Unmanned aerial vehicle approaching flight target selection method and selection system for multi-sensor data acquisition
By initializing sensor labels, establishing coordinate systems, discretely allocating flight time intervals and direction judgments, the problem of how drones can efficiently select targets in multi-sensor data collection is solved, and efficient and accurate data acquisition of drones within the coverage range of multi-sensors is achieved.
Patent Information
- Application Number
- CN202510586011.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-08
- Publication Date
- 2025-08-01
AI Technical Summary
During the multi-sensor data acquisition process, how to efficiently and accurately select targets to fly over each sensor periodically for data reception is a key issue.
By initializing the sensor label, establishing a coordinate system with the drone position as the original center, discretely allocating the flight time interval, calculating the data transmission rate and communication volume, combining with the direction judgment module, selecting the optimal flight path to complete the sensor data acquisition.
It realizes efficient and accurate target selection of drones within the coverage range of multiple sensors, and is physically in line with practical application scenarios, improving the flight efficiency and data acquisition effect in the actual project.
Smart Images
Figure CN120406513A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) flight control, and in particular to a method and system for selecting an approaching UAV flight target for multi-sensor data collection. Background Art
[0002] Sensors convert various non-electrical quantities (such as temperature, pressure, light intensity, and sound) into electrical signals, which can then be recognized and processed by computers or data processing systems. During data collection, sensors ensure data accuracy and timeliness through precise measurement and real-time monitoring. For example, temperature sensors monitor ambient temperature in real time, providing critical data for environmental science research. Pressure sensors are widely used in industrial automation, monitoring pressure changes during production processes to ensure stable production line operation. Furthermore, with the development of the Internet of Things (IoT), sensors are playing an increasingly important role in smart homes and smart cities. By collecting various environmental parameters, they provide more convenient and intelligent services for people's lives and work. With the continuous advancement of drone technology, sensor data collection is gradually shifting from traditional sensor networks or manual collection to drones. When drones perform flight missions that collect data from multiple sensors, efficient and accurate target selection becomes a key issue. Summary of the Invention
[0003] Purpose of the invention: The present invention provides a method and system for selecting a target for approaching UAV flight for multi-sensor data collection. When multiple sensors are scattered within the range covered by the UAV, the method can solve the problem of requiring the UAV to periodically fly over each sensor at a constant speed in turn and receive sensor data.
[0004] Technical solution: The present invention provides a method for selecting a target for a UAV approach flight for multi-sensor data collection, comprising the following steps:
[0005] Step 1. Initialization , Label the sensor;
[0006] Step 2: Establish the position of the UAV when it makes the decision to approach the flight target as the original center, and the sensor In the coordinate system of the positive X-axis, the position information of each sensor in this coordinate system is updated as ;
[0007] Step 3: The drone’s position when approaching the flight target is towards the sensor Perform the flight and discretely divide the flight time Divide The time interval is time intervals, is the speed of the drone;
[0008] Step 4, calculate the drone's when approaching the sensor the data transmission rate with the sensor;
[0009] Step 5, calculate the amount of data communicated between the drone and sensors 1 to while the drone is flying towards the sensor; the
[0010] Step 6, if , the drone chooses to approach the sensor , and when the data transmission with the sensor is completed during the flight, the flight direction is judged again;
[0011] Step 7, if , calculate , if , then the drone chooses to approach the sensor ; if , let , if , then the drone approaches the sensor ; otherwise, return to Step 2;
[0012] where is the amount of data that the th sensor needs to send back to the drone, is the total amount of data communicated between the drone and the sensor while the drone is flying towards the th sensor, is the total amount of data communicated between the drone and the sensor while the drone is flying towards the th sensor.
[0013] Furthermore, in Step 4, the data transmission rate is
[0014]
[0015] where is the channel gain between the th time interval and the sensor while the drone is approaching the sensor ; is the signal bandwidth; is the transmit power of the th sensor to send data back to the drone; is the receiver noise; represents the channel gain at a distance of 1 meter, is the cruising altitude of the UAV.
