Method and System for Transmitting UAV Operation Data Based on Collaborative Management

Abstract

The present invention discloses a method and system for transmitting unmanned aerial vehicle operation data based on collaborative management, belonging to the field of wireless communication technology. The system includes a data acquisition module, a collaborative analysis module, a data transmission module, and an operation supervision module; the data acquisition module is used to collect task data to be sent by the command center, as well as the signal strength parameters and spatial position information of the unmanned aerial vehicles; the collaborative analysis module is used to calculate the first coefficient of each unmanned aerial vehicle according to the signal strength parameters and spatial position information, so as to define the communication object and its receiving point, and the command center establishes an instruction set and sends it to the communication object; the data transmission module is used to calculate the second coefficient of each receiving point and define the abnormal receiving point and the forwarding node, and after the communication object parses the instruction set, it transmits the instruction to each forwarding node, and the forwarding node transmits the instruction on behalf of it to the abnormal receiving point; the operation supervision module is used to update each transmission object according to the feedback data of the unmanned aerial vehicle group and build an instruction collaborative transmission network.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a method and system for transmitting data of unmanned aerial vehicle operation based on collaborative management. Background Art

[0002] With the rapid development of drone technology and the expansion of its application scope, drone groups have become a hot research field by improving efficiency and flexibility through collaborative operations. However, as the number of drones increases, how to achieve efficient wireless communication in complex environments has become the key to their successful application.

[0003] At present, the distributed control method is usually used for the command communication of drone swarms. The ground control end transmits the command tasks to several master drones, and then these master drones are responsible for forwarding the task instructions and coordinating the work of other drones. This method has certain problems. On the one hand, the master drone is usually set in advance, and when performing tasks at high altitudes, due to changes in the environment, it cannot be ensured that the master drone receives complete command information in time, resulting in the risk of some drones losing control or even colliding because they do not receive commands in time. On the other hand, the drones that are responsible for forwarding commands by the master drone are usually paired in advance, and the position of the drone swarm may change when performing complex tasks. When the drone is too far away from the master drone, there may be a delay in command transmission or even signal interruption, affecting the overall collaboration of the drone swarm. Therefore, at this stage, a more intelligent and efficient drone command transmission management technology solution is needed to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for transmitting data of unmanned aerial vehicle operation based on collaborative management, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides a method for transmitting UAV operation data based on collaborative management, comprising the following steps:

[0006] During the high-altitude operation, the S100 drone swarm collects the mission data to be sent by the command center, as well as the signal strength parameters and spatial position information of each drone in real time.

[0007] S200, analyzing the signal strength parameters and spatial position information and calculating the first coefficient of each drone, defining the communication object and its receiving point according to the first coefficient, and the command center establishing an instruction set and sending it to the communication object.

[0008] S300, calculating the second coefficient of each receiving point and defining an abnormal receiving point and a forwarding node, the communication object parses the instruction set and transmits the instruction to each forwarding node, and the forwarding node transmits the instruction to the abnormal receiving point on its behalf.

[0009] S400. During the execution of command transmission, the command center dynamically updates each transmission object and builds a command collaborative transmission network based on the real-time feedback data from the drone group, which is displayed in real time on a large visual screen.

[0010] In S100, a drone swarm is a group of drones that executes the command tasks conveyed by the command center through autonomous management and coordination. The command center refers to the drone swarm operation control center, and the mission data refers to the command package of the drone swarm. The signal strength parameters include control signal strength and coordination signal strength. The control signal strength refers to the signal strength between the drone and the command center, and the coordination signal strength refers to the signal strength between the drone and other drones. Spatial position information refers to the real-time three-dimensional coordinates of the drone in the air.

[0011] Control signals and coordination signals use different communication methods. The command center establishes a connection with each drone through control signals and transmits command information. The drones establish connections with other drones at high altitudes through coordination signals and forward command information. Each drone can sense the strength of the control signal between it and the command center, as well as the strength of the coordination signal with other drones.

[0012] In S200, the specific steps are as follows:

[0013] S201. Obtain the spatial position and signal strength of each UAV in the UAV group and analyze the UAV c The spatial distance between the drones and the average SD c ave , and the cooperative signal strength with other drones and calculate the average XRS c ave , obtain the control signal strength of all drones and calculate the average KRS ave , substitute the formula to calculate UAV c The first coefficient of FX c , the formula is as follows:

[0014]

[0015] Where α is a constant, KRS c UAV c The control signal strength of each drone is calculated.

[0016] The first coefficient indicates the closeness of the connection between the drone and other drones. The closer the drone is to the center of the drone group, the greater the average value of the coordinated signal strength and the smaller the average value of the spatial position distance, which means that the closeness of the connection between the drone and other drones is higher.

[0017] S202: Create a filter set for each drone and set the signal strength threshold XRS thr , all with UAV c The synergistic signal strength is greater than that of XRS thr UAV c . Sort all drones according to the first coefficient from large to small, and set the drone with the highest sorting order as the communication object. When the screening set of all communication objects does not contain all drones except the communication object, set the drones as communication objects in order according to the sorting order until the screening set of all communication objects contains all drones except the communication object.

