A real-time position adjustment method for relay drones used in ultra-short wave networking communications

Abstract

The purpose of the present invention is to provide a method for real-time position adjustment of relay drones used in ultra-short wave network communications. The method comprises: determining whether relay communication nodes are required between combat teams; if so, adjusting the number and position of relay communication drones based on the distance between the combat teams. The purpose of the present invention is to provide a method for real-time position adjustment of relay drones used in ultra-short wave network communications. This method is designed for the complex battlefield environment of urban warfare. Without changing communication equipment, it uses the method of real-time position adjustment of communication relay drones to achieve effective and stable information communication between combat teams, providing effective information support for command and combat.

Description

Technical Field

[0001] The present invention relates to the field of special communication technologies, and in particular to a method for real-time position adjustment of a relay drone used for ultra-short wave networking communications. Background Art

[0002] Ultra-short wave (UHF) communication radios not only feature a simple structure, high transmission stability, and minimal impact from seasonal and daytime fluctuations, but also facilitate frequency modulation and multi-channel communication, facilitating efficient, reliable, and secure communications. Therefore, leveraging the advantages of UHF communication technology, various models of UHF and UHF FM radios have been developed and deployed to army ground combat units worldwide, becoming the primary means of communication for ground combat personnel worldwide. Urban warfare is a typical battlefield for army ground combat units. Ground combat units are often divided into multiple combat teams, deployed in different streets or areas separated by blocks or tall buildings. Maintaining efficient, uninterrupted, and secure communications between combat teams, between forward and rear combat teams, and between combat teams and command posts is a fundamental requirement for urban operations. As a fundamental communication tool for ground combat units, UHF radios are designed for use in line-of-sight conditions. They often experience communication difficulties in obstructed urban environments. Even if two combat teams are in close proximity, effective communication may be impossible due to the obstruction of buildings. In order to improve communication effects and achieve effective communication between combat teams, it is beneficial for drones to establish relay communication nodes in the air, cross or avoid the obstruction or blockage of tall buildings in the city, and become an important choice for realizing urban ultra-short wave radio network communication.

[0003] Modern urban warfare is highly confrontational and random. Even if a careful combat plan is made before the war, it is still difficult to accurately predict the course of the battle and the specific locations of each combat team at different combat times due to the development and evolution of the enemy situation. The use of drones to establish aerial relay communication nodes faces great challenges.

[0004] In addition, if only a number of relatively fixed aerial relay communication nodes are built in the air, it will be difficult to adapt to the rapidly changing positions of combat teams, and efficient communication between combat teams and the entire combat unit cannot be guaranteed. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for real-time adjustment of the position of a relay drone for ultra-short wave networking communication. This method is aimed at the complex battlefield environment of urban combat. Without changing the communication equipment, the method of real-time adjustment of the position of a communication relay drone is used to achieve effective and stable information communication between each combat team, providing effective information support for command and combat.

[0006] The present invention proposes a method for real-time position adjustment of a relay drone for ultra-short wave networking communication, comprising:

[0007] Determine whether relay communication nodes are needed between combat teams;

[0008] If so, adjust the number and position of relay communication drones based on the distance between combat teams.

[0009] Preferably, the determining whether the combat team needs a relay communication node includes:

[0010] Determine whether there is line of sight between combat teams;

[0011] If so, determine whether the combat groups are connected. If the combat groups are connected, then no relay communication node is needed.

[0012] If not, relay communication nodes are required to adjust the number and position of relay communication drones according to the distance between combat teams.

[0013] Preferably, determining whether there is line of sight between combat teams specifically includes:

[0014] If and only if H 小组高差 / D 小组距离 ≥H 建低高差 / D 建低距离 When the two combat teams have visual communication, otherwise they have no visual communication. 小组高差 is the height difference between any two combat groups, H 建筑高差 D is the height difference between the building and the lowest altitude combat team, 小组距离 is the distance between any two combat groups, D 建低距离 The distance between the building and the combat team with the lowest altitude.