[0016] Further, in step 5, the data volume is
[0017]
[0018]
[0019] wherein, is the time interval when the UAV is approaching the sensor during the process of approaching flight and at the end of data transmission with the sensor and is obtained through the inequality ; is the th time interval when the UAV is approaching the sensor and the data transmission rate with the sensor ; is the th time interval when the UAV is approaching the sensor and the data transmission rate with the sensor ;
[0020] Correspondingly, a UAV approaching flight target selection system for multi-sensor data acquisition includes: a position update module, a data calculation module, and a direction judgment module; the position update module establishes a coordinate system with the position of the UAV at the time of approaching flight target decision as the origin and the sensor on the positive X-axis, and then the position information of each sensor in this coordinate system is updated to ; the data calculation module calculates the data transmission rate between the UAV and the sensor during the th time interval when the UAV is approaching the sensor ; calculates the total data volume of communication between the UAV and sensors 1 to sensor during the flight to the sensor ; the direction judgment module makes a judgment on the flight direction of the UAV.
[0021] Further, the UAV flies from the position at the time of approaching flight target decision towards the sensor , and discretely divides the flight time into time intervals of , with a total of time intervals.
[0022] Further, the direction judgment module makes a judgment on the flight direction of the UAV. If , the drone selects to fly towards the sensor for a close-range flight, and when the data transmission with the sensor during the flight is completed, the flight direction is judged again; if , calculate , if , then the drone selects to fly towards the sensor for a close-range flight.
[0023] Furthermore, if , the UAV selects to fly towards the sensor for a close-range flight.
[0024] Beneficial effects: Compared with the prior art, the present invention has the following remarkable advantages: The present invention aims at the problem that multiple sensors are scattered within the flight coverage of the drone, and the drone needs to fly over each sensor at a constant speed periodically in sequence to receive sensor data, and proposes a method for selecting the close-range flight target of the drone for multi-sensor data acquisition, which physically conforms to the realistic application scenario and can be effectively applied to engineering practice. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0026] As Figure 1 shown, each sensor is scattered within the flight coverage of the drone, and each sensor collects information such as the surrounding environment parameters within a certain period of time. The drone periodically flies over each sensor at a speed in sequence to receive sensor data. Assume that the set of sensors that need to receive data during a drone flight is represented as , and due to the different memory occupied by the data of each sensor, the drone needs to fly close to each sensor in sequence to receive data and return to the ground base for data processing after receiving the data of all sensors.
[0027] Assume that the cruising altitude of the drone is , and the data volume and transmission power that each sensor needs to send back to the drone are respectively. Considering weight and economic benefits, in the present invention, the UAV is only equipped with one antenna, and can only receive the data of another sensor after receiving the data of one sensor. At the same time, during the flight of the UAV, the channel gain between the UAV and the sensor will change. The flight time can be discretely divided into time intervals, due to Small enough to assume that the channel gain between the UAV and the sensor remains constant within each time interval.
[0028] Step 0, the UAV flies towards Sensor 1 when making a decision on approaching the target (the initial moment is the starting point). Establish a coordinate system with the initial position of the UAV as the origin and Sensor 1 on the positive X-axis. Then the position information of each sensor in this coordinate system is . Divide the flight time of the UAV discretely into time intervals, with a total of time intervals. Therefore, the data transmission rate between the UAV and Sensor 1 in the th time interval when the UAV is flying towards Sensor 1 is
[0029]
[0030] where, is the channel gain between the UAV and Sensor 1 in the th time interval when the UAV is flying towards Sensor 1; is the signal bandwidth; is the receiver noise; represents the channel gain at a distance of 1 meter.
[0031] Furthermore, the total amount of data transmitted between the UAV and Sensor 1 during the flight to Sensor 1 is
[0032]
[0033] 1. If , it indicates that the total amount of data transmitted during the UAV's approach flight to Sensor 1 is less than the amount of data that needs to be transmitted by this sensor. Therefore, the UAV needs to hover above Sensor 1, wait for the data transmission to complete, and then make a judgment on the flight direction again. At this time, the position at the decision-making of approaching the target is the position where Sensor 1 is located.
[0034] 2. If , it indicates that the total amount of data transmitted during the UAV's approach flight to Sensor 1 is greater than or equal to the amount of data that needs to be transmitted by this sensor. Then it means that the UAV can try to directly fly towards Sensor 2 from the starting point (and during the flight, it is necessary to complete the data acquisition of Sensor 1). The method is as follows:
[0035] Establish a coordinate system with the initial position of the UAV as the origin and Sensor 2 on the positive X-axis. Then the position information of each sensor in this coordinate system is updated to .
