Method, system and terminal for keeping connectivity of multiple stratospheric airships in dynamic wind field

Abstract

The invention discloses a multi-stratosphere airship connectivity keeping method and system in a dynamic wind field and a terminal. The method comprises the steps that airship information is acquired, an airship coordinate system is constructed, and an airship incidence relation is determined; constructing a target potential field, a repulsion potential field, a communication potential field and a compensation potential field, constructing a flight route, and adding link weights; obtaining a space state variable according to the link weight, and converting the space state variable into a space-time state variable; and adding a preset weight into the space-time state variable to obtain a balance function so as to monitor the connection state of the airship. According to the method, the hybrid artificial potential field and the balance function are constructed, algebraic connectivity is flexibly kept, connectivity between the airships is kept stable, meanwhile, stability of the formation distance and smooth communication network connection are kept through a double-layer control frame, influences caused by external interference are reduced, flight control and coordination benefits between the airships are improved, and the method is suitable for large-scale popularization and application. And the execution efficiency of complex tasks and the real-time processing and transmission capability of data are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a method, system, terminal and computer-readable storage medium for maintaining connectivity of multi-stratospheric airships in a dynamic wind field. Background Art

[0002] A stratospheric airship is an unmanned or manned aircraft that can stay in the stratosphere for a long time and perform various tasks. It uses the principle of buoyancy and is provided by a gas bag filled with light gas (such as helium or hydrogen). It is usually powered and controlled by solar cells, fuel cells or other renewable energy sources.

[0003] In existing research, most studies have focused on solving the control problem of reaching the target point, such as the coverage control of the target area by the multi-stratospheric airship system, and the tracking control of dynamic targets. However, in actual application scenarios, due to the lack of control strategy during the flight of the multi-stratospheric airship system, the distance between the airships is too large, exceeding the communication range, and the stratospheric airships lose contact with each other.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, system, terminal and computer-readable storage medium for maintaining connectivity of multi-stratospheric airships in a dynamic wind field, aiming to solve the problems in the prior art of crossing a no-fly zone, unstable communication and loss of connection of some airships during the flight of an airship cluster to a deployment point.

[0006] To achieve the above object, the present invention provides a method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, the method comprising the following steps:

[0007] Acquire airship information of all target airships, construct an airship coordinate system of each target airship according to the airship information, and determine an airship association relationship between all target airships according to each of the airship coordinate systems;

[0008] Constructing a plurality of target potential fields and a plurality of repulsive potential fields according to each of the airship coordinate systems, and constructing a plurality of connected potential fields according to the airship association relationship;

[0009] Constructing a plurality of compensation potential fields, constructing a flight route for each of the target airships according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and constructing link weights corresponding to the plurality of flight routes according to the airship association relationship;

[0010] According to all the flight routes and the link weights corresponding to the flight routes, spatial state variables of all target airships are obtained, and the spatial state variables are converted into spatiotemporal state variables;

[0011] The preset weight is added to the spatiotemporal state variable to obtain a balance function, and the connection status of all target airships is detected by the balance function. If the connection status is abnormal, the link weight is adjusted in real time.

[0012] Optionally, the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the acquiring of airship information of all target airships, constructing an airship coordinate system of each target airship according to the airship information, and determining an airship association relationship between all target airships according to each of the airship coordinate systems, specifically includes:

[0013] Acquire the airship information of all target airships, and construct multiple airship coordinate systems according to the airship information, wherein each of the airship coordinate systems takes the center of mass of the main sphere of the corresponding target airship as the origin, takes the horizontal direction forward as the horizontal axis, takes the horizontal direction rightward as the vertical axis, and takes the vertical direction downward as the vertical axis;

[0014] According to the plurality of airship coordinate systems, the power state of each airship is constructed:

[0015]

[0016] Among them, m i represents the mass of airship i, represents the acceleration of airship i, F1 and F2 are the thrusts on the left and right propellers of the target airship, h represents the damping coefficient, represents the linear velocity of airship i, I i represents the moment of inertia of airship i, represents the rotational angular acceleration of airship i, D i represents the distance between the motor of airship i and the center of mass of the main sphere;

[0017] According to the plurality of power states, an airship association relationship is established between each of the target airships and other target airships.