[0015] Preferably, the determining whether the combat group is connected further includes:

[0016] If the combat teams are not connected, relay communication nodes are required, and the number and position of relay communication drones should be adjusted according to the distance between the combat teams.

[0017] Preferably, if the combat teams are not connected, relay communication nodes are required, and the number and location of relay communication drones are adjusted according to the distance between the combat teams, specifically including:

[0018] When k<D 小组距离 When the distance is less than or equal to 2k, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams;

[0019] When D 小组距离 When the distance is greater than 2k, two relay communication drones are deployed to relay communications, and the position of one relay communication drone is adjusted according to the distance between the combat teams.

[0020] Wherein, k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two combat groups, Z H1 The building height above ground level.

[0021] Preferably, if not, a relay communication node is required to adjust the number and position of relay communication drones according to the distance between the combat teams, specifically including:

[0022] If the line of sight is not clear, when D 小组距离 ≤k and When the distance between the combat teams is less than 1 km, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams;

[0023] If the line of sight is not clear, when D 小组距离 ≤k and When , two relay communication drones are set up to relay communication, and the positions of the two relay communication drones are adjusted according to the distance between the combat teams; where k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups.

[0024] Preferably, if not, a relay communication node is required to adjust the number and position of relay communication drones according to the distance between the combat teams, specifically including:

[0025] If there is no line of sight, when k<D 小组距离 ≤2k and √k 2 -(D 小组距离 / 2) 2 ≤z Hl When ≤k, a relay communication drone is set up to relay communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams;

[0026] If there is no line of sight, when 2k<D 小组距离 <3k and When , two relay communication drones are set up to relay communication, and the positions of the two relay communication drones are adjusted according to the distance between the combat teams; where k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups.

[0027] A real-time position adjustment system for a relay drone for ultra-short wave networking communication, the system comprising:

[0028] The communication determination module is used to determine whether a relay communication node is needed between combat teams;

[0029] The adjustment module is used to adjust the number and position of relay communication drones according to the distance between the combat teams.

[0030] A computer device includes a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the method for real-time position adjustment of a relay drone for ultra-short wave networking communication is implemented.

[0031] A storage medium is a computer-readable storage medium that stores a computer program. When the program is executed by a processor, the processor executes the computer program stored in the memory to implement the above-mentioned method for real-time position adjustment of a relay drone for ultra-short wave networking communication.

[0032] This invention determines whether relay communication nodes are needed between combat teams; if so, it adjusts the number and position of relay communication drones based on the distance between the combat teams. Designed for the complex battlefield environment of urban warfare, this method utilizes real-time adjustment of the positions of communication relay drones to achieve effective and stable information communication between combat teams without changing communication equipment, providing effective information support for command and combat operations. This method also enables real-time calculation and dynamic adjustment of drone positions, ensuring the stability and effectiveness of information communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 This is a flow chart of a method for real-time position adjustment of a relay drone for ultra-short wave networking communication proposed by the present invention;

[0036] Figure 2 Another flow chart of a method for real-time position adjustment of a relay drone for ultra-short wave networking communication proposed by the present invention;

[0037] Figure 3 This is a diagram of an application scenario of a method for real-time position adjustment of a relay drone for ultra-short wave networking communication proposed by the present invention;

[0038] Figure 4 This is another application scenario diagram of the real-time position adjustment method for relay drones used for ultra-short wave networking communications proposed by the present invention. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments are combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] If only a number of relatively fixed aerial relay communication nodes are constructed in the air, it will be difficult to adapt to the rapidly changing positions of combat teams, and efficient communication between combat teams and entire combat units cannot be guaranteed. The present invention determines whether relay communication nodes are needed between combat teams; if so, the number and position of relay communication drones are adjusted according to the distance between the combat teams. Facing the complex battlefield environment of urban combat, without changing the communication equipment, the method of real-time adjustment of the position of communication relay drones is used to achieve effective and stable information communication between each combat team, providing effective information support for command operations; it realizes real-time calculation and dynamic adjustment of drone positions, ensuring the stability and effectiveness of information communication.

