Cooperative control method of air-based device cluster, electronic device, storage medium and program product

Abstract

Embodiments of the present application provide a kind of air-based equipment cluster cooperative control method, electronic equipment, storage medium and program product, related to air-based equipment cluster control technical field, the method comprises: according to the unexplored unit on exploration map, select the target exploration position to be distributed to multiple air-based equipment, according to the cost of each air-based equipment to reach each target exploration position, obtain the distribution exploration position distributed to each air-based equipment in multiple target exploration positions, after the unit of exploration map is all explored, according to multiple user equipment positions on exploration map, select the target coverage position to be distributed to multiple air-based equipment, according to the cost of each air-based equipment to reach each target coverage position, obtain the distribution coverage position distributed to each air-based equipment in multiple target coverage positions, control air-based equipment moves to distribution coverage position.The embodiments of the present application avoid repeated exploration or omission exploration, and improve the pertinence of communication signal coverage.

Description

Technical Field

[0001] This application relates to the field of airborne equipment cluster control technology, and in particular to a collaborative control method, electronic device, storage medium and program product for airborne equipment clusters. Background Technology

[0002] In current airborne equipment clusters, during the exploration and user coverage missions, the exploration phase often fails to accurately pinpoint the frontier entrance of unexplored areas, leading to duplicate explorations or missed areas. During the coverage phase, locations are allocated based on fixed rules, failing to adapt to the varying coverage needs of different ground users. Mobility control simply guides equipment towards the target. Under these control methods, the resource scheduling of the equipment cluster lacks rationality, and the exploration and coverage are insufficiently targeted, making it difficult to efficiently support mission execution in scenarios such as emergency communications. Summary of the Invention

[0003] This application provides a collaborative control method, electronic device, storage medium, and program product for a space-based equipment cluster, in order to alleviate or solve the technical problems of the lack of rationality in resource scheduling and insufficient targeting in the exploration and coverage of equipment clusters in the prior art.

[0004] In a first aspect, embodiments of this application provide a collaborative control method for a space-based equipment cluster, the space-based equipment cluster comprising multiple space-based equipment, the method comprising:

[0005] Based on the unexplored units on the exploration map, target exploration locations to be assigned to the multiple air-based devices are selected; the exploration map is pre-divided into multiple units by rasterization, and the unexplored units refer to units where no air-based device has explored the communication signals of ground user equipment;

[0006] Based on the cost of each of the space-based devices reaching each of the target exploration locations, the first allocation method with the minimum total cost is solved to obtain the allocation exploration location for each of the space-based devices among the multiple target exploration locations;

[0007] After all the units of the exploration map have been explored, target coverage locations to be assigned to the multiple airborne devices are selected based on the locations of multiple user devices on the exploration map.

[0008] Based on the cost of each of the space-based devices reaching each of the target coverage locations, the second allocation method with the minimum total cost is solved to obtain the allocated coverage locations for each of the space-based devices among the multiple target coverage locations;

[0009] Control the air-based equipment to move to the assigned coverage location.

[0010] In some embodiments of this application, selecting target exploration locations to be assigned to the plurality of space-based devices based on unexplored units on the exploration map includes:

[0011] Extract the outline boundaries of explored units on the exploration map to obtain a set of leading units located on the outline boundaries; the leading unit is the explored unit that has at least one adjacent unit that is the unexplored unit;

[0012] Based on the spatial positional relationship of each front unit in the front unit set, clustering is performed on the front unit set to divide it into multiple front unit clusters;

[0013] The cluster center of each of the aforementioned frontier unit clusters is determined as the target exploration location.

[0014] In some embodiments of this application, performing clustering processing on the frontier unit set includes:

[0015] Based on the K-medoids clustering algorithm, the clustering process is performed on the set of frontier units with the goal of minimizing the sum of dissimilarity, where the sum of dissimilarity is the sum of the dissimilarity between each frontier unit and its corresponding cluster center.

[0016] In some embodiments of this application, selecting the target coverage location to be assigned to the plurality of airborne devices based on the locations of multiple user devices on the exploration map includes:

[0017] Calculate the coverage demand weight for each of the ground user equipments, where the coverage demand weight is negatively correlated with the coverage duration of the ground user equipment.

[0018] Based on the coverage requirement weights, weighted clustering is performed on the spatial location relationships of the multiple user equipment locations to divide them into multiple user unit clusters;

[0019] The target coverage location to be assigned is set for each of the aforementioned user unit clusters.

[0020] In some embodiments of this application, setting the target coverage location to be allocated for each user unit cluster includes:

[0021] For each user unit cluster, the weighted centroid of the locations of all user equipment in the user unit cluster is calculated based on the coverage requirement weight;

[0022] The position corresponding to the weighted centroid is determined as the target coverage position.

[0023] In some embodiments of this application, controlling the airborne equipment to move to the allocated coverage location includes:

[0024] The virtual guiding force for the airborne device to move to the assigned coverage location is calculated by superimposing the attractive force of the assigned coverage location on the airborne device, the interaction force between clusters, and the repulsive force of the map constraint boundary.