[0018] Optionally, the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the steps of constructing multiple target potential fields and multiple repulsive potential fields according to each of the airship coordinate systems, and constructing multiple connected potential fields according to the airship association relationships, specifically include:

[0019] According to each of the airship coordinate systems, a target potential field and a repulsive potential field corresponding to each of the target airships are constructed:

[0020] V i t =‖dit ‖ 2 ;

[0021]

[0022] V i a =1 / (‖d io ‖-r) 2 ;

[0023]

[0024] Among them, V i t represents the target potential field of airship i, d it represents the relative distance between airship i and the target position, represents the acceleration of airship i, x t Represents the target position center point vector, V i a represents the repulsive potential field of airship i, d io represents the distance between airship i and the center of the no-fly zone, r represents the radius of the no-fly zone, x o Represents the center point vector of the no-fly zone;

[0025] A graphical model is constructed according to the airship association relationship, the position vectors of all the target airships are input into the graphical model, and the connected potential field between different target airships is output:

[0026]

[0027] Among them, V ij C represents the connected potential field between airship i and airship j, x ij represents the distance vector between airship i and airship j, s represents the expected distance between the two airships, represents the algebraic connectivity of the graph model, represents the connection threshold, C represents the maximum expected distance between airships, and 1, g2, and g3 represent the preset parameters in the connectivity potential field, respectively.

[0028] Optionally, the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the constructing of a compensation potential field, constructing a flight route for each airship according to a plurality of the target potential fields, a plurality of the repulsive potential fields, a plurality of the connected potential fields and a plurality of the compensation potential fields, and constructing link weights corresponding to a plurality of flight routes according to the airship association relationship, specifically comprises:

[0029] According to the speed differences of all target airships, a compensation potential field corresponding to each target airship is constructed;

[0030] According to the plurality of target potential fields, the plurality of repulsive potential fields, the plurality of connected potential fields and the plurality of compensating potential fields, a flight route of each target airship is constructed, and link weights corresponding to the plurality of flight routes are constructed according to the airship association relationship:

[0031] F i =-(grad(V i t )+grad(V i a ))-∑ j∈N grad(V ij C )-∑ j∈N a ij (p i -p j );

[0032]

[0033] Among them, grad() represents the gradient function, F i represents the flight direction of airship i, V i t represents the target potential field of airship i, V i a represents the repulsive potential field of airship i, V ij C represents the connected potential field between airship i and airship j, a ij Indicates flight route F i The link weight of N represents the set of all target airships, p i and p j represent the flight speeds of airship i and airship j respectively, x ij represents the distance vector between airship i and airship j, C represents the maximum expected distance between target airships, and τ represents the position change parameter of airship i and airship j during flight.

[0034] Optionally, the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the step of obtaining spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and converting the spatial state variables into spatiotemporal state variables, specifically includes:

[0035] According to all the flight routes and the link weights corresponding to the flight routes, the spatial state variables of all target airships are constructed:

[0036]

[0037] Among them, X represents the spatial state variables of all target airships, x, and They represent the displacement, linear velocity and linear acceleration of the target airship in the horizontal direction, y, and They represent the displacement, linear velocity and linear acceleration of the target airship in the longitudinal direction, θ, and represents the angle, angular velocity and angular acceleration of the target airship, respectively; F represents the thrust of the airship propeller; f(x, F) represents the spatial state variable of the airship; F1 and F2 represent the thrust of the left and right propellers of the target airship, respectively; Δt represents the sampling time; W x and W y denote the wind speed disturbance in the horizontal and vertical directions, respectively; D denotes the distance between the motor of the target airship and the center of mass of the main sphere; I denotes the moment of inertia of the target airship; m denotes the mass of the target airship; and k denotes a discrete time point;

[0038] The spatial state variables are converted into discrete-time spatiotemporal state variables by the zero-order hold method:

[0039]

[0040]

[0041] Among them, A represents the system matrix, B represents the input matrix, D represents the distance between the motor of the target airship and the center of mass of the main sphere, and X k+1 represents the space-time state variable at discrete time k+1, X k represents the space-time state variable at discrete time k, F k represents the thrust of the airship propeller at discrete time k.

[0042] Optionally, in the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, the preset weights include a first preset weight, a second preset weight, and a third preset weight;

[0043] The step of adding the preset weight to the spatiotemporal state variable to obtain a balance function, detecting the connection status of all target airships by using the balance function, and adjusting the link weight in real time if the connection status is abnormal, specifically includes:

[0044] respectively calculating a first actual trajectory, a second actual trajectory, a first predicted trajectory, and a second predicted trajectory of the target airship before and after a certain time point in the entire flight trajectory;

[0045] respectively calculating the difference between the first actual trajectory and the first predicted trajectory, and the difference between the second actual trajectory and the second predicted trajectory to obtain a first difference and a second difference;

[0046] Adding the first preset weight to the first difference, and adding the second preset weight and the third preset weight to the second difference, to obtain a balancing function;

[0047] The connection status between all target airships is detected through the balance function. If the connection status is abnormal, the link weights between the target airships in the corresponding airship association relationship are adjusted in real time.