[0018] S203, marking the UAVs that appear repeatedly in different communication object screening sets, and marking the UAVs d The filter set of communication objects with the highest cooperative signal strength remains unchanged, and the marked UAVs in the filter sets of other communication objects are deleted. d When there are no duplicate drones in different screening sets, each drone in the screening set is used as the receiving point of the corresponding communication object. The command center creates an instruction package for each drone, packages the instruction packages of each communication object and all its receiving points into an instruction set and sends it to the corresponding communication object.

[0019] Each drone that is not a communication object is a receiving point. Each communication object has multiple receiving points, and each receiving point belongs to only one communication object. The command center combines the corresponding instruction packets into an instruction set based on the communication object and its receiving point. After each communication object receives the instruction set, it can forward the corresponding instruction packet to each receiving point.

[0020] In S300, the specific steps are as follows:

[0021] S301, obtain the data volume SJL of each receiving point instruction packet tj , and the spatial distance SD between the corresponding communication object tj and synergy signal strength XRS tj , set the standard data volume SJL base , standard space distance SD base and standard signal strength XRS base , substitute into the formula to calculate the second coefficient of each receiving point; set the coefficient threshold h, and mark the receiving points with a second coefficient greater than h as abnormal. The formula is as follows:

[0022]

[0023] Where SX is the second coefficient.

[0024] The second coefficient represents the degree of transmission abnormality between the communication object and the receiving point. The smaller the data volume of the instruction packet, the smaller the spatial distance, and the greater the coordinated signal strength, the lower the degree of transmission abnormality. By setting the coefficient threshold, the receiving points with excessive transmission abnormality are screened out and marked as abnormal.

[0025] S302, classify all receiving points according to whether they belong to the same communication object, and mark all receiving points that are not marked as abnormal; associate the marked receiving points and abnormal receiving points under each category in pairs, and calculate the sum of the instruction packet data volume of each pair of associated receiving points as the forwarding data volume.

[0026] S303: Substitute the forwarding data volume of the associated receiving point, the spatial distance between the marked receiving point and the communication object, and the collaborative signal strength into the second coefficient calculation formula, and use the calculation result as the forwarding coefficient. Substitute the instruction packet data volume of the abnormal receiving point under the associated receiving point, the spatial distance between the marked receiving point and the abnormal receiving point, and the collaborative signal strength into the second coefficient calculation formula, and use the calculation result as the instruction coefficient.

[0027] The forwarding coefficient represents the transmission quality between the communication object and the marked receiving point. Compared with the second coefficient of the marked receiving point, the difference is that the data volume of the instruction packet is changed to the forwarding data volume.

[0028] The command coefficient represents the transmission quality between the marked receiving point and the abnormal receiving point, and is different from the second coefficient of the abnormal receiving point in that the communication object is changed to the marked receiving point.

[0029] S304, sum the forwarding coefficient and the instruction coefficient as the transmission coefficient between the marked receiving point and the abnormal receiving point. Create a matching set for each abnormal receiving point, and put the marked receiving points that have an association relationship with the abnormal receiving point and whose forwarding coefficient and instruction coefficient are both greater than h into the corresponding matching set. When there are repeated marked receiving points in different matching sets, x The matching set of the abnormal receiving point with the largest transmission coefficient remains unchanged, and the marked receiving points BJS in other matching sets are deleted. x .

[0030] S305, calculate abnormal receiving point YJS k The first coefficient difference FX with the communication object dif FX dif Divide by the abnormal receiving point YJS k The first coefficient of is rounded up to get the number of nodes u, at the abnormal receiving point YJS kIn the matching set of , u labeled receiving points are selected as forwarding nodes in descending order of transmission coefficient. The communication object parses the instruction set, first transmits the instruction packets to the corresponding labeled receiving points, then packages the instruction packets of the forwarding node and the abnormal receiving point and transmits them to the corresponding forwarding node, and the forwarding node transmits the instruction packets to the corresponding abnormal receiving point again.

[0031] The forwarding node receives the instruction packets of itself and the abnormal receiving point, and transmits the instruction packets of the abnormal receiving point on its behalf. Generally, the abnormal receiving point has a smaller first coefficient than the communication object, and has a lower degree of association with other drones. It is easy to fail to receive the complete instruction packet for a long time due to transmission delay. Therefore, in order to reduce the probability of loss of instruction information of the abnormal receiving point, multiple forwarding nodes are established according to the size of the first coefficient of the abnormal receiving point to reduce the probability of loss of instruction data.

[0032] In S400, during the execution of command transmission, the command center receives the signal strength parameters and spatial position information fed back by the drone group in real time, dynamically updates the communication objects, forwarding nodes and abnormal receiving points, builds a command collaborative transmission network and displays it in real time through a large visual screen.

[0033] The UAV operation data transmission system based on collaborative management includes a data collection module, a collaborative analysis module, a data transmission module and an operation supervision module.

[0034] The data acquisition module is used to collect the mission data to be sent by the command center, as well as the signal strength parameters and spatial position information of the drone.

[0035] The collaborative analysis module is used to calculate the first coefficient of each drone based on the signal strength parameters and spatial position information, thereby defining the communication object and its receiving point. The command center establishes an instruction set and sends it to the communication object.

[0036] The data transmission module is used to calculate the second coefficient of each receiving point and define abnormal receiving points and forwarding nodes. After the communication object parses the instruction set, it transmits the instruction to each forwarding node, and the forwarding node transmits the instruction to the abnormal receiving point on its behalf.

[0037] The operation supervision module is used to update each transmission object according to the feedback data of the drone group and build a command collaborative transmission network.

