Unmanned aerial vehicle power control method and system for multi-target sensor data acquisition

Abstract

The invention discloses an unmanned aerial vehicle power control method and system for multi-target sensor data collection, and the method comprises the steps: obtaining the parameters of an unmanned aerial vehicle when no one collects the multi-target sensor data; the flight time of the unmanned aerial vehicle in each mode of flying from the sensor m to the sensor m + 1 is calculated, and the calculation of the flight time is based on the criterion that the flight mode satisfies return data Dm, that is, the total data volume returned to the data collector during the flying period of the unmanned aerial vehicle from the sensor m to the sensor m + 1 is equal to the data volume received by the unmanned aerial vehicle hovering over the sensor m; and a power distribution method in which the unmanned aerial vehicle can complete the return of the data volume Dm and the flight time is shortest is selected for control. The invention discloses a flight and communication power control method for assisting multi-target sensor data receiving and return by focusing an unmanned aerial vehicle, aims to solve the problem of UAV flight and communication power control in the data acquisition and return process of a sensor, and aims to provide a unique and efficient solution.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV power distribution, and relates to a UAV power control method and system for multi-target sensor data acquisition. Background Art

[0002] UAV acquisition of sensor data is a comprehensive technology integrating UAV platforms, sensor technology, and data transmission technology. During the process of UAV acquisition of sensor data, the UAV has high mobility, flexibility, and fast response capabilities, and can achieve comprehensive coverage and close-range flight of the target area. With the continuous progress of technology, the application prospects of UAV acquisition of sensor data will be broader, providing strong data support for the realization of goals such as smart cities and sustainable development.

[0003] The total power possessed by an unmanned aerial vehicle (UAV) can be used as the flight power to adjust the attitude of the UAV during flight between adjacent sensors, or as the data transmission power. Therefore, how to select the flight mode of the UAV and allocate the flight power and communication power to ensure that the UAV can transmit the complete data of the previous sensor during flight between adjacent sensors is a key problem that needs to be solved urgently. Summary of the Invention

[0004] The purpose of the present invention is to provide a UAV power control method and system for multi-target sensor data acquisition. The present invention focuses on the UAV-assisted multi-target sensor data reception and transmission flight and communication power control method to solve the UAV flight and communication power control problems in the process of sensor data acquisition and transmission, aiming to provide a unique and efficient solution.

[0005] The technical solution for realizing the purpose of the present invention is as follows:

[0006] A UAV power control method for multi-target sensor data acquisition, comprising the following steps:

[0007] S01: When the UAV acquires multi-target sensor data, obtain UAV parameters;

[0008] S02: The UAV makes a close-range flight in turn among multiple target sensors to collect their data, hovers above each sensor for data acquisition, and completely transmits the data collected by the previous sensor during flight between each sensor;

[0009] S03: Calculate the flight time of each flight mode of the UAV from sensor m to sensor m + 1. The calculation of the flight time is based on the criterion that the flight mode satisfies the transmission of data D m That is, the total amount of data transmitted to the data collector during the flight of the UAV from sensor m to sensor m + 1 is equal to the amount of data received by the UAV hovering above sensor m;

[0010] S04: Select the power allocation method that enables the UAV to complete the data transmission of data volume D and has the shortest flight time for control. m and the power of flight and communication during the data collection and transmission process of the sensor, aiming to provide a unique solution. The UAV selects different flight modes as well as communication and flight power allocation, so that the energy consumption reaches the optimum. Physically, it conforms to the scenarios of practical applications and will be able to be effectively applied to engineering practice.

[0011] Compared with the prior art, the remarkable advantages of the present invention are as follows: The present invention focuses on the multi-target sensor data reception, return flight, and communication power control method of the UAV to solve the UAV flight and communication power control problems in the data collection and transmission process of the sensor, aiming to provide a unique solution. The UAV selects different flight modes as well as communication and flight power allocation, so that the energy consumption reaches the optimum. Physically, it conforms to the scenarios of practical applications and will be able to be effectively applied to engineering practice. Description of the Drawings

[0012] Figure 1 is a flowchart of the UAV power control method for multi-target sensor data collection in this embodiment;

[0013] Figure 2 is a scenario diagram of the UAV power control method for multi-target sensor data collection in this embodiment;

[0014] Figure 3 is an implementation diagram of the UAV power control method for multi-target sensor data collection in this embodiment. Detailed Embodiments

[0015] Embodiment 1:

[0016] As Figure 1 shown, a UAV power control method for multi-target sensor data collection includes the following steps:

[0017] S01: When the UAV collects multi-target sensor data, obtain the UAV parameters;

[0018] S02: The UAV makes a series of flybys close to multiple target sensors to collect their data, hovers above each sensor for data collection, and completely transmits the data collected by the previous sensor during the flight between each sensor;

[0019] S03: Calculate the flight time of each flight mode of the UAV from sensor m to sensor m + 1. The calculation of the flight time is based on the criterion that this flight mode satisfies the data transmission of data volume D m , that is, the total data volume transmitted back to the data collector during the flight of the UAV from sensor m to sensor m + 1 is equal to the data volume received by the UAV hovering over sensor m;

[0020] S04: Select the power allocation method that enables the UAV to complete the data transmission of data volume D m and has the shortest flight time for control.

[0021] 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, consider a multi-sensor target data acquisition and transmission system for unmanned aerial vehicles (UAVs). The system consists of a UAV takeoff and landing point (including a data receiver), a self-rotor UAV, and multiple target sensors. The UAV takes off from the takeoff and landing point and approaches the airspace above each sensor according to the urgency of sensor data transmission, hovers for data acquisition, and during the flight between two adjacent sensors, due to the limitation of its own data storage hardware, the UAV needs to transmit all the data collected from the previous sensor to the data receiver during the flight.

[0023] There are a total of M sensors in the network that need data acquisition and transmission. The sensor set is represented as Without loss of generality, assume that the UAV sequentially acquires and transmits data in ascending order of sensor numbers, and the amount of data that the sensor needs to transmit is represented as D m , The coordinates of the UAV takeoff and landing point are set as the origin O(0, 0, 0) of the three-dimensional coordinate system, and the position coordinates of the UAV hovering above the m-th target sensor are (x m , y m , z m ). The UAV has a total power P 总 sufficiently large, which can be used as the flight power to adjust the flight attitude of the UAV during flight or as the data transmission power.

[0024] Since the UAV needs to adjust its acceleration in the X-axis, Y-axis, and Z-axis by invoking its own flight power when flying between two hovering points, so as to achieve precise control of the UAV's speed and position. Therefore, it is necessary to describe and analyze the motion state of the UAV in the horizontal direction (X-axis and Y-axis) and the vertical direction (Z-axis).

[0025] 1. The UAV experiences acceleration, uniform motion, and deceleration in the horizontal direction from sensor m to sensor m + 1

[0026] Since the UAV has no speed at the hovering point of sensor m, the UAV needs to experience acceleration, uniform motion, and deceleration in the horizontal direction if it wants to reach the position of sensor m + 1. There are:

[0027]

[0028] Among them, and respectively represent the displacement of the UAV's accelerated motion, uniform motion, and decelerated motion from sensor m to sensor m + 1 in the horizontal direction (X-axis or Y-axis), s m,m+1 = |x m+1 - x m | or s m,m+1 = |y m+1 - y m |.

[0029] Meanwhile, for the motion time, there are:

[0030]

[0031] Among them, and respectively represent the time of the UAV's accelerated motion, uniform motion, and decelerated motion from sensor m to sensor m + 1 in the horizontal direction (X-axis or Y-axis), t m,m+1 represents the flight time of the UAV from sensor m to sensor m + 1.

[0032] For the flight accelerated motion stage of the UAV from sensor m to sensor m + 1, there are:

[0033] and

[0034] Among them, v m,m+1 is the final velocity of the UAV's accelerated motion from sensor m to sensor m + 1 in the horizontal direction (X-axis or Y-axis), and is also the velocity of the uniform motion; a m,m+1 is the acceleration of the accelerated and decelerated motions.

[0035] For the flight uniform motion stage of the UAV from sensor m to sensor m + 1, there are:

[0036]

[0037] For the flight decelerated motion stage of the UAV from sensor m to sensor m + 1, there are:

[0038] and

[0039] Based on the above formulas, it can be obtained that when , the UAV needs to call the flight power to have the minimum value during the flight accelerated and decelerated motion stages in the horizontal direction from sensor m to sensor m + 1.

[0040] Therefore, the average flight power used by the UAV during the flight accelerated and decelerated motion stages from sensor m to sensor m + 1 in the horizontal direction is: W is the mass of the UAV.