[0043] Example 1

[0044] The present invention proposes a method for real-time position adjustment of a relay drone for ultra-short wave network communication, referring to Figure 1-4 ,include:

[0045] Step 100, determining whether a relay communication node is required between combat teams;

[0046] Step 200, if yes, adjust the number and position of relay communication drones according to the distance between the combat teams.

[0047] This invention determines whether relay communication nodes are needed between combat teams; if so, it adjusts the number and position of relay communication drones based on the distance between the combat teams. Designed for the complex battlefield environment of urban warfare, this method utilizes real-time adjustment of the positions of communication relay drones to achieve effective and stable information communication between combat teams without changing communication equipment, providing effective information support for command and combat operations. This method also enables real-time calculation and dynamic adjustment of drone positions, ensuring the stability and effectiveness of information communication.

[0048] Preferably, step 100 is to determine whether the combat team needs a relay communication node, referring to Figure 2 , 3, 4, including:

[0049] Step 110, determining whether the combat teams have line of sight with each other;

[0050] Step 111: If yes, determine whether the combat groups are connected. If the combat groups are connected, then no relay communication node is required.

[0051] Step 113: If not, a relay communication node is required, and the number and position of relay communication drones are adjusted according to the distance between the combat teams.

[0052] Assume that the coordinate set of the ground buildings in the urban combat area is H = {H1(x H1 ,y H1 ,z H1 ),H2(x H2 ,y H2 ,z H2 ),…,H l (x Hl ,y Hl ,z Hl )}, the polyhedron formed is denoted as V 建筑 The effective communication distance of the ultra-short wave communication station is k kilometers, and the effective communication range is P i The area of ​​the sphere with the center as the sphere and the radius k as the sphere, the communication range is recorded as V i (i∈N + ); there are m combat teams (including command posts), denoted as E i (i∈N + ), each combat group carries an ultra-short wave communication radio, and the position of the i-th combat group at time t is recorded as P i (i∈N + ), whose coordinate set is P={P1(x P1 ,y P1 ,z P1 ),P2(x P2 ,y P2 ,z P2 ),…,Pm (x Pm ,y Pm ,z Pm )}; There are n relay communication drones, denoted as E j (j∈N + ), the maximum vertical distance from the ground is less than k kilometers, and the position of the j-th relay communication UAV at time t is recorded as Q i (i∈N + ), whose coordinate set is Q={Q1(x Q1 ,y Q1 ,z Q1 ),Q2(x Q2 ,y Q2 ,z Q2 ),…,Q m (x Qn ,y Qn ,z Qn )}; The coordinate system used in this paper is the Gauss-Krüger plane rectangular coordinate system. Therefore, if the coordinates of each group are geographic coordinates, their coordinates must be converted first. The conversion model is as follows:

[0053]

[0054] Where: ρ is the radius vector, λ is the longitude, is latitude;

[0055]

[0056]

[0057] Δλ=λ-λ0

[0058] α = 6378245 m (radius of the Earth)

[0059] e 2 =0.006693421 (Earth's flattening)

[0060] D=0.00000002081

[0061] A=1.0050517739

[0062] B=0.00506237764

[0063] C=0.00001062451

[0064] D=0.00000002081

[0065] After the above model transformation, the rectangular coordinates x and y of the group in the Gauss-Krüger plane can be obtained, and the height is the height z of the group.

[0066] Preferably, step 110, determining whether there is line of sight between the combat teams, specifically includes:

[0067] If and only if H 小组高差 / D 小组距离 ≥H 建低高差 / D 建低距离 When the two combat teams have visual communication, otherwise they have no visual communication. 小组高差 is the height difference between any two combat groups, H 建筑高差 D is the height difference between the building and the lowest altitude combat team, 小组距离 is the distance between any two combat groups, D 建低距离 The distance between the building and the combat team with the lowest altitude.

