1187 results about "Packet loss" patented technology

The invention relates to the technical field of audio playing optimization, and discloses a low-delay multi-room audio playing optimization method and system, a storage medium and equipment, and the method comprises the steps: building a global time synchronization system based on a precision clock protocol in a playing equipment cluster, and enabling all playing equipment to operate based on a unified time reference; monitoring network state parameters in real time, dynamically calculating and adjusting the audio buffer depth of each playing device based on the monitored network quality, and obtaining audio data in advance according to the playing progress and the network state; generating a global playing timestamp according to the global time synchronization system, and controlling all playing devices to perform synchronous starting and progress control of audio playing based on the global playing timestamp; a transmission strategy of audio data is dynamically optimized based on real-time network state parameters, packet loss recovery and bandwidth adaptation are achieved, sub-millisecond multi-room audio synchronous playing is achieved, and meanwhile performance parameters can be automatically optimized according to different network environments and hardware configurations.

The invention relates to the technical field of wireless communication, and discloses a mining ad-hoc network dual-band switching method and system.The method and system comprise the steps that firstly, equipment is deployed based on a mine laneway three-dimensional digital model, coordinates are obtained through inertial navigation and UWB positioning, an initial network topology is constructed, a 5.8 G module monitors a high-frequency bandwidth index, and a 1.4 G module collects low-frequency penetrability parameters; a link score is calculated by combining nine parameters such as battery capacity, and according to the score and roadway topology, under a linear roadway, a corner area and a strong interference environment, a 5.8 G module is used for exclusive occupation, a 1.4 G module is used for attenuation resistance, double modules are used for parallel transmission, a redundant link is established in advance during switching, parallel transmission of new and old modules guarantees zero packet loss, and equipment can also broadcast a state. The low-electric-quantity equipment takes over high-power-consumption transmission by the neighbor node; the method and the system can adapt to different mine scenes, and improve communication stability, reliability and cruising ability.

The invention provides an optical communication flow dynamic wavelength allocation optimization method and system, computer equipment and a storage medium, flow monitoring modules are arranged at nodes of an optical communication network, flow data of different service types at the nodes are acquired, a central control unit acquires existing wavelength resource information in the optical communication network, and the optimal wavelength allocation of the optical communication flow is realized. Evaluating whether the current wavelength resource allocation is reasonable; the central control unit sends the generated dynamic wavelength allocation mechanism to each node of the optical communication network, and each node adjusts the existing wavelength allocation through the received mechanism; and continuing to collect data of different services at each node, transmitting the collected data to the central control unit for evaluation, and if the preset target is not reached, executing the above steps again. The method has the advantages of balancing the resource distribution of the whole network, avoiding local congestion, improving the overall resource utilization rate, remarkably reducing the problems of packet loss rate and delay exceeding caused by signal crosstalk, reducing the probability of fragment generation in the future and avoiding single-point congestion.

The invention relates to the technical field of digital communication, in particular to an intelligent electric meter dual-mode communication self-adaptive switching method, and provides the following scheme that operation data are divided into a plurality of data units at a sending end, priority evaluation is carried out, and the time delay, the packet loss, the energy consumption and the bandwidth state of two links are combined, so that the intelligent electric meter dual-mode communication self-adaptive switching method is realized. Positioning clearing cut points in the priority sequence so as to realize differentiated distribution of data between a high-speed link and a low-speed link; when the data is distributed to a low-speed link, sparse coding is carried out by adopting a preset dictionary, and differential updating is triggered when an error exceeds a limit, so that decoding consistency is ensured; a receiving end realizes unified analysis of the original message and the sparse message through cross-link association, dictionary updating and residual synthesis; according to the invention, the timeliness of the key message can be guaranteed, the communication energy consumption and cost can be reduced, and the cooperation efficiency of the dual-mode link can be improved.

The invention discloses an Internet of Vehicles information age optimization method and system based on graph reinforcement learning, and the method comprises the steps: firstly constructing a batch modeling and limited buffering queue structure of a vehicle state, carrying out the modeling of perception data into a multi-data-packet batch, and carrying out the queue management; modeling V2V link topology by using a graph neural network, and extracting large-scale channel embedding representation reflecting a topological structure; a multi-agent reinforcement learning system based on a centralized training distributed execution framework is constructed, each agent makes a decision according to a local state containing graph embedding features, a mixed action space is output, and an AoI opposite number of a receiving end is used as a reward; a graph embedding supervision mechanism based on a dominant function is introduced, so that topological features are aligned with a long-term optimization target; and network parameters are updated through multiple rounds of training, and finally, autonomous optimization control of each agent on packet loss and power is realized. According to the invention, data packet queue management and wireless resource allocation can be effectively coordinated, and efficient and low-overhead AoI minimization is realized in a complex dynamic topology environment.

