Unmanned aerial vehicle ground speed adjusting method and system based on solar auxiliary charging
By obtaining wind speed and parameter information in the drone, dividing different scenarios and performing energy calculations, the objective function is constructed to minimize the energy consumption of the drone, solving the problem of reduced drone battery life in sunny weather in cloudy weather, and achieving efficient ground speed adjustment and solar charging efficiency improvement.
Patent Information
- Application Number
- CN202510203021.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2025-05-30
AI Technical Summary
In cloudy and sunny weather, solar charging efficiency is affected, resulting in a reduction in the endurance of the drone. It is difficult for the existing technology to effectively adjust the speed of the drone to the ground under the influence of wind speed.
By obtaining wind speed and drone parameter information, dividing different scenarios, calculating the total energy required for drone to approach the sensor to fly and hover in different scenarios, constructing an objective function to minimize the total energy, and jointly optimizing to obtain the optimal ground speed with the minimum energy consumption.
The ground speed adjustment to minimize drone energy consumption in cloudy and sunny weather is achieved, and the solar charging efficiency and endurance are improved, providing an efficient solution.
Smart Images
Figure CN120066075A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of UAV flight control, and relates to a method for adjusting the ground speed of a UAV based on solar-assisted charging. Background Art
[0002] The UAV solar charging technology is an innovative way of energy utilization. It relies on efficient photovoltaic conversion technology to directly convert sunlight into electrical energy to provide continuous flight power for the UAV. This technology not only helps to reduce the dependence on fossil fuels and reduce environmental pollution, but also can significantly extend the flight time of the UAV under sufficient sunlight conditions. Although solar charging is limited by factors such as weather, light angle, and conversion efficiency, with the continuous progress of photovoltaic technology, its stability and reliability are gradually improving. The UAV solar charging technology provides new possibilities for the long-time and long-distance flight of the UAV. However, under cloudy and sunny weather, the intensity and stability of solar energy will be affected, thereby affecting the charging efficiency and the endurance of the UAV. Therefore, it is necessary to adjust the ground speed of the UAV in real time to adapt to the movement changes of the direct sunlight hole under the influence of wind speed. Currently, there is no good solution to the problem of solar charging during the approach flight of the UAV to the sensor hovering point under cloudy and sunny weather with the influence of wind speed. Summary of the Invention
[0003] The purpose of the present invention is to provide a method and system for adjusting the ground speed of a UAV based on solar-assisted charging, considering various scenarios, constructing various joint optimizations, and adjusting the ground speed of the UAV with the minimum energy consumption.
[0004] The technical solution to achieve the purpose of the present invention is as follows:
[0005] A method for adjusting the ground speed of a UAV based on solar-assisted charging includes the following steps:
[0006] S01: Obtain wind speed and UAV parameter information;
[0007] S02: Divide different scenarios according to wind speed, the maximum speed of the UAV, the distance from the UAV to the hovering point, and the direct sunlight hole, and calculate the total energy required for the UAV to approach the sensor for flight and hover until the data transmission is completed in different scenarios;
[0008] S03: Construct the objective function in different scenarios to minimize the total energy required for the UAV to approach the sensor for flight and hover until the data transmission is completed, jointly optimize to obtain the minimum energy consumption, and obtain the optimal ground speed of the UAV.
[0009] The present invention also discloses a UAV ground speed adjustment system based on solar-assisted charging, including a processor, and the processor is built-in with the UAV ground speed adjustment method based on solar-assisted charging as described above.
[0010] The present invention also discloses a UAV, including the UAV ground speed adjustment system based on solar-assisted charging as described above.
[0011] The present invention also discloses a computer storage medium, on which a computer program is stored, and when the computer program is executed, it realizes the above-mentioned UAV ground speed adjustment method based on solar-assisted charging.