[0041] The time required to call the minimum flight power during the acceleration, constant-speed, and deceleration stages of the UAV from sensor m to sensor m+1 in the horizontal direction is as follows:

[0042] Since the UAV is flying in the air, the instantaneous power of the UAV changes at different speeds. The flight time t of the UAV can be discretely divided into time intervals of Δt. Since Δt is small enough, the instantaneous power of the UAV remains unchanged within each time interval. The instantaneous flight power of the UAV in the nth time interval can be obtained through the classical kinematic power calculation formula P(n) = Wa(v + anΔt) as follows.

[0043] On the X-axis, the UAV is at During the time, there are a total of time intervals, and there are

[0044]

[0045] The UAV is at During the time, there are a total of time intervals, and there are

[0046]

[0047] The UAV is at During the time, there are a total of time intervals, and there are

[0048] Therefore, it can be known that the maximum instantaneous power value of the UAV moving on the X-axis in the horizontal direction is:

[0049]

[0050] Next, the position information of the UAV from sensor m to sensor m+1 in the X-axis direction can be given separately according to the acceleration, constant-speed, and deceleration stages:

[0051] 1) The speed information of the UAV in the nth time interval during the acceleration stage from sensor m to sensor m+1 in the X-axis direction is expressed as: is:

[0052]

[0053] Among them,

[0054] The position information of the UAV in the nth time interval during the acceleration stage from sensor m to sensor m+1 in the X-axis direction is expressed as: is:

[0055]

[0056] Among them, x m,m+1 (0) = x m .

[0057] 2) The position information of the UAV from sensor m to sensor m + 1 in the X-axis direction during the nth time interval of the uniform speed stage is expressed as:

[0058]

[0059] Among them,

[0060] 3) The speed information of the UAV from sensor m to sensor m + 1 in the X-axis direction during the nth time interval of the deceleration stage is expressed as:

[0061] Among them,

[0062] The position information of the UAV from sensor m to sensor m + 1 in the X-axis direction during the nth time interval of the deceleration stage is expressed as:

[0063] Similarly, on the Y-axis, there is

[0064]

[0065] Therefore, it can be known that the maximum instantaneous power value of the UAV moving in the horizontal direction on the Y-axis is

[0066] The position information of the UAV from sensor m to sensor m + 1 in the Y-axis direction can be given separately according to the acceleration, uniform speed, and deceleration stages:

[0067] 1) The speed information and position information of the UAV from sensor m to sensor m + 1 in the Y-axis direction during the nth time interval of the acceleration stage are expressed as:

[0068]

[0069] and

[0070] Among them,

[0071] 2) The position information of the UAV from sensor m to sensor m + 1 in the Y-axis direction during the nth time interval of the uniform speed stage is expressed as: ​​​​​

[0072]

[0073] Among them,

[0074] 3) The speed information of the UAV from sensor m to sensor m + 1 during the th time interval of the deceleration stage in the Y-axis direction is expressed as:

[0075] Among them,

[0076] Similarly, the position information is expressed as:

[0077] 2. The movement of the UAV from sensor m to sensor m + 1 in the vertical direction (Z-axis)

[0078] The movement of the UAV in the vertical direction is divided into three flight modes: A, B, and C. Among them, in mode A, the UAV only requires the addition of flight power during the acceleration or deceleration stage, while it does not require it during the other stage; in mode B, the UAV requires the addition of flight power during both the acceleration and deceleration stages; in flight mode C, when m+1 = z m the UAV has no movement in the vertical direction.

[0079] I. Analysis of flight mode A:

[0080] 1) If z m+1 > z m the UAV needs to first perform an upward acceleration movement, and then decelerate until the speed is 0 through its own gravitational acceleration g.

[0081] Similarly 1, according to Newton's laws of motion, when the average flight power called by the UAV in the vertical direction is:

[0082]

[0083] And the time for the UAV to accelerate and decelerate only through its own gravitational acceleration g from sensor m to sensor m + 1 in the vertical direction (Z-axis) is:

[0084] and

[0085] The UAV has a total of time intervals within and for the instantaneous power of the UAV is:

[0086]

[0087] The UAV has a total of time intervals within a certain time, and the instantaneous power of the UAV is:

[0088]

[0089] Therefore, it can be known that the maximum instantaneous power value of the UAV's movement in the vertical direction (Z-axis) is:

[0090]

[0091] (1) The speed and position information of the UAV during the th time interval of the acceleration stage from sensor m to sensor m + 1 in the vertical direction are expressed as:

[0092]

[0093] Among them,

[0094] (2) The speed information of the UAV during the th time interval of the deceleration stage from sensor m to sensor m + 1 in the vertical direction is expressed as:

[0095]

[0096] Among them,

[0097] The position information is expressed as:

[0098] 2) If z m+1 < z m , the UAV needs to first accelerate with its own gravitational acceleration g, and then decelerate by calling an appropriate flight power until the speed is 0.

