Multi-unmanned aerial vehicle cooperative task execution system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-unmanned aerial vehicle cooperative task execution system which comprises a task distribution module, an interference source recognition module, an interference suppression module, a communication redundancy module and a task execution adjustment module. Wherein the task allocation module is used for preliminarily allocating tasks; the interference source identification module is used for monitoring the interference condition of a communication channel in the cooperative operation of the multiple unmanned aerial vehicles in real time; the interference suppression module is used for dynamically selecting a communication channel according to the interference source information; the communication redundancy module is used for carrying out data backup and real-time transmission through a plurality of standby communication channels; and the task execution adjustment module is used for adjusting the task execution sequence and priority in real time. According to the method, the high efficiency, the stability and the data transmission reliability of cooperative operation of the multiple unmanned aerial vehicles in a complex communication environment are ensured by identifying and suppressing communication interference in real time and combining a mechanism of dynamically adjusting task execution sequences and priorities.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-unmanned aerial vehicle collaborative task execution system. Background Art

[0002] With the rapid development of drone technology and the increasing demand for applications, multi-drone collaborative operations have gradually become an important development direction for drone systems. Multi-drone collaborative task execution systems usually need to deal with complex task scheduling, communication management, and interference control issues to achieve efficient task allocation and smooth task execution. However, in practical applications, multi-drone collaborative operations face many challenges, especially in complex communication environments, where communication interference and signal distortion are particularly prominent. Since the stability of signal transmission during multi-drone operations directly affects the effectiveness of task execution and collaborative efficiency, how to effectively deal with communication interference and ensure the stability of data transmission has become an important issue that needs to be urgently addressed in multi-drone collaborative systems.

[0003] Existing multi-UAV collaborative task execution systems often lack effective interference identification and suppression mechanisms when facing communication interference, resulting in the inability to locate and process interference sources in the communication channel in a timely manner, which in turn affects the smoothness and efficiency of task execution. Traditional task scheduling and execution sequence arrangement methods fail to fully consider the dynamic communication environment, often rely on static priority settings, and lack real-time response to communication channel status and interference source locations. In addition, when signal distortion and communication link interference occur, the fault tolerance and data backup mechanisms of existing systems are also relatively weak, making it difficult to ensure reliable data transmission during task execution. Therefore, how to achieve timely identification of interference sources and dynamically adjust the execution order and priority of tasks in multi-UAV collaborative operations has become an urgent problem to be solved. Summary of the invention

[0004] Based on the above objectives, the present invention provides a multi-UAV collaborative task execution system.

[0005] The multi-UAV collaborative task execution system includes a task allocation module, an interference source identification module, an interference suppression module, a communication redundancy module and a task execution adjustment module; wherein: Task allocation module: used to receive task instructions, and make preliminary task allocation based on UAV status information and environmental information, and determine the task execution order and priority; Interference source identification module: used to monitor the interference of communication channels in multi-UAV collaborative operations in real time. It uses spectrum analysis technology and signal processing algorithms to analyze the strength, spectrum occupancy and signal distortion rate of UAV communication signals, identify and locate communication interference sources, and output the location, strength and affected area information of the interference source. Interference suppression module: dynamically selects communication channels to avoid interference based on the interference source information provided by the interference source identification module; Communication redundancy module: used to adopt multi-path transmission and communication retransmission mechanism to perform data backup and real-time transmission through multiple backup communication channels when channel interference occurs, so as to ensure that data is not lost, and provide signal quality information of each backup channel; Task execution adjustment module: used to adjust the task execution order and priority in real time according to the interference source location, strength and impact area information fed back by the interference source identification module, and the backup channel signal quality information fed back by the communication redundancy module, to ensure that task execution is not affected by communication interference.