[0068] Specifically, calculate the distance between two groups (group a and group b, a, b∈i). The distance between any two groups is

[0069] Calculate the height difference between the two groups. The height difference between any two groups is H. 小组高差 =|z Pa -z Pb |.

[0070] Calculate the height difference between the building and the lowest elevation group, when z a <z b When H 建低高差 =|z Hl -z Pa |; When z a >z b When H 建低高差 =|z Hl -z Pb |.

[0071] Calculate the distance between the building (building c, c∈i) and the group with the lowest altitude. a <z b hour, When z a >z b hour,

[0072] To judge the visibility, if and only if H 小组高差 / D 小组距离 ≥H 建低高差 / D 建低距离 When , the two groups can see each other, otherwise they cannot see each other.

[0073] Preferably, after determining whether the combat group is connected in step 111, the following steps are further included:

[0074] Step 112: If the combat teams are not connected, relay communication nodes are required, and the number and position of relay communication drones are adjusted according to the distance between the combat teams.

[0075] Preferably, in step 112, if the combat teams are not connected, relay communication nodes are required, and the number and position of relay communication drones are adjusted according to the distance between the combat teams, specifically including:

[0076] When k<D 小组距离 When the distance is less than or equal to 2k, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams;

[0077] When D 小组距离 When the distance is greater than 2k, two relay communication drones are deployed to relay communications, and the position of one relay communication drone is adjusted according to the distance between the combat teams.

[0078] Wherein, k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups.

[0079] Specifically, if the line of sight is clear, when k<D 小组距离 When ≤2k, one drone is required for communication relay, and the communication relay drone is located at

[0080] If the line of sight is clear, when D 小组距离 When the height is >2k, two drones are required for communication relay. Drone and group angles The position of the drone is (x Pa sinθ,y Pa sinθ,ksinθ) and (x Pb sinθ,y Pb sinθ,ksinθ).

[0081] Preferably, in step 113, if not, the number and position of the relay communication drones are adjusted according to the distance between the combat teams, specifically including:

[0082] If the line of sight is not clear, when D 小组距离 ≤k and When the distance between the combat teams is less than 1 km, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams;

[0083] If the line of sight is not clear, when D 小组距离 ≤k and When , two relay communication drones are set up to relay communication, and the positions of the two relay communication drones are adjusted according to the distance between the combat teams; where k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups.

[0084] Specifically, if there is no line of sight, when D 小组距离 ≤k and When , a communication relay drone is required, and the drone position is

[0085] If the line of sight is not clear, when D 小组距离 ≤k and When , 2 communication relay drones are needed, and the drone height is Drone is a group angle The position of the drone is (x Pa sinθ,y Pa sinθ,z Pa ) and (x Pb sinθ,y Pb sinθ,z Pb ).

[0086] Preferably, in step 113, if not, the number and position of the relay communication drones are adjusted according to the distance between the combat teams, specifically including:

[0087] If there is no line of sight, when k<D 小组距离 ≤2k and When the distance between the combat teams is less than 1 km, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams;

[0088] If there is no line of sight, when 2k<D 小组距离 <3k and When , two relay communication drones are set up to relay communication, and the positions of the two relay communication drones are adjusted according to the distance between the combat teams; where k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups.

[0089] Specifically, if there is no line of sight, when k<D 小组距离 ≤2k and When , a communication relay drone is required, and the communication relay drone is located at

[0090] If there is no line of sight, when 2k<D 小组距离 <3k and When , 2 communication relay drones are needed, and the drone height is Drone is a group angle The position of the drone is (x Pa sinθ,y Pa sinθ,z Pa ) and (x Pb sinθ,y Pb sinθ,z Pb ).

[0091] Example 2

[0092] A real-time position adjustment system for a relay drone for ultra-short wave networking communication, the system comprising:

[0093] The communication determination module is used to determine whether a relay communication node is needed between combat teams;

[0094] The adjustment module is used to adjust the number and position of relay communication drones according to the distance between the combat teams.