[0099] Similarly to 1, according to Newton's laws of motion, when , the average flight power of the UAV to decelerate by calling an appropriate flight power until the speed is 0 in the vertical direction (along the Z-axis) is:

[0100]

[0101] And the time for the UAV to accelerate and decelerate in the vertical direction (Z-axis) from sensor m to sensor m + 1 is:

[0102] and

[0103] The UAV is at There are time intervals within a certain period, and the instantaneous power of the UAV is:

[0104]

[0105] The UAV has time intervals within a certain period, and the instantaneous power of the UAV is:

[0106]

[0107] Therefore, it can be known that the maximum instantaneous power value of the UAV's movement in the vertical direction (Z-axis) is:

[0108]

[0109] (1) The velocity information of the UAV during the th time interval of the acceleration stage from sensor m to sensor m + 1 in the vertical direction is expressed as:

[0110]

[0111] Among them,

[0112] The position information is expressed as:

[0113] Among them, z m,m+1 (0) = z m .

[0114] (2) The velocity information of the UAV during the th time interval of the deceleration stage from sensor m to sensor m + 1 in the vertical direction is expressed as:

[0115]

[0116] Among them,

[0117] The position information is expressed as:

[0118] II. Analysis of Flight Mode B:

[0119] The UAV needs to first accelerate and then decelerate until the speed is 0. According to Newton's laws of motion, when , the average flight power called by the UAV for vertical acceleration is:

[0120]

[0121] The average flight power called by the UAV for vertical deceleration is:

[0122] And the time for the acceleration and deceleration phases of the UAV in the vertical direction (Z-axis) is:

[0123]

[0124] The UAV is at During the time, there are a total of time intervals, and the instantaneous power is:

[0125]

[0126] The UAV is at During the time, there are a total of time intervals, and there are

[0127]

[0128] Therefore, it can be known that the maximum instantaneous power value of the UAV's movement in the vertical direction (Z-axis) is:

[0129]

[0130] (1) The velocity information of the UAV from sensor m to sensor m + 1 in the vertical direction during the th Δt of the acceleration phase is expressed as:

[0131]

[0132] Among them,

[0133] The position information is expressed as:

[0134] Among them, z m,m+1 (0) = z m .

[0135] (2) The velocity information of the UAV from sensor m to sensor m + 1 in the vertical direction during the

[0136] th Δt of the deceleration phase is expressed as:

[0137]

[0138] Among them,

[0139] The position information is expressed as:

[0140] III. Analysis of flight mode C:

[0141] Since z m = z m+1 , the UAV has no displacement along the Z-axis.

[0142] Since the UAV transmits the data of sensor m to the data processor during the flight from sensor m to sensor m + 1, it is necessary to analyze the data transmission rates of modes A, B, and C:

[0143] For mode A:

[0144] (1) When z m+1 > z m and , the acceleration time of the UAV along the Z-axis That is, the acceleration stage of the UAV along the Z-axis includes part of the acceleration of the UAV in the horizontal direction (X-axis and Y-axis), but does not include the uniform motion and deceleration motion.

[0145] a) The position information of the UAV at the nth, th Δt is expressed as:

[0146]

[0147] The data transmission rate of the UAV at the nth Δt is:

[0148]

[0149] where

[0150]

[0151] and B is the signal bandwidth; σ 2 is the receiver noise; τ 0 represents the channel gain at a distance of 1 meter.

[0152] b) The position information of the UAV at the nth, th Δt is expressed as

[0153] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0154]

[0155] where:

[0156] c) The position of the UAV at the nth, th Δt is expressed as:

[0157] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0158]

[0159] d) The position information of the UAV at the n, th Δt is expressed as:

[0160]

[0161]

[0162] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0163]

[0164] When z m+1 > z m and , the amount of data transmitted back by the UAV is:

[0165]

[0166] (2) When z m+1 > z m and , the acceleration time of the UAV on the Z-axis That is, the acceleration stage of the UAV on the Z-axis includes the acceleration and partial uniform motion of the UAV in the horizontal direction, but does not include the deceleration motion.