[0038] The data acquisition module includes a task data acquisition unit, a signal parameter acquisition unit and a position information acquisition unit.

[0039] The mission data acquisition unit is used to collect the command packets of the drone cluster, and the command center controls each drone separately through the command packets.

[0040] The signal parameter acquisition unit is used to collect the control signal strength and cooperative signal strength of each drone; the control signal strength refers to the signal strength between the drone and the command center, and the cooperative signal strength refers to the signal strength between the drone and other drones.

[0041] The position information acquisition unit is used to collect the spatial position of each drone, specifically the real-time three-dimensional coordinates of the drone in the air.

[0042] The collaborative analysis module includes an object screening unit and an instruction analysis unit.

[0043] The object screening unit is used to set the communication object.

[0044] First, according to the UAV c The spatial distance between the drones and the average SD c ave , and the collaborative signal strength calculation average XRS between other drones c ave , calculate the average KRS of all drone control signal strengths ave .

[0045] Secondly, according to the formula Computing UAV c The first coefficient of FX c , and the first coefficient for each drone. Set the signal strength threshold XRS thr And create a filter set for each drone, all the UAV c The synergistic signal strength is greater than that of XRS thr UAV c Among them, α is a constant, KRS c UAV c of the control signal strength.

[0046] Finally, all drones are sorted in descending order according to the first coefficient, and the drone with the highest sorting order is set as the communication object. When the screening set of all communication objects does not contain all drones except the communication object, drones are set as communication objects in order of sorting until the screening set of all communication objects contains all drones except the communication object.

[0047] The instruction analysis unit is used to define a receiving point for each communication object.

[0048] First mark the drones that appear repeatedly in different communication object screening sets, and mark the drones UAV dThe filter set of communication objects with the highest cooperative signal strength remains unchanged, and the marked UAVs in the filter sets of other communication objects are deleted. d When there are no duplicate drones in different screening sets, each drone in the screening set is used as the receiving point of the corresponding communication object.

[0049] The command center creates a command package for each drone, packages the command packages of each communication object and all its receiving points into a command set and sends it to the corresponding communication object.

[0050] The data transmission module includes a network building unit and an instruction transmission unit.

[0051] The network construction unit is used to set forwarding nodes and abnormal receiving points to build an instruction forwarding network.

[0052] First, obtain the data volume SJL of each receiving point instruction packet tj , and the spatial distance SD between the corresponding communication object tj and synergy signal strength XRS tj , set the standard data volume SJL base , standard space distance SD base and standard signal strength XRS base , according to the formula The second coefficient is calculated for each receiving point respectively.

[0053] Set the coefficient threshold h, and mark the receiving points whose second coefficient is greater than h as abnormal. Classify all receiving points according to whether they belong to the same communication object, and mark all receiving points that are not marked as abnormal; associate the marked receiving points and abnormal receiving points in each category, and calculate the sum of the instruction packet data volume of each pair of associated receiving points as the forwarding data volume.

[0054] Secondly, the forwarding data volume of the associated receiving point, the spatial distance between the marked receiving point and the communication object, and the coordinated signal strength are substituted into the second coefficient calculation formula, and the calculation result is used as the forwarding coefficient. The instruction packet data volume of the abnormal receiving point under the associated receiving point, the spatial distance between the marked receiving point and the abnormal receiving point, and the coordinated signal strength are substituted into the second coefficient calculation formula, and the calculation result is used as the instruction coefficient.

[0055] The forwarding coefficient and the instruction coefficient are summed as the transmission coefficient between the marked receiving point and the abnormal receiving point. A matching set is established for each abnormal receiving point, and the marked receiving points that have an association relationship with the abnormal receiving point and whose forwarding coefficient and instruction coefficient are both greater than h are placed in the corresponding matching set.

[0056] Finally, when there are repeated annotated receiving points in different matching sets, the annotated receiving points BJS xThe matching set of the abnormal receiving point with the largest transmission coefficient remains unchanged, and the marked receiving points BJS in other matching sets are deleted. x .

[0057] Calculate the abnormal receiving point YJS k The first coefficient difference FX with the communication object dif FX dif Divide by the abnormal receiving point YJS k The first coefficient of is rounded up to get the number of nodes u, at the abnormal receiving point YJS k In the matching set, u labeled receiving points are selected as forwarding nodes in descending order of transmission coefficient.

[0058] The instruction transmission unit is used to transmit instruction information.

[0059] Each communication object parses the instruction set, first transmits the instruction packets to the corresponding marked receiving points, then packages the instruction packets of the forwarding node and the abnormal receiving point and transmits them to the corresponding forwarding node, and the forwarding node transmits the instruction packets to the corresponding abnormal receiving point again.

[0060] The operation supervision module is used to receive the signal strength parameters and spatial location information fed back by the drone group in real time, dynamically update the communication objects, forwarding nodes and abnormal receiving points, and build a command collaborative transmission network.

[0061] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0062] 1. Dynamic object definition: In the present invention, the first coefficient is calculated by analyzing the average value of the cooperative signal strength and the average value of the spatial distance between each drone and other drones. A screening set is established for each drone based on the cooperative signal strength. The first coefficient and the screening set are comprehensively analyzed to define the communication object and the receiving point. Compared with the method of pre-specifying the communication object and fixedly allocating the receiving point in the traditional technology, it is more flexible and dynamic, and has strong adaptability.