[0025] Based on the changes in the virtual guiding force, the movement route of the airborne equipment is planned in real time.

[0026] In some embodiments of this application, before superimposing the attractive force of the allocated coverage location on the airborne equipment, the interaction force between clusters, and the repulsive force of the map constraint boundary, the method further includes:

[0027] The attractive force is calculated based on the relative distance between the air-based equipment and the allocated coverage location;

[0028] The interaction force is calculated based on the relative distance between the airborne equipment and other airborne equipment;

[0029] The repulsive force is calculated based on the relative distance between the airborne equipment and the map constraint boundary.

[0030] Secondly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor implements any of the methods of embodiments of this application when executing the computer program.

[0031] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method of any one of the embodiments of this application.

[0032] Fourthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, implements any of the methods described in the embodiments of this application.

[0033] Based on the aforementioned collaborative control method, electronic equipment, storage medium, and program product for space-based equipment clusters, this application has at least the following beneficial effects or advantages:

[0034] In this embodiment, based on the unexplored units on the exploration map, target exploration locations to be assigned to multiple airborne devices are selected. Based on the cost of each airborne device reaching each target exploration location, a first allocation method with the minimum total cost is solved to obtain the allocated exploration location for each airborne device among the multiple target exploration locations. After all units on the exploration map have been explored, target coverage locations to be assigned to multiple airborne devices are selected based on the locations of multiple user devices on the exploration map. Based on the cost of each airborne device reaching each target coverage location, a second allocation method with the minimum total cost is solved to obtain the allocated coverage location for each airborne device among the multiple target coverage locations. The airborne devices are then controlled to move to the allocated coverage location.

[0035] This application's embodiments allocate exploration locations in a manner that minimizes total cost, efficiently utilizing airborne equipment resources, avoiding redundant exploration or missed areas, and improving exploration efficiency. After exploration is complete, coverage locations are allocated based on user locations, allowing equipment to move along more rational paths and reducing resource consumption. The seamless transition from exploration to coverage ensures that the equipment cluster first completes area reconnaissance before targeting user coverage, guaranteeing the orderliness and targeting of collaborative work. This effectively supports task execution in scenarios such as emergency communications, while optimizing equipment resource scheduling through the lowest-cost allocation method, thus improving the overall working efficiency of the cluster.

[0036] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0037] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments according to this application and should not be construed as limiting the scope of this application.

[0038] Figure 1 A flowchart of a collaborative control method for a space-based equipment cluster provided in an embodiment of this application is shown;

[0039] Figure 2 This illustration shows a structural schematic diagram of a collaborative control device for an airborne equipment cluster provided in an embodiment of this application;

[0040] Figure 3 A block diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0041] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the concept or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0042] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following related technologies are optional solutions and can be arbitrarily combined with the technical solutions of the embodiments of this application, all of which fall within the protection scope of the embodiments of this application. It should be noted that the application scenarios or application examples provided in this application are for ease of understanding, and the embodiments of this application do not specifically limit the application of the technical solutions.

[0043] The airborne equipment described in this application refers to controllable flight equipment, including stratospheric airships and long-endurance unmanned aerial vehicles (UAVs). Stratospheric airships are high-altitude platforms operating at approximately 20 kilometers above the bottom of near-space. They typically carry communication relay payloads (such as microwave transceivers and 5G base station modules) and Earth observation payloads (high-resolution cameras and infrared detectors), offering advantages such as long endurance, wide coverage, and strong payload capacity. During natural disasters, ground-based communication infrastructure is easily damaged, leading to widespread communication disruptions and severely hindering rescue efforts. Therefore, there is an urgent need for the development of airborne emergency communication coverage networks. Against this backdrop, airborne coverage networks built upon stratospheric airship swarms have become an important means of providing emergency communication relay services.

[0044] The key to fully realizing the application advantages of stratospheric airship swarms lies in efficient cooperative control algorithms. Early research on cooperative control of stratospheric airship swarms focused primarily on formation control; however, in practical applications, the achievement of large-scale communication coverage is emphasized. Therefore, the development focus of related technologies has gradually shifted to the field of coverage control. The core of coverage control lies in the allocation, deployment, and planning of stratospheric airship swarms within a specific area. Existing typical methods include swarm cooperative deployment based on multi-objective evolutionary algorithms and full regional coverage using Vino partitioning. Although these methods have achieved certain application results in scenarios such as Earth observation and communication coverage, further breakthroughs are still needed in the specific application scenario of emergency communication.

[0045] Specifically, emergency communication missions have the following prominent characteristics: First, to rapidly respond to emergency needs, the deployment of stratospheric airship swarms must be rapid; second, in scenarios where communication is lost, the distribution of ground user targets is often unknown, lacking real-time location information, thus requiring target exploration tasks to be performed first; third, communication resources are extremely limited in emergency scenarios, necessitating the guarantee of continuity and fairness in ground communication coverage by the stratospheric airship swarm to avoid exacerbating instability in the region due to uneven service. These characteristics place higher demands on the autonomous decision-making capabilities and adaptive control strategies of the stratospheric airship swarm, which existing cooperative control algorithms cannot fully meet, necessitating the development of a more efficient stratospheric airship swarm exploration and coverage algorithm.