[0012] Compared with the prior art, the remarkable advantages of the present invention are:
[0013] Aiming at the UAV energy consumption problem in the cloudy to sunny weather scenario with wind speed influence, the present invention proposes a UAV ground speed adjustment method combining solar-assisted charging. Considering various scenarios, multiple joint optimizations are constructed to adjust the UAV ground speed with the minimum energy consumption. In the UAV ground speed adjustment method, the UAV flying towards the ground sensor can utilize the direct solar hole during movement (wind speed influence) to charge it and improve the energy efficiency. In the present invention, based on the differences in the speed and wind speed of the UAV, the differences in the UAV flight distance and the size of the hole, and the differences in the amount of data transmitted by the UAV to the sensor, in-depth theoretical analysis and application exploration are carried out on the UAV ground speed adjustment problem, aiming to provide a unique and efficient solution. It physically conforms to the realistic application scenario and will be effectively applied to engineering practice. Description of the Drawings
[0014] Figure 1 It is a scenario diagram of the UAV ground speed adjustment method based on solar-assisted charging for this embodiment;
[0015] Figure 2 It is a flowchart of the UAV ground speed adjustment method based on solar-assisted charging for this embodiment. Detailed Embodiments
[0016] Embodiment 1:
[0017] A UAV ground speed adjustment method based on solar-assisted charging includes the following steps:
[0018] S01: Obtain wind speed and UAV parameter information;
[0019] S02: According to the wind speed, the maximum speed of the UAV, the distance from the UAV to the hovering point, and the direct sunlight hole, divide different scenarios, and calculate the total energy consumed by the UAV to fly towards the sensor and hover until the data transmission is completed in different scenarios;
[0020] S03: The objective function in different scenarios is to minimize the total energy consumed by the UAV for approaching the sensor, hovering until the data transmission is completed, jointly optimizing to obtain the minimum energy consumption, and obtaining the optimal ground speed of the UAV.
[0021] Specifically, combined with Figure 1 and Figure 2 as shown, a further specific analysis and description of the design of the present invention is made.
[0022] In the network described in the design of the present invention, a communication link is established between the UAV and the ground sensor, and the total amount of data that the UAV needs to transmit to it is D. To obtain a faster transmission speed, the UAV flies from point A to point B (assuming the distance from point A to point B is d) at a ground speed of v u in the airspace at a cruising altitude of h (specifically, the maximum ground speed of the UAV is Therefore ), and hovers at point B. To improve the data transmission efficiency of the UAV, data is sent to the sensor during both the flight and hovering of the UAV until the data transmission is completed, and then the UAV turns to the next target point or returns to base for charging. Since traditional UAVs are usually powered by batteries with limited endurance, installing solar panels on the UAV can enable the UAV to continuously absorb solar energy and convert it into electrical energy during flight to charge the UAV's battery, thereby extending the flight time of the UAV. In the present invention, the weather studied is partly cloudy, that is, there are a large number of clouds in the sky, and there is just a circular area with a radius of r above the UAV without cloud cover, so that sunlight can shine directly on the UAV for charging, and it is assumed that point A is exactly at the edge of the cavity. In the present invention, considering that there is a wind speed v in the air in the same direction as the UAV, the circular cavity also moves forward at a speed of v, so that the space where the UAV can perform solar charging changes with time.
[0023] Since the cruising altitude of the UAV is below the clouds, it is necessary to calculate the projected size of the cavity in the airspace at a cruising altitude of h. Because the sun is far from the earth, according to the relevant theorem of similar triangles, the projection of a circular area cavity with a radius of r in the airspace at a cruising altitude of h can also be approximated as a circular area with a radius of r.
[0024] Since the UAV communicates with the ground sensor on the way from point A to the hovering point B, the channel gain between the UAV and the sensor will change. The flight time can be discretely divided into time intervals of Δt. Since Δt is small enough, it can be assumed that the channel gain between the UAV and the communication point is constant within each time interval. There are a total of time intervals.
[0025] Therefore, the data transmission rate of the UAV in the th time interval is
[0026]
[0027] where B is the signal bandwidth; σ 2 is the receiver noise; P is the UAV communication transmission power (known), τ 0 represents the channel gain at a distance of 1 meter.