[0036] The UAV flies towards Sensor 2 from the initial point and discretely divides the flight time into time intervals, with a total of time intervals. Therefore, the data transmission rate between the UAV and Sensor 1 during the th time interval when the UAV approaches Sensor 2 is
[0037]
[0038] where is the channel gain between the UAV and Sensor 1 during the th time interval when the UAV approaches Sensor 2.
[0039] Furthermore, the total amount of data transmitted between the UAV and Sensor 1 during the flight to Sensor 2 is
[0040]
[0041] 2.1 If , it indicates that the total amount of data transmitted between the UAV and Sensor 1 during the approach flight to Sensor 2 is less than the amount of data that needs to be transmitted by this sensor. Therefore, the UAV cannot complete the data transmission with Sensor 1 before reaching directly above Sensor 2. At this time, if the UAV continues to maintain the data transmission with Sensor 1, it will reduce the flight efficiency of the UAV (because the channel gain between the UAV and Sensor 2 reaches the maximum value at this time).
[0042] Based on the above analysis, the UAV chooses to fly towards Sensor 1 for approach flight, and when the data transmission with Sensor 1 is completed during the flight, it makes a judgment on the flight direction again. At this time, the position for making the approach flight target decision is the position where Sensor 1 is located.
[0043] 2.2 If , it indicates that the total amount of data transmitted during the approach flight of the UAV to Sensor 2 is greater than or equal to the amount of data that needs to be transmitted by Sensor 1.
[0044] When the UAV finishes transmitting data with Sensor 1, it will establish a communication link with Sensor 2 in the next time interval. The total amount of data transmitted between the UAV and Sensor 2 during the flight to Sensor 2 is
[0045]
[0046] where is the time interval when the data transmission between the UAV and Sensor 1 ends during the approach flight to Sensor 2, which can be obtained through the inequality ; , The channel gain between the drone and sensor 2 at the th time interval during the drone's approaching flight towards sensor 2.
[0047] Specifically, if , then .
[0048] 2.2.1 If , it indicates that the total data transmission volume between the drone and sensors 1 and 2 during the drone's approaching flight towards sensor 2 is less than the total data volume that needs to be transmitted by these two sensors. Therefore, the UAV chooses to approach sensor 2 (first transmit data with sensor 1 and then with sensor 2), and when the data transmission between the UAV and sensor 2 is completed during the hovering process directly above sensor 2, the flight direction is judged again. At this time, the position for the approaching flight target decision is the position where sensor 2 is located.
[0049] 2.2.2 If , it indicates that the total data transmission volume between the drone and sensors 1 and 2 during the drone's approaching flight towards sensor 2 is greater than or equal to the total data volume that needs to be transmitted by these two sensors. Then it means that the drone can try to directly approach sensor 3 from the initial point (and during the flight process, it is necessary to complete the data acquisition of sensors 1 and 2). The method is as follows:
[0050] Establish a coordinate system with the initial position of the drone as the origin and sensor 3 on the positive X-axis. Then the position information of each sensor in this coordinate system is updated to .
[0051] The UAV flies towards sensor 3 from the initial point, discretely divides the flight time into time intervals, with a total of time intervals.
[0052] Therefore, the data transmission rate between the drone and sensor 1 at the th time interval during the drone's approaching flight towards sensor 3 is
[0053]
[0054] where is the channel gain between the drone and sensor 1 at the th time interval during the drone's approaching flight towards sensor 3.
[0055] The data transmission rate between the drone and sensor 2 at the th time interval during the drone's approaching flight towards sensor 3 is
[0056]
[0057] Among them, is the channel gain between the th time interval when the UAV approaches the sensor 3 and the sensor 2.
[0058] Furthermore, the total data volume of the UAV communicating with the sensor 1 and the sensor 2 on the way to the sensor 3 is
[0059]
[0060]
[0061] Among them, is the time interval when the data transmission between the UAV and the sensor 1 ends during the process of the UAV approaching the sensor 3, and can be obtained through the inequality obtained.
[0062] In particular, if , then .