[0006] Optionally, the task allocation module includes a state acquisition unit, an environment assessment unit and a preliminary allocation unit; wherein: Status acquisition unit: used to obtain the current status information of each drone in real time, including the drone's battery level, remaining flight time, flight position, and load capacity; Environmental acquisition unit: used to obtain environmental information of the task execution area, including wind speed, temperature and air pressure; Preliminary allocation unit: Calculates the task execution capability of each UAV based on the UAV status information and environmental information provided by the status acquisition unit and the environmental acquisition unit, and makes preliminary task allocation based on the task instruction requirements to determine the execution order and priority of each task.

[0007] Optionally, the interference source identification module includes a signal acquisition unit, a spectrum analysis unit, a signal distortion detection unit and an interference source positioning unit; wherein Signal acquisition unit: used to collect communication signals of channels in multi-UAV collaborative operations in real time; Spectrum analysis unit: used to perform spectrum analysis on the communication signal acquired by the signal acquisition unit, analyze the frequency distribution, signal strength and spectrum occupancy of the signal, and identify potential spectrum interference source areas; Signal distortion detection unit: used to analyze the distortion rate of communication signals, use signal processing algorithms to denoise and restore signals, thereby evaluating the degree of signal distortion and determining whether the signal is affected by interference sources; Interference source positioning unit: used to determine the location, strength and impact area of ​​the interference source on the communication signal by using the triangulation positioning algorithm based on the output results of the spectrum analysis unit and the signal distortion detection unit.

[0008] Optionally, the spectrum analysis unit includes: Signal decomposition: Use fast Fourier transform to convert the communication signal into frequency domain to obtain the spectrum representation of the signal; Signal strength calculation: Analyze the signal spectrum, calculate the signal strength of different frequency components, and plot the signal strength according to frequency distribution as a spectrum diagram; Spectrum occupancy analysis: Analyze the spectrum occupancy of the signal, that is, the energy distribution of each frequency band, based on the spectrum graph; and identify the areas with concentrated energy on the spectrum graph as potential interference source areas by setting thresholds.

[0009] Optionally, the signal distortion detection unit includes: Signal denoising: denoising the collected communication signal by applying a denoising algorithm, wherein the denoising method includes wavelet transform and mean filtering; Signal recovery: Apply Kalman filtering to restore the distorted part; set the system state The prior estimate of , the measured value is , the Kalman gain is , then the Kalman filter formula is: ,in, is the revised state estimate, is the Kalman gain, is the actual measured value, is the a priori estimate; Distortion evaluation: The degree of signal distortion is evaluated by calculating the signal distortion rate; the distortion evaluation index is the signal-to-noise ratio ; Interference source impact judgment: According to the result after signal recovery, judge whether the signal is affected by the interference source; if If the value is lower than the set interference judgment standard, it is judged that the signal is affected by the interference source.

[0010] Optionally, the interference source locating unit specifically includes: Triangulation: Based on the output of the spectrum analysis unit and the signal distortion detection unit, the triangulation algorithm is used to determine the specific location of the interference source. The triangulation algorithm estimates the distance by measuring the difference in signal strength, thereby determining the exact location of the interference source. Interference source strength calculation: After determining the location of the interference source, calculate the strength of the interference source based on the signal strength attenuation model; if the location of the interference source is known, the signal strength is calculated using the propagation model; the signal strength calculation formula is: ,in, is the signal strength at the interference source, is the reference signal strength, is the distance between the interference source and the UAV, is the reference distance; Impact area estimation: by the strength of the interference source And the signal propagation model is used to estimate the impact area of ​​the interference source on the communication signal. The estimation formula is: ,in, is the radius of the interference source impact area, is the strength of the interference source, is the reference signal strength, is the distance between the interference source and the sensor; Interference source positioning result output: The calculated interference source location, strength and impact area are output to provide information for subsequent interference suppression and task execution adjustment modules.

[0011] Optionally, the interference suppression module includes a channel selection unit and an interference avoidance unit; wherein: Channel selection unit: used to dynamically select the communication channel according to the interference source information provided by the interference source identification module. Specifically, after receiving the interference source location, strength and impact area information, the interference level of the channel is determined by the following formula: ,in, Interference source The strength of Interference source and communication channel The distance is the number of interference sources affecting the channel; and the calculated interference level Compare with the preset interference threshold and select the channel with the least interference for communication; Interference avoidance unit: used to adjust the communication frequency after the channel selection unit selects the channel with the least interference, so that the spectrum occupation range of the communication signal avoids the influence area of ​​the interference source.