[0028] The total amount of data transmitted between the UAV and the sensor during the flight from the starting point to the hovering point B is
[0029]
[0030] Since the UAV transmits a large amount of data to the sensor and the channel gain from the UAV to the sensor during the approaching flight is not high enough, the UAV needs to hover at point B for a certain period of time until the data transmission is completed before starting to return. Therefore, there is
[0031] Since both the UAV and the void have moving speeds, the following analyzes different cases of these two parameters separately:
[0032] I. When the speed of the UAV is greater than the wind speed, i.e., v u > v
[0033] 1. If d > 2r and At this time, due to the small wind speed and the long flight distance of the UAV, the UAV will pass through the entire void during the flight and continue to move forward until it reaches the hovering point B. Therefore, after the UAV transmits the data at the hovering point B, there are the following three cases: 1) The void has not arrived yet; 2) The void has arrived but has not completely passed through the hovering point B; 3) The void has completely passed through the hovering point B.
[0034] 1) For the case where the void has not arrived after the UAV transmits the data at the hovering point B, i.e., At this time, where is the data transmission rate of the UAV from the hovering point B to the sensor and There is:
[0035] The flight energy consumption of the UAV from point A to point B is:
[0036]
[0037] where m is the mass of the UAV, g is the local acceleration due to gravity; ρ is the air density; ζ and ε are the rotor area and the number of rotors respectively.
[0038] The energy consumption of the UAV hovering at point B is:
[0039]
[0040] Also, since the UAV is in an area where sunlight can shine directly for some time periods, the solar panels carried by the UAV itself can charge it.
[0041] The output power of the solar panel is expressed as:
[0042] P 输出 = ηSI
[0043] where η is the photoelectric conversion efficiency of the solar panel; S is the area of the solar panel carried by the UAV; I is the solar radiation intensity.
[0044] Therefore, the energy received by the UAV from the sun during the whole process can be expressed as:
[0045]
[0046] Therefore, the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is:
[0047]
[0048] Based on the above analysis, for the optimization problem in this case, the objective function is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, and there is:
[0049] OP1:
[0050]
[0051] The optimal ground speed of the UAV can be solved using convex optimization theory so as to obtain the minimum value of E 1 as
[0052] 2) For the case where the cavity has reached but not completely passed through the hovering point B after the UAV has transmitted the data at the hovering point B, that is, at this time, there is:
[0053] The flight energy consumption of the UAV flying from point A to point B is:
[0054]
[0055] The energy consumption of the UAV hovering at point B is:
[0056]
[0057] The energy received by the UAV from the sun during the whole process can be expressed as:
[0058]
[0059] Therefore, the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is:
[0060]
[0061] Based on the above analysis, for the optimization problem in this case, the objective function is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, and we have:
[0062] OP2:
[0063] The optimal ground speed of the UAV can be solved by using convex optimization theory so as to obtain the minimum value of E 2 which is
[0064] 3) For the case where all the holes pass through the hovering point B after the UAV transmits the data at the hovering point B, that is when, we have:
[0065] The flight energy consumption of the UAV flying from point A to point B is:
[0066]
[0067] The energy consumption of the UAV hovering at point B is:
[0068]
[0069] The energy received by the UAV from the sun during the whole process can be expressed as:
[0070]
[0071] Therefore, the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is:
[0072]
[0073] Based on the above analysis, for the optimization problem in this case, the objective function is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, and we have:
[0074] OP3:
[0075] The optimal ground speed of the UAV can be solved using convex optimization theory Thereby obtaining the minimum value of E 3 The minimum value of which is
[0076] 2. If d > 2r and At this time, since the wind speed v and the UAV speed v u differ little, under this condition, the UAV will fly to the hovering point B before passing through the entire cavity during flight. Therefore, for the UAV after transmitting data at the hovering point B, there are the following two situations: 1) The cavity completely passes through the hovering point B; 3) The cavity does not completely pass through the hovering point B
