This application provides a UAV
collaborative management method based on the fusion of spatiotemporal uncertainty closed-loop
perception and dynamic credibility, including: S1: using evidence
deep learning to perform second-order probability modeling on the collected multidimensional heterogeneous data, and using
Dirichlet distribution modeling for classification tasks to obtain a second-order probability feature map containing data uncertainty and model uncertainty, and encapsulating the positioning information, classification information, and the two types of uncertainty into node attributes of a dynamic semantic graph; extracting the target's positioning and classification information, and fusing the dual uncertainties through a dynamic
weight adjustment mechanism based on environmental parameters, positioning accuracy, and historical performance to generate a comprehensive uncertainty measure; in a multi-UAV collaborative field... In this
scenario, the credibility consistency of the
perception results of each UAV is verified.
Spatial consistency index, temporal jump
penalty factor and historical reputation
score are calculated and fused to generate credibility consistency
verification index. The fused credibility is mapped to airspace
risk level. In the multi-UAV collaborative
scenario, a potential game
loss function is constructed with risk value as constraint, Nash equilibrium is solved and collaborative avoidance trajectory is generated, where the virtual collision
radius is dynamically scaled according to the risk value. The real trajectory and predicted trajectory returned by the execution layer are obtained and the residual is calculated. When overconfidence of the
perception model is detected, feedback gradient is generated through the edge lightweight large
language model to correct the relevant parameters of the evidence
deep learning network.