[0012] Optionally, the communication redundancy module includes a multipath transmission unit, a communication retransmission unit and a signal quality monitoring unit; wherein: Multipath transmission unit: used to perform data backup and real-time transmission through multiple backup communication channels when interference occurs in the communication channel. Specifically, the data is divided into multiple sub-packets and each sub-packet is sent to a different backup channel, thereby realizing multipath data transmission; Communication retransmission unit: used to retransmit communication based on redundant backup data when interference occurs in the channel to ensure that data is not lost; specifically, when the multi-path transmission unit detects that the transmission of a backup channel fails, the communication retransmission unit will automatically trigger the retransmission mechanism and resend the lost data through other channels; Signal quality monitoring unit: used to monitor the signal quality of each backup channel in real time and output the signal quality information of each backup channel.

[0013] Optionally, the communication retransmission unit includes: Fault detection subunit: used to monitor the transmission status of each backup channel of the multipath transmission unit in real time. When the transmission of a backup channel fails, it automatically identifies the channel failure and triggers the retransmission mechanism. Specifically, it determines whether the channel fails based on the following conditions: ,in, For backup channel The received signal power, is the preset receiving power threshold; if the signal power is lower than this threshold , then the channel is considered to be faulty. , the fault detection subunit will trigger the retransmission control subunit; Retransmission control subunit: used to automatically select a backup channel for data retransmission after the fault detection subunit triggers the retransmission mechanism; When , the channel with the largest signal-to-noise ratio and no failure is selected for retransmission; Data retransmission subunit: used to resend lost data packets to the backup channel selected by the retransmission control subunit.

[0014] Optionally, the task execution adjustment module includes an interference information receiving unit, a task adjustment unit and an execution priority updating unit; wherein: Interference information receiving unit: used to receive the interference source location, strength and impact area information fed back by the interference source identification module, and the backup channel signal quality information fed back by the communication redundancy module: Task adjustment unit: used to adjust the execution order and priority of the current task in real time according to the received interference source information and signal quality information; if the interference source's impact area overlaps with a certain UAV's mission area, and the interference source intensity exceeds the preset threshold, the UAV's mission execution will be delayed; Execution priority updating unit: used to update the execution order and priority of each task according to the adjustment result provided by the task adjustment unit.

[0015] Beneficial effects of the present invention: The present invention realizes efficient identification and suppression of communication interference in the collaborative operation of multiple UAVs by introducing an interference source identification module, an interference suppression module, a communication redundancy module and a task execution adjustment module. Through spectrum analysis and signal distortion detection technology, it is possible to monitor and locate interference sources in communication channels in real time, and automatically adjust the order and priority of task execution according to the location information and signal quality of the interference sources. This mechanism effectively avoids the influence of interference sources on task execution, and improves the communication stability and reliability of task execution in the collaborative operation of multiple UAVs.