[0063] 2.2.2.1 If , it indicates that the total data volume of the UAV communicating with the sensor 1 and the sensor 2 during the process of approaching the sensor 3 is less than the data volume that needs to be transmitted by these two sensors. Therefore, the UAV cannot complete the data transmission with the sensor 1 and the sensor 2 before reaching directly above the sensor 3. At this time, if the UAV still continues to maintain the data transmission with the sensor 1 or the sensor 2, it will reduce the flight efficiency of the UAV (because the channel gain between the UAV and the sensor 3 reaches the maximum value at this time).
[0064] Based on the above analysis, the UAV chooses to approach the sensor 2 for flight, and judges the flight direction again when the data transmission with the sensor 2 is completed during the flight. At this time, the position at the time of making the decision on the approaching flight target is the position where the UAV is located when the data transmission with the sensor 2 is completed.
[0065] 2.2.2.2 If , it indicates that the data transmission volume of the UAV during the process of approaching the sensor 3 is greater than or equal to the total data volume that needs to be transmitted by the sensor 1 and the sensor 2. When the UAV finishes transmitting data with the sensor 1 and the sensor 2, the UAV will establish a communication link with the sensor 3 in the next time interval. The total data volume of the UAV communicating with the sensor 3 on the way to the sensor 3 is
[0066]
[0067] Among them, is the time interval when the data transmission between the drone and sensor 2 ends during the approach flight towards sensor 3, and can be obtained through the inequality ; , is the channel gain between the -th time interval when the drone is approaching sensor 3 and sensor 3.
[0068] In particular, if , then .
[0069] 2.2.2.2.1 If , it indicates that the total amount of data transmitted between the drone and sensors 1, 2, and 3 during the approach flight towards sensor 3 is less than the total amount of data that needs to be transmitted by these three sensors. Therefore, the UAV chooses to approach sensor 3 (first transmits data with sensors 1 and 2 in sequence, and then transmits data with sensor 3), and when the data transmission between the UAV and sensor 3 is completed during the hovering process directly above sensor 3, the flight direction is judged again. At this time, the position for the approach flight target decision is the position where sensor 3 is located.
[0070] 2.2.2.2.2 If , it indicates that the total amount of data transmitted between the drone and sensors 1, 2, and 3 during the approach flight towards sensor 3 is greater than or equal to the total amount of data that needs to be transmitted by these three sensors. Then it means that the drone can try to approach sensor 4 directly from the initial point (and during the flight process, it is necessary to complete the acquisition of data from sensors 1, 2, and 3).
[0071] Similarly, by analogy;
[0072] When the drone tries to approach sensor (and during the flight process, it is necessary to complete the acquisition of data from sensors 1 to sensor ), the method is as follows:
[0073] Establish a coordinate system with the position of the drone at the approach flight target decision as the origin and sensor on the positive X-axis. Then the position information of each sensor in this coordinate system is updated to .
[0074] The UAV flies from the position at the approach flight target decision towards sensor . Discretely divide the flight time into time intervals, and there are time intervals in total.
[0075] Therefore, when the UAV approaches the sensor during the th time interval, the data transmission rate between the UAV and the sensor is
[0076]
[0077] where is the channel gain between the UAV and the sensor during the th time interval when the UAV approaches the sensor .
[0078] Furthermore, the total amount of data transmitted between the UAV and sensors 1 to while the UAV is flying towards the sensor is
[0079]
[0080]
[0081] where is the time interval when the data transmission between the UAV and the sensor ends during the process of the UAV approaching the sensor , and can be obtained through the inequality . Similarly, the time interval when the data transmission between the UAV and sensors 1 to ends during the process of the UAV approaching the sensor can be obtained. In particular .
[0082] If , it means that the total amount of data transmitted between the UAV and sensors 1 to is less than the amount of data that these sensors need to transmit during the process of the UAV approaching the sensor . Therefore, the UAV cannot complete the data transmission with sensors 1 to before reaching directly above the sensor . The UAV selects to approach the sensor , and judges the flight direction again after the data transmission with the sensor is completed during the flight.
[0083] If , it means that the amount of data transmitted during the process of the UAV approaching the sensor is greater than or equal to the amount of data transmitted from sensors 1 to Total data transmission volume. The UAV selects to fly closer to the sensor for a closer flight.
[0084] It should be noted that when judging the flight direction again, the position of the UAV needs to be initialized to the initial point, and at the same time, the sensors with untransmitted data are grouped according to the data priority order for initialization and then enter step 0 again.
