Shipborne unmanned aerial vehicle positioning and navigation method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of shipborne unmanned aerial vehicle positioning, and discloses a shipborne unmanned aerial vehicle positioning navigation method and device, electronic equipment and a storage medium, and the method comprises the following steps: 1, sending a detection signal through a pilot in a shipborne unmanned aerial vehicle group, marking a follow-up device in a signal receiving range of the pilot, and recognizing a coincident follow-up device; 2, on the basis of the coincidence following random, priority selection values of all pilots in a pilot set to which the coincidence following random belongs are obtained in combination with the signal intensity value data, and the type of the coincidence following random is determined through analysis; wherein the coincident following random type comprises determined following random and undetermined following random. According to the method, the signal intensity value and the response frequency ratio are combined, the type of the coincident follow-up device and the pilot aircraft to which the coincident follow-up device belongs are determined by calculating the priority selection value, the decision-making process is optimized, each follow-up device can be accurately and efficiently attributed to the appropriate pilot aircraft, and therefore the operation efficiency and safety of the whole unmanned aerial vehicle set are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of shipborne unmanned aerial vehicle positioning, and in particular to a shipborne unmanned aerial vehicle positioning and navigation method, device, electronic equipment, and storage medium. Background Art

[0002] In scenarios such as marine operations, the application of ship-borne drones is becoming increasingly widespread. Ship-borne drones usually perform tasks such as marine monitoring and cargo transportation assistance in the form of a formation with a pilot leading a group of follower drones.

[0003] However, in actual operation, due to the complex and changeable ocean environment, signals are easily affected by factors such as waves, sea breezes, and electromagnetic interference, resulting in unstable communication between drones. Traditional positioning and navigation methods often only rely on simple signal reception conditions when determining the leader aircraft to which a follower aircraft belongs, and lack comprehensive consideration of multiple factors. This makes it difficult for a follower aircraft to accurately determine the leader aircraft to which it should belong when facing an area where signals from multiple leader aircraft overlap. This makes it easy to make mistakes in attribution or make unclear decisions, which in turn affects the operating efficiency and safety of the entire drone group and increases the risk and uncertainty of mission execution. For example, in ocean monitoring missions, if a follower aircraft cannot accurately follow the appropriate leader aircraft, it may result in incomplete or biased monitoring data, which cannot meet actual operational needs. Summary of the Invention

[0004] The object of the present invention is to provide a method, device, electronic device, and storage medium for positioning and navigation of a shipborne UAV to solve at least one of the above-mentioned problems in the prior art.

[0005] In a first aspect, the present invention provides a method for positioning and navigating a shipborne UAV, comprising the following steps:

[0006] Step 1: The pilot aircraft in the shipborne drone group sends a detection signal to mark the follower aircraft within the pilot aircraft's signal reception range and identify the overlapping follower aircraft;

[0007] Step 2: Based on the coincident follower, the priority values ​​of all the pilot aircraft in the pilot aircraft set to which the coincident follower belongs are obtained in combination with the signal strength value data, and the type of the coincident follower is determined through analysis;

[0008] Among them, the types of coincidence following machines include deterministic following machines and uncertain following machines;

[0009] Step 3: Based on the uncertain follower, obtain the corresponding pilot aircraft to be selected, analyze the signal strength value received by the pilot aircraft, and obtain the predicted signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time;

[0010] Step 4: Based on the signal strength prediction value of the to-be-selected leader aircraft and the signal strength stability value, an analysis is performed to obtain the final leader aircraft corresponding to the uncertain follower aircraft.

[0011] In a second aspect, the present invention provides a shipborne UAV positioning and navigation device, the device comprising:

[0012] Repeated follower identification module: The pilot aircraft in the shipborne UAV group sends a detection signal, marks the follower aircraft within the pilot aircraft's signal reception range, and identifies the overlapping follower aircraft;

[0013] Repeated follower classification module: Based on the coincident follower, the signal strength value data is combined to obtain the priority selection value of all the pilot aircraft in the pilot aircraft set to which the coincident follower belongs, and the type of the coincident follower is determined through analysis;

[0014] Among them, the types of coincidence following machines include deterministic following machines and uncertain following machines;

[0015] Signal strength prediction module: Based on the uncertain follower, it obtains the corresponding pilot aircraft to be selected, analyzes the signal strength value received by the pilot aircraft, and obtains the predicted signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time;

[0016] Uncertain follower matching module: Based on the signal strength prediction value of the to-be-selected leader aircraft and combined with the signal strength stability value, the final leader aircraft corresponding to the uncertain follower aircraft is obtained.