[0016] The present invention, by introducing redundant communication mechanism and multi-path transmission technology, can ensure real-time transmission and backup of data and prevent data loss when interference occurs in the communication link. Combined with the real-time feedback of the task execution adjustment module, it can dynamically adjust the execution order and priority of tasks, further improving the efficiency of task execution and the coordination ability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 Schematic diagram of a multi-UAV collaborative task execution system according to an embodiment of the present invention; Figure 2 Schematic diagram of an interference source identification module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0020] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0021] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0022] like Figure 1-Figure 2As shown, the multi-UAV collaborative task execution system includes a task allocation module, an interference source identification module, an interference suppression module, a communication redundancy module and a task execution adjustment module; wherein: Task allocation module: used to receive task instructions, and make preliminary task allocation based on UAV status information and environmental information, and determine the task execution order and priority; Interference source identification module: used to monitor the interference of communication channels in multi-UAV collaborative operations in real time. It uses spectrum analysis technology and signal processing algorithms to analyze the strength, spectrum occupancy and signal distortion rate of UAV communication signals, identify and locate communication interference sources, and output the location, strength and affected area information of the interference source. Interference suppression module: dynamically selects communication channels based on the interference source information provided by the interference source identification module to avoid interference and ensure stable communication; Communication redundancy module: used to adopt multi-path transmission and communication retransmission mechanism to perform data backup and real-time transmission through multiple backup communication channels when channel interference occurs, so as to ensure that data is not lost, and provide signal quality information of each backup channel; Task execution adjustment module: It is used to adjust the task execution order and priority in real time according to the interference source location, strength and impact area information fed back by the interference source identification module, and the backup channel signal quality information fed back by the communication redundancy module, to ensure that task execution is not affected by communication interference and maintain efficient task coordination.

[0023] The task allocation module includes a state acquisition unit, an environment assessment unit and a preliminary allocation unit; wherein: Status acquisition unit: used to obtain the current status information of each drone in real time, including the drone's battery level, remaining flight time, flight position, and load capacity; Environmental acquisition unit: used to obtain environmental information of the task execution area, including wind speed, temperature and air pressure; Preliminary allocation unit: Calculate the task execution capability of each UAV based on the UAV status information and environmental information provided by the status acquisition unit and the environment acquisition unit, make preliminary task allocation based on the task instruction requirements, and determine the execution order and priority of each task; through the collaborative work of the above units, based on the UAV status information and environmental conditions, ensure that the tasks can be reasonably allocated to suitable UAVs, and are executed in a reasonable order and priority to ensure the smooth completion of the tasks.

[0024] The interference source identification module includes a signal acquisition unit, a spectrum analysis unit, a signal distortion detection unit and an interference source positioning unit; wherein Signal acquisition unit: used to collect communication signals of channels in multi-UAV collaborative operations in real time; Spectrum analysis unit: used to perform spectrum analysis on the communication signal acquired by the signal acquisition unit, analyze the frequency distribution, signal strength and spectrum occupancy of the signal, and identify potential spectrum interference source areas; Signal distortion detection unit: used to analyze the distortion rate of communication signals, use signal processing algorithms to denoise and restore signals, thereby evaluating the degree of signal distortion and determining whether the signal is affected by interference sources; Interference source positioning unit: It is used to determine the location, strength and impact area of ​​the interference source on the communication signal based on the output results of the spectrum analysis unit and the signal distortion detection unit by using the triangulation positioning algorithm; through the collaborative work of the above units, based on spectrum analysis technology and signal processing algorithms, it can accurately identify and locate the communication interference source, provide the specific location, strength and possible impact area of ​​the interference source, and provide a basis for the subsequent interference suppression and task adjustment of the system.

[0025] The spectrum analysis unit includes: Signal decomposition: Use fast Fourier transform to convert the communication signal into frequency domain to obtain the spectrum representation of the signal; the specific formula is: ,in, For frequency The spectrum value at is the time domain signal sample value, is the total number of sampling points of the signal, is the frequency, is the time domain sampling point index; Signal strength calculation: Analyze the signal spectrum, calculate the signal strength of different frequency components, and plot the signal strength as a spectrum diagram according to frequency distribution; the calculation formula for signal strength is: ,in, For frequency The signal strength at is the spectrum value of the frequency; Spectrum occupancy analysis: Analyze the spectrum occupancy of the signal, that is, the energy distribution of each frequency band, based on the spectrum graph; and , identify the area where energy is concentrated on the spectrum graph as the potential interference source area; specifically, through spectrum density analysis, calculate the spectrum density function, the formula is: ,in, For frequency The spectral density at is the time period of the signal, is the time domain signal sample value, is the number of signal sampling points, is the frequency, is the time domain sampling point index; through the above steps, the spectrum analysis unit can accurately identify potential spectrum interference source areas based on the comparison of signal strength, spectrum occupancy and known interference signal patterns, and provide key information for subsequent interference source positioning and interference suppression modules.