[0063] 2. Intelligent instruction transmission: The present invention analyzes the spatial distance, signal strength, and instruction packet data volume of each receiving point under each communication object, and calculates the second coefficient of the receiving point. The abnormal receiving point and the marked receiving point are defined according to the second coefficient, and a certain number of forwarding nodes are selected for each abnormal receiving point in the marked receiving point. Compared with the fixed receiving point transmission path in traditional technology, it is more intelligent and can achieve an overall improvement in the quality of instruction transmission.

[0064] In summary, compared with traditional technologies, the present invention has the advantages of dynamic object definition and intelligent command transmission, and can improve the efficiency of drone command transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0066] Figure 1 It is a flow chart of a method for transmitting data of UAV operation based on collaborative management according to the present invention;

[0067] Figure 2 It is a structural schematic diagram of the UAV operation data transmission system based on collaborative management of the present invention. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] See also Figure 1 The present invention provides a method for transmitting unmanned aerial vehicle operation data based on collaborative management, comprising the following steps:

[0070] During the high-altitude operation, the S100 drone swarm collects the mission data to be sent by the command center, as well as the signal strength parameters and spatial position information of each drone in real time.

[0071] S200, analyzing the signal strength parameters and spatial position information and calculating the first coefficient of each drone, defining the communication object and its receiving point according to the first coefficient, and the command center establishing an instruction set and sending it to the communication object.

[0072] S300, calculating the second coefficient of each receiving point and defining an abnormal receiving point and a forwarding node, the communication object parses the instruction set and transmits the instruction to each forwarding node, and the forwarding node transmits the instruction to the abnormal receiving point on its behalf.

[0073] S400. During the execution of command transmission, the command center dynamically updates each transmission object and builds a command collaborative transmission network based on the real-time feedback data from the drone group, which is displayed in real time on a large visual screen.

[0074] In S100, a drone swarm is a group of drones that executes the command tasks conveyed by the command center through autonomous management and coordination. The command center refers to the drone swarm operation control center, and the mission data refers to the command package of the drone swarm. The signal strength parameters include control signal strength and coordination signal strength. The control signal strength refers to the signal strength between the drone and the command center, and the coordination signal strength refers to the signal strength between the drone and other drones. Spatial position information refers to the real-time three-dimensional coordinates of the drone in the air.

[0075] Control signals and coordination signals use different communication methods. The command center establishes a connection with each drone through control signals and transmits command information. The drones establish connections with other drones at high altitudes through coordination signals and forward command information. Each drone can sense the strength of the control signal between it and the command center, as well as the strength of the coordination signal with other drones.

[0076] In S200, the specific steps are as follows:

[0077] S201. Obtain the spatial position and signal strength of each UAV in the UAV group and analyze the UAV c The spatial distance between the drones and the average SD c ave , and the cooperative signal strength with other drones and calculate the average XRS c ave , obtain the control signal strength of all drones and calculate the average KRS ave , substitute the formula to calculate UAV c The first coefficient of FX c , the formula is as follows:

[0078]

[0079] Where α is a constant, KRS c UAV c The control signal strength of each drone is calculated.

[0080] The first coefficient indicates the closeness of the connection between the drone and other drones. The closer the drone is to the center of the drone group, the greater the average value of the coordinated signal strength and the smaller the average value of the spatial position distance, which means that the closeness of the connection between the drone and other drones is higher.

[0081] S202: Create a filter set for each drone and set the signal strength threshold XRS thr , all with UAV c The synergistic signal strength is greater than that of XRS thr UAVc . Sort all drones according to the first coefficient from large to small, and set the drone with the highest sorting order as the communication object. When the screening set of all communication objects does not contain all drones except the communication object, set the drones as communication objects in order according to the sorting order until the screening set of all communication objects contains all drones except the communication object.

[0082] S203, marking the UAVs that appear repeatedly in different communication object screening sets, and marking the UAVs d The filter set of communication objects with the highest cooperative signal strength remains unchanged, and the marked UAVs in the filter sets of other communication objects are deleted. d When there are no duplicate drones in different screening sets, each drone in the screening set is used as the receiving point of the corresponding communication object. The command center creates an instruction package for each drone, packages the instruction packages of each communication object and all its receiving points into an instruction set and sends it to the corresponding communication object.

[0083] Each drone that is not a communication object is a receiving point. Each communication object has multiple receiving points, and each receiving point belongs to only one communication object. The command center combines the corresponding instruction packets into an instruction set based on the communication object and its receiving point. After each communication object receives the instruction set, it can forward the corresponding instruction packet to each receiving point.

[0084] In S300, the specific steps are as follows:

[0085] S301, obtain the data volume SJL of each receiving point instruction packet tj , and the spatial distance SD between the corresponding communication object tj and synergy signal strength XRS tj , set the standard data volume SJL base , standard space distance SD base and standard signal strength XRS base , substitute into the formula to calculate the second coefficient of each receiving point; set the coefficient threshold h, and mark the receiving points with the second coefficient greater than h as abnormal. The formula is as follows:

[0086]

[0087] Where SX is the second coefficient.

[0088] The second coefficient represents the degree of transmission abnormality between the communication object and the receiving point. The smaller the data volume of the instruction packet, the smaller the spatial distance, and the greater the coordinated signal strength, the lower the degree of transmission abnormality. By setting the coefficient threshold, the receiving points with excessive transmission abnormality are screened out and marked as abnormal.