[0017] In a third aspect, the present invention provides an electronic device comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0018] Memory for storing computer programs;

[0019] The processor is configured to implement the above method steps when executing the program stored in the memory.

[0020] In a fourth aspect, the present invention provides a computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program implements the above-mentioned method steps when executed by a processor.

[0021] Beneficial effects of the present invention:

[0022] 1. This invention combines signal strength and response ratio to calculate a priority value to determine the type of overlapping follower aircraft and its corresponding leader aircraft. This optimizes the decision-making process, enabling each follower aircraft to be accurately and efficiently assigned to an appropriate leader aircraft, thereby improving the operational efficiency and safety of the entire drone group.

[0023] 2. By predicting the signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time, the present invention can more accurately evaluate the communication quality between each pilot aircraft and the follower aircraft. When multiple pilot aircraft have high priority selection values, a more reasonable decision can be made to determine the final pilot aircraft, thereby improving the stability and reliability of communication, reducing resource waste, and improving the overall operating efficiency of the drone group. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a flow chart of the positioning and navigation method of the shipborne UAV of the present invention;

[0026] Figure 2 This is a structural diagram of a shipborne UAV positioning and navigation device according to the present invention;

[0027] Figure 3 It is a structural schematic diagram of an electronic device of the present invention.

[0028] In the figure: 3, computer device; 301, processor; 302, memory; 303, computer program; DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0030] Example 1

[0031] Figure 1This is a flowchart of a shipborne drone positioning and navigation method provided in Embodiment 1 of the present invention. This shipborne drone positioning and navigation method can be performed by a shipborne drone positioning and navigation system. The shipborne drone positioning and navigation device can be implemented by software and / or hardware, and the shipborne drone positioning and navigation device can be configured in a shipborne drone positioning and navigation device. Optionally, the shipborne drone positioning and navigation device can be an electronic device, such as a laptop, desktop computer, or smart tablet, although this embodiment of the present invention does not limit this.

[0032] like Figure 1 As shown, the shipborne UAV positioning and navigation method provided by the embodiment of the present invention specifically includes the following steps:

[0033] Step 1: The pilot aircraft in the shipborne drone group sends a detection signal to mark the follower aircraft within the pilot aircraft's signal reception range and identify the overlapping follower aircraft;

[0034] In some embodiments, based on any one pilot aircraft, a detection signal is sent to the surrounding area multiple times, and the following drones that receive the detection signal will send a response signal to the pilot aircraft;

[0035] Obtain the number of times the pilot receives the same response signal from the follower, marked as the response number, and calculate the ratio of the response number to the total number of detection signals sent by the pilot to obtain the response number ratio;

[0036] By sending multiple detection signals to the surrounding area and calculating the response ratio, it is possible to more accurately determine whether the follower aircraft is within the signal reception range of the leader aircraft. Compared with simply judging based on the reception of a single signal, considering multiple detection signals and the response ratio can filter out misjudgments caused by accidental factors (such as momentary signal interference or temporary obstruction by obstacles), thereby improving the accuracy of judging the follower aircraft's range.

[0037] Setting a response number ratio threshold value, which is set by a person skilled in the art based on a summary of multiple historical experimental data;

[0038] Compare the response ratio with the response ratio threshold. If the response ratio is greater than the response ratio threshold, the follower aircraft is marked as a follower aircraft within the pilot aircraft's signal reception range. If the response ratio is less than or equal to the response ratio threshold, no mark is made.

