Air-Ground Cooperative Reconnaissance Tool Cruise Speed ​​Cooperative Control Method and System

Abstract

This invention provides a method and system for coordinated control of the cruise speed of reconnaissance tools based on air-ground collaboration, aiming to solve the speed matching problem between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in collaborative reconnaissance missions. The method dynamically calculates and adjusts the cruise speeds of the UAVs and UGVs according to the reconnaissance mission and environmental conditions to ensure their coordinated operation and efficient mission completion. First, the initial speeds of the UAVs and UGVs are calculated by acquiring relevant parameters of the reconnaissance mission and environmental factors. Then, through a real-time feedback mechanism, the cruise speeds of the UAVs and UGVs are dynamically adjusted based on real-time status such as mission progress and deviation from the trajectory. This invention not only improves the efficiency of collaborative operations between UAVs and UGVs but also copes with changes in complex environments, ensuring the successful completion of reconnaissance missions.

Description

Technical Field

[0001] This invention relates to the field of air-to-ground collaborative reconnaissance, and in particular to a method and system for collaborative control of the cruise speed of reconnaissance tools based on air-to-ground collaboration. Background Technology

[0002] With the continuous development of drone and unmanned vehicle technologies, air-ground collaborative reconnaissance missions have become an important application in military, emergency rescue, and other fields. As a key component of ground-air collaborative operations, the coordinated work between drones and unmanned vehicles requires consideration of various factors, such as the reconnaissance mission area, mission completion time, environmental changes, wind speed, and temperature.

[0003] However, most existing air-ground cooperative control methods focus on the control of a single platform and lack systematic research on air-ground cooperative speed control and efficient cooperative control strategies. This may lead to problems such as mismatched cruising speeds and low efficiency when UAVs and unmanned vehicles perform complex reconnaissance missions.

[0004] Therefore, designing a control method that can accurately calculate according to mission requirements and dynamically adjust the air-ground coordinated cruise speed during execution is key to improving the efficiency of air-ground coordinated reconnaissance missions. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a method and system for coordinated control of the cruise speed of reconnaissance tools based on air-ground cooperation. This method can dynamically adjust the cruise speed of UAVs and unmanned vehicles according to real-time changes in reconnaissance tasks and environments, and ensure their coordinated operation, thereby improving reconnaissance efficiency and mission success rate.

[0006] Technical solution: To achieve the above objectives, the present invention provides a method for coordinated control of the cruise speed of reconnaissance tools based on air-ground cooperation, wherein the reconnaissance tools include unmanned aerial vehicles (UAVs) and unmanned vehicles (UAVs).

[0007] In air-to-ground collaborative scenarios, this collaborative control method dynamically adjusts the cruising speed of the drone and the unmanned vehicle based on the real-time changes in the reconnaissance mission and the environment to ensure coordinated operation between the two.

[0008]

[0009] in, These are the cruising speeds of drones and unmanned vehicles, respectively. Let ΔE be the initial velocity of the drone and the unmanned vehicle, respectively. UAV,UGV δ represents the real-time state changes of the drone and unmanned vehicle, and δ is the feedback coefficient.

[0010] As a further optimization of the present invention, the initial speed of the drone or unmanned vehicle... The expressions are as follows:

[0011]

[0012] in, These are the calculated initial speed values ​​for the drone and the unmanned vehicle, respectively.

[0013] These are the maximum speed limits for drones and unmanned vehicles, respectively.

[0014] As a further optimization of the present invention, the initial velocity calculation value of the UAV... The expression is:

[0015]

[0016] Among them, A UAV The area of ​​the reconnaissance zone allocated to the drone, D UAV T is the reconnaissance diameter of the drone. task The influence function of environmental factors on the completion time of the reconnaissance mission. W represents wind speed, T represents temperature, and α1 and α2 represent the influence coefficients of wind speed and temperature on the speed of the drone.