[0046] Based on this, this application provides a stratospheric airship swarm exploration and coverage algorithm based on weighted virtual guidance force for emergency communication coverage scenarios. It designs an exploration algorithm based on boundary segmentation and market auction allocation to obtain the desired exploration target location for each swarm unit, achieving full exploration of unknown information in the mission area. A coverage control strategy based on fairness perception is designed, using a weighted clustering method to cluster ground targets and obtain the desired coverage deployment location for each swarm unit. Furthermore, a weighted virtual guidance force framework is established, and a speed controller is designed for stratospheric airships. While satisfying mission boundary constraints and maintaining distances between swarms, the controller adaptively tracks the aforementioned exploration target location and coverage deployment location, achieving autonomous decision-making and adaptive control for stratospheric airship swarm exploration and coverage. This aims to enable multi-airship systems to achieve autonomous global exploration and adaptive communication coverage under conditions of unknown ground user distribution and limited communication resources, thus providing an effective solution for emergency communication coverage tasks under sudden extreme events.

[0047] The technical solution of this application and how it solves the aforementioned technical problems are described in detail below with specific embodiments. The listed specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0048] See Figure 1 The flowchart shown is a collaborative control method for a cluster of spaceborne equipment, which includes multiple spaceborne devices. The method specifically includes steps 101 to 105.

[0049] Step 101: Select target exploration locations to be assigned to multiple airborne devices based on unexplored units on the exploration map.

[0050] Step 102: Based on the cost of each airborne device reaching each target exploration location, solve for the first allocation method with the minimum total cost, and obtain the allocation exploration location for each airborne device among multiple target exploration locations;

[0051] Step 103: After all the units on the exploration map have been explored, select the target coverage locations to be assigned to multiple airborne devices based on the locations of multiple user devices on the exploration map.

[0052] Step 104: Based on the cost of each airborne device reaching each target coverage location, solve for the second allocation method with the minimum total cost, and obtain the allocated coverage location for each airborne device among multiple target coverage locations;

[0053] Step 105: Control the air-based equipment to move to the coverage distribution location.

[0054] In some embodiments, the exploration described in this application refers to the process by which airborne equipment, such as a stratospheric airship cluster unit, scans and detects the ground space within a mission area using onboard signal detection payloads, such as radio frequency signal receiving modules and user equipment signal identification units, to determine whether communication signals emitted by user equipment, such as emergency communication terminals and civilian mobile phones, exist on the ground. Simultaneously, the areas where signals exist are recorded, and the corresponding markers for the explored units are marked on the corresponding exploration map, providing a basis for user distribution in subsequent precise coverage missions. The coverage refers to the process by which, after determining the coverage deployment location, the airborne equipment, through its onboard communication relay payloads, such as 5G micro base station modules and microwave communication relay units, establishes a stable communication link with the detected user equipment on the ground. Simultaneously, as a communication relay deployment device, it forwards the communication data of the user equipment to the ground command center or other communication nodes, achieving interconnection between the user equipment and external communication networks, thereby ensuring the communication needs of ground users in emergency scenarios.

[0055] The exploration map described in this embodiment is pre-rasterized into multiple units, each unit being a grid corresponding to a geographical area in the physical world. For example, the mission area can be rasterized into units according to latitude and longitude ranges, such as dividing the emergency communication disaster area into a 1 km × 1 km rectangular grid, with each unit corresponding to a unique spatial coordinate identifier. The method for determining unexplored units is as follows: if no airborne device explores the communication signals of ground user equipment (UE) within a unit, the unit is marked as an unexplored unit; if at least one airborne device completes exploration, it is considered an explored unit. It is understood that when an airborne device is exploring, the area it can explore when located in a grid unit may include multiple grid units, and is not limited to only being able to explore within that grid unit area. Therefore, when an airborne device is located in a grid unit, the area it can explore is determined by its upper limit of ground signal exploration distance. Typically, it radiates outwards from the grid unit location to explore all grid units within a circle with a radius equal to the upper limit of the exploration distance.

[0056] Optionally, each grid in the exploration map can be configured with an exploration marker. For example, the exploration marker for an unexplored cell is 0, and the exploration marker for an explored cell is 1. In some implementations, the exploration map marked with exploration markers can be represented as an exploration marker matrix, where the matrix position of each matrix element corresponds to the position of the grid cell in the map, and the value of each matrix element is the exploration marker.

[0057] When selecting target exploration locations, the location points to be assigned can be found based on the explored or unexplored units in the exploration map. For example, the task boundary of the exploration map can be simply divided into four quadrants (or other numbers of partitions), and the unexplored unit closest to the center point within each partition can be selected as the location point to be assigned. Optionally, the number of partitions can be the same as the number of airborne devices.