[0039] Based on any follower machine, obtain the number of times it is marked, extract the follower machines that are marked more than once (i.e., the number of times marked ≥ 2), and mark them as overlapping follower machines;

[0040] Step 2: Based on the coincidence follower, the priority values ​​of all the lead aircraft in the lead aircraft set to which the coincidence follower belongs are obtained in combination with the response signal data, and the type of the coincidence follower is determined through analysis;

[0041] Wherein, the response signal data includes a signal strength value;

[0042] The types of coincidence following machines include deterministic following machines and uncertain following machines;

[0043] In some embodiments, based on any one overlapping follower aircraft, all the pilot aircraft corresponding to the overlapping follower aircraft are marked as a corresponding pilot aircraft set, and the priority selection values ​​of all the pilot aircraft in the corresponding pilot aircraft set are calculated;

[0044] In this embodiment, the specific process of calculating the priority value is:

[0045] Get the signal strength value of the response signal sent by the follower aircraft to the pilot aircraft each time, and obtain the signal strength value data sequence Q = {q1, q2, ...q n}, n represents the number of responses;

[0046] Substitute all signal strength values ​​into the standard deviation formula and calculate the standard deviation value, which is marked as the signal strength stability value;

[0047] The signal strength values ​​are summed and averaged to obtain the signal strength mean;

[0048] Substitute the preferred value YX into the calculation formula: Where xy represents the response ratio, qz represents the mean signal strength, wd represents the stable signal strength, a and b are preset proportional coefficients, with a value of 1.563 and b value of 1.274;

[0049] Arrange the priority values ​​of all pilot aircraft in the pilot aircraft set from large to small, and obtain the priority value data sequence YX={yx1, yx2, ...yx i}, i represents the number of pilot aircraft in the pilot aircraft set;

[0050] Extract the maximum value yx1 in the priority value data sequence, set the value close to the interval step bc, extract the priority value in the interval [yx1-bc, yx1] in the priority value data sequence, and mark the valid priority value;

[0051] If there is only one valid priority value, that is, the maximum value yx1 in the priority value data sequence, the corresponding coincident follower is marked as the determined follower, and the pilot corresponding to the maximum value yx1 in the priority value data sequence is the final pilot corresponding to the determined follower;

[0052] If there are multiple valid priority selection values, mark the corresponding overlapping follower as an uncertain follower, obtain the corresponding leader aircraft of the valid priority selection value, and mark it as the leader aircraft to be selected;

[0053] By setting the step size of the numerical approach interval, when the priority values ​​of multiple pilots are close, a more flexible selection is made. Instead of simply selecting a single value, multiple preferred options that may appear in actual situations are considered, which improves the adaptability and fault tolerance of the system in complex environments.

[0054] The technical solution of this embodiment is as follows: first, the pilot aircraft in the shipborne UAV group sends a detection signal to the surrounding area multiple times. After receiving the detection signal, the follower aircraft sends a response signal. The ratio of the number of responses to the total number of detection signals sent by the pilot aircraft (i.e., the response number ratio) is compared with a set response number ratio threshold to mark the follower aircraft within the pilot aircraft signal reception range, and the coincident follower aircraft with a number of marks ≥ 2 is extracted. Then, based on the coincident follower aircraft, the priority value of all the pilot aircraft in the pilot aircraft set to which the coincident follower aircraft belongs is calculated using the response signal strength value. By sorting the priority value and setting the value proximity interval step size, the type of the coincident follower aircraft is determined to be a definite follower aircraft or an indeterminate follower aircraft.

[0055] By sending detection signals multiple times and calculating the response ratio, the system effectively filters out misjudgments caused by accidental factors, improves the accuracy of judging the range of the follower aircraft, and sets the numerical proximity interval step size. When the priority selection values ​​of multiple pilot aircraft are close, it can make more flexible choices, improving the system's adaptability and fault tolerance in complex environments. Combining the signal strength value and the response ratio, the priority selection value is calculated to determine the type of overlapping follower aircraft and its corresponding pilot aircraft, optimizing the decision-making process and making positioning and navigation more accurate and reliable.

[0056] The above steps can accurately manage and control the drone group, so that each follower drone can be accurately and efficiently assigned to the appropriate leader aircraft, thereby improving the operating efficiency and safety of the entire drone group, and enabling drones to accurately perform navigation and positioning tasks in complex marine environments.