[0089] S302, classify all receiving points according to whether they belong to the same communication object, and mark all receiving points that are not marked as abnormal; associate the marked receiving points and abnormal receiving points under each category in pairs, and calculate the sum of the instruction packet data volume of each pair of associated receiving points as the forwarding data volume.

[0090] S303: Substitute the forwarding data volume of the associated receiving point, the spatial distance between the marked receiving point and the communication object, and the collaborative signal strength into the second coefficient calculation formula, and use the calculation result as the forwarding coefficient. Substitute the instruction packet data volume of the abnormal receiving point under the associated receiving point, the spatial distance between the marked receiving point and the abnormal receiving point, and the collaborative signal strength into the second coefficient calculation formula, and use the calculation result as the instruction coefficient.

[0091] The forwarding coefficient represents the transmission quality between the communication object and the marked receiving point. Compared with the second coefficient of the marked receiving point, the difference is that the data volume of the instruction packet is changed to the forwarding data volume.

[0092] The command coefficient represents the transmission quality between the marked receiving point and the abnormal receiving point, and is different from the second coefficient of the abnormal receiving point in that the communication object is changed to the marked receiving point.

[0093] S304, sum the forwarding coefficient and the instruction coefficient as the transmission coefficient between the marked receiving point and the abnormal receiving point. Create a matching set for each abnormal receiving point, and put the marked receiving points that have an association relationship with the abnormal receiving point and whose forwarding coefficient and instruction coefficient are both greater than h into the corresponding matching set. When there are repeated marked receiving points in different matching sets, x The matching set of the abnormal receiving point with the largest transmission coefficient remains unchanged, and the marked receiving points BJS in other matching sets are deleted. x .

[0094] S305, calculate abnormal receiving point YJS k The first coefficient difference FX with the communication object dif FX dif Divide by the abnormal receiving point YJS k The first coefficient of is rounded up to get the number of nodes u, at the abnormal receiving point YJS k In the matching set of , u labeled receiving points are selected as forwarding nodes in descending order of transmission coefficient. The communication object parses the instruction set, first transmits the instruction packets to the corresponding labeled receiving points, then packages the instruction packets of the forwarding node and the abnormal receiving point and transmits them to the corresponding forwarding node, and the forwarding node transmits the instruction packets to the corresponding abnormal receiving point again.

[0095] The forwarding node receives the instruction packets of itself and the abnormal receiving point, and transmits the instruction packets of the abnormal receiving point on its behalf. Generally, the abnormal receiving point has a smaller first coefficient than the communication object, and has a lower degree of association with other drones. It is easy to fail to receive the complete instruction packet for a long time due to transmission delay. Therefore, in order to reduce the probability of loss of instruction information of the abnormal receiving point, multiple forwarding nodes are established according to the size of the first coefficient of the abnormal receiving point to reduce the probability of loss of instruction data.

[0096] In S400, during the execution of command transmission, the command center receives the signal strength parameters and spatial position information fed back by the drone group in real time, dynamically updates the communication objects, forwarding nodes and abnormal receiving points, builds a command collaborative transmission network and displays it in real time through a large visual screen.

[0097] See also Figure 2 The present invention provides a UAV operation data transmission system based on collaborative management, including a data acquisition module, a collaborative analysis module, a data transmission module and an operation supervision module.

[0098] The data acquisition module is used to collect the mission data to be sent by the command center, as well as the signal strength parameters and spatial position information of the drone.

[0099] The collaborative analysis module is used to calculate the first coefficient of each drone based on the signal strength parameters and spatial position information, thereby defining the communication object and its receiving point. The command center establishes an instruction set and sends it to the communication object.

[0100] The data transmission module is used to calculate the second coefficient of each receiving point and define abnormal receiving points and forwarding nodes. After the communication object parses the instruction set, it transmits the instruction to each forwarding node, and the forwarding node transmits the instruction to the abnormal receiving point on its behalf.

[0101] The operation supervision module is used to update each transmission object according to the feedback data of the drone group and build a command collaborative transmission network.

[0102] The data acquisition module includes a task data acquisition unit, a signal parameter acquisition unit and a position information acquisition unit.

[0103] The mission data acquisition unit is used to collect the command packets of the drone cluster, and the command center controls each drone separately through the command packets.

[0104] The signal parameter acquisition unit is used to collect the control signal strength and cooperative signal strength of each drone; the control signal strength refers to the signal strength between the drone and the command center, and the cooperative signal strength refers to the signal strength between the drone and other drones.

[0105] The position information acquisition unit is used to collect the spatial position of each drone, specifically the real-time three-dimensional coordinates of the drone in the air.

[0106] The collaborative analysis module includes an object screening unit and an instruction analysis unit.

[0107] The object screening unit is used to set the communication object.

[0108] First, according to the UAV c The spatial distance between the drones and the average SD c ave , and the collaborative signal strength calculation average XRS between other drones c ave , calculate the average KRS of all drone control signal strengths ave .

[0109] Secondly, according to the formula Computing UAV c The first coefficient of FX c , and the first coefficient for each drone. Set the signal strength threshold XRS thr And create a filter set for each drone, all the UAV c The synergistic signal strength is greater than that of XRS thr UAV c Among them, α is a constant, KRS c UAV c of the control signal strength.