[0058] The cost of moving an airborne device to a target exploration location can be calculated using the squared spatial distance between the device's current location and the target location. The first allocation method that minimizes the total cost can be determined using a market auction mechanism. This involves iteratively traversing all pairings of device and target, selecting the combination with the minimum total cost. This combination represents the first allocation method, and the corresponding location is the allocated exploration location.

[0059] If there are still unexplored cells, select multiple target exploration locations again and assign them to each airborne device. This continues until all grid cells have been explored. In each iteration, first, based on the MSA cells... Update the exploration map based on your current location. Location With center as the horizontal coverage radius as The circular area is marked as the explored area, and correspondingly... The grid cell count was set to 1. The overall exploration rate was then calculated as follows:

[0060]

[0061] in, This represents the theoretical number of spatial points. The exploration rate satisfies... After that, it moves from the exploration phase to the dynamic coverage phase.

[0062] Once all units are explored, the locations of ground user equipment (UE) obtained from the exploration are collected, such as latitude and longitude coordinates. When selecting target coverage locations, clustered areas can be divided based on the distribution of UE locations, with each area corresponding to a location to be assigned. The cost of each UE to the target coverage location can be calculated using the squared distance, and then a market auction mechanism is used to find the second allocation method with the minimum total cost, thus obtaining the assigned coverage location. Finally, the equipment is controlled to move to this location, and the movement status can be adjusted based on real-time location feedback during the process to ensure accurate arrival.

[0063] When allocating target exploration locations and target coverage locations, a market auction-based allocation strategy can be adopted. For each aircraft... With candidate points The cost calculation formula is as follows:

[0064]

[0065] Subsequently, the following allocation problem is solved using an iterative auction mechanism:

[0066]

[0067] in, Indicates allocation to aircraft The cluster center, Represents all aircraft With all candidate points An effective one-to-one allocation set. The target location allocated to each airborne device. The location was used as the target location for the airborne equipment. .

[0068] During the exploration phase, the target location The exploration location is selected by an exploration algorithm based on boundary segmentation and market allocation, guiding the airship to unexplored areas; during the coverage phase, the target location... The coverage location is determined by a coverage control strategy based on fairness perception, guiding the airship to areas with high coverage demand.

[0069] It is understood that the above are merely some examples of specific implementation methods and are not intended to limit the embodiments of this application.

[0070] This application's embodiments first allocate exploration locations in a way that minimizes total cost, efficiently utilizing airborne equipment resources, avoiding redundant exploration or missed areas, and improving exploration efficiency. After exploration is complete, coverage locations are allocated based on user locations, allowing equipment to move along more rational paths and reducing resource consumption. The seamless transition from exploration to coverage allows the equipment cluster to first complete area reconnaissance before targeting user coverage, ensuring the orderly and targeted nature of collaborative work, effectively supporting task execution in scenarios such as emergency communications. Simultaneously, by optimizing equipment resource scheduling through the least-cost allocation method, the overall working efficiency of the cluster is improved.

[0071] In some embodiments of this application, step 101 selects target exploration locations to be assigned to multiple airborne devices based on unexplored units on the exploration map, including: extracting the contour boundaries of explored units on the exploration map to obtain a set of leading units located on the contour boundaries; a leading unit is an explored unit that has at least one adjacent unexplored unit; performing clustering processing on the leading unit set based on the spatial positional relationship of each leading unit in the leading unit set to divide it into multiple leading unit clusters; and determining the cluster center of each leading unit cluster as the target exploration location.

[0072] Before extracting the contour boundaries of explored units, these units must first be marked: after the space-based device completes the exploration of a unit, it updates the unit's status marker to "explored." Contour boundary extraction can be performed using the Sobel edge detection operator to process the exploration marker matrix. By calculating the state gradient change, the edge contours of the explored region are identified, and units located on these contours are considered candidate leading edge units. Furthermore, a leading edge unit must satisfy the condition that it has at least one adjacent unexplored unit. For example, if an explored unit has unexplored units in its top, bottom, left, and right adjacent units, then that unit is included in the leading edge unit set.

[0073] In a specific example, to guide cells to move towards unexplored areas, it is necessary to first identify leading cells. Leading cells are defined as: cells among the explored cells that have at least one neighboring cell that has not yet been explored. Let... This is a set of frontier units, which can be obtained by... The edge detection was extracted using the Sobel edge detection operator.

[0074] This application's embodiments, by extracting contour boundaries and filtering leading-edge units, can accurately pinpoint the entrance location of unexplored areas, providing a clear direction for exploration. Clustering leading-edge units and using cluster centers as target exploration locations allows the distribution of target locations to adapt to the distribution of leading-edge units. Furthermore, setting the number of clusters to match the number of devices ensures that each device corresponds to an independent target location, avoiding task overlap and improving the rationality and feasibility of target location allocation. This lays the foundation for subsequent exploration tasks and ensures the comprehensiveness of the exploration area and the synergy of device operations.