[0057] Example 2

[0058] Based on the above embodiment, when a coincident follower is marked as an uncertain follower, it indicates that there are multiple pilot aircraft with high priority values ​​corresponding to them. In this case, it is necessary to further analyze these pilot aircraft to determine which one it belongs to. This embodiment predicts the signal strength values ​​of the response signals received by these pilot aircraft from the coincident follower when the UAV performs positioning and navigation tasks, analyzes the signal strength prediction values, and then determines which one it belongs to.

[0059] like Figure 1As shown, the shipborne UAV positioning and navigation method provided by the embodiment of the present invention specifically includes the following steps:

[0060] Step 3: Based on the uncertain follower, obtain the corresponding pilot aircraft to be selected, analyze the signal strength value received by the pilot aircraft, and obtain the predicted signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time;

[0061] In some embodiments, based on any uncertain follower aircraft, a corresponding leader aircraft to be selected is obtained;

[0062] Get the signal strength value data sequence Q corresponding to each pilot aircraft to be selected = {q1, q2, ...q n};

[0063] Obtaining the uncertain follow-up machine controlled time, wherein the uncertain follow-up machine controlled time is obtained by those skilled in the art based on the time when the UAV performs the positioning and navigation task and the actual situation;

[0064] Based on the frequency of the pilot aircraft sending the detection signal, obtaining the time interval of the pilot aircraft sending the detection signal;

[0065] Calculate the difference between the controlled time and the current time to get the time deviation value, calculate the ratio of the time deviation value to the time interval value to get the number of points to be predicted;

[0066] It should be noted that if the calculated number of points to be predicted is not an integer, it will be rounded down. For example, if the number of points to be predicted is 4.6, 4 will be taken as the number of points to be predicted.

[0067] The exponential smoothing method is used to obtain the predicted value of the signal strength sent by the uncertain follower to the leader aircraft to be selected during the controlled time. The specific process is as follows:

[0068] The exponential smoothing method is chosen because its calculation mainly involves the weighted average of the current observation value and the previous prediction value. It is computationally intensive and does not require the storage of large amounts of historical data. Instead, it only needs to remember the previous prediction value and the latest observation value. For resource-limited shipborne UAV systems, this method can quickly generate prediction results at a low computational cost.

[0069] Based on the exponential smoothing formula: Q t =α*Q t-1 +(1-α)*Q′ t-1 , where Q t is the current signal strength prediction value, Q t-1 is the last signal strength observation, Q′ t-1 is the previous signal strength prediction value, α is the smoothing coefficient, and 0<α<1;

[0070] When performing exponential smoothing formula prediction, the value of the smoothing coefficient is set by those skilled in the art based on the data characteristics of the signal strength data sequence;

[0071] Based on the number of points to be predicted, the signal strength prediction value data sequence Qy={qy1, qy2, ...qy m}, where m is the number of points to be predicted, then qy m That is, the predicted value of the signal strength sent by the uncertain follower to the leader aircraft to be selected at the time of being controlled;

[0072] Specifically, the first value of the signal strength value data sequence is used as the initial value, and iterative prediction is performed in sequence, that is, qy0=q1, for the first signal strength prediction value qy1=α*q1+(1-α)*qy0, for subsequent signal strength prediction values ​​(t=2, 3, 4, ..., m);

[0073] Use the formula qy in turn t =α*q t +(1-α)*qy t-1 , get m signal strength prediction values;

[0074] The technical solution of this embodiment is as follows: for an uncertain follower, first determine its corresponding to-be-selected pilot aircraft, and obtain a data sequence of signal strength values ​​received by these pilot aircraft. Based on the time the uncertain follower is controlled and the frequency of the pilot aircraft sending detection signals, calculate the number of points to be predicted. Then, using an exponential smoothing method, based on the smoothing coefficient and the signal strength value data, predict the signal strength value sent by the uncertain follower to the to-be-selected pilot aircraft during the controlled time.

[0075] Therefore, by predicting the signal strength value sent by the uncertain follower to the to-be-selected leader during the controlled time, the communication quality between each leader and follower can be more accurately evaluated. When multiple leader selection values ​​are high, a more reasonable decision can be made to determine the final leader, thereby improving the stability and reliability of communication, reducing resource waste, and improving the overall operating efficiency of the drone group.