[0110] Finally, all drones are sorted in descending order according to the first coefficient, and the drone with the highest sorting order is set as the communication object. When the screening set of all communication objects does not contain all drones except the communication object, drones are set as communication objects in order of sorting until the screening set of all communication objects contains all drones except the communication object.

[0111] The instruction analysis unit is used to define a receiving point for each communication object.

[0112] First mark the drones that appear repeatedly in different communication object screening sets, and mark the drones UAV d The filter set of communication objects with the highest cooperative signal strength remains unchanged, and the marked UAVs in the filter sets of other communication objects are deleted. d When there are no duplicate drones in different screening sets, each drone in the screening set is used as the receiving point of the corresponding communication object.

[0113] The command center creates a command package for each drone, packages the command packages of each communication object and all its receiving points into a command set and sends it to the corresponding communication object.

[0114] The data transmission module includes a network building unit and an instruction transmission unit.

[0115] The network construction unit is used to set forwarding nodes and abnormal receiving points to build an instruction forwarding network.

[0116] First, obtain the data volume SJL of each receiving point instruction packet tj , and the spatial distance SD between the corresponding communication object tj and synergy signal strength XRS tj , set the standard data volume SJL base , standard space distance SD base and standard signal strength XRS base , according to the formula The second coefficient is calculated for each receiving point respectively.

[0117] Set the coefficient threshold h, and mark the receiving points whose second coefficient is greater than h as abnormal. Classify all receiving points according to whether they belong to the same communication object, and mark all receiving points that are not marked as abnormal; associate the marked receiving points and abnormal receiving points in each category, and calculate the sum of the instruction packet data volume of each pair of associated receiving points as the forwarding data volume.

[0118] Secondly, the forwarding data volume of the associated receiving point, the spatial distance between the marked receiving point and the communication object, and the coordinated signal strength are substituted into the second coefficient calculation formula, and the calculation result is used as the forwarding coefficient. The instruction packet data volume of the abnormal receiving point under the associated receiving point, the spatial distance between the marked receiving point and the abnormal receiving point, and the coordinated signal strength are substituted into the second coefficient calculation formula, and the calculation result is used as the instruction coefficient.

[0119] The forwarding coefficient and the instruction coefficient are summed as the transmission coefficient between the marked receiving point and the abnormal receiving point. A matching set is established for each abnormal receiving point, and the marked receiving points that have an association relationship with the abnormal receiving point and whose forwarding coefficient and instruction coefficient are both greater than h are placed in the corresponding matching set.

[0120] Finally, when there are repeated annotated receiving points in different matching sets, the annotated receiving points BJS x The matching set of the abnormal receiving point with the largest transmission coefficient remains unchanged, and the marked receiving points BJS in other matching sets are deleted. x .

[0121] Calculate the abnormal receiving point YJS k The first coefficient difference FX with the communication object dif FX dif Divide by the abnormal receiving point YJS k The first coefficient of is rounded up to get the number of nodes u, at the abnormal receiving point YJS kIn the matching set, u labeled receiving points are selected as forwarding nodes in descending order of transmission coefficient.

[0122] The instruction transmission unit is used to transmit instruction information.

[0123] Each communication object parses the instruction set, first transmits the instruction packets to the corresponding marked receiving points, then packages the instruction packets of the forwarding node and the abnormal receiving point and transmits them to the corresponding forwarding node, and the forwarding node transmits the instruction packets to the corresponding abnormal receiving point again.

[0124] The operation supervision module is used to receive the signal strength parameters and spatial location information fed back by the drone group in real time, dynamically update the communication objects, forwarding nodes and abnormal receiving points, and build a command collaborative transmission network.

[0125] Example 1: Assume that the communication object has three receiving points G1, G2 and G3, the standard data volume is 2MB, the standard spatial distance is 6m, the standard signal strength is -60dbm, and the coefficient threshold is 0.6; the information of the three receiving points G1, G2 and G3 is as follows:

[0126] G1 receiving point: instruction packet data volume: 1.2MB, spatial distance: 5m, collaborative signal strength: -60dbm;

[0127] G2 receiving point: instruction packet data volume: 0.8MB, spatial distance: 5m, collaborative signal strength: -45dbm;

[0128] G3 receiving point: instruction packet data volume: 1.0MB, spatial distance: 6m, collaborative signal strength: -90dbm;

[0129] Substitute the formula to calculate the second coefficient of each receiving point:

[0130]

[0131]

[0132]

[0133] Then the G3 receiving point is marked as abnormal, the G3 receiving point is used as the abnormal receiving point, and the G1 receiving point and the G2 receiving point are used as marked receiving points.