[0017] As a further optimization of the present invention, the initial speed calculation value of the unmanned vehicle The expression is:

[0018]

[0019] Among them, A UGV The area of ​​the reconnaissance zone allocated to the unmanned vehicle, D UGV For the reconnaissance diameter of the unmanned vehicle, T task A function that considers the effects of wind speed, temperature, and terrain to determine the mission completion time. W represents wind speed, T represents temperature, N represents terrain influence factor, and β1, β2, and β3 represent the influence coefficients of wind speed, temperature, and terrain on the speed of the unmanned vehicle.

[0020] As a further optimization of the present invention, the real-time state change ΔE of the drone and the unmanned vehicle UAV,UGV The expression is:

[0021]

[0022] Among them, R UAV and R UGV These are the real-time reconnaissance progress reports for drones and unmanned vehicles, respectively. and ΔW represents the expected reconnaissance progress of the drone and the unmanned vehicle, respectively. ΔW represents the wind speed change, ΔT represents the temperature change, and γ1 and γ2 represent the influence coefficients of wind speed and temperature changes on speed adjustment.

[0023] Furthermore, a collaborative control system for the cruise speed of reconnaissance tools based on air-to-ground cooperation is also provided, the system comprising:

[0024] The information acquisition module is used to obtain basic parameters of the reconnaissance mission and the environment;

[0025] The initial velocity calculation module is used to calculate the initial velocity of drones and unmanned vehicles.

[0026] Cruise speed calculation module, used to calculate the cruise speed of drones and unmanned vehicles;

[0027] The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles.

[0028] As a further optimization of the present invention, the basic parameters of the reconnaissance mission and the environment include the area of ​​the reconnaissance zone allocated to the UAV and the unmanned vehicle, the reconnaissance diameter of the UAV and the unmanned vehicle, the reconnaissance mission completion time, wind speed, temperature, and terrain influence factor.

[0029] Furthermore, a computer-readable storage medium is provided for storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform the air-to-ground cooperative reconnaissance tool cruise speed cooperative control method as described above.

[0030] Furthermore, an electronic device is also provided, including one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing the air-to-ground cooperative reconnaissance vehicle cruise speed cooperative control method as described above.

[0031] Beneficial effects:

[0032] ① Improve air-ground coordination efficiency: By dynamically adjusting the cruising speed of UAVs and unmanned vehicles, this invention can ensure speed matching between the two, thereby improving mission execution efficiency, especially in complex and dynamic reconnaissance environments.

[0033] ②Enhancing task adaptability: This invention uses a real-time feedback mechanism to automatically adjust the speed according to environmental changes and task execution progress, enabling air-ground collaborative tasks to respond flexibly to actual conditions, thereby improving the success rate of the task.

[0034] ③ Reduce resource waste: Through precise calculation and dynamic adjustment, drones and unmanned vehicles can complete reconnaissance missions more efficiently, avoiding energy and time waste caused by excessively fast or slow speeds. Attached Figure Description

[0035] Figure 1 This is a flowchart of a collaborative control method for the cruise speed of reconnaissance tools based on air-to-ground cooperation. Detailed Implementation

[0036] like Figure 1 As shown, the present invention provides a method for coordinated control of the cruising speed of reconnaissance tools based on air-to-ground cooperation, comprising the following steps:

[0037] 1. Obtain reconnaissance mission and environmental parameters:

[0038] The relevant parameters and environmental factors of the reconnaissance mission are obtained, and these parameters will be used as inputs for the calculation.

[0039] ●A UAV A UGV The reconnaissance area allocated to drones and unmanned vehicles, in square meters (m²). 2 );

[0040] ●D UAV D UAGV The reconnaissance diameter for drones and unmanned vehicles is measured in meters (m).

[0041] ●T task The time taken to complete the reconnaissance mission is measured in seconds (s).

[0042] ●W represents wind speed, measured in meters per second (m / s);

[0043] ●T represents temperature, measured in degrees Celsius (°C).