[0167] a) The position information of the UAV at the n, th Δt is expressed as:

[0168]

[0169] The data transmission rate of the UAV at the n, th Δt is:

[0170]

[0171] Among them,

[0172] b) The position information of the UAV at the n, th Δt is expressed as:

[0173] Therefore, the data transmission rate of the UAV at the th Δt is:

[0174]

[0175] c) The position of the UAV at the nth Δt is:

[0176]

[0177] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0178]

[0179] d) The position of the UAV at the nth Δt is:

[0180]

[0181]

[0182] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0183]

[0184] When z m+1 > z m and , the amount of data transmitted back by the UAV is:

[0185]

[0186] (3) When z m+1 > z m and , the acceleration time of the UAV on the Z-axis That is, the acceleration stage of the UAV on the Z-axis includes the acceleration, uniform motion, and partial deceleration motion of the UAV in the horizontal direction (X-axis and Y-axis).

[0187] a) The position information of the UAV at the nth Δt is expressed as:

[0188]

[0189] The data transmission rate of the UAV at the nth Δt is:

[0190]

[0191] Among them,

[0192] b) The position information of the UAV at the nth Δt is:

[0193] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0194]

[0195] c) The position information of the UAV at the nth, Δt is:

[0196]

[0197] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0198]

[0199] where,

[0200] d) The position information of the UAV at the nth, Δt is expressed as:

[0201] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0202]

[0203] When z m+1 > z m and the amount of data transmitted back by the UAV is:

[0204]

[0205] (4) When z m+1 < z m and the acceleration time of the UAV on the Z-axis That is, the acceleration stage of the UAV on the Z-axis includes the acceleration, uniform motion, and partial deceleration motion of the UAV in the horizontal direction (X-axis and Y-axis).

[0206] a) The position information of the UAV at the nth, Δt is expressed as:

[0207]

[0208] The data transmission rate is:

[0209] where,

[0210] b) The position information of the UAV at the nth, Δt is:

[0211]

[0212] The data transmission rate is:

[0213] c) The position of the UAV at the nth Δt is:

[0214] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0215]

[0216]

[0217] d) The position information of the UAV at the nth Δt is expressed as:

[0218]

[0219] Therefore, the data transmission rate of the UAV at the nth Δt is:

[0220]

[0221] where

[0222] when z m+1 < z m and the amount of data transmitted back by the UAV is:

[0223]

[0224]

[0225] (5) When z m+1 < z m and the acceleration time of the UAV on the Z-axis That is, the acceleration stage of the UAV on the Z-axis includes the acceleration and partial uniform motion of the UAV in the horizontal direction, but does not include the deceleration motion.

[0226] a) The position information of the UAV at the nth Δt is expressed as:

[0227]

[0228] The UAV at the nth The data transmission rate for Δt is:

[0229]

[0230] Among them,

[0231] b) The position information of the UAV at the n-th Δt is expressed as:

[0232]

[0233] Therefore, the data transmission rate of the UAV at the n-th Δt is:

[0234]

[0235] c) The position of the UAV at the n-th Δt is:

[0236]

[0237]

[0238] The data transmission rate is:

[0239]

[0240] d) The position information of the UAV at the n-th Δt is:

[0241]

[0242] The data transmission rate is:

[0243] Among them,

[0244] When z m+1 < z m and the amount of data transmitted back by the UAV is:

[0245]

[0246] (6) When z m+1 < z m and the acceleration time of the UAV on the Z-axis

[0247] That is, the acceleration stage of the UAV on the Z-axis includes part of the UAV in the horizontal direction

[0248] Accelerated motion, excluding uniform motion and decelerated motion.

[0249] a) The position information of the drone at the nth Δt is expressed as:

[0250]

[0251] The data transmission rate is:

[0252] Where

[0253] b) The position information of the drone at the nth Δt is expressed as:

[0254]

[0255] The data transmission rate is:

[0256] Where

[0257]

[0258]

[0259] c) The position information of the drone at the nth Δt is:

[0260]

[0261] The data transmission rate is:

[0262] Where

[0263] d) The position information of the drone at the nth Δt is:

[0264]

[0265]

[0266] The data transmission rate is:

[0267] Where

[0268] When z m+1 < z m And When, the amount of data transmitted back by the UAV is:

[0269]

[0270] For method B:

[0271] a) The position information of the UAV at the nth Δt is expressed as:

[0272]

[0273] The data transmission rate is:

[0274] Wherein,

[0275] b) The position information of the UAV at the nth Δt is expressed as:

[0276]

[0277]

[0278] The data transmission rate is:

[0279] Wherein,

[0280] c) The position of the UAV at the nth Δt is:

[0281]

[0282] The data transmission rate is:

[0283] Wherein,

[0284] d) The position information of the UAV at the nth Δt is:

[0285]

[0286] The data transmission rate is:

[0287] Wherein,

[0288]

[0289] When using Method B, during the flight of the UAV from sensor m to m + 1, the amount of data transmitted back by the UAV is:

[0290]

[0291] Regarding Method C:

[0292] a) The position information of the UAV at the nth Δt is expressed as:

[0293]

[0294] The data transmission rate is:

[0295] Wherein, b) The position of the UAV at the nth Δt is:

[0296] The data transmission rate is: c) The position information of the UAV at the nth Δt is:

[0297]

[0298] The data transmission rate is:

[0299] Wherein,

[0300] When using Method C, during the flight of the UAV from sensor m to sensor m + 1, the amount of data transmitted back by the UAV is:

[0301] A specific implementation method is as Figure 3 shown, including the following steps:

[0302] (1) When the UAV flies from the takeoff and landing point towards the first sensor, since the UAV has no data to send to the data collector at this time, in the present invention, the UAV adopts flight Method B and uses all its power for flight attitude adjustment to obtain a shorter flight time. Since in flight Method B, the maximum value of the instantaneous power may appear in the th or the th time interval, therefore, the total power P 总 of the UAV should be equal to the maximum instantaneous power value of flight Method B for the UAV to have the shortest flight time.

[0303] Therefore, first use the Newton method to calculate the Roots of the equation in a time interval:

[0304]

[0305] The equation has real roots greater than 0 and less than and satisfies and Then the actual flight time of the UAV from the takeoff and landing point to the hovering position above the first sensor is

[0306] Otherwise, use Newton's method to calculate the roots of the following equation:

[0307] The equation has real roots greater than 0 and less than and satisfies and Then

[0308] (2) When the UAV hovers above sensor m and finishes receiving the data of this sensor and then flies towards sensor m + 1, the amount of data D m needs to be transmitted back to the data collector, then there is:

[0309] 1) If z m+1 > z m , let

[0310] If the equation has real root solutions and is within , denoted as

[0311] If the equation has real root solutions and is within , denoted as

[0312] If the equation has real root solutions and is greater than then it is denoted as

[0313] Let The equation has real root solutions and is less than denoted as

[0314] Therefore, when the UAV flies from sensor m to the next sensor m + 1, the flight attitude adjustment method for the UAV to complete the transmission of data volume D m and with the shortest flight time is the power allocation scheme with the minimum value in the set .

[0315] 2) If z m+1 <z m , let Then if the equation has real root solutions and is within the interval , it is denoted as

[0316] If the equation has real root solutions and is within , it is denoted as

[0317] If the equation has real root solutions and is greater than , it is denoted as

[0318] Therefore, when the UAV flies from sensor m to the next sensor m + 1, the flight attitude adjustment method for the UAV to complete the transmission of data volume D m and have the shortest flight time is the power allocation scheme with the minimum value in the set : After obtaining the flight time of the UAV from sensor m to the next sensor m + 1, the real-time flight power allocation on the X-axis can be obtained from formulas (1) to (3), the real-time flight power allocation on the Y-axis can be obtained from formulas (4) to (6), the real-time flight power allocation on the Z-axis in flight mode A can be obtained from formulas (7) and (8) or (9) and (10), and the real-time flight power allocation on the Z-axis in flight mode B can be obtained from formulas (11) and (12).

[0319] 3) If z m+1 = z m , then the real root solution is denoted as When the UAV flies from sensor m to the next sensor, the flight attitude adjustment method for the UAV to complete the transmission of data volume D m and have the shortest flight time is the power allocation scheme with the minimum value in the set , and the flight time

[0320] The transmission power p m,m+1 (n) when the UAV flies from sensor m to the next sensor are respectively

[0321] If flight mode A is adopted and z m+1 > z m , when , the communication power is (13) to (16); when , the communication power is (17) to (20); when , the communication power is (21) to (24);

[0322] If flight mode A is adopted and zm+1 <z m When is the case, the communication power is (25) - (28); when is the case, the communication power is (29) - (32); when is the case, the communication power is (33) - (36).

[0323] If flight mode B is adopted, the communication power is given by formulas (37) - (40).

[0324] If flight mode C is adopted, the communication power is given by formulas (41) - (43).