[0048] Optionally, the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the step of adding the first preset weight to the first difference, and adding the second preset weight and the third preset weight to the second difference to obtain a balance function, specifically includes:

[0049]

[0050] Where J represents the balance function, M represents the entire set of discrete time points during the predicted airship flight, k represents the kth discrete time point in M, and R k+m represents the first predicted trajectory, Y k+M represents the first actual trajectory, T represents transpose, q represents the qth discrete time point in M, Q1 represents the first preset weight, R k+q represents the second predicted trajectory, Y k+q represents the second actual trajectory, Q2 represents the second preset weight, ΔL ++q represents the second difference, and Q3 represents the third preset weight.

[0051] In addition, to achieve the above-mentioned purpose, the present invention further provides a system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field comprises:

[0052] An airship association module, used to obtain airship information of all target airships, construct an airship coordinate system of each target airship according to the airship information, and determine the airship association relationship between all target airships according to each of the airship coordinate systems;

[0053] A potential field construction module, used to construct a plurality of target potential fields and a plurality of repulsive potential fields according to each of the airship coordinate systems, and to construct a plurality of connected potential fields according to the airship association relationship;

[0054] A route construction module, used to construct a plurality of compensation potential fields, construct a flight route of each target airship according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and construct a plurality of link weights according to the airship association relationship;

[0055] A state construction module, used to obtain the spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and convert the spatial state variables into spatiotemporal state variables;

[0056] The weight adjustment module is used to add the preset weight to the spatiotemporal state variable to obtain a balance function, and detect the connection status of all target boats through the balance function. If the connection status is abnormal, the link weight is adjusted in real time.

[0057] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, which is stored in the memory and can be run on the processor, and when the program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field is executed by the processor, the steps of the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field as described above are implemented.

[0058] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, and when the program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field is executed by a processor, the steps of the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field as described above are implemented.

[0059] In the present invention, the airship information of all target airships is obtained, the airship coordinate system of each target airship is constructed according to the airship information, and the airship association relationship between all target airships is determined according to each of the airship coordinate systems; multiple target potential fields and multiple repulsion potential fields are constructed according to each of the airship coordinate systems, and multiple connection potential fields are constructed according to the airship association relationship; multiple compensation potential fields are constructed, and the flight route of each target airship is constructed according to the multiple target potential fields, the multiple repulsion potential fields, the multiple connection potential fields and the multiple compensation potential fields, and the link weights corresponding to the multiple flight routes are constructed according to the airship association relationship; the spatial state variables of all target airships are obtained according to all the flight routes and the link weights corresponding to the flight routes, and the spatial state variables are converted into spatiotemporal state variables; the preset weights are added to the spatiotemporal state variables to obtain a balance function, and the connection status of all target airships is detected by the balance function, and if the connection status is abnormal, the link weights are adjusted in real time. The present invention constructs a hybrid artificial potential field and a balance function to flexibly maintain algebraic connectivity, so that the connectivity between airships remains stable. At the same time, a double-layer control framework is used to maintain the stability of the formation distance, the smooth connection of the communication network and reduce the impact of external interference, thereby improving the flight control and coordination efficiency between multiple airships, and improving the execution efficiency of complex tasks and the real-time data processing and transmission capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a flow chart of a preferred embodiment of a method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field of the present invention;

[0061] Figure 2 It is a schematic diagram of an airship of a preferred embodiment of a system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field of the present invention;

[0062] Figure 3 It is a flight schematic diagram of a preferred embodiment of the multi-stratospheric airship connectivity maintenance system in a dynamic wind field of the present invention;

[0063] Figure 4 It is a schematic diagram of the principle of a preferred embodiment of the multi-stratospheric airship connectivity maintenance system in a dynamic wind field of the present invention;

[0064] Figure 5 Schematic diagram of the operating environment of a preferred embodiment of the terminal of the present invention. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0066] The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to a preferred embodiment of the present invention is as follows: Figure 1 As shown, the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field comprises the following steps:

[0067] Step S10: acquiring airship information of all target airships, constructing an airship coordinate system of each target airship according to the airship information, and determining an airship association relationship between all target airships according to each of the airship coordinate systems.

[0068] Among them, the target airships include stratospheric airships, which are unmanned or manned aircraft that can stay in the stratosphere (approximately 18 to 50 kilometers altitude) for a long time and perform various tasks. Therefore, their coverage is much greater than that of traditional aircraft. They use the principle of buoyancy and are provided with lift by airbags filled with lightweight gases (such as helium or hydrogen). They are usually powered and controlled by solar cells, fuel cells or other renewable energy sources. Their construction and launch costs are relatively lower than satellites, and they can be reused and have lower maintenance costs. They can provide services at lower altitudes with less delays.