[0044] ●N is the terrain influence factor, which represents the influence of factors such as ground undulation and obstacles. The value ranges from 0 to 1, where 0 represents flat and unobstructed terrain and 1 represents extremely complex terrain (which can be obtained through terrain scanning or sensors).

[0045] 2. Calculate the initial velocity of the drone.

[0046] The initial speed of the drone is determined by considering mission requirements and environmental factors:

[0047]

[0048] Where f(W,T) is the influence function of environmental factors, specifically:

[0049]

[0050] in:

[0051] ●W represents wind speed, measured in meters per second (m / s);

[0052] ●T represents temperature, measured in degrees Celsius (°C).

[0053] ●α1 and α2 are coefficients representing the influence of wind speed and temperature on speed, obtained through fitting experimental data. (Finally, the drone...)

[0054] The initial velocity is:

[0055]

[0056] in, The maximum speed limit for the drone is expressed in meters per second (m / s).

[0057] 3. Calculate the initial speed of the driverless car.

[0058] The initial speed of the drone is determined by considering mission requirements and environmental factors:

[0059]

[0060] Where f(W,T,N) is a function that considers the effects of wind speed, temperature, and terrain, specifically:

[0061]

[0062] in:

[0063] ●W represents wind speed, measured in meters per second (m / s);

[0064] ●T represents temperature, measured in degrees Celsius (°C).

[0065] ●N is the topographic influence factor, in dimensionless form, ranging from 0 to 1:

[0066] ●β1, β2, and β3 are coefficients obtained by fitting experimental data.

[0067] The final initial speed of the driverless car was

[0068]

[0069] in, The maximum speed limit for driverless vehicles is expressed in meters per second (m / s).

[0070] 4. Determine the patrol speed for UAV collaborative reconnaissance:

[0071] The collaborative reconnaissance and patrol speed of drones and unmanned vehicles is adjusted through real-time status feedback to ensure efficient mission completion. The adjustment model is as follows:

[0072]

[0073] in:

[0074] ● The adjusted speed of the drone's cooperative cruise is expressed in meters per second (m / s).

[0075] ●δ is the feedback coefficient, representing the sensitivity of speed adjustment, and its unit is dimensionless;

[0076] ●ΔE UAV,UGV The real-time state changes of drones and unmanned vehicles are specifically calculated as follows:

[0077]

[0078] in:

[0079] ●R UAV and R UGV The figures show the real-time reconnaissance progress of drones and unmanned vehicles, respectively, in percentage (%).

[0080] ● and These represent the expected progress of the investigation, expressed as a percentage (%).

[0081] ●ΔW represents the change in wind speed, measured in meters per second (m / s).

[0082] ●ΔT is the temperature change, measured in degrees Celsius (°C).

[0083] ●γ1 and γ2 are the influence coefficients of wind speed and temperature changes on speed adjustment, and the units are dimensionless.

[0084] Similarly, the cooperative cruise speed adjustment model for autonomous vehicles is as follows:

[0085]

[0086] To better understand the present invention, the following detailed description is provided in conjunction with embodiments.

[0087] Example:

[0088] Suppose there is an air-ground coordinated reconnaissance mission that requires completing reconnaissance of a certain area within a certain time limit. This mission involves the collaboration of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The UAVs are responsible for aerial reconnaissance, while the UGVs are responsible for ground tracking and auxiliary reconnaissance. The speed of both needs to be coordinated to ensure the efficient completion of the mission.