[0026] The signal distortion detection unit includes: Signal denoising: By applying denoising algorithms, the collected communication signals are denoised to reduce the impact of noise introduced by external interference sources. Denoising methods include wavelet transform and mean filtering. Signal recovery: Apply Kalman filtering to recover the distorted part; Kalman filtering is used to estimate the state of the system in the presence of noise, and optimize and correct the distorted signal through a recursive method; suppose the system state The prior estimate of , the measured value is , the Kalman gain is , then the Kalman filter formula is: ,in, is the revised state estimate, is the Kalman gain, is the actual measured value, is a priori estimated value; this step is used to compensate for the distorted part of the signal and restore it to a state as close to the original state as possible; Distortion evaluation: The degree of signal distortion is evaluated by calculating the signal distortion rate; the distortion evaluation index is the signal-to-noise ratio ; The signal-to-noise ratio represents the intensity ratio of the signal to the noise, and the calculation formula is: ,in, is the signal power, is the noise power, is the signal-to-noise ratio; if A lower value indicates that the signal is more distorted and more affected by noise; Interference source impact judgment: According to the result after signal recovery, judge whether the signal is affected by the interference source; if If the value is lower than the set interference judgment standard, it is judged that the signal is affected by the interference source; The specific interference source impact judgment formula is as follows: ,in, For interference determination Threshold, Interference judgment flag, 1 indicates that the signal is affected by the interference source, and 0 indicates that the signal is not affected by the interference source; through the above steps, the signal distortion detection unit can accurately determine whether the signal is affected by the interference source on the basis of denoising, restoration and distortion evaluation; the denoising and restoration algorithms used in this process can effectively reduce the impact of external interference and noise on the signal, improve the quality of the signal, and provide support for subsequent interference suppression and task execution adjustment.

[0027] The interference source positioning unit specifically includes: Triangulation: Based on the output of the spectrum analysis unit and the signal distortion detection unit, the triangulation algorithm is used to determine the specific location of the interference source. The triangulation algorithm estimates the distance by measuring the difference in signal strength, thereby determining the exact location of the interference source. The specific steps for positioning are as follows: Step 1: Assume the interference source position is , the drone’s position is , the signal strength is ; Step 2, Signal Strength Distance from interference source The relationship between them is: ,in, is the reference signal strength, is the distance between the interference source and the UAV, For the drone location Measured signal strength; Step 3: Using the signal strength data of multiple drones, the location of the interference source can be estimated by the least squares method; the function expression of the least squares method is: , by solving this set of equations, we can get the estimated position of the interference source .

[0028] Interference source strength calculation: After determining the location of the interference source, calculate the strength of the interference source based on the signal strength attenuation model; if the location of the interference source is known, the signal strength is calculated using the propagation model; the signal strength calculation formula is: ,in, is the signal strength at the interference source, is the reference signal strength, is the distance between the interference source and the UAV, is the reference distance; Impact area estimation: by the strength of the interference source and signal propagation model to estimate the impact area of ​​the interference source on the communication signal; assuming that the strength of the interference source is The radius of the affected area can be estimated by the relationship between signal attenuation and propagation distance. The estimation formula is: ,in, is the radius of the interference source impact area, is the strength of the interference source, is the reference signal strength, is the distance between the interference source and the sensor; Interference source positioning result output: The calculated interference source location, strength and impact area are output to provide information for subsequent interference suppression and task execution adjustment modules.

[0029] The interference suppression module includes a channel selection unit and an interference avoidance unit; wherein: Channel selection unit: used to dynamically select the communication channel according to the interference source information provided by the interference source identification module. Specifically, after receiving the interference source location, strength and impact area information, the interference level of the channel is determined by the following formula: ,in, Interference source The strength of Interference source and communication channel The distance is the number of interference sources affecting the channel; and the calculated interference level Compare with the preset interference threshold and select the channel with the least interference for communication; Interference avoidance unit: used to adjust the communication frequency after the channel selection unit selects the channel with the least interference, so that the spectrum occupation range of the communication signal avoids the influence area of ​​the interference source; through the cooperation of the channel selection unit and the interference avoidance unit, the interference suppression module ensures that the communication channel will not be affected by the interference source, thereby ensuring the stability and effectiveness of the communication.