[0075] In some embodiments of this application, clustering processing is performed on the frontier unit set, including: performing clustering processing on the frontier unit set based on the K-medoids clustering algorithm with the goal of minimizing the sum of dissimilarity, wherein the sum of dissimilarity is the sum of the dissimilarity between each frontier unit and its corresponding cluster center.

[0076] When performing clustering based on the spatial location of leading edge units, the K-medoids algorithm can be used. The number of leading edge unit clusters obtained by clustering should be consistent with the number of spaceborne devices. For example, if there are 5 spaceborne devices, they should be divided into 5 clusters. After clustering, a center is selected from the leading edge units of each cluster. For example, the leading edge unit corresponding to the midpoint of the spatial location of the unit within the cluster is selected as the cluster center. Finally, the centers of each cluster are determined as the target exploration locations.

[0077] In a specific example, when obtaining the set of frontier units Then, the K-medoids clustering algorithm was used to divide it into... Clusters, of which Let be the number of MSA units. For the clustering results, For clusters The goal of the K-medoids algorithm is to minimize the sum of the differences between each pairwise frontier unit and its cluster center.

[0078]

[0079] in The standard L2 norm is used. The resulting cluster centers are used as target exploration locations to be assigned, and the set of target exploration locations is denoted as:

[0080] .

[0081] By employing the K-medoids algorithm and aiming to minimize the sum of dissimilarity, the cell distribution within each leading cell cluster becomes more compact, ensuring that the cluster center represents the core position of the cluster, while avoiding cluster center shifts caused by abnormal cells, thus improving clustering stability. The cluster distribution obtained through this clustering can be adapted to the entrance of unexplored areas, ensuring that each target exploration location corresponds to a reasonable unexplored area range. This provides a reliable location basis for the subsequent allocation of exploration tasks by equipment, improving the targeting and efficiency of exploration tasks.

[0082] In some embodiments of this application, selecting target coverage locations to be assigned to multiple airborne devices based on the locations of multiple user devices on the exploration map includes: calculating the coverage demand weights of each ground user device, wherein the coverage demand weights are negatively correlated with the coverage duration of the ground user devices; performing weighted clustering processing on the spatial location relationships of multiple user device locations based on the coverage demand weights, dividing them into multiple user unit clusters; and setting target coverage locations to be assigned for each user unit cluster.

[0083] When calculating the coverage demand weight for ground user equipment, the weight is dynamically adjusted based on the duration of coverage: if the coverage duration of a user equipment is long, the coverage demand weight is low; if the coverage duration is short or the equipment is continuously uncovered, the weight is high. For example, if the initial weight is set to 1, the weight decreases by 0.1 each cycle when the user equipment is continuously covered; the weight remains unchanged when the equipment is uncovered, thus reflecting the coverage gap.

[0084] When performing weighted clustering based on coverage demand weights, the weighted K-means algorithm can be used. This algorithm calculates cluster centers by multiplying the user's location coordinates by their corresponding weights. The number of clusters must match the number of available base stations. For example, if there are four base stations, the user's location is divided into four user unit clusters. When setting target coverage locations for each cluster, these locations must be determined based on the core location of the cluster to ensure that the target location covers the main user equipment within the cluster.

[0085] In a specific example, we first define the fairness index F(t):

[0086]

[0087] The fairness index is used to assess the fairness of allocation among different ground user equipment. Among them, Indicates time Ground User Equipment Fairness factor.

[0088] If the ground user equipment remains covered during this period ( Then the fairness factor Maintain at 1; otherwise, fairness factor. It will gradually diminish over time, thereby encouraging the system to provide services.

[0089] The specific update rules are as follows:

[0090]

[0091] in, This is a preset time constant used to control the decay rate.

[0092] Fairness factor The weights (i.e., coverage demand weights) of each ground user equipment in the clustering process are integrated. The fairness factor and the coverage demand weights can be inverses of each other to achieve a negative correlation. A weighted K-means clustering algorithm is used to cluster all ground user equipment, thereby obtaining multiple user unit clusters.

[0093] This implementation adopts a coverage control strategy based on fairness perception. It uses a weighted clustering method based on coverage demand weights to cluster ground targets, which can accurately reflect the coverage gap of ground user equipment and avoid users who are covered for a long time from consuming too many resources.

[0094] Weighted clustering based on weights allows the division of user unit clusters to fit actual coverage needs, ensuring that each target coverage location corresponds to a user cluster area with clear requirements. This approach makes subsequent location allocation more targeted, ensures fairness in airborne equipment coverage, improves the service efficiency of the cluster for user devices, and the settings for the number of clusters and devices also provide feasibility for subsequent allocation.

[0095] In some embodiments of this application, setting a target coverage location to be allocated for each user unit cluster includes: for each user unit cluster, calculating the weighted centroid of the locations of all user equipment in the user unit cluster based on the coverage demand weight; and determining the location corresponding to the weighted centroid as the target coverage location.