The invention relates to a cooperative control method and system for realizing self-organizing protection of a multi-unmanned aerial vehicle cluster, and the method comprises the steps: M1, enabling the unmanned aerial vehicle cluster to execute a task, obtaining the data information of the remaining power, RSSI signal intensity and IMU attitude of each unmanned aerial vehicle in real time based on an airborne built-in sensor, and acquiring data information of distances and relative speeds of obstacles around the unmanned aerial vehicles in real time based on an airborne external millimeter-wave radar, constructing a dynamic threshold function stop, and if the RSSI signal strength of each unmanned aerial vehicle is greater than the stop, outputting data information of the residual electric quantity and IMU attitude of each unmanned aerial vehicle. According to the method, misjudgment (such as transient packet loss due to electromagnetic shielding) caused by temporary signal interference is effectively avoided, the misjudgment rate is reduced by 40%, unnecessary return or cluster recombination is reduced, continuous task execution is guaranteed, it is ensured that leader handover is completed quickly (at the millisecond level) when a host fails, and the situation that a cluster falls into disorder due to single-point failure is avoided.

The invention relates to the technical field of wireless streaming media, in particular to a real-time video transmission method and system based on 5G, and the method comprises the following steps: based on mobile terminal equipment, analyzing the signal strength and service bearing change of a 5G base station, screening an optimal access sequence, comparing channel capability with video partition characteristics, and adjusting coding parameter distribution. And analyzing link capability and packet loss performance, and optimizing uplink and downlink compression parameters to obtain a compression change trend. According to the invention, by dynamically identifying the signal association and network load change between the mobile terminal and the 5G base station, the multi-dimensional access priority sequence is generated in combination with the real-time bandwidth demand, the coding and allocation parameters are flexibly adjusted according to the video partition content characteristics and the wireless channel adaptation condition, and the access priority sequence is optimized in combination with the uplink and downlink performance and the frame type change. Dynamic regulation and control and synchronous updating of compression parameters are automatically completed, continuous transmission of video streams in a complex network environment is achieved, and the end-to-end consistency of video content and the integrity of picture data are improved.

Embodiments of this application provide an adaptive data flow transmission method, an apparatus, and a system, relating to the field of communication technologies. The method is used to perform, when a frame rate of a downlink data flow of a service changes, network resource adaptation promptly based on the frame rate of the data flow, to avoid a waste of network resources or a packet loss of media frame data, so as to improve network resource utilization and user experience.

The invention discloses a video packet loss synchronous compensation method and system based on deep learning, and the method comprises the steps: obtaining a to-be-compensated video stream, extracting the features of an original video frame, loading the features to a packet loss compensation model containing an LSTM prediction network and a GAN generator network, and enabling a time sequence prediction unit to comprise a long short-term memory assembly with attention gating; the LSTM prediction network sequentially performs inter-frame motion mapping, region enhancement mapping and region feature fusion on the original video frame features through a time sequence prediction unit to obtain a prediction feature sequence; and the GAN generator generates and decodes the prediction feature sequence to obtain a target replacement frame feature, and further obtains a synchronous compensation frame from the video stream to be compensated. According to the method, time sequence state adjustment is guided through attention gating, cooperation of time sequence prediction and detail generation is realized in combination with LSTM and GAN, time sequence coherence and detail accuracy of compensation frames are improved, and the problem of synchronous compensation in a video packet loss scene is effectively solved.

The embodiment of the invention discloses a message transmission method and device, and the method comprises the following steps: carrying out the structure recognition and semantic segmentation of original message data based on a pre-configured partitioning strategy, and generating a plurality of pieces of partitioning data with the structural integrity; generating a metadata record containing a task identifier, a block index, a total block number, a structural hash abstract and a receiving timestamp for each piece of block data; performing data normalization processing on each block of data, wherein the processing comprises the steps of unifying character codes and removing line feed characters and space characters; and sending the data of each block in a transaction mode through a Kafka message queue, and dynamically adjusting the block retry sending time interval and the upper limit of the number of times according to packet loss and delay indexes. According to the embodiment of the invention, the business service can be effectively decoupled, the throughput of the system is remarkably improved, efficient sorting and complete recombination of the block data are realized, and the transmission reliability is further improved.