[0069] Specifically, the airship information of all target airships is obtained, and a plurality of airship coordinate systems are constructed according to the airship information, wherein each of the airship coordinate systems takes the center of mass of the main sphere of the corresponding target airship as the origin, takes the horizontal direction forward as the horizontal axis, takes the horizontal direction rightward as the vertical axis, and takes the vertical direction downward as the vertical axis; and the power state of each airship is constructed according to the plurality of airship coordinate systems:

[0070]

[0071] Among them, m i represents the mass of airship i, represents the acceleration of airship i, F1 and F2 are the thrusts on the left and right propellers of the target airship, h represents the damping coefficient, represents the linear velocity of airship i, I i represents the moment of inertia of airship i, represents the rotational angular acceleration of airship i, D i Represents the distance between the motor of airship i and the center of mass of the main sphere; and according to the plurality of power states, establishes an airship association relationship between each of the target airships and other target airships.

[0072] After obtaining the airship information of all target airships, the airship coordinate system of each target airship is constructed, such as Figure 2 As shown, the airship coordinate system is constructed with the center of mass of the main sphere of each target airship as the origin, the horizontal forward as the horizontal axis, the horizontal rightward as the vertical axis, and the vertical downward as the vertical axis; and in the case of the rigid structure of the target airship and ignoring the aerodynamic characteristics of the main sphere, the power state of each target airship can be calculated according to each airship coordinate system, and then the initial distribution position of the stratospheric airship cluster can be determined according to the power state of each target airship.

[0073] Step S20: construct multiple target potential fields and multiple repulsive potential fields according to each of the airship coordinate systems, and construct multiple connected potential fields according to the airship association relationship.

[0074] Among them, by constructing a hybrid artificial potential field to guide the stratospheric airship cluster to asymptotically achieve stable cluster movement with preserved connectivity, so as to provide stable broadband Internet access and mobile communication services and avoid the loss of connection of the airship cluster during operation.

[0075] Specifically, according to each of the airship coordinate systems, a target potential field and a repulsive potential field corresponding to each of the target airships are constructed:

[0076]

[0077] Among them, V i t represents the target potential field of airship i, d itrepresents the relative distance between airship i and the target position, represents the acceleration of airship i, x t Represents the target position center point vector, V i a represents the repulsive potential field of airship i, d io represents the distance between airship i and the center of the no-fly zone, r represents the radius of the no-fly zone, x o represents the center point vector of the no-fly zone; constructing a graph model according to the airship association relationship, inputting the position vectors of all the target airships into the graph model, and outputting the connected potential field between different target airships:

[0078]

[0079] Among them, V ij C represents the connected potential field between airship i and airship j, x ij represents the distance vector between airship i and airship j, s represents the expected distance between the two airships, represents the algebraic connectivity of the graph model, represents the connection threshold, C represents the maximum expected distance between airships, and 1, g2, and g3 represent the preset parameters in the connectivity potential field, respectively.

[0080] Among them, for each target airship, a corresponding target potential field, a repulsive potential field and a connected potential field are constructed. Through the target potential field, the corresponding target airship can be guided to reach the target area at the shortest possible distance. Through the repulsive potential field, the airship can be guided to avoid the no-fly zone in the path to avoid communication instability and external interference. Through the connected potential field, the connection stability between the target airships can be maintained. The hybrid artificial potential field constructed by using the target potential field, the repulsive potential field and the connected potential field can effectively improve the accuracy of flight control and coordination between multiple airships, effectively avoid collisions of airship clusters and ensure that the mission can be executed efficiently, and can provide effective guarantee for the large amount of data communication and processing capabilities required by the airship cluster during the mission.

[0081] Furthermore, for the connected potential field between the target airships, a graph model can be constructed based on gravity. As long as the algebraic connectivity in the graph model is greater than 0, the target airships can be guaranteed to be connected. Therefore, during the execution of the mission by the airship cluster, the algebraic connectivity can be kept greater than 0.

[0082] Step S30, constructing a plurality of compensation potential fields, constructing a flight route for each of the target airships according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and constructing link weights corresponding to the plurality of flight routes according to the airship association relationship.

[0083] Furthermore, in addition to the above-mentioned target potential field, repulsive potential field and connected potential field, the artificial mixed potential field constructed in this paper also adds a compensation potential field to each target airship to guide the speed of each target airship, ensure that the speed of the airship cluster is aligned and maintain the distance stability between the target airships. In this way, the artificial mixed potential field constructed by the target potential field, repulsive potential field, connected potential field and compensation potential field can simulate the flight route of each target airship from its actual area to the target area, and, as Figure 3 As shown, the simulated flight route can keep the distance between the airship clusters stable when encountering a no-fly zone.