[0096] When calculating the weighted centroid of a user unit cluster, the location of the user equipment within the cluster is used as the basis, combined with the coverage requirement weights of each user.

[0097] The specific method is as follows: multiply the x and y coordinates of each user by their corresponding weights to obtain the weighted coordinates; sum the weighted x coordinates of all users in the cluster and divide by the sum of the weights in the cluster to obtain the x coordinates of the weighted centroid; similarly calculate the y coordinates.

[0098] Specifically, for user unit clusters Its weighted centroid The expression is as follows:

[0099]

[0100] in, Indicates allocation to cluster A collection of ground user equipment, For ground user equipment The location of the cluster centers. The final set of cluster centers. The target coverage locations are considered to be to be assigned, and their function is similar to the set of target exploration units in the exploration phase. .

[0101] This application embodiment determines the target coverage location by calculating the weighted centroid, which allows users with higher coverage needs to have a greater impact on the target location. This enables the device to prioritize coverage of these users with higher needs after moving to the target location, thereby improving the accuracy and fairness of coverage.

[0102] Meanwhile, the weighted centroid corresponds to the core gathering area of ​​users within the cluster, which can ensure the rationality of the coverage range, so that each target coverage location can effectively cover users within the cluster, improve the coverage efficiency of airborne equipment, and make the allocation of coverage resources more in line with the actual needs of users.

[0103] In some embodiments of this application, controlling the movement of airborne equipment to the assigned coverage location includes: superimposing the attractive force of the assigned coverage location on the airborne equipment, the interaction force between clusters, and the repulsive force of the map constraint boundary to calculate the virtual guiding force for the airborne equipment to move to the assigned coverage location; and planning the movement route of the airborne equipment in real time according to the changes in the virtual guiding force.

[0104] When calculating the virtual guiding force, the attractive force of the assigned coverage location on the device is first determined. The direction of this attractive force points towards the assigned coverage location, and its magnitude is related to the relative distance between the device and the assigned location. Inter-cluster interaction forces include short-range repulsive forces and long-range attractive forces: when the relative distance between two devices is less than a repulsive threshold, a short-range repulsive force is generated to prevent collisions; when the distance is greater than an attractive threshold, a long-range attractive force is generated to maintain cluster formation. The repulsive force of map constraint boundaries is triggered when a device approaches the boundary of the task area, and its direction points inward to prevent devices from crossing the boundary. The virtual guiding force is obtained by superimposing these three force vectors. When planning the movement route based on changes in the virtual guiding force, the direction of movement is determined by the direction of the guiding force, and the movement speed is determined by the magnitude of the guiding force. Simultaneously, the guiding force calculation is adjusted based on real-time location feedback to continuously optimize the route and ensure that the device moves stably to the assigned coverage location.

[0105] For example, in each control cycle of the motion control of the airborne equipment, the position assigned to the airborne equipment from the exploration phase or the coverage phase. regarded as an airship The guiding objective, in the exploration phase, is the location. For the allocation of airborne equipment, location exploration is needed during the coverage phase. The allocation and coverage locations for airborne equipment must be determined. Simultaneously, collision avoidance between airships and constraints of mission area boundaries must be considered. Therefore, the actions applied to the airships... Total virtual guidance Defined as the superposition of the various guiding forces, expressed as:

[0106]

[0107] in, This indicates the attractiveness of the current allocation location to air-based equipment. This represents the interaction forces used for collision avoidance and formation maintenance, i.e., the interaction forces between groups. This represents the repulsive force originating from the task boundary.

[0108] This application embodiment generates a virtual guiding force by superimposing three forces. This allows the device to move towards its assigned location while simultaneously ensuring the safety of the cluster devices and adhering to task boundary constraints, preventing collisions or boundary violations. Real-time route planning based on changes in the guiding force enables the device's movement to adapt to its real-time location and cluster status, improving the stability and flexibility of the movement process. This ensures the device arrives at its assigned location efficiently and safely, supporting subsequent coverage tasks. Furthermore, it makes the device's movement control more adaptable, capable of responding to real-time environmental and cluster changes.

[0109] In some embodiments of this application, before superimposing the attractive force of the assigned coverage location on the airborne equipment, the interaction force between clusters, and the repulsive force of the map constraint boundary, the method further includes: calculating the attractive force based on the relative distance between the airborne equipment and the assigned coverage location; calculating the interaction force based on the relative distance between the airborne equipment and other airborne equipment; and calculating the repulsive force based on the relative distance between the airborne equipment and the map constraint boundary.