[0076] Example 3

[0077] Based on the above embodiments, Figure 1 As shown, the shipborne UAV positioning and navigation method provided by the embodiment of the present invention specifically includes the following steps:

[0078] Step 4: Based on the signal strength prediction value of the to-be-selected leader aircraft and the signal strength stability value, an analysis is performed to obtain the final leader aircraft corresponding to the uncertain follower aircraft;

[0079] In some embodiments, based on any one of the overlapping follower aircraft, a signal strength prediction value of the lead aircraft to be selected is obtained;

[0080] Obtain the signal strength stability value corresponding to the pilot aircraft to be selected, and take the inverse of the signal stability value;

[0081] The reason for taking the reciprocal of the signal stability value is that the signal stability value is obtained from the standard deviation, and the smaller the standard deviation, the higher the stability. When calculating the stability coefficient, the higher the stability, the larger the stability coefficient. Therefore, the reciprocal of the signal stability value is taken in order to calculate the stability coefficient.

[0082] Sum the inverses of the pilot aircraft to be selected to obtain the total inverse value of the signal stability value;

[0083] Based on any pilot aircraft, the ratio of the corresponding inverse of the stability value to the total inverse of the signal stability value is calculated to obtain the stability coefficient;

[0084] The stability coefficient is multiplied by the signal strength prediction value to obtain the priority matching value;

[0085] It should be explained that the stability coefficient is calculated by taking the inverse of the signal stability value. The larger the inverse of the signal stability value, the larger the stability coefficient, the more stable the corresponding signal strength value data, the higher the accuracy of the signal strength prediction value, and the higher the matching degree between the follower and the leader aircraft.

[0086] Extract the maximum value among all the priority matching values ​​of the to-be-selected leader aircraft, that is, the leader aircraft corresponding to the maximum value among the priority matching values ​​is the final leader aircraft of the uncertain follower aircraft;

[0087] The technical solution of this embodiment is as follows: for an uncertain follower, the signal strength prediction value of the leader aircraft to be selected is first obtained, and the inverse of the signal stability values ​​of these leader aircraft is calculated. The stability coefficient of each leader aircraft is obtained by ratio calculation. The stability coefficient is multiplied by the signal strength prediction value to obtain a priority matching value. The maximum value among all priority matching values ​​is extracted, and the corresponding leader aircraft is the final leader aircraft to which the uncertain follower aircraft belongs.

[0088] Therefore, based on the signal strength prediction value calculated in Example 2, combined with the stability coefficient, the accuracy of judging the corresponding pilot aircraft can be increased, and the most suitable one for the uncertain follower aircraft can be screened out from a large number of candidate pilot aircraft, providing a decision-making basis for the positioning and navigation of the ship's UAV, improving the accuracy and stability of the entire ship-borne UAV positioning and navigation system, enabling the UAV to maintain stable and reliable communication and cooperation with the pilot aircraft during the execution of the mission, and providing a solid guarantee for the smooth progress of ship operations.

[0089] Example 4

[0090] Based on the above embodiments, Figure 2 As shown, an embodiment of the present invention provides a ship-borne UAV positioning and navigation device, specifically comprising:

[0091] Repeated follower identification module: The pilot aircraft in the shipborne UAV group sends a detection signal, marks the follower aircraft within the pilot aircraft's signal reception range, and identifies the overlapping follower aircraft;

[0092] Repeated follower classification module: Based on the coincident follower, the priority value of all the pilots in the pilot set to which the coincident follower belongs is obtained in combination with the response signal data, and the type of the coincident follower is determined through analysis;

[0093] Wherein, the response signal data includes a signal strength value;

[0094] The types of coincidence following machines include deterministic following machines and uncertain following machines;

[0095] Signal strength prediction module: Based on the uncertain follower, it obtains the corresponding pilot aircraft to be selected, analyzes the signal strength value received by the pilot aircraft, and obtains the predicted signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time;

[0096] Uncertain follower matching module: Based on the signal strength prediction value of the to-be-selected leader aircraft and combined with the signal strength stability value, the final leader aircraft corresponding to the uncertain follower aircraft is obtained.