The invention discloses a time delay constrained Internet of Vehicles multi-mode cooperative sensing method and system. The method comprises the following steps: collecting point cloud data and image data, and carrying out feature extraction, fusion and space projection; constructing a two-dimensional convolution neural network, and extracting a position-level importance probability graph and a mask used for screening key information; constructing a benefit estimation neural network and a constraint evaluation neural network, and predicting expected values of system benefits and constraint conditions; meanwhile, an overall strategy selection module is established; the motorcade carries out target identification and calculates rewards based on information interaction so as to obtain a perception experience sample; and updating network parameters based on the perception experience sample to obtain a final overall strategy selection module. According to the method, the transmitting power, the transmission channel and the sensing data area of the vehicle are optimized based on reinforcement learning, a strategy correction mechanism is introduced, a risk strategy of high time delay or high packet loss is dynamically corrected, and target identification deviation and decision errors caused by sensing information delay and wrong transmission are avoided.

The invention discloses a power grid frequency balance intelligent control system based on a distributed architecture, relates to the technical field of power grid control, and is used for solving the problems that the existing WLS / UKF and other methods are generally assumed to be good in synchronization, are insensitive to heteroscedasticity time delay and missing measurement, and are difficult to ensure robustness under real communication and equipment conditions. Through a through link, under the real clock misalignment, time delay jitter and packet loss conditions, measurement of a unified time axis and quality quantification are realized, and frequency estimation bias and uncertain transmission are significantly reduced. Reconstruction, filtering and triggering are penetrated with the same confidence degree, and abnormal measurement suppression and effective information utilization are improved; the fusion efficiency and timeliness of asynchronous arrival data are improved by utilizing graph prior and information domain incremental updating; and regional measurement abnormity and real power imbalance are discriminated through double-model causality, and error event reporting is reduced.

The invention relates to a method for realizing NAT on a core network UPF network element, and the method comprises the steps: when a user terminal establishes a 5G session, the UPF pre-allocates a public network IPv4 address and a continuous source port set for the session, the number of ports is dynamically adjusted according to a user package, and resources are bound to a session data structure; receiving a downlink packet of which a destination address is a public network IP based on a private network-to-public network mapping relation, positioning a session level hash table through a flow label direct index mechanism, adding a GTP-U packet header after reverse NAT conversion, and forwarding the packet to a mobile phone through service processing; on the basis of a stream label direct index mechanism, each session exclusively occupies an IP port pool and a hash table through a session-level resource isolation architecture, and is used for avoiding global lock competition in combination with multi-core CPU parallel processing; based on a DPI function switching strategy, an NAT mapping table is synchronized through a UPF cluster session mirroring mechanism for node fault switching zero packet loss.

The invention discloses a dual-channel adaptive network stability testing method and system, and belongs to the technical field of computer network testing. The system adopts a dual-channel asynchronous communication architecture in which a control channel and a data channel are physically separated, instructions and state information are transmitted through an independent TCP control channel, and high-speed test data streams are transmitted through a UDP or TCP data channel. The method comprises the following steps: dynamically and adaptively adjusting a timeout parameter based on real-time network delay detection; nanosecond constant interval packet sending control is realized by using a high-precision monotonic clock source and busy waiting compensation mechanism; a packet loss detection, positioning and ACK confirmation mechanism based on the serial number is realized in an application layer; and real-time statistical display and idle detection automatic termination are realized through multi-thread parallel processing. According to the invention, the precision, the stability and the adaptive capability of network testing are remarkably improved, and the method is suitable for long-time stability testing in various scenes such as a high-speed Ethernet, a satellite link, an industrial Internet of Things gateway and the like.

The invention belongs to the technical field of data processing, and particularly relates to a binocular 4K picture quick browsing method, which comprises the following steps of: 1, reading a touch coordinate and touch time from system touch callback, and entering a quick browsing state if two continuous dragging intensities reach a high-grade threshold value; otherwise, maintaining a common browsing state; 2, according to a browsing state judgment result, continuously advancing a duty cycle, and executing foresight replay and level rollback operation when triggering after time delay or packet loss is detected; 3, when it is detected that the dragging strength is reduced to a low-level threshold value and lasts for a preset time length, or when a touch ending event is detected, the current preview duty sequence is frozen, and a stable stopping replacement and progressive recovery process is entered. According to the method, the problems of display lag, binocular asynchronization, unrecoverable packet loss and large stop switching delay in the prior art are solved, and the interaction performance and the practical value of the ultra-high-definition image on middle-end and low-end equipment are remarkably improved.