[0325] In particular, when the UAV returns to the takeoff and landing point after collecting the data of the Mth sensor, so (x M+1 , y M+1 , z M+1 ) can be set to (0, 0, 0), and the flight attitude adjustment method with the shortest flight time for transmitting the completed data volume D m can also be obtained by using the above method.

[0326] It should be noted that in the present invention, if x m = x m+1 or y m = y m+1 , then the UAV does not require power boost along the X-axis or Y-axis. The above two special cases can be solved by simplification according to the method given in the present invention, so they will not be elaborated here.

[0327] The above embodiments are the 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 UAV power control method for multi-target sensor data acquisition, characterized in that: The following steps are involved: S01: If no one is collecting multi-target sensor data, obtain the drone parameters; S02: The UAV flies close to multiple target sensors in sequence to collect their data, hovers over each sensor to collect data, and transmits back the data collected by the previous sensor in full when flying between sensors; S03: Calculate the flight time of the drone in each mode of flying from sensor m to sensor m+1. The calculation of the flight time is based on the flight mode that satisfies the returned data D m The criterion is that the total amount of data sent back to the data collector by the UAV during the flight from sensor m to sensor m+1 is equal to the amount of data received by the UAV when it hovers over sensor m; S04: Select the amount of data that the drone can complete D m The power allocation method with the shortest backhaul and flight time is used for control.

2. The UAV power control method for multi-target sensor data acquisition according to claim 1 is characterized in that: The drone parameters obtained in step S01 include the drone mass W, the gravity acceleration g of the current flight area, the location information of the take-off and landing points and each sensor, and the total power P 总 ; The coordinates of the take-off and landing point of the drone are the origin O of the three-dimensional coordinate system (0,0,0), and the coordinates of the position where the drone hovers above the mth target sensor are (x m ,y m ,z m ).

3. The UAV power control method for multi-target sensor data acquisition according to claim 2 is characterized in that: The actual flight time t of the drone from the take-off point to the hovering position above the first sensor in step S03 0,1 The calculation methods include: Calculation equation is greater than 0 and less than and The real root If there is a real root Otherwise, calculate the equation is greater than 0 and less than and The real root If there is a real root The attitude of the UAV during the flight process from the take-off point to the hovering position above the first sensor is determined by the total power P 总 Make adjustments.

4. The UAV power control method for multi-target sensor data acquisition according to claim 2 is characterized in that: Step S03 also includes dividing the vertical motion into three flight modes: A, B and C. In flight mode A, the UAV performs flight power boosting only in the acceleration or deceleration phase, and does not perform flight power boosting in the other phase; in flight mode B, the UAV performs flight power boosting in both the acceleration and deceleration phases; in flight mode C, the UAV performs flight power boosting only in the acceleration and deceleration phases; m+1 =z m When , the UAV has no vertical movement; The method for calculating the flight time of a UAV in flight mode A from sensor m to sensor m+1 includes: (1) When z m+1 >z m and When the drone flies from sensor m to sensor m+1, the amount of data sent back by the drone is for: make If the equation has real root solutions and is in the interval In the range, the real root solution is recorded as Among them, t m,m+1 is the flight time of the UAV from sensor m to sensor m+1, t m,m+1 Discretely divided into n time intervals Δt, is the number of time intervals; R m,m+1 (n) is the data transmission rate of the UAV at the nth Δt; D m The amount of data that needs to be transmitted back during the flight of the UAV from sensor m to sensor m+1; (2) When z m+1 >z m and When the drone flies from sensor m to sensor m+1, the amount of data sent back by the drone is for: make If the equation has real root solutions and is in the interval In the range, the real root solution is recorded as (3) When z m+1 >z m and When the drone flies from sensor m to sensor m+1, the amount of data sent back by the drone is for: make If the equation has a real root solution and is greater than The real root solution is recorded as (4) When z m+1 <z m and When the drone flies from sensor m to sensor m+1, the amount of data sent back by the drone is for: make If the equation has real root solutions and is in the interval In the range, the real root solution is recorded as (5) When z m+1 <z m and When the drone flies from sensor m to sensor m+1, the amount of data sent back by the drone is for: make If the equation has real root solutions and is in the interval In the range, the real root solution is recorded as (6) When z m+1 <z m and When the drone flies from sensor m to sensor m+1, the amount of data sent back by the drone is for: make If the equation has a real root solution and is greater than The real root solution is recorded as The method for calculating the flight time of the UAV in the B flight mode from sensor m to sensor m+1 includes: When using flight mode B, the amount of data sent back by the drone during the flight from sensor m to sensor m+1 is for: make If the equation has a real root solution and is less than When , the real root solution is recorded as The method for calculating the flight time of the UAV in the C flight mode from sensor m to sensor m+1 includes: During the flight of the drone from sensor m to sensor m+1, the amount of data sent back by the drone is for: make The real root solution is recorded as 5. The UAV power control method for multi-target sensor data acquisition according to claim 4 is characterized in that: If m+1 >z m When the drone flies from sensor m to the next sensor m+1, the drone completes the data volume D m The flight attitude adjustment method with the shortest flight time is the set The power allocation scheme with the minimum value in the flight time If m+1 <z m When the drone flies from sensor m to the next sensor m+1, the drone completes the data volume D m The flight attitude adjustment method with the shortest flight time is the set The power allocation scheme with the minimum value in the flight time Otherwise, when the drone flies from sensor m to the next sensor m+1, the drone completes the data volume D m The flight attitude adjustment method with the shortest flight time is the set The power allocation scheme with the minimum value in the flight time 6. The UAV power control method for multi-target sensor data acquisition according to claim 5 is characterized in that: After step S04, the method further includes calculating the instantaneous flight power and instantaneous communication power of the UAV after obtaining the shortest flight time.