[0097] Example 5

[0098] like Figure 3 As shown, an embodiment of the present invention further provides an electronic device, which is a computer device 3, including: a memory 302 and a processor 301 and a computer program 303 stored on the memory 302. When the computer program 303 is executed on the processor 301, a shipborne UAV positioning and navigation method as described in any one of the above methods is implemented.

[0099] The computer device 3 may be a desktop computer, a notebook computer, a PDA, a cloud server or other computing devices. The computer device 3 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will understand that

[0100] Figure 3 This is merely an example of the computer device 3 and does not constitute a limitation on the computer device 3 . The computer device 3 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device 3 may also include input and output devices, network access devices, etc.

[0101] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0102] In some embodiments, the memory 302 may be an internal storage unit of the computer device 3, such as a hard disk or memory of the computer device 3. In other embodiments, the memory 302 may also be an external storage device of the computer device 3, such as a plug-in hard disk, a SmartMediaCard (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the computer device 3. Furthermore, the memory 302 may include both an internal storage unit of the computer device 3 and an external storage device. The memory 302 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 302 may also be used to temporarily store data that has been output or is about to be output.

[0103] Example 6

[0104] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the shipborne UAV positioning and navigation method as described in any one of the above methods is implemented.

[0105] In this embodiment, if the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, based on legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0106] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0107] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] In the embodiments disclosed in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0109] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0110] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0111] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A shipborne UAV positioning and navigation method, characterized in that: The following steps are involved: Step 1: The pilot aircraft in the shipborne drone group sends a detection signal to mark the follower aircraft within the pilot aircraft's signal reception range and identify the overlapping follower aircraft; Step 2: Based on the coincident follower, the priority values ​​of all the pilot aircraft in the pilot aircraft set to which the coincident follower belongs are obtained in combination with the signal strength value data, and the type of the coincident follower is determined through analysis; Among them, the types of coincidence following machines include deterministic following machines and uncertain following machines; Step 3: Based on the uncertain follower, obtain the corresponding pilot aircraft to be selected, analyze the signal strength value received by the pilot aircraft, and obtain the predicted signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time; Step 4: Based on the signal strength prediction value of the to-be-selected leader aircraft and the signal strength stability value, an analysis is performed to obtain the final leader aircraft corresponding to the uncertain follower aircraft.

2. The shipborne UAV positioning and navigation method according to claim 1, characterized in that: The process of identifying repeated randomness is as follows: Based on any pilot aircraft, it sends detection signals to the surrounding area multiple times. The following drones that receive the detection signals will send response signals to the pilot aircraft. Obtain the number of times the pilot receives the same response signal from the follower, marked as the response number, and calculate the ratio of the response number to the total number of detection signals sent by the pilot to obtain the response number ratio; A response ratio threshold is set, and the response ratio is compared with the response ratio threshold. If the response ratio is greater than the response ratio threshold, the follower aircraft is marked as a follower aircraft within the signal reception range of the pilot aircraft. Based on any follower, obtain the number of times it is marked, extract the follower that is marked more than once, and mark it as a repeated follower.

3. The shipborne UAV positioning and navigation method according to claim 1, characterized in that: The process of determining the coincidence type is as follows: Based on any overlapping follower aircraft, all the pilot aircraft corresponding to the overlapping follower aircraft are marked as the corresponding pilot aircraft set, and the priority selection values ​​of all the pilot aircraft in the corresponding pilot aircraft set are calculated; Arrange the priority values ​​of all pilot aircraft in the pilot aircraft set from large to small, and obtain the priority value data sequence YX={yx1, yx2, ...yx i }, i represents the number of pilot aircraft in the pilot aircraft set; Extract the maximum value yx1 in the priority value data sequence, set the value close to the interval step bc, extract the priority value in the interval [yx1-bc, yx1] in the priority value data sequence, and mark the valid priority value; If there is only one valid priority value, that is, the maximum value yx1 in the priority value data sequence, the corresponding coincident follower is marked as the determined follower, and the pilot corresponding to the maximum value yx1 in the priority value data sequence is the final pilot corresponding to the determined follower; If there are multiple valid priority selection values, the corresponding overlapping follower machines are marked as uncertain follower machines, and the corresponding leader machine of the valid priority selection value is obtained and marked as the leader machine to be selected.