[0085] Correspondingly, a UAV closer flight target selection system for multi-sensor data acquisition includes: a position update module, a data calculation module, and a direction judgment module; the position update module establishes a coordinate system with the initial position of the UAV as the origin and the sensor on the positive X-axis. Then, the position information of each sensor in this coordinate system is updated to ; the data calculation module calculates the th time interval when the UAV is flying closer to the sensor and the data transmission rate of the sensor and calculates the total data volume of the UAV communicating with sensors 1 to sensor during the flight to the sensor ; the direction judgment module judges the flight direction of the UAV.
Claims
1. A method for selecting approaching flight targets of an unmanned aerial vehicle for multi-sensor data acquisition, characterized in that, It includes the following steps: Step 1, Initialization , is the sensor label; Step 2: Establish a coordinate system with the position of the drone at the time of making a decision on approaching the flying target as the origin, and the sensors in the positive X-axis. Then, the position information of each sensor in this coordinate system is updated to ; Step 3: The drone flies towards the sensor when making a decision on approaching the flight target and discretely divides the flight time into time intervals. There are time intervals in total, where is the drone speed; Step 4, calculate the data transmission rate between the drone and the sensor during the proximity flight of the nth time interval and the sensor ; Step 5: Calculate the data volume of the communication between the drone and sensors 1 to the sensor during the flight of the drone to the sensor for communication. Step 6. If , the UAV chooses to fly closer to the sensor , and when the data transmission with the sensor is completed during the flight, the flight direction is judged again; Step 7, if , calculate , if , then the drone selects to fly closer to the sensor ; if , let , if , then the drone flies closer to the sensor . Otherwise, return to step 2; Among them, is the amount of data that the th sensor needs to send back to the drone, is the total amount of data for the drone to communicate with the sensor during the flight towards the th sensor, is the total amount of data for the drone to communicate with the sensor during the flight towards the th sensor.
2. The method for selecting a UAV close - range flight target for multi - sensor data acquisition according to claim 1, wherein, In step 4, the data transfer rate is in, As the drone moves towards the sensor During approach flight Time interval and sensor The channel gain between is the signal bandwidth; For the The transmission power of each sensor sending data back to the drone; is the receiver noise; Indicates the channel gain at a distance of 1 meter. is the cruising altitude of the drone.
3. The method for selecting a target for a UAV to approach and fly close to for multi-sensor data acquisition according to claim 1, wherein In step 5, the data volume is Among them, is the time interval when the data transmission between the drone and the sensor ends during the approach flight of the drone to the sensor, and is obtained through the inequality ; is obtained, is the data transmission rate between the th time interval when the drone approaches the sensor and the sensor ; is the data transmission rate between the th time interval when the drone approaches the sensor and the sensor .
4. A system for an unmanned aerial vehicle (UAV) approaching flight target selection method based on the multi-sensor data acquisition as described in claim 1, characterized in that, It includes: A position update module, a data calculation module, and a direction judgment module; The position update module establishes a coordinate system with the position of the UAV at the time of approaching flight target decision-making as the origin, and the sensors in the positive X-axis. Then, the position information of each sensor in this coordinate system is updated to ; the data calculation module calculates the th time interval when the UAV approaches the sensor and the data transmission rate of the sensor ; calculates the total data volume of communication between the UAV and sensors 1 to sensor during the flight to the sensor ; the direction judgment module judges the flight direction of the UAV.
5. The multi-sensor data acquisition-oriented UAV close-range flight target selection system according to claim 4, wherein The position of the drone during the decision-making for approaching the flying target faces the sensor flies, discretely dividing the flight time into time intervals, with a total of time intervals.
6. The UAV close - in flight target selection system for multi - sensor data acquisition according to claim 4, wherein, The direction judgment module judges the flight direction of the UAV. If , the UAV chooses to fly closer to the sensor . And when the data transmission with the sensor is completed during the flight, the flight direction is judged again; if , calculate . If , then the UAV chooses to fly closer to the sensor . Among them, is the amount of data that the th sensor needs to send back to the UAV, is the total amount of data for the UAV to communicate with the sensor during the flight towards the th sensor, is the total amount of data for the UAV to communicate with the sensor during the flight towards the th sensor.
7. The UAV close - in flight target selection system for multi - sensor data acquisition according to claim 4, wherein: If , the UAV chooses to fly closer to the sensor .