[0095] This invention determines whether relay communication nodes are needed between combat teams; if so, it adjusts the number and position of relay communication drones based on the distance between the combat teams. Designed for the complex battlefield environment of urban warfare, this method utilizes real-time adjustment of the positions of communication relay drones to achieve effective and stable information communication between combat teams without changing communication equipment, providing effective information support for command and combat operations. This method also enables real-time calculation and dynamic adjustment of drone positions, ensuring the stability and effectiveness of information communication.

[0096] Example 3

[0097] This embodiment provides a computer device, including a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, it implements the above-mentioned method for real-time position adjustment of a relay drone for ultra-short wave networking communication.

[0098] Example 4

[0099] This embodiment provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the program is executed by a processor, the processor executes the computer program stored in the memory to implement the above-mentioned method for real-time position adjustment of a relay drone for ultra-short wave networking communication.

[0100] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features claimed herein.

Claims

1. A method for real-time position adjustment of a relay drone for ultra-short wave networking communication, characterized in that: include: Determine whether relay communication nodes are needed between combat teams; If so, adjust the number and position of relay communication drones based on the distance between the combat teams; Determining whether the combat team needs a relay communication node includes: Determine whether there is line of sight between combat teams; If so, determine whether the combat groups are connected. If the combat groups are connected, then no relay communication node is needed. If not, relay communication nodes are needed, and the number and position of relay communication drones are adjusted according to the distance between the combat teams; Determine whether there is line of sight between combat teams, including: If and only if When the two combat teams have visual communication, otherwise they have no visual communication. 小组高差 is the height difference between any two combat groups, H 建筑高差 D is the height difference between the building and the lowest altitude combat team, 小组距离 is the distance between any two combat groups, D 建低距离 The distance between the building and the combat team with the lowest altitude.

2. The method for real-time position adjustment of a relay drone for ultra-short wave networking communication according to claim 1, characterized in that: The step of determining whether the combat group is connected further includes: If the combat teams are not connected, relay communication nodes are required, and the number and position of relay communication drones should be adjusted according to the distance between the combat teams.

3. The method for real-time position adjustment of a relay drone for ultra-short wave network communication according to claim 2, characterized in that: If the combat teams are not connected, relay communication nodes are required, and the number and position of relay communication drones are adjusted according to the distance between the combat teams, including: when When the distance between the combat teams is less than 1 km, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams; when When the distance between the combat teams is too great, two relay communication drones are deployed to relay the communication, and the position of one relay communication drone is adjusted according to the distance between the combat teams. Wherein, k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two combat groups.

4. The method for real-time position adjustment of a relay drone for ultra-short wave network communication according to claim 1, characterized in that: If not, relay communication nodes are needed to adjust the number and position of relay communication drones according to the distance between combat teams, including: If you can't see through, and When the distance between the combat teams is less than 1 km, a relay communication drone is set up to relay the communication, and the position of the relay communication drone is adjusted according to the distance between the combat teams; If you can't see through, and When , two relay communication drones are set up to relay communication, and the positions of the two relay communication drones are adjusted according to the distance between the combat teams; where k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups, Z H1 The building height above ground level.

5. The method for real-time position adjustment of a relay drone for ultra-short wave network communication according to claim 1, characterized in that: If not, relay communication nodes are needed to adjust the number and position of relay communication drones according to the distance between combat teams, including: If you can't see through, and When , a relay communication drone is set up to relay communication. The position of the relay communication drone is adjusted according to the distance between the combat teams. ZH1 is the height of the ground building. If you can't see through, and When , two relay communication drones are set up to relay communication, and the positions of the two relay communication drones are adjusted according to the distance between the combat teams; where k is the effective communication distance of the ultra-short wave communication station; D 小组距离 is the distance between any two groups.

6. A computer device, characterized in that: The computer device comprises a processor and a memory for storing a program executable by the processor, and when the processor executes the program stored in the memory, the computer device performs the method according to any one of claims 1 to 5.

7. A storage medium, characterized in that: A program is stored, and when the program is executed by a processor, the processor performs the method according to any one of claims 1 to 5.

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