[0110] When calculating the attractive force, the coordinates of the current location of the airborne equipment and its assigned coverage location are obtained. Euclidean distance can be used to calculate the relative distance; the greater the distance, the stronger the attractive force, thus accelerating the movement of the airborne equipment towards its assigned coverage location. When calculating the interaction force between clusters, the relative distance between the airborne equipment and other airborne equipment is obtained. This distance is compared with repulsion and attraction thresholds: if the distance is less than the repulsion threshold, the short-range repulsion force is calculated; if it is greater than the attraction threshold, the long-range attractive force is calculated. All forces are then superimposed to obtain the inter-cluster interaction force. When calculating the repulsion force at map constraint boundaries, the coordinates of the task area boundary are determined, and the vertical distance from the airborne equipment to the task area boundary is calculated. When the distance is less than the boundary threshold, the smaller the distance, the stronger the repulsion force, guiding the airborne equipment back into the task area.

[0111] In some implementations, the current assigned location (which could be an assigned exploration location or an assigned coverage location) is attractive to space-based equipment. The mathematical model is as follows:

[0112]

[0113] in, and These are the gain factor and the shape factor, respectively. airship The relative distance between its assigned location and the target location. The direction of this attraction always points towards the target location. During the exploration phase, the target location... The exploration location is selected by an exploration algorithm based on boundary segmentation and market allocation, guiding the airship to unexplored areas; during the coverage phase, the target location... The coverage location is determined by a coverage control strategy based on fairness perception, guiding the airship to areas with high coverage demand.

[0114] In some implementations, to maintain a safe distance and avoid collisions, the inter-swarm interaction forces combine short-range repulsion with long-range attraction, ensuring reasonable spacing in multi-airship cooperative missions. The definition is as follows:

[0115]

[0116] in, and These represent repulsive and attractive forces, respectively. For each airship pair... The interaction sub-guiding force of the combination pair of the i-th airship and the j-th airship is defined as follows:

[0117]

[0118] in, and This is the gain coefficient. and For threshold distance, airship and The relative distance, This represents the relative direction vector. The total interaction force is determined by the vector sum of the repulsive forces, effectively guiding the airship away from nearby individuals and avoiding collisions or redundant coverage. When the distance between the two aircraft exceeds the attraction threshold... At that time, attraction This will encourage them to move closer to each other in order to maintain overall formation coordination.

[0119] This application's embodiments calculate forces based on relative distances, allowing the magnitude of the forces to adapt to the actual position of the device, thus improving the rationality and accuracy of the calculation. This calculation method accurately reflects the relationship between the device and the target location, other devices, and boundaries, providing a reliable basis for generating virtual guiding forces. This ensures the stability and effectiveness of device movement control, supports the device in successfully completing movement tasks, and also makes the effects of each force more closely match the needs of the actual scenario, improving the reliability of movement control.

[0120] Based on the aforementioned virtual guiding force, a speed controller is provided to guide the motion trajectory of a stratospheric airship. The stratospheric airship speed controller based on virtual guiding force is as follows:

[0121]

[0122] in, This represents the desired linear velocity vector. This represents the desired yaw rate. This is the position coordinate transformation matrix. The linear velocity control gain matrix. Let be a positive definite diagonal matrix, defined as ,in and These represent the gain along the coordinate axes. This represents the yaw rate control gain. Therefore, the desired velocity vector can be expressed as... Thus, the desired linear velocity and desired yaw rate of the stratospheric airship unit are obtained.

[0123] The exploration algorithm based on boundary segmentation and market allocation proposed in this application enables efficient autonomous exploration of a region by a stratospheric airship swarm, even with unknown ground target distribution. The coverage control strategy based on fairness perception ensures continuous and equitable communication coverage for ground targets. The stratospheric airship speed controller based on virtual guidance effectively tracks the desired location while maintaining distance between swarms. In practical applications, the number of airship swarm units can be freely set according to actual conditions. The desired speed is calculated using virtual guidance, and the resulting control quantity is transmitted to the actuator to achieve automatic control of the stratospheric airship swarm's exploration and coverage tasks.

[0124] Corresponding to the application scenarios and methods provided in the embodiments of this application, the embodiments of this application also provide a collaborative control device for an airborne equipment cluster, which includes multiple airborne equipment. See [link to relevant documentation]. Figure 2 The device includes:

[0125] The first selection unit 201 is used to select target exploration locations to be assigned to multiple airborne equipment based on unexplored units on the exploration map. The exploration map is pre-rasterized into multiple units, and unexplored units refer to units where no airborne equipment has explored the communication signals of ground user equipment.

[0126] The first solving unit 202 is used to solve the first allocation method with the minimum total cost based on the cost of each airborne equipment reaching each target exploration location, and to obtain the allocation exploration location for each airborne equipment among multiple target exploration locations;

[0127] The second selection unit 203 is used to select target coverage locations to be assigned to multiple airborne devices based on the locations of multiple user devices on the exploration map after all the units on the exploration map have been explored.

[0128] The second solving unit 204 is used to solve the second allocation method with the minimum total cost based on the cost of each airborne equipment reaching each target coverage location, and to obtain the allocation coverage location for each airborne equipment among multiple target coverage locations.

[0129] Control unit 205 is used to control the movement of the air-based equipment to the distribution coverage location.

