimum value Hmin of the vertical distance. The value selection unit selects the maximum value and the minimum value of the vertical distance, calculates the difference between the maximum value and the minimum value, and selects SJL1 and SJLn in the horizontal distance value. Then, in the T time period, SJL1 is SPLo and SJLn is SPLs. SJL1 and SJLn are calculated, and the numerical values ​​are measured. The measured values ​​are transmitted to the data processing module. In step S2, the total power consumption parameter of each user is YDZ, the maximum flight altitude within the time T is HTmax, the minimum flight altitude within the time T is HTmin, the horizontal initial distance is SPLo, the horizontal end distance is SPLs, and the average flight speed within the time T is: The average horizontal flight speed during time T is: The distance moved in time T is The average moving speed of the moving distance Tl in the time T is In the step S2, there are multiple time periods, namely T1, T2, T3, ... Tn, T1 = T2 = T3, ... = Tn, and the moving distances Tl in the multiple time periods are calculated respectively. According to the moving distances, the average moving rates TsL1, TsL2, TsL3 ... TsLn in the multiple time periods are calculated. The control center sorts the power consumption values ​​corresponding to different average rates in the multiple time periods through the power monitoring module. According to the total power consumption corresponding to different average rate values, the value with the smallest total power consumption is selected to obtain the average rate TSLmin corresponding to the time period Tm with the least total power consumption, and the corresponding power consumption is YDZtm.

2. The method for optimizing the trajectory of a UAV and allocating resources according to claim 1, wherein: The control center displays the UAV's motion trajectory during the time period corresponding to the average rate with the lowest Tm power consumption through the display module, calculates the distance ratio between the vertical height and the horizontal height during the movement during the time period, and adjusts the angle of the UAV according to the obtained ratio of the vertical height to the horizontal height flight distance when the UAV ascends. The power consumption parameters of each user in the time period are allocated, and the ratios of various UAV data are compared.

3. The method for optimizing the trajectory of a UAV and allocating resources according to claim 2, wherein: During the Tm time period, the control center re-controls the horizontal movement of the drone based on the obtained average rate value to obtain the total power consumption YDZtmsp, and re-controls the vertical movement of the drone to obtain the total power consumption YDZtmcz. YDZtm, YDZtmsp, and YDZtmcz in the same time period are compared to determine which trajectory of the drone is most energy-saving when flying, select a suitable trajectory route, and optimize the original drone trajectory. The control center uses the parameter allocation module to make appropriate resource allocation for the power consumption of each user.

4. The method for optimizing the trajectory of a UAV and allocating resources according to claim 3, wherein: The control center monitors the changes in power consumption at the highest flight altitude (HTmax) and the lowest flight altitude (HTmin) during the Tm time period through the power monitoring unit, and displays the power consumption at different altitudes through the display module to judge the power consumption of each user at the flight altitude. The power consumption of user a at altitude HT1 is YDZ1a, the power consumption of user b at altitude HT1 is YDZ1b, the power consumption of user c at altitude HT1 is YDZ1c... and the power consumption of user s at altitude HT1 is YDZ1s. The total power consumption at HT2 is YDZht2 = YDZ2a + YDZ2b + YDZ2c +...YDZ2s. The total power consumption at HT1, HT2, HT3...HTn is calculated, the lowest power consumption altitude value is selected, and the appropriate flight altitude of the drone is calculated.

Images