[0030] The communication redundancy module includes a multi-path transmission unit, a communication retransmission unit and a signal quality monitoring unit; wherein: Multipath transmission unit: used to perform data backup and real-time transmission through multiple backup communication channels when interference occurs in the communication channel. Specifically, the data is divided into multiple sub-packets and each sub-packet is sent to a different backup channel, thereby realizing multipath data transmission; the allocation formula is: ,in, To assign a backup channel The sub-packet on is the data to be transmitted, is the number of backup channels; in this way, multiple backup channels transmit data in parallel, ensuring that even if one channel is interfered, other channels can still ensure successful data transmission; Communication retransmission unit: used to retransmit communication based on redundant backup data when interference occurs in the channel to ensure that data is not lost; specifically, when the multi-path transmission unit detects that the transmission of a backup channel fails, the communication retransmission unit will automatically trigger the retransmission mechanism and resend the lost data through other channels; Signal quality monitoring unit: used to monitor the signal quality of each backup channel in real time and output the signal quality information of each backup channel; through the coordinated work of the multi-path transmission unit, the communication retransmission unit and the signal quality monitoring unit, the communication redundancy module ensures that data can be transmitted through redundant channel backup when channel interference occurs, while providing real-time signal quality information and selecting the best backup channel for data transmission.

[0031] The communication retransmission unit includes: Fault detection subunit: used to monitor the transmission status of each backup channel of the multipath transmission unit in real time. When the transmission of a backup channel fails, it automatically identifies the channel failure and triggers the retransmission mechanism. Specifically, it determines whether the channel fails based on the following conditions: ,in, For backup channel The received signal power, is the preset receiving power threshold; if the signal power is lower than the threshold , then the channel is considered to be faulty. , the fault detection subunit will trigger the retransmission control subunit; Retransmission control subunit: used to automatically select a backup channel for data retransmission after the fault detection subunit triggers the retransmission mechanism; When , the channel with the largest signal-to-noise ratio and no failure is selected for retransmission; Data retransmission subunit: used to resend lost data packets to the backup channel selected by the retransmission control subunit; through the collaborative work of the above subunits, the communication retransmission unit can automatically select the best backup channel for retransmission when it finds that the backup channel has failed to transmit, and ensure that the lost data can be supplemented by other channels.

[0032] The task execution adjustment module includes an interference information receiving unit, a task adjustment unit and an execution priority updating unit; wherein: Interference information receiving unit: used to receive the interference source location, strength and impact area information fed back by the interference source identification module, and the backup channel signal quality information fed back by the communication redundancy module: Task adjustment unit: used to adjust the execution order and priority of the current task in real time according to the received interference source information and signal quality information; if the interference source's impact area overlaps with a certain UAV's mission area, and the interference source intensity exceeds the preset threshold, the UAV's mission execution will be delayed; Execution priority update unit: used to update the execution order and priority of each task according to the adjustment results provided by the task adjustment unit; through the above unit, the task execution adjustment module can dynamically adjust the execution order and priority of the task according to the real-time interference source information and signal quality information, so as to ensure that the task execution process is not affected by communication interference and improve the execution efficiency and reliability of the system.