7. The UAV power control method for multi-target sensor data acquisition according to claim 6 is characterized in that: The calculation method of the instantaneous flight power of the UAV includes: Calculate the real-time flight power allocation on the X-axis: On the X-axis, the drone is Total in time time interval, and the instantaneous power of the UAV is: Drones in Total in time time interval, and the instantaneous power of the UAV is: Drones in Total in time time interval, and the instantaneous power of the UAV is: Calculate the real-time flight power distribution of the Y axis: On the Y axis, the drone is Total in time time interval, and the instantaneous power of the UAV is: Drones in Total in time time interval, And the instantaneous power of the drone is: Drones in Total in time time interval, and the instantaneous power of the UAV is: Calculate the real-time flight power distribution of the Z axis in flight mode A: If m+1 >z m , drones in Total in time time interval, and the instantaneous power of the UAV is: Drones in Total in time time interval, and the instantaneous power of the UAV is: If m+1 <z m , drones in Total in time time interval, and the instantaneous power of the UAV is: Drones in Total in time time interval, and the instantaneous power of the UAV is: Calculate the real-time flight power distribution of the Z axis in flight mode B: Drones in Total in time time interval, and the instantaneous power of the UAV is: Drones in Total in time time interval, and the instantaneous power of the UAV is: Calculate the real-time flight power distribution of the Z axis in flight mode C: That is z m+1 =z m , the drone is in 0~t m,m+1 Total in time time interval, and the instantaneous power of the UAV is:

8. The UAV power control method for multi-target sensor data acquisition according to claim 6 is characterized in that: The calculation method of the instantaneous communication power of the UAV includes: If flight mode A is used, and z m+1 >z m When hour, The drone is on the nth, The communication power of a Δt is: Drones in the The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: p m,m+1 (n)=P 总 ; The drone is on the nth, The communication power of a Δt is: When z m+1 >z m and When the UAV is at the nth The communication power of a Δt is: Drones in the The communication power of a Δt is: Drones in the The communication power of a Δt is: p m,m+1 (n)=P 总 The drone is on the nth, Communication of Δt The power is: When z m+1 >z m and hour, The drone is on the nth, The communication power of a Δt is: Drones in the The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: If flight mode A is used and z m+1 <z m When hour, The drone is on the nth, The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: p m,m+1 (n)=P 总 The drone is on the nth, The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: When z m+1 <z m and When the UAV is at the nth The communication power of a Δt is: Drones in the The communication power of a Δt is: p m,m+1 (n)=P 总 Drones in the The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: When z m+1 <z m and hour, The drone is on the nth, The communication power of a Δt is: Drones in the The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: If flight mode B is used, the UAV will The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: The drone is on the nth, The communication power of a Δt is: If the C flight mode is adopted, that is, z m+1 =z m hour, The drone is on the nth, The communication power of a Δt is: Drones in the The communication power of a Δt is: p m,m+1 (n)=P 总 ; The drone is on the nth, The communication power of a Δt is:

9. A UAV power control system for multi-target sensor data acquisition, characterized in that: The invention comprises a processor, wherein the processor is equipped with the UAV power control method for multi-target sensor data acquisition according to any one of claims 1 to 8.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the UAV power control method for multi-target sensor data acquisition described in any one of claims 1-8 is implemented.

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