[0077] 1) For the situation where the cavity completely passes through the hovering point B after the UAV transmits data at the hovering point B, that is At this time, there is
[0078] The flight energy consumption of the UAV flying from point A to point B is
[0079]
[0080] The energy consumption of the UAV hovering at point B is
[0081]
[0082] The energy received by the UAV from the sun during the whole process can be expressed as
[0083]
[0084] Therefore, the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is
[0085]
[0086] Based on the above analysis, for the optimization problem in this case, the objective function is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, and there is
[0087] OP4
[0088]
[0089] The optimal ground speed of the UAV can be solved using convex optimization theory Thereby obtaining the minimum value of E 4 The minimum value of which is
[0090] 2) When the UAV has transmitted data at the hovering point B and the cavity has not completely passed through the hovering point B, that is when, there is:
[0091] The flight energy consumption of the UAV flying from point A to point B is:
[0092]
[0093] The energy consumption of the UAV hovering at point B is:
[0094]
[0095] The energy received by the UAV from the sun during the whole process can be expressed as:
[0096]
[0097] Therefore, the total energy required for the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is:
[0098]
[0099] Based on the above analysis, the objective function of the optimization problem for this case is to minimize the total energy required for the UAV to fly close to the sensor and hover until the data transmission is completed. There is:
[0100] OP5:
[0101] The optimal ground speed of the UAV can be solved by using the convex optimization theory so as to obtain the minimum value of E 5 is
[0102] 3. If d ≤ 2r, since the displacement of the UAV is small, the UAV will fly to the hovering point B before passing through the whole cavity during the flight under this condition. Similarly to 2, therefore, there are the following two situations after the UAV has transmitted data at the hovering point B: 1) The cavity completely passes through the hovering point B; 3) The cavity does not completely pass through the hovering point B.
[0103] 1) For the case where the cavity completely passes through the hovering point B after the UAV has transmitted data at the hovering point B, that is when, there is:
[0104] The flight energy consumption of the UAV flying from point A to point B is:
[0105]
[0106] The energy consumption of the UAV hovering at point B is:
[0107]
[0108] The energy received by the UAV from the sun during the whole process can be expressed as:
[0109]
[0110] Therefore, the total energy consumption required for the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is:
[0111]
[0112] Based on the above analysis, the objective function of the optimization problem for this case is to minimize the total energy consumption required for the UAV to fly close to the sensor and hover until the data transmission is completed, and there is:
[0113] OP6:
[0114]
[0115] The optimal ground speed of the UAV can be solved by using convex optimization theory So as to obtain the minimum value of E 6 is
[0116] 2) When the UAV does not completely pass through the hovering point B after transmitting the data at the hovering point B, that is at this time, there is:
[0117] The flight energy consumption of the UAV flying from point A to point B is:
[0118]
[0119] The energy consumption of the UAV hovering at point B is:
[0120]
[0121] The energy received by the UAV from the sun during the whole process can be expressed as
[0122]
[0123] Therefore, the total energy consumption required for the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is
[0124]
[0125] Based on the above analysis, the objective function for the optimization problem in this case is to minimize the total energy consumed by the UAV for approaching the sensor, hovering until the data transmission is completed, and there is
[0126] OP7:
[0127] The optimal ground speed of the UAV can be solved using convex optimization theory to obtain the minimum value of E 7 as
[0128] II. When the speed of the UAV is equal to the wind speed, i.e., v u = v
[0129] Since the wind speed and the UAV speed are equal, they are relatively stationary when moving forward, and there is:
[0130] The flight energy consumption of the UAV flying from point A to point B is:
[0131]
[0132] The energy consumption of the UAV hovering at point B is:
[0133]
[0134] The energy received by the UAV from the sun during the whole process can be expressed as:
[0135]
[0136] Therefore, the total energy consumed by the UAV for approaching the sensor, hovering until the data transmission is completed under this condition is:
[0137]
[0138] III. When the speed of the UAV is less than the wind speed, i.e., v u < v
[0139] Since the wind speed is greater than the UAV speed, there is:
[0140] The flight energy consumption of the UAV flying from point A to point B is:
[0141]
[0142] The energy consumption of the UAV hovering at point B is:
[0143]
[0144] The energy received by the UAV from the sun during the whole process can be expressed as:
[0145] E 9,3 =0
[0146] Therefore, the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed under this condition is:
[0147]
[0148]
[0149] Since the flight energy consumption of the UAV is related to the duration, the larger v u is, the smaller the flight energy consumption is. In addition, the hovering energy consumption is related to the hovering time, that is, related to the amount of data transmission. At the same time, the solar energy charging problem of the UAV also needs to be considered. A method for adjusting the ground speed of the UAV is given as follows:
[0150] When the maximum speed of the UAV is greater than the wind speed and d>2r, the ground speed of the UAV can choose a scenario greater than v, such as the optimization problems of OP1, OP2, OP3, OP4 or OP5, or can also choose equal to v, such as but do not choose less than v, such as (In this case, the UAV has a slow flight speed and no solar charging). In order to reduce the energy consumption of the UAV, in the present invention, the one with the minimum energy consumption in the set is selected as the ground speed of the UAV; In particular, in the application of strictly inequality constraints in convex optimization problems, the strictly inequality constraints are usually relaxed to ordinary inequality constraints for solution to approximately satisfy the strictly inequality constraints while maintaining the closedness of the feasible region and the solvability of the problem.
[0151] When the maximum speed of the UAV is greater than the wind speed and d≤2r, the ground speed of the UAV can choose a scenario greater than v, such as the optimization problems of OP6 or OP7, or can also choose equal to v, such as but do not choose less than v, such as (In this case, the UAV has a slow flight speed and no solar charging). In order to reduce the energy consumption of the UAV, in the present invention, the one with the minimum energy consumption in the set is selected as the ground speed of the UAV;
[0152] When the ground speed of the UAV
[0153] A specific implementation method is as follows Figure 2 shown, including the following steps:
[0154] Step 1, initialize parameters such as the distance d from the UAV to the hovering point, the cruising altitude h, the radius r of the direct sunlight area, the UAV mass, the maximum UAV flight speed the UAV communication transmission power, the wind speed v, and the data volume D transmitted between the UAV and the ground sensor;
[0155] Step 2, when d > 2r, go to Step 3; otherwise, go to Step 6;
[0156] Step 3, if go to Step 4; otherwise, go to Step 5;
[0157] Step 4, calculate the optimization problems of OP1, OP2, OP3, OP4, and OP5 respectively, and give and At the same time, let and substitute it into E 8 to obtain Select the set with the minimum energy consumption as the ground speed of the UAV;
[0158] Step 5, the ground speed of the UAV
[0159] Step 6, if go to Step 7; otherwise, go to Step 5;
[0160] Step 7, calculate the optimization problems of OP6 and OP7 respectively, and give and At the same time, let and substitute it into E 8 to obtain Select the set with the minimum energy consumption as the ground speed of the UAV.
[0161] In another embodiment, a ground speed adjustment system for a UAV based on solar-assisted charging includes a processor, and the processor is built-in with the above-mentioned ground speed adjustment method for a UAV based on solar-assisted charging. Details are not described here.
[0162] In another embodiment, a UAV includes the above-mentioned ground speed adjustment system for a UAV based on solar-assisted charging. Details are not described here.
[0163] In another embodiment, a computer storage medium stores a computer program, and when the computer program is executed, the above-mentioned method for adjusting the ground speed of an unmanned aerial vehicle based on solar-assisted charging is implemented.
[0164] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.
Claims
1. A method for adjusting the ground speed of an unmanned aerial vehicle based on solar-assisted charging, characterized in that: The following steps are involved: S01: Obtain wind speed and drone parameter information; S02: Different scenarios are divided according to wind speed, maximum speed of the drone, distance from the drone to the hovering point, and direct sunlight holes. The total energy consumed by the drone to approach the sensor and hover until data transmission is completed in different scenarios is calculated. S03: Construct the objective function in different scenarios to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, and jointly optimize to obtain the minimum energy consumption and the optimal UAV ground speed.