[0033] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0034] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Multi-UAV collaborative task execution system, characterized by: It includes a task allocation module, an interference source identification module, an interference suppression module, a communication redundancy module and a task execution adjustment module; wherein: Task allocation module: used to receive task instructions, and make preliminary task allocation based on UAV status information and environmental information, and determine the task execution order and priority; Interference source identification module: used to monitor the interference of communication channels in multi-UAV collaborative operations in real time. It uses spectrum analysis technology and signal processing algorithms to analyze the strength, spectrum occupancy and signal distortion rate of UAV communication signals, identify and locate communication interference sources, and output the location, strength and affected area information of the interference source. Interference suppression module: dynamically selects communication channels to avoid interference based on the interference source information provided by the interference source identification module; Communication redundancy module: used to adopt multi-path transmission and communication retransmission mechanism to perform data backup and real-time transmission through multiple backup communication channels when channel interference occurs, so as to ensure that data is not lost, and provide signal quality information of each backup channel; Task execution adjustment module: used to adjust the task execution order and priority in real time according to the interference source location, strength and impact area information fed back by the interference source identification module, and the backup channel signal quality information fed back by the communication redundancy module, to ensure that task execution is not affected by communication interference.

2. The multi-UAV collaborative task execution system according to claim 1, characterized in that: The task allocation module includes a state acquisition unit, an environment assessment unit and a preliminary allocation unit; wherein: Status acquisition unit: used to obtain the current status information of each drone in real time, including the drone's battery level, remaining flight time, flight position, and load capacity; Environmental acquisition unit: used to obtain environmental information of the task execution area, including wind speed, temperature and air pressure; Preliminary allocation unit: Calculates the task execution capability of each UAV based on the UAV status information and environmental information provided by the status acquisition unit and the environmental acquisition unit, and makes preliminary task allocation based on the task instruction requirements to determine the execution order and priority of each task.

3. The multi-UAV collaborative task execution system according to claim 1, characterized in that: The interference source identification module includes a signal acquisition unit, a spectrum analysis unit, a signal distortion detection unit and an interference source positioning unit; in Signal acquisition unit: used to collect communication signals of channels in multi-UAV collaborative operations in real time; Spectrum analysis unit: used to perform spectrum analysis on the communication signal acquired by the signal acquisition unit, analyze the frequency distribution, signal strength and spectrum occupancy of the signal, and identify potential spectrum interference source areas; Signal distortion detection unit: used to analyze the distortion rate of communication signals, use signal processing algorithms to denoise and restore signals, thereby evaluating the degree of signal distortion and determining whether the signal is affected by interference sources; Interference source positioning unit: used to determine the location, strength and impact area of ​​the interference source on the communication signal by using the triangulation positioning algorithm based on the output results of the spectrum analysis unit and the signal distortion detection unit.

4. The multi-UAV collaborative task execution system according to claim 3, characterized in that: The spectrum analysis unit comprises: Signal decomposition: Use fast Fourier transform to convert the communication signal into frequency domain to obtain the spectrum representation of the signal; Signal strength calculation: Analyze the signal spectrum, calculate the signal strength of different frequency components, and plot the signal strength according to frequency distribution as a spectrum diagram; Spectrum occupancy analysis: Analyze the spectrum occupancy of the signal, that is, the energy distribution of each frequency band, based on the spectrum graph; and identify the areas with concentrated energy on the spectrum graph as potential interference source areas by setting thresholds.

5. The multi-UAV collaborative task execution system according to claim 4, characterized in that: The signal distortion detection unit comprises: Signal denoising: denoising the collected communication signal by applying a denoising algorithm, wherein the denoising method includes wavelet transform and mean filtering; Signal recovery: Apply Kalman filtering to restore the distorted part; set the system state The prior estimate of , the measured value is , the Kalman gain is , then the Kalman filter formula is: ,in, is the revised state estimate, is the Kalman gain, is the actual measured value, is the a priori estimate; Distortion evaluation: The degree of signal distortion is evaluated by calculating the signal distortion rate; the distortion evaluation index is the signal-to-noise ratio ; Interference source impact judgment: According to the result after signal recovery, judge whether the signal is affected by the interference source; if If the value is lower than the set interference judgment standard, it is judged that the signal is affected by the interference source.