The invention discloses a tool face angle real-time prediction method based on ground top drive parameters, and relates to the field of tool face angle real-time prediction, and the method comprises the steps: constructing a model training parameter obtaining experiment bench, and collecting simulation drill string dynamic data under different ground top drive parameter combinations through the bench; calculating an initial tool face angle, and performing unwrapping treatment on the initial tool face angle to obtain real tool face angle time sequence data; constructing a prediction model based on an LSTM neural network by taking the ground top drive parameters and the corresponding real tool face angle time sequence data as training samples; and the RMSE, the MAE, the Rand the prediction accuracy are used as evaluation indexes to verify the reliability of the model prediction performance. The method has the advantages that the top drive parameters located on the ground are adopted to predict the angle of the tool face thousands of meters underground, and data distortion caused by the problems of slow data transmission, large packet loss and the like in the process of transmitting underground signals to the ground is avoided.

The invention relates to the technical field of data transmission, and discloses a gas meter information secure transmission method based on response function compensation, which comprises the following steps: collecting multi-source data and network signal quality information of a gas meter; according to a real-time network environment and physical conditions, data transmission parameters are dynamically adjusted through a response function compensation algorithm, when data transmission in a static time slot fails, a dynamic retransmission time slot is automatically allocated for retransmission, a retransmission frequency threshold value is set, and packet loss caused by channel errors or collision is compensated through a retransmission response function; a multi-layer encryption mechanism is adopted to encrypt transmission data, an optimal transmission channel is intelligently selected according to network conditions, adaptive hybrid communication is performed through star flash short-distance communication or Wi-Fi wide-area transmission, and a response compensation mechanism of multi-dimensional environmental parameters is established based on a signal transmission model; transmitting the encrypted data to a monitoring management platform through a secure channel; therefore, safety early warning decision is realized, and dynamic accurate transmission and active safety protection are realized.

The invention relates to a high-performance voice processing method, and the method comprises the steps: obtaining voice data transmitted through a network, generating corresponding scene fingerprint information, determining a frame parameter of a lightweight multi-scene adaptation frame, and a corresponding processing parameter, and if the duration of a lost segment is smaller than a preset threshold value, determining that the segment is lost. If yes, generating a corresponding first compensation result according to the acoustic compensation parameter; if the duration is larger than or equal to a preset threshold value, whether the acoustic compensation process and the semantic processing process are performed in parallel or not is judged according to the frame parameters, if not, a corresponding second compensation result is generated, and if yes, a corresponding second compensation result is generated according to the acoustic compensation process and the semantic processing process; and outputting the corresponding target voice transmission data. The definition and the stability of the voice signal in a complex environment can be effectively improved, different compensation modes are flexibly switched or executed in parallel according to the packet loss duration and the resource state, and the effectiveness and the stability of a recovery mechanism are improved.

The invention discloses an HTTP (Hyper Text Transport Protocol) text restoration method based on DPDK (Data Platform Development Kit), which relates to the technical field of computer networks, and adopts a multi-process decoupling architecture to respectively run processes such as flow collection and protocol analysis, fragmentation recombination and text restoration, formatted message splicing, text restoration timeout waiting and the like in independent CPU (Central Processing Unit) cores; and efficient and lock-free data transmission is carried out by using a ring mechanism of the DPDK. Different from a traditional memory splicing scheme, the data offset is calculated based on the TCP serial number, the load content is directly written into the corresponding position of the file, the problems of message disorder, packet loss, retransmission and the like are effectively solved, an atomic renaming mechanism from the file ID1 (intermediate state) to the file ID2 (complete state) is adopted, and accurate migration of the file state is ensured. Besides, the invention innovatively provides a bidirectional asynchronous scheduling mechanism based on data export and text restoration state monitoring, so that the data export process can continuously keep high throughput, and the overall processing capacity of the system is ensured.

The invention discloses a robot super-long flexible part carrying method based on a reinforcement learning vibration suppression collaborative algorithm, and aims to solve the problems of coupling dynamics and synchronization in a multi-grabbing-point and multi-robot collaborative carrying process. According to the method, deep Kupman online embedding, a submerged space phase locking loop, prediction consistency constraint and micro-predictable control feedforward are combined, and a multi-agent residual reinforcement learning closed loop and barrier function projection are assisted to ensure safety constraint; the technical effects of phase synchronization and vibration suppression control under the conditions of communication time delay, packet loss and uncertainty, reduction of stress and swing, and improvement of carrying stability, precision and efficiency are achieved.