[0084] Specifically, according to the speed difference of all target airships, a compensation potential field corresponding to each target airship is constructed; according to a plurality of the target potential fields, a plurality of the repulsive potential fields, a plurality of the connected potential fields and a plurality of the compensation potential fields, a flight route of each target airship is constructed, and according to the airship association relationship, link weights corresponding to a plurality of flight routes are constructed:

[0085]

[0086] Among them, grad() represents the gradient function, F i represents the flight direction of airship i, V i t represents the target potential field of airship i, V i a represents the repulsive potential field of airship i, V ij C represents the connected potential field between airship i and airship j, a ij Indicates flight route F i The link weight of N represents the set of all target airships, p i and p j represent the flight speeds of airship i and airship j respectively, x ij represents the distance vector between airship i and airship j, C represents the maximum expected distance between target airships, and τ represents the position change parameter of airship i and airship j during flight.

[0087] Among them, F i Indicates a direction, each cycle towards F i Take a small step in the direction of the target area, and each small step in the cycle is connected together to form the flight route of airship i. After simulating the flight route of each target airship from its actual area to the target area using the artificial mixed potential field constructed by the target potential field, the repulsive potential field, the connected potential field and the compensation potential field, it is also necessary to ensure the stability of communication between the target airships, especially when crossing the no-fly zone. A link weight can be assigned between the links of each target airship.

[0088] Step S40: obtaining the spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and converting the spatial state variables into spatiotemporal state variables.

[0089] Specifically, according to all the flight routes and the link weights corresponding to the flight routes, the spatial state variables of all target airships are constructed:

[0090]

[0091] Among them, X represents the spatial state variables of all target airships, x, and They represent the displacement, linear velocity and linear acceleration of the target airship in the horizontal direction, y, and They represent the displacement, linear velocity and linear acceleration of the target airship in the longitudinal direction, θ, and represents the angle, angular velocity and angular acceleration of the target airship, respectively; F represents the thrust of the airship propeller; f(x, F) represents the spatial state variable of the airship; F1 and F2 represent the thrust of the left and right propellers of the target airship, respectively; Δt represents the sampling time; W x and W y Respectively represent the wind speed disturbance in the horizontal and vertical directions, D represents the distance between the motor of the target airship and the center of mass of the main sphere, I represents the moment of inertia of the target airship, m represents the mass of the target airship, and k represents a discrete time point; the spatial state variable is converted into a discrete time space-time state variable by the zero-order hold method:

[0092]

[0093] Among them, A represents the system matrix, B represents the input matrix, D represents the distance between the motor of the target airship and the center of mass of the main sphere, and X k+1 represents the space-time state variable at discrete time k+1, X k represents the space-time state variable at discrete time k, F k represents the thrust of the airship propeller at discrete time k.

[0094] Among them, the spatial state variables provide all the dynamic information of the stratospheric airship cluster. For a fully observed system, the spatial state variables can uniquely determine the situation of the system at any moment. That is, by knowing the state variables at the current moment, the state and output of all future moments can be predicted through the system model. The spatial state variables are used to describe the state of each target airship in the stratospheric airship cluster. By understanding the state of each target airship, the future evolution of the entire stratospheric airship cluster can be predicted, thereby formulating an optimized control strategy to ensure that the stratospheric airship cluster maintains a stable formation distance, unobstructed communication network connection, and reduces the impact of external interference, avoiding the loss of connection of a single airship.

[0095] Step S50: Add the preset weight to the spatiotemporal state variable to obtain a balance function, detect the connection status of all target airships through the balance function, and adjust the link weight in real time if the connection status is abnormal.

[0096] In order to ensure that the stratospheric airship cluster remains on the flight trajectory, the present invention constructs a balance function to ensure that the system tracks the flight trajectory while minimizing the overall control work on the stratospheric airship cluster.

[0097] Specifically, the adding of preset weights to the spatiotemporal state variables to obtain a balance function, detecting the connection status of all target airships by means of the balance function, and adjusting the link weights in real time if the connection status is abnormal, specifically includes: respectively calculating a first actual trajectory, a second actual trajectory, a first predicted trajectory, and a second predicted trajectory of the target airship before and after a certain time point in the entire flight trajectory; respectively calculating the difference between the first actual trajectory and the first predicted trajectory, and between the second actual trajectory and the second predicted trajectory to obtain a first difference and a second difference; adding the first preset weight to the first difference, and adding the second preset weight and the third preset weight to the second difference to obtain a balance function; detecting the connection status between all target airships by means of the balance function, and adjusting the link weights between the target airships in the corresponding airship association relationship in real time if the connection status is abnormal.

[0098] Further, Where J represents the balance function, M represents the entire set of discrete time points during the predicted airship flight, k represents the kth discrete time point in M, and R k+M represents the first predicted trajectory, Y k+M represents the first actual trajectory, T represents transpose, q represents the qth discrete time point in M, Q1 represents the first preset weight, R k+q represents the second predicted trajectory, Y k+q represents the second actual trajectory, Q2 represents the second preset weight, ΔLk+q represents the second difference, and Q3 represents the third preset weight.