[0134] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0135] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for transmitting UAV operation data based on collaborative management, characterized in that: The data transmission method comprises the following steps: S100, during the high-altitude operation, the drone group collects the task data to be sent by the command center, as well as the signal strength parameters and spatial position information of each drone in real time; S200, analyzing the signal strength parameter and the spatial position information and calculating the first coefficient of each UAV, defining the communication object and its receiving point according to the first coefficient, and the command center establishing an instruction set and sending it to the communication object; S300, calculating the second coefficient of each receiving point and defining an abnormal receiving point and a forwarding node, the communication object parses the instruction set and transmits the instruction to each forwarding node, and the forwarding node transmits the instruction to the abnormal receiving point on its behalf; S400, during the execution of command transmission, the command center dynamically updates each transmission object and builds a command collaborative transmission network based on the real-time feedback data from the drone group, and displays it in real time on a large visual screen; In S200, the specific steps are as follows: S201. Obtain the spatial position and signal strength of each UAV in the UAV group and analyze the UAV c The spatial distance between the drones and the average SD c ave , and the cooperative signal strength with other drones and calculate the average XRS c ave , obtain the control signal strength of all drones and calculate the average KRS ave , substitute the formula to calculate UAV c The first coefficient of FX c , the formula is as follows: ； Where α is a constant, KRS c UAV c The control signal strength of each drone is calculated; the first coefficient of each drone is calculated respectively; S202: Create a filter set for each drone and set the signal strength threshold XRS thr , all with UAV c The synergistic signal strength is greater than that of XRS thr UAV c ; sort all drones in descending order according to the first coefficient, and set the drone with the highest sorting order as the communication object; when the screening set of all communication objects does not contain all drones except the communication object, set the drones as communication objects in order according to the sorting order until the screening set of all communication objects contains all drones except the communication object; S203, marking the UAVs that appear repeatedly in different communication object screening sets, and marking the UAVs d The filter set of communication objects with the highest cooperative signal strength remains unchanged, and the marked UAVs in the filter sets of other communication objects are deleted. d ; When there are no duplicate drones in different filtering sets, each drone in the filtering set is used as the receiving point of the corresponding communication object; the command center establishes an instruction package for each drone, and packages the instruction packages of each communication object and all its receiving points into an instruction set and sends them to the corresponding communication object.

2. The method for transmitting UAV operation data based on collaborative management according to claim 1, characterized in that: In S100, a drone swarm is composed of multiple drones that execute command tasks conveyed by the command center through autonomous management and coordinated cooperation; the command center refers to the drone cluster operation control center, and the mission data refers to the command package of the drone cluster; the signal strength parameters include control signal strength and coordinated signal strength. The control signal strength refers to the signal strength between the drone and the command center, and the coordinated signal strength refers to the signal strength between the drone and other drones; the spatial position information refers to the real-time three-dimensional coordinates of the drone in the air.

3. The method for transmitting UAV operation data based on collaborative management according to claim 1, characterized in that: In S300, the specific steps are as follows: S301, obtain the data volume SJL of each receiving point instruction packet tj , and the spatial distance SD between the corresponding communication object tj and synergy signal strength XRS tj , set the standard data volume SJL base , standard space distance SD base and standard signal strength XRS base , substitute into the formula to calculate the second coefficient of each receiving point respectively; set the coefficient threshold h, and mark the receiving points with the second coefficient greater than h as abnormal; the formula is as follows: ； Where SX is the second coefficient; S302, classify all receiving points according to whether they belong to the same communication object, and mark all receiving points that are not marked as abnormal; associate the marked receiving points and abnormal receiving points in each category with each other, and calculate the sum of the instruction packet data volume of each pair of associated receiving points as the forwarding data volume; S303, substituting the forwarding data volume of the associated receiving point, the spatial distance between the marked receiving point and the communication object, and the cooperative signal strength into the second coefficient calculation formula, and using the calculation result as the forwarding coefficient; Substitute the instruction packet data volume of the abnormal receiving point under the associated receiving point, the spatial distance between the marked receiving point and the abnormal receiving point, and the cooperative signal strength into the second coefficient calculation formula, and use the calculation result as the instruction coefficient; S304, sum the forwarding coefficient and the instruction coefficient as the transmission coefficient between the marked receiving point and the abnormal receiving point; establish a matching set for each abnormal receiving point, and put the marked receiving points that have an association relationship with the abnormal receiving point and whose forwarding coefficient and instruction coefficient are both greater than h into the corresponding matching set; when there are repeated marked receiving points in different matching sets, x The matching set of the abnormal receiving point with the largest transmission coefficient remains unchanged, and the marked receiving points BJS in other matching sets are deleted. x ; S305, calculate abnormal receiving point YJS k The first coefficient difference FX with the communication object dif FX dif Divide by the abnormal receiving point YJS k The first coefficient of is rounded up to get the number of nodes u, at the abnormal receiving point YJS k Select u marked receiving points as forwarding nodes in the matching set according to the transmission coefficient from large to small; The communication object parses the instruction set, first transmits the instruction packets to the corresponding marked receiving points respectively, then packages the instruction packets of the forwarding node and the abnormal receiving point and transmits them to the corresponding forwarding node, and the forwarding node transmits the instruction packets to the corresponding abnormal receiving point again.

4. The method for transmitting UAV operation data based on collaborative management according to claim 3 is characterized in that: In S400, during the execution of command transmission, the command center receives the signal strength parameters and spatial position information fed back by the drone group in real time, dynamically updates the communication objects, forwarding nodes and abnormal receiving points, builds a command collaborative transmission network and displays it in real time through a large visual screen.