6. The multi-UAV collaborative task execution system according to claim 5, characterized in that: The interference source positioning unit specifically includes: Triangulation: Based on the output of the spectrum analysis unit and the signal distortion detection unit, the triangulation algorithm is used to determine the specific location of the interference source. The triangulation algorithm estimates the distance by measuring the difference in signal strength, thereby determining the exact location of the interference source. Interference source strength calculation: After determining the location of the interference source, the strength of the interference source is calculated based on the signal strength attenuation model; if the location of the interference source is known, the signal strength is calculated using the propagation model; the signal strength calculation formula is: ,in, is the signal strength at the interference source, is the reference signal strength, is the distance between the interference source and the UAV, is the reference distance; Impact area estimation: by the strength of the interference source And the signal propagation model is used to estimate the impact area of ​​the interference source on the communication signal. The estimation formula is: ,in, is the radius of the interference source impact area, is the strength of the interference source, is the reference signal strength, is the distance between the interference source and the sensor; Interference source positioning result output: The calculated interference source location, strength and impact area are output to provide information for subsequent interference suppression and task execution adjustment modules.

7. The multi-UAV collaborative task execution system according to claim 1, characterized in that: The interference suppression module includes a channel selection unit and an interference avoidance unit; wherein: Channel selection unit: used to dynamically select the communication channel according to the interference source information provided by the interference source identification module. Specifically, after receiving the interference source location, strength and impact area information, the interference level of the channel is determined by the following formula: ,in, Interference source The strength of Interference source and communication channel The distance is the number of interference sources affecting the channel; and the calculated interference level Compare with the preset interference threshold and select the channel with the least interference for communication; Interference avoidance unit: used to adjust the communication frequency after the channel selection unit selects the channel with the least interference, so that the spectrum occupation range of the communication signal avoids the influence area of ​​the interference source.

8. The multi-UAV collaborative task execution system according to claim 1, characterized in that: The communication redundancy module includes a multi-path transmission unit, a communication retransmission unit and a signal quality monitoring unit; wherein: Multipath transmission unit: used to perform data backup and real-time transmission through multiple backup communication channels when interference occurs in the communication channel. Specifically, the data is divided into multiple sub-packets and each sub-packet is sent to a different backup channel, thereby realizing multipath data transmission; Communication retransmission unit: used to retransmit communication based on redundant backup data when interference occurs in the channel to ensure that data is not lost; specifically, when the multi-path transmission unit detects that the transmission of a backup channel fails, the communication retransmission unit will automatically trigger the retransmission mechanism and resend the lost data through other channels; Signal quality monitoring unit: used to monitor the signal quality of each backup channel in real time and output the signal quality information of each backup channel.

9. The multi-UAV collaborative task execution system according to claim 8, characterized in that: The communication retransmission unit comprises: Fault detection subunit: used to monitor the transmission status of each backup channel of the multipath transmission unit in real time. When the transmission of a backup channel fails, it automatically identifies the channel failure and triggers the retransmission mechanism. Specifically, it determines whether the channel fails based on the following conditions: ,in, For backup channel The received signal power, is the preset receiving power threshold; if the signal power is lower than the threshold , then the channel is considered to be faulty. , the fault detection subunit will trigger the retransmission control subunit; Retransmission control subunit: used to automatically select a backup channel for data retransmission after the fault detection subunit triggers the retransmission mechanism; When , the channel with the largest signal-to-noise ratio and no failure is selected for retransmission; Data retransmission subunit: used to resend lost data packets to the backup channel selected by the retransmission control subunit.

10. The multi-UAV collaborative task execution system according to claim 1, characterized in that: The task execution adjustment module includes an interference information receiving unit, a task adjustment unit and an execution priority updating unit; wherein: Interference information receiving unit: used to receive the interference source location, strength and impact area information fed back by the interference source identification module, and the backup channel signal quality information fed back by the communication redundancy module: Task adjustment unit: used to adjust the execution order and priority of the current task in real time according to the received interference source information and signal quality information; if the interference source's impact area overlaps with a certain UAV's mission area, and the interference source intensity exceeds the preset threshold, the UAV's mission execution will be delayed; Execution priority updating unit: used to update the execution order and priority of each task according to the adjustment result provided by the task adjustment unit.

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