[0089] Task parameters:

[0090] ● Area of ​​the reconnaissance zone (A)UAV A UGV ):

[0091] ■ The area A of the reconnaissance zone allocated to the drone UAV =400km 2

[0092] ■Reconnaissance area A allocated to unmanned vehicles UGV =100km 2

[0093] ●Detection radius (R) UAV R UGV ):

[0094] ■Drone detection radius R UAV =4km

[0095] ■Unmanned vehicle detection radius R UGV =3km

[0096] ●Task Time (T) task ):

[0097] ■Task completion time T task =1 hour = 3600 seconds

[0098] ●Environmental parameters:

[0099] ■ Wind speed W = 5 m / s

[0100] ■Temperature T=25℃)

[0101] ■Topographic influence factor N = 0.3 (indicating moderately complex terrain)

[0102] ●Maximum speed:

[0103] ■ Maximum speed limit for drones

[0104] ■ Maximum speed limit for driverless vehicles Calculation steps:

[0105] Step 1: Calculate the initial velocity of the drone According to the formula:

[0106]

[0107] First, calculate the influence function f(W,T), assuming it has the following form:

[0108]

[0109] Where α1 = 0.02, α2 = 0.01.

[0110] Substitute the data into the calculation:

[0111]

[0112] Next, calculate the drone's initial velocity:

[0113]

[0114] Converted to km / h:

[0115]

[0116] ■ Initial speed of the drone Less than Therefore

[0117] Step 2: Calculate the initial speed of the driverless car

[0118] According to the formula:

[0119]

[0120] Suppose the influence function f(W,T,N) is of the following form:

[0121]

[0122] Where β1 = 0.02, β2 = 0.01, and β3 = 0.05.

[0123] Substitute the data into the calculation:

[0124]

[0125] Next, calculate the initial speed of the autonomous vehicle:

[0126]

[0127] Converted to km / h:

[0128]

[0129] The initial speed of the driverless car Less than Therefore

[0130] Step 3: Calculate cruise speed adjustment

[0131] Adjust the coordinated cruise speed of the drone and unmanned vehicle based on real-time status feedback. The adjustment formula is:

[0132]

[0133] ΔE in cruise speed adjustment UAV,UGV calculate:

[0134] Assume the real-time changes in task progress are as follows:

[0135] ● Actual mission progress: The progress of drones and unmanned vehicles is 50%.

[0136] ●Expected task progress: The expected task progress is 60%.

[0137] Then ΔE uAV,UGV The calculation is as follows:

[0138]

[0139] Therefore, the overall ΔE UAV,UGV for:

[0140] ΔE 1AV,UGV =ΔE UAV +ΔE UGV =-0.1667-0.1667=-0.3334

[0141] Substitute into the formula and adjust:

[0142]

[0143] Final result:

[0144] ● The cooperative cruise speed of the drone is 71.64 km / h.

[0145] ● The cooperative cruise speed of the autonomous vehicle is 23.59 km / h.

[0146] By adjusting the mission parameters, speeds for the UAV and unmanned vehicle that meet the requirements of practical applications were obtained. The adjusted speed for the UAV was 71.64 km / h; the adjusted speed for the unmanned vehicle was 23.59 km / h. Simultaneously, the adjustment of the cruising speed fully considered changes in real-time mission progress, calculated using ΔE. UAV,UGV To dynamically adjust the coordinated cruising speed of drones and unmanned vehicles.

[0147] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the usage. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible uses here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

[0148] The present invention also provides a collaborative control system for the cruise speed of reconnaissance tools based on air-ground cooperation, the system comprising:

[0149] The information acquisition module is used to obtain basic parameters of the reconnaissance mission and the environment;

[0150] The initial velocity calculation module is used to calculate the initial velocity of drones and unmanned vehicles.

[0151] Cruise speed calculation module, used to calculate the cruise speed of drones and unmanned vehicles;

[0152] The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles.

[0153] Furthermore, the basic parameters of the reconnaissance mission and the environment include the area of ​​the reconnaissance zone allocated to the UAV and unmanned vehicle, the reconnaissance diameter of the UAV and unmanned vehicle, the reconnaissance mission completion time, wind speed, temperature, and terrain influence factors.

[0154] The technical solution of the above-mentioned air-ground collaborative reconnaissance tool cruise speed collaborative control system is similar to the technical solution of the aforementioned reconnaissance tool cruise speed collaborative control method, and will not be repeated here.