5. The UAV operation data transmission system based on collaborative management is characterized by: The data transmission system includes a data acquisition module, a collaborative analysis module, a data transmission module and an operation supervision module; The data acquisition module is used to collect the mission data to be sent by the command center, as well as the signal strength parameters and spatial position information of the drone; The collaborative analysis module is used to calculate the first coefficient of each UAV based on the signal strength parameter and the spatial position information, thereby defining the communication object and its receiving point, and the command center establishes an instruction set and sends it to the communication object; The data transmission module is used to calculate the second coefficient of each receiving point and define the abnormal receiving point and the forwarding node. After the communication object parses the instruction set, it transmits the instruction to each forwarding node, and the forwarding node transmits the instruction to the abnormal receiving point on its behalf; The operation supervision module is used to update each transmission object according to the feedback data of the drone group and build a command collaborative transmission network; The collaborative analysis module includes an object screening unit and an instruction analysis unit; The object screening unit is used to set the communication object; First, according to the UAV c The spatial distance between the drones and the average SD c ave , and the collaborative signal strength calculation average XRS between other drones c ave , calculate the average KRS of all drone control signal strengths ave ; Secondly, according to the formula Computing UAV c The first coefficient of FX c , and the first coefficient of each drone; set the signal strength threshold XRS thr And create a filter set for each drone, all the UAV c The synergistic signal strength is greater than that of XRS thr UAV c In the screening set, α is a constant, KRS c UAV c The control signal strength; Finally, all drones are sorted in descending order according to the first coefficient, and the drone with the highest sorting order is set as the communication object; when the screening set of all communication objects does not contain all drones except the communication object, drones are set as communication objects in order according to the sorting order until all drones except the communication object are included in the screening set of all communication objects; The instruction analysis unit is used to define a receiving point for each communication object; First mark the drones that appear repeatedly in different communication object screening sets, and mark the drones UAV d The filter set of communication objects with the highest cooperative signal strength remains unchanged, and the marked UAVs in the filter sets of other communication objects are deleted. d ; When there are no duplicate drones in different screening sets, each drone in the screening set is used as the receiving point of the corresponding communication object; The command center creates a command package for each drone, packages the command packages of each communication object and all its receiving points into a command set and sends it to the corresponding communication object.

6. The UAV operation data transmission system based on collaborative management according to claim 5 is characterized by: The data acquisition module includes a task data acquisition unit, a signal parameter acquisition unit and a position information acquisition unit; The mission data acquisition unit is used to collect the command packets of the drone cluster, and the command center controls each drone separately through the command packets; The signal parameter acquisition unit is used to collect the control signal strength and cooperative signal strength of each drone; the control signal strength refers to the signal strength between the drone and the command center, and the cooperative signal strength refers to the signal strength between the drone and other drones; The position information acquisition unit is used to collect the spatial position of each drone, specifically the real-time three-dimensional coordinates of the drone in the air.

7. The UAV operation data transmission system based on collaborative management according to claim 5 is characterized by: The data transmission module includes a network building unit and an instruction transmission unit; The network building unit is used to set forwarding nodes and abnormal receiving points to build an instruction forwarding network; First, obtain the data volume SJL of each receiving point instruction packet tj , and the spatial distance SD between the corresponding communication object tj and synergy signal strength XRS tj , set the standard data volume SJL base , standard space distance SD base and standard signal strength XRS base , according to the formula Calculate the second coefficient of each receiving point respectively; Set a coefficient threshold h, and mark the receiving points whose second coefficient is greater than h as abnormal; Classify all receiving points according to whether they belong to the same communication object, and mark all receiving points that are not marked as abnormal; associate the marked receiving points and abnormal receiving points in each category with each other, and calculate the sum of the instruction packet data volume of each pair of associated receiving points as the forwarding data volume; Secondly, the forwarding data volume of the associated receiving point, the spatial distance between the marked receiving point and the communication object, and the coordinated signal strength are substituted into the second coefficient calculation formula, and the calculation result is used as the forwarding coefficient; Substitute the instruction packet data volume of the abnormal receiving point under the associated receiving point, the spatial distance between the marked receiving point and the abnormal receiving point, and the coordinated signal strength into the second coefficient calculation formula, and the calculation result is used as the instruction coefficient; The forwarding coefficient and the instruction coefficient are summed as the transmission coefficient between the marked receiving point and the abnormal receiving point; a matching set is established for each abnormal receiving point, and the marked receiving points that have an association relationship with the abnormal receiving point and whose forwarding coefficient and instruction coefficient are both greater than h are placed in the corresponding matching set; Finally, when there are repeated annotated receiving points in different matching sets, the annotated receiving points BJS x The matching set of the abnormal receiving point with the largest transmission coefficient remains unchanged, and the marked receiving points BJS in other matching sets are deleted. x ; Calculate the abnormal receiving point YJS k The first coefficient difference FX with the communication object dif FX dif Divide by the abnormal receiving point YJS k The first coefficient of is rounded up to get the number of nodes u, at the abnormal receiving point YJS k Select u marked receiving points as forwarding nodes in the matching set according to the transmission coefficient from large to small; The instruction transmission unit is used to transmit instruction information; Each communication object parses the instruction set, first transmits the instruction packets to the corresponding marked receiving points, then packages the instruction packets of the forwarding node and the abnormal receiving point and transmits them to the corresponding forwarding node, and the forwarding node transmits the instruction packets to the corresponding abnormal receiving point again.

8. The UAV operation data transmission system based on collaborative management according to claim 7 is characterized by: The operation supervision module is used to receive the signal strength parameters and spatial location information fed back by the drone group in real time, dynamically update the communication objects, forwarding nodes and abnormal receiving points, and build a command collaborative transmission network.

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