4. The shipborne UAV positioning and navigation method according to claim 1, characterized in that: The process of obtaining the priority value is as follows: Get the signal strength value of the response signal sent by the follower aircraft to the pilot aircraft each time, and obtain the signal strength value data sequence Q = {q1, q2, ...q n }, n represents the number of responses; Substitute all signal strength values ​​into the standard deviation formula and calculate the standard deviation value, which is marked as the signal strength stability value; The signal strength values ​​are summed and averaged to obtain the signal strength mean; Substitute the preferred value YX into the calculation formula: Among them, xy represents the response number ratio, qz represents the mean signal strength, wd represents the stable value of signal strength, and a and b are preset proportional coefficients.

5. The shipborne UAV positioning and navigation method according to claim 1, characterized in that: The process of obtaining the predicted value of the signal strength sent by the uncertain follower aircraft to the pilot aircraft to be selected during the controlled time is as follows: Based on any uncertain follower aircraft, obtain the corresponding leader aircraft to be selected; Get the signal strength value data sequence Q corresponding to each pilot aircraft to be selected = {q1, q2, ...q n }; Obtain the time during which the uncertain follower aircraft is controlled, and based on the frequency of the lead aircraft sending the detection signal, obtain the time interval of the lead aircraft sending the detection signal; Calculate the difference between the controlled time and the current time to get the time deviation value, calculate the ratio of the time deviation value to the time interval value to get the number of points to be predicted; Perform iterative prediction based on the exponential smoothing formula to obtain the predicted value of the signal strength sent by the uncertain follower to the leader aircraft to be selected at the time of being controlled; Based on the number of points to be predicted, the signal strength prediction value data sequence Qy={qy1, qy2, ...qy m }, where m is the number of points to be predicted, then qy m That is, it is the predicted value of the signal strength sent by the uncertain follower to the leader aircraft to be selected during the controlled time.

6. The shipborne UAV positioning and navigation method according to claim 4, characterized in that: The process of obtaining the final leader aircraft corresponding to the uncertain follower aircraft is as follows: Obtaining a signal stability value, analyzing the signal stability value, and obtaining a stability coefficient; The stability coefficient is multiplied by the signal strength prediction value to obtain the priority matching value; The maximum value among the priority matching values ​​of all the to-be-selected leader aircraft is extracted, that is, the leader aircraft corresponding to the maximum value among the priority matching values ​​is the final leader aircraft of the uncertain follower aircraft.

7. The shipborne UAV positioning and navigation method according to claim 6, characterized in that: The process of obtaining the stability coefficient is as follows: Based on any overlapping follower aircraft, obtain the signal strength prediction value of the pilot aircraft to be selected; Obtain the signal strength stability value corresponding to the pilot aircraft to be selected, and take the inverse of the signal stability value; Sum the inverses of the pilot aircraft to be selected to obtain the total inverse value of the signal stability value; Based on any pilot aircraft, the ratio of the corresponding inverse of the stability value to the total inverse of the signal stability value is calculated to obtain the stability coefficient.

8. A shipborne UAV positioning and navigation device, characterized in that: The device is used to perform the method according to any one of claims 1 to 7, and comprises: Repeated follower identification module: The pilot aircraft in the shipborne UAV group sends a detection signal, marks the follower aircraft within the pilot aircraft's signal reception range, and identifies the overlapping follower aircraft; Repeated follower classification module: Based on the coincident follower, the signal strength value data is combined to obtain the priority selection value of all the pilots in the pilot set to which the coincident follower belongs, and the type of the coincident follower is determined through analysis; Among them, the types of coincidence following machines include deterministic following machines and uncertain following machines; Signal strength prediction module: Based on the uncertain follower, it obtains the corresponding pilot aircraft to be selected, analyzes the signal strength value received by the pilot aircraft, and obtains the predicted signal strength value sent by the uncertain follower to the pilot aircraft to be selected during the controlled time; Uncertain follower matching module: Based on the signal strength prediction value of the to-be-selected leader aircraft and combined with the signal strength stability value, the final leader aircraft corresponding to the uncertain follower aircraft is obtained.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; A processor, configured to implement the method steps described in any one of claims 1 to 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps according to any one of claims 1 to 7 are implemented.

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