[0099] Among them, the process of adding the preset weight to the spatiotemporal state variable can be implemented in two steps: the first item punishes the deviation between the predicted output at the final prediction horizon k+e and the reference set point, which is weighted by the first preset weight. The MPC (Model Predictive Control) controller will control the stratospheric airship cluster to follow the flight trajectory as much as possible at the final prediction time, that is, the MPC predicts and optimizes the flight trajectory of the stratospheric airship cluster within the future e discrete time points at the current moment k, and "e" determines the future time range that the MPC controller needs to consider when optimizing; the second item is the sum of weighted penalties within the prediction range from "k" to "k+e-1", punishing the deviation between the prediction result of each step (the flight trajectory of the stratospheric airship cluster predicted by the MPC) and the reference value (target flight trajectory), which is weighted by the second preset weight, and the change ΔL of the control input, which is weighted by the third preset weight, so as to balance the trade-off between tracking performance and control, adjust the stability between the stratospheric airship clusters at any time, and minimize the impact of external interference.

[0100] Furthermore, since the propeller of a target airship cannot be arbitrarily input without physical constraints, constraints need to be added:

[0101]

[0102] Where, ΔF i represents the thrust of the target airship's propeller, and Δ F are the upper and lower limits of the control input for the target airship propeller thrust, respectively.

[0103] The present invention constructs a hybrid artificial potential field and a balance function to flexibly maintain algebraic connectivity, so that the connectivity between airships remains stable. At the same time, a double-layer control framework is used to maintain the stability of the formation distance, the smooth connection of the communication network and reduce the impact of external interference, thereby improving the flight control and coordination efficiency between multiple airships, and improving the execution efficiency of complex tasks and the real-time data processing and transmission capabilities.

[0104] Furthermore, if Figure 4 As shown, based on the above-mentioned method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, the present invention also provides a system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, wherein the system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field comprises:

[0105] The airship association module 51 is used to obtain the airship information of all target airships, construct the airship coordinate system of each target airship according to the airship information, and determine the airship association relationship between all target airships according to each of the airship coordinate systems;

[0106] A potential field construction module 52, configured to construct a plurality of target potential fields and a plurality of repulsive potential fields according to each of the airship coordinate systems, and to construct a plurality of connected potential fields according to the airship association relationship;

[0107] A route construction module 53 is used to construct a plurality of compensation potential fields, construct a flight route of each target airship according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and construct a plurality of link weights according to the airship association relationship;

[0108] A state construction module 54 is used to obtain the spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and convert the spatial state variables into spatiotemporal state variables;

[0109] The weight adjustment module 55 is used to add the preset weight to the spatiotemporal state variable to obtain a balance function, and detect the connection status of all target boats through the balance function. If the connection status is abnormal, the link weight is adjusted in real time.

[0110] Furthermore, if Figure 5 As shown, based on the above-mentioned method and system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, the present invention also provides a terminal accordingly, and the terminal includes a processor 10, a memory 20 and a display 30. Figure 5 Only some components of the terminal are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0111] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed in the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 stores a multi-stratospheric airship connectivity maintenance program 40 in a dynamic wind field, and the multi-stratospheric airship connectivity maintenance program 40 in a dynamic wind field can be executed by the processor 10, thereby realizing the multi-stratospheric airship connectivity maintenance method in a dynamic wind field in the present application.

[0112] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field.

[0113] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the terminal and to display a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.

[0114] In one embodiment, when the processor 10 executes the multi-stratospheric airship connectivity maintenance program 40 in the memory 20, the steps of the multi-stratospheric airship connectivity maintenance method in a dynamic wind field as described above are implemented.

[0115] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, and when the program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field is executed by a processor, the steps of the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field as described above are implemented.

[0116] In summary, the present invention provides a method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field and related equipment, the method comprising: acquiring airship information of all target airships, constructing an airship coordinate system of each target airship according to the airship information, and determining the airship association relationship between all target airships according to each of the airship coordinate systems; constructing multiple target potential fields and multiple repulsive potential fields according to each of the airship coordinate systems, and constructing multiple connected potential fields according to the airship association relationship; constructing multiple compensation potential fields, constructing a flight route of each target airship according to the multiple target potential fields, the multiple repulsive potential fields, the multiple connected potential fields and the multiple compensation potential fields, and constructing link weights corresponding to the multiple flight routes according to the airship association relationship; obtaining spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and converting the spatial state variables into spatiotemporal state variables; adding preset weights to the spatiotemporal state variables to obtain a balance function, detecting the connection status of all target airships through the balance function, and adjusting the link weights in real time if the connection status is abnormal. The present invention constructs a hybrid artificial potential field and a balance function to flexibly maintain algebraic connectivity, so that the connectivity between airships remains stable. At the same time, a double-layer control framework is used to maintain the stability of the formation distance, the smooth connection of the communication network and reduce the impact of external interference, thereby improving the flight control and coordination efficiency between multiple airships, and improving the execution efficiency of complex tasks and the real-time data processing and transmission capabilities.