[0155] Based on the same technical solution, the present invention also provides a computer-readable storage medium for storing one or more programs, the one or more programs including instructions, characterized in that, when executed by a computing device, the instructions cause the computing device to perform the reconnaissance tool cruise speed cooperative control method as described above.

[0156] Based on the same technical solution, the present invention also provides an electronic system including one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing the reconnaissance tool cruise speed cooperative control method as described above.

[0157] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0159] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0160] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

Claims

1. A method for coordinated control of cruise speed of reconnaissance tools based on air-ground cooperation, characterized in that, The reconnaissance tools include drones and unmanned vehicles; In air-to-ground collaborative scenarios, this collaborative control method dynamically adjusts the cruising speed of the drone and the unmanned vehicle based on the real-time changes in the reconnaissance mission and the environment to ensure coordinated operation between the two. in, These are the cruising speeds of drones and unmanned vehicles, respectively. Let ΔE be the initial velocity of the drone and the unmanned vehicle, respectively. UAV,UGV δ represents the real-time state changes of the drone and unmanned vehicle, and δ is the feedback coefficient. Real-time state change ΔE of drones and unmanned vehicles UAV,UGV The expression is: Among them, R UAV and R UGV These are the real-time reconnaissance progress reports for drones and unmanned vehicles, respectively. and ΔW represents the expected reconnaissance progress of the drone and the unmanned vehicle, respectively. ΔW represents the wind speed change, ΔT represents the temperature change, and γ1 and γ2 represent the influence coefficients of wind speed and temperature changes on speed adjustment.

2. The air-ground cooperative control method for cruise speed of reconnaissance tools according to claim 1, characterized in that, Initial speed of drones and unmanned vehicles The expressions are as follows: in, These are the calculated initial speed values ​​for the drone and the unmanned vehicle, respectively. These are the maximum speed limits for drones and unmanned vehicles, respectively.

3. The air-ground cooperative control method for cruise speed of reconnaissance tools according to claim 2, characterized in that, Initial velocity calculation value of the drone The expression is: Among them, A UAV The area of ​​the reconnaissance zone allocated to the drone, D UAV T is the reconnaissance diameter of the drone. task The influence function of environmental factors on the completion time of the reconnaissance mission. W represents wind speed, T represents temperature, and α1 and α2 represent the influence coefficients of wind speed and temperature on the speed of the drone.

4. The air-ground cooperative control method for cruise speed of reconnaissance tools according to claim 2, characterized in that, Calculated initial speed of the autonomous vehicle The expression is: Among them, A UGV The area of ​​the reconnaissance zone allocated to the unmanned vehicle, D UGV For the reconnaissance diameter of the unmanned vehicle, T task A function that considers the effects of wind speed, temperature, and terrain to determine the mission completion time. W represents wind speed, T represents temperature, N represents terrain influence factor, and β1, β2, and β3 represent the influence coefficients of wind speed, temperature, and terrain on the speed of the unmanned vehicle.

5. A system applying the air-to-ground cooperative reconnaissance tool cruise speed cooperative control method as described in any one of claims 1 to 4, characterized in that, The system includes: The information acquisition module is used to obtain basic parameters of the reconnaissance mission and the environment; The initial velocity calculation module is used to calculate the initial velocity of drones and unmanned vehicles. Cruise speed calculation module, used to calculate the cruise speed of drones and unmanned vehicles; The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles.

6. The system according to claim 5, characterized in that, Basic parameters of the reconnaissance mission and environment include the area of ​​the reconnaissance zone allocated to UAVs and unmanned vehicles, the reconnaissance diameter of UAVs and unmanned vehicles, the reconnaissance mission completion time, wind speed, temperature, and terrain influence factors.

7. A computer-readable storage medium storing one or more programs, said one or more programs comprising instructions, characterized in that, When the instruction is executed by the computing device, it causes the computing device to perform the method as described in any one of claims 1 to 4.

8. An electronic device, characterized in that, It includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing the method as described in any one of claims 1 to 4.

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