[0130] The functions of each module in each device in the embodiments of this application can be found in the corresponding description in the above method, and they have corresponding beneficial effects, which will not be repeated here.

[0131] Figure 3 This is a block diagram of an electronic device used to implement embodiments of this application. For example... Figure 3 As shown, the electronic device includes a memory 301 and a processor 302. The memory 301 stores a computer program that can run on the processor 302. When the processor 302 executes the computer program, it implements the method described in the above embodiments. The number of memories 301 and processors 302 can be one or more. In a specific implementation, the electronic device may also include a communication interface 303 for communicating with external devices and performing data exchange and transmission.

[0132] In practical implementation, if the memory 301, processor 302, and communication interface 303 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0133] Optionally, in a specific implementation, if the memory 301, processor 302 and communication interface 303 are integrated on a single chip, the memory 301, processor 302 and communication interface 303 can communicate with each other through an internal interface.

[0134] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in this application.

[0135] This application provides a computer program product, including a computer program that, when executed by a processor, implements the method provided in this application.

[0136] This application also provides a chip including a processor for calling and executing instructions stored in a memory, causing a communication device with the chip installed to perform the method provided in this application.

[0137] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.

[0138] It should be understood that the aforementioned processor can be a CPU (Central Processing Unit), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0139] Further, optionally, the aforementioned memory may include read-only memory and random access memory. The memory may be volatile memory or non-volatile memory, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Sync Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0140] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0141] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0142] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0143] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0144] The logic and / or steps described in the flowchart or otherwise herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0145] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0146] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0147] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A collaborative control method for a cluster of space-based equipment, characterized in that, The space-based equipment cluster includes multiple space-based devices, including: Based on the unexplored units on the exploration map, target exploration locations to be assigned to the multiple air-based devices are selected; the exploration map is pre-divided into multiple units by rasterization, and the unexplored units refer to units where no air-based device has explored the communication signals of ground user equipment; Based on the cost of each of the space-based devices reaching each of the target exploration locations, the first allocation method with the minimum total cost is solved to obtain the allocation exploration location for each of the space-based devices among the multiple target exploration locations; After all the units of the exploration map have been explored, target coverage locations to be assigned to the multiple airborne devices are selected based on the locations of multiple user devices on the exploration map. Based on the cost of each of the space-based devices reaching each of the target coverage locations, the second allocation method with the minimum total cost is solved to obtain the allocated coverage location for each of the space-based devices among the multiple target coverage locations; Control the airborne equipment to move to the designated coverage location; The step of selecting target coverage locations to be assigned to the multiple airborne devices based on the locations of multiple user devices on the exploration map includes: Calculate the coverage demand weight for each of the ground user equipments, where the coverage demand weight is negatively correlated with the coverage duration of the ground user equipment. Based on the coverage requirement weights, weighted clustering is performed on the spatial location relationships of the multiple user equipment locations to divide them into multiple user unit clusters; The target coverage location to be assigned is set for each of the aforementioned user unit clusters.

2. The method according to claim 1, characterized in that, The step of selecting target exploration locations to be assigned to the multiple air-based devices based on unexplored units on the exploration map includes: Extract the outline boundaries of explored units on the exploration map to obtain a set of leading units located on the outline boundaries; the leading unit is the explored unit that has at least one adjacent unit that is the unexplored unit; Based on the spatial positional relationship of each front unit in the front unit set, clustering is performed on the front unit set to divide it into multiple front unit clusters; The cluster center of each of the aforementioned frontier unit clusters is determined as the target exploration location.

3. The method according to claim 2, characterized in that, The clustering process performed on the frontier unit set includes: Based on the K-medoids clustering algorithm, the clustering process is performed on the set of frontier units with the goal of minimizing the sum of dissimilarity, where the sum of dissimilarity is the sum of the dissimilarity between each frontier unit and its corresponding cluster center.

4. The method according to claim 1, characterized in that, The step of setting the target coverage location to be assigned for each of the user unit clusters includes: For each user unit cluster, the weighted centroid of the locations of all user equipment in the user unit cluster is calculated based on the coverage requirement weight; The position corresponding to the weighted centroid is determined as the target coverage position.

5. The method according to claim 1, characterized in that, The control of the airborne equipment to move to the allocated coverage location includes: The virtual guiding force for the airborne device to move to the assigned coverage location is calculated by superimposing the attractive force of the assigned coverage location on the airborne device, the interaction force between clusters, and the repulsive force of the map constraint boundary. Based on the changes in the virtual guiding force, the movement route of the airborne equipment is planned in real time.

6. The method according to claim 5, characterized in that, Before superimposing the attractive force of the allocated coverage location on the airborne equipment, the interaction force between clusters, and the repulsive force of the map constraint boundary, the method further includes: The attractive force is calculated based on the relative distance between the air-based equipment and the allocated coverage location; The interaction force is calculated based on the relative distance between the airborne equipment and other airborne equipment; The repulsive force is calculated based on the relative distance between the airborne equipment and the map constraint boundary.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-6.

9. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-6.

Images