[0117] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0118] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium that can be read by a computer, and the program can include the processes of the above-mentioned method embodiments when executed. The computer-readable storage medium can be a memory, a disk, an optical disk, etc.

[0119] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, characterized in that: The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field comprises: Acquire airship information of all target airships, construct an airship coordinate system of each target airship according to the airship information, and determine an airship association relationship between all target airships according to each of the airship coordinate systems; Constructing a plurality of target potential fields and a plurality of repulsive potential fields according to each of the airship coordinate systems, and constructing a plurality of connected potential fields according to the airship association relationship; Constructing a plurality of compensation potential fields, constructing a flight route for each of the target airships according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and constructing link weights corresponding to the plurality of flight routes according to the airship association relationship; According to all the flight routes and the link weights corresponding to the flight routes, spatial state variables of all target airships are obtained, and the spatial state variables are converted into spatiotemporal state variables; The preset weight is added to the spatiotemporal state variable to obtain a balance function, and the connection status of all target airships is detected by the balance function. If the connection status is abnormal, the link weight is adjusted in real time.

2. The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to claim 1, characterized in that: The acquiring of airship information of all target airships, constructing an airship coordinate system of each target airship according to the airship information, and determining the airship association relationship between all target airships according to each airship coordinate system specifically includes: Acquire the airship information of all target airships, and construct multiple airship coordinate systems according to the airship information, wherein each of the airship coordinate systems takes the center of mass of the main sphere of the corresponding target airship as the origin, takes the horizontal direction forward as the horizontal axis, takes the horizontal direction rightward as the vertical axis, and takes the vertical direction downward as the vertical axis; According to the plurality of airship coordinate systems, the power state of each airship is constructed: Among them, m i represents the mass of airship i, represents the acceleration of airship i, F1 and F2 are the thrusts on the left and right propellers of the target airship, h represents the damping coefficient, represents the linear velocity of airship i, I i represents the moment of inertia of airship i, represents the rotational angular acceleration of airship i, D i represents the distance between the motor of airship i and the center of mass of the main sphere; According to the plurality of power states, an airship association relationship is established between each of the target airships and other target airships.

3. The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to claim 1, characterized in that: The step of constructing a plurality of target potential fields and a plurality of repulsive potential fields according to each of the airship coordinate systems, and constructing a plurality of connected potential fields according to the airship association relationship specifically includes: According to each of the airship coordinate systems, a target potential field and a repulsive potential field corresponding to each of the target airships are constructed: V i t =‖d it ‖ 2 ; V i a =1 / (‖d io ‖-r) 2 ; Among them, V i t represents the target potential field of airship i, d it represents the relative distance between airship i and the target position, represents the acceleration of airship i, x t Represents the target position center point vector, V i a represents the repulsive potential field of airship i, d io represents the distance between airship i and the center of the no-fly zone, r represents the radius of the no-fly zone, x o Represents the center point vector of the no-fly zone; A graphical model is constructed according to the airship association relationship, the position vectors of all the target airships are input into the graphical model, and the connected potential field between different target airships is output: Among them, V ij C represents the connected potential field between airship i and airship j, x ij represents the distance vector between airship i and airship j, s represents the expected distance between the two airships, represents the algebraic connectivity of the graph model, represents the connection threshold, C represents the maximum expected distance between airships, and g1, g2 and g3 represent the preset parameters in the connectivity potential field.

4. The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to claim 1, characterized in that: The constructing of the compensation potential field, constructing a flight route for each of the airships according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and constructing link weights corresponding to the plurality of flight routes according to the airship association relationship, specifically includes: According to the speed differences of all target airships, a compensation potential field corresponding to each target airship is constructed; According to the plurality of target potential fields, the plurality of repulsive potential fields, the plurality of connected potential fields and the plurality of compensating potential fields, a flight route of each target airship is constructed, and link weights corresponding to the plurality of flight routes are constructed according to the airship association relationship: F i =-(grad(V i t )+grad(V i a ))-∑ j∈N degree(V ij C )-∑ j∈N a ij (p i -pj); Among them, grad() represents the gradient function, F i represents the flight direction of airship i, V i t represents the target potential field of airship i, V i a represents the repulsive potential field of airship i, V ij C represents the connected potential field between airship i and airship j, a ij Indicates flight route F i The link weight of N represents the set of all target airships, p i and p j represent the flight speeds of airship i and airship j respectively, x ij represents the distance vector between airship i and airship j, C represents the maximum expected distance between target airships, and τ represents the position change parameter of airship i and airship j during flight.