2. The method for adjusting the ground speed of a UAV based on solar-assisted charging according to claim 1, characterized in that: The parameters obtained in step S01 include the distance d from the drone to the hovering point, the cruising altitude h, the radius r of the direct sunlight area, the mass m of the drone, and the maximum flight speed of the drone. UAV communication transmission power, wind speed v, and the amount of data transmitted between the UAV and the ground sensor D.
3. The method for adjusting the ground speed of a UAV based on solar-assisted charging according to claim 2, characterized in that: The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed in different scenarios in step S02 includes: When d>2r, and The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed under this condition is Among them, v u is the ground speed of the UAV, is the total amount of data that the UAV communicates with the sensor on the way to the hovering point B, R is the rate at which the UAV transmits data to the sensor at the hovering point B, ρ is the air density; ζ and ε are the rotor area and the number of rotors respectively, g is the local gravity acceleration, η is the photoelectric conversion efficiency of the solar panel; S is the area of the solar panel carried by the UAV; I is the solar radiation intensity; When d>2r, and The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed under this condition is When d>2r, and The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed under this condition is when and The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed under this condition is When d>2r, and The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed under this condition is When d≤2r and The total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed under this condition is When d≤2r and When the UAV flies close to the sensor and hovers until the data transmission is completed under this condition, the total energy consumed is When v u = v, the total energy consumed by the drone to fly close to the sensor and hover until data transmission is completed under this condition When v u <When v is less than u , the total energy consumed by the UAV to fly close to the sensor and hover under this condition until the data transmission is completed 4. The method for adjusting the ground speed of a UAV based on solar-assisted charging according to claim 3 is characterized in that: In step S03, the method for constructing the objective function in different scenarios to minimize the total energy consumed by the drone to fly close to the sensor and hover until the data transmission is completed includes: The objective function of the optimization problem for the total energy E1 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed So the minimum value of E1 is The objective function of the optimization problem for the total energy E2 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed So the minimum value of E2 is The objective function of the optimization problem for the total energy E3 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed So the minimum value of E3 is The objective function of the optimization problem for total energy E4 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed The minimum value of E4 is thus obtained The objective function of the optimization problem for the total energy E5 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed The minimum value of E5 is The objective function of the optimization problem for total energy E6 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed The minimum value of E6 is The objective function of the optimization problem for total energy E7 is to minimize the total energy consumed by the UAV to fly close to the sensor and hover until the data transmission is completed, which is: Solve for the optimal UAV ground speed The minimum value of E7 is For total energy E8, And bring it into E8 to get No optimization is performed on the total energy E9.
5. The method for adjusting the ground speed of a UAV based on solar-assisted charging according to claim 4, characterized in that: Step S03 includes: When d>2r, if Calculate the optimization problems of OP1, OP2, OP3, OP4 and OP5 respectively, and get and Also get Select Collection The one with the lowest energy consumption As the ground speed of the drone.
6. The method for adjusting the ground speed of a UAV based on solar-assisted charging according to claim 4, characterized in that: Step S03 includes: When d≤2r, if Calculate the optimization problems of OP6 and OP7 respectively, and get and Also get Select Collection The one with the lowest energy consumption As the ground speed of the drone.
7. The method for adjusting the ground speed of a UAV based on solar-assisted charging according to claim 6, characterized in that: Step S03 includes: when When the UAV's ground speed 8. A UAV ground speed adjustment system based on solar-assisted charging, characterized in that: The invention comprises a processor, wherein the processor is equipped with the method for adjusting the ground speed of a UAV based on solar-assisted charging as described in any one of claims 1 to 7.
9. A drone, characterized in that: Including the UAV ground speed adjustment system based on solar-assisted charging as described in claim 8.
10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for adjusting the ground speed of a UAV based on solar-assisted charging as described in any one of claims 1 to 7 is implemented.