5. The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to claim 1, characterized in that: The step of obtaining the spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and converting the spatial state variables into spatiotemporal state variables specifically includes: According to all the flight routes and the link weights corresponding to the flight routes, the spatial state variables of all target airships are constructed: Among them, X represents the spatial state variables of all target airships, x, and They represent the displacement, linear velocity and linear acceleration of the target airship in the horizontal direction, y, and They represent the displacement, linear velocity and linear acceleration of the target airship in the longitudinal direction, θ, and represents the angle, angular velocity and angular acceleration of the target airship, respectively; F represents the thrust of the airship propeller; f(x, F) represents the spatial state variable of the airship; F1 and F2 represent the thrust of the left and right propellers of the target airship, respectively; Δt represents the sampling time; W x and W y denote the wind speed disturbance in the horizontal and vertical directions, respectively; D denotes the distance between the motor of the target airship and the center of mass of the main sphere; I denotes the moment of inertia of the target airship; m denotes the mass of the target airship; and k denotes a discrete time point; The spatial state variables are converted into discrete-time spatiotemporal state variables by the zero-order hold method: Among them, A represents the system matrix, B represents the input matrix, D represents the distance between the motor of the target airship and the center of mass of the main sphere, and X k+1 represents the space-time state variable at discrete time k+1, X k represents the space-time state variable at discrete time k, F k represents the thrust of the airship propeller at discrete time k.

6. The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to claim 1, characterized in that: The preset weights include a first preset weight, a second preset weight and a third preset weight; The step of adding the preset weight to the spatiotemporal state variable to obtain a balance function, detecting the connection status of all target airships by using the balance function, and adjusting the link weight in real time if the connection status is abnormal, specifically includes: respectively calculating a first actual trajectory, a second actual trajectory, a first predicted trajectory, and a second predicted trajectory of the target airship before and after a certain time point in the entire flight trajectory; respectively calculating the difference between the first actual trajectory and the first predicted trajectory, and the difference between the second actual trajectory and the second predicted trajectory to obtain a first difference and a second difference; Adding the first preset weight to the first difference, and adding the second preset weight and the third preset weight to the second difference, to obtain a balancing function; The connection status between all target airships is detected through the balance function. If the connection status is abnormal, the link weights between the target airships in the corresponding airship association relationship are adjusted in real time.

7. The method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to claim 6, characterized in that: The adding the first preset weight to the first difference, and adding the second preset weight and the third preset weight to the second difference to obtain a balance function specifically includes: Where J represents the balance function, M represents the entire set of discrete time points during the predicted airship flight, k represents the kth discrete time point in M, and R k+M represents the first predicted trajectory, Y k+M represents the first actual trajectory, T represents transpose, q represents the qth discrete time point in M, Q1 represents the first preset weight, R k+q represents the second predicted trajectory, Y k+q represents the second actual trajectory, Q2 represents the second preset weight, ΔL k+q represents the second difference, and Q3 represents the third preset weight.

8. A system for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, characterized in that: The multi-stratospheric airship connectivity maintenance system in the dynamic wind field includes: An airship association module, used to obtain airship information of all target airships, construct an airship coordinate system of each target airship according to the airship information, and determine the airship association relationship between all target airships according to each of the airship coordinate systems; A potential field construction module, used to construct a plurality of target potential fields and a plurality of repulsive potential fields according to each of the airship coordinate systems, and to construct a plurality of connected potential fields according to the airship association relationship; A route construction module, used to construct a plurality of compensation potential fields, construct a flight route of each target airship according to the plurality of target potential fields, the plurality of repulsion potential fields, the plurality of connection potential fields and the plurality of compensation potential fields, and construct a plurality of link weights according to the airship association relationship; A state construction module, used to obtain the spatial state variables of all target airships according to all the flight routes and the link weights corresponding to the flight routes, and convert the spatial state variables into spatiotemporal state variables; The weight adjustment module is used to add the preset weight to the spatiotemporal state variable to obtain a balance function, and detect the connection status of all target boats through the balance function. If the connection status is abnormal, the link weight is adjusted in real time.

9. A terminal, characterized in that: The terminal includes: a memory, a processor, and a program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, which is stored in the memory and can be run on the processor. When the program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field is executed by the processor, the steps of the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field, and when the program for maintaining connectivity of multiple stratospheric airships in a dynamic wind field is executed by a processor, the steps of the method for maintaining connectivity of multiple stratospheric airships in a dynamic wind field according to any one of claims 1 to 7 are implemented.

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