The invention provides a packet loss prevention transmission system based on dynamic redundancy adjustment, belongs to the technical field of data transmission, and is used for solving the problems that fixed redundancy is difficult to consider both transmission reliability and efficiency and packet loss processing lags behind in the related art, the system comprises a data blocking processing module, a dynamic redundancy adjustment module and a data verification and retransmission module, the system can also comprise a packet loss mode prediction subsystem, a coding coefficient optimization module and the like, accurate detection and recovery of packet loss in data transmission are realized through technologies of data block segmentation and verification, dynamic redundancy adjustment, packet loss prediction, semantic layering, network coding and the like, the transmission reliability and efficiency are improved, and the system is suitable for a complex network environment.

The invention discloses a communication method for realizing a BMS protocol through Bluetooth, and the method comprises the following steps: S1, a connection establishment stage: 1) after a local device establishes a Bluetooth connection with a slave device, the local device constructs a request instruction for reading a version number according to a predefined BMS communication protocol; and 2) periodically issuing the request instruction to the slave equipment in a first preset period through the Bluetooth feature with the notification attribute. According to the method, the communication reliability is improved, the problems of instability and data packet loss of a Bluetooth channel are effectively solved through instruction issuing based on timing polling and a multi-level overtime disconnection mechanism, and it is ensured that instructions and data are reachable in a complex wireless environment; and on the basis of a BMS protocol framework, end-to-end CRC16 verification from'equipment address' to'data content 'is introduced in a data analysis link, damaged or tampered data frames in a transmission process can be accurately identified and discarded, and system processing errors or missing data are fundamentally avoided.

The invention relates to a fixed redundancy coding and selective retransmission system based on an FPGA (Field Programmable Gate Array) and a transmission method thereof, and aims to solve the technical problems of low efficiency, high calculation delay and low transmission real-time performance of a hybrid FEC (Forward Error Correction) and ARQ (Automatic Repeat Request) transmission system for real-time video transmission in the prior art. The fixed redundancy coding and selective retransmission system based on the FPGA comprises a data sending system and a data receiving system, the data sending system classifies received video source data into a key frame data stream and a non-key frame data stream, the key frame data stream is subjected to fixed high redundancy coding, and the non-key frame data stream is subjected to non-key frame coding; the non-key frame data stream is subjected to fixed low-redundancy coding, the data receiving system carries out packet loss detection on the key frame data stream, if it is detected that the key frame data stream is lost, a retransmission request is sent to the data sending system, and after the data sending system receives the retransmission request, the stored key frame data stream is resent to the data receiving system.

Disclosed are a virtual machine migration method and apparatus, an offloading card, a device, and a system, related to the field of computers. The method comprises: when a virtual machine is migrated from a source device to a destination device, the source device receiving a service packet sent by an external device to the virtual machine in the source device, and an offloading card in the source device transmitting service data comprised by the service packet to an offloading card in the destination device on the basis of a tunnel between the source device and the destination device; the offloading card of the destination device feeding back a response packet by means of the tunnel between the source device and the destination device, or feeding back a response message to the external device on the basis of the tunnel between the destination device and the external device. The packet of the virtual machine is processed and forwarded in real time, preventing a packet loss phenomenon of virtual machine migration, reducing occupation of the storage space of the VMM or the storage space of the source device, reducing participation of a processor in the source device in packet processing, decreasing packet processing time delay, enabling the destination device to restart the virtual machine in a timely manner, and effectively shortening time delay of virtual machine migration.

The invention relates to the technical field of power distribution terminals, and discloses a power distribution terminal automatic joint debugging function integrity and reliability test system, which comprises a co-simulation module for performing closed-loop coupling on a virtual power grid and a tested terminal through deterministic time control and generating a reproducible working condition; the scene arrangement module is used for realizing automatic switching and rollback of cross-domain scenes based on transactional snapshots; and the communication module is used for executing a consistency test on multiple protocols and injecting delay jitter, packet loss and clock drift. The functional integrity and reliability test system for the automatic joint debugging of the power distribution terminal aims to solve the problems of lack of deterministic time control of cross-domain cooperation and insufficient guarantee of state consistency in a digital twin test method. The problems that a test result cannot be reproduced, crosstalk misjudgment is caused by state non-atomicity consistency during multi-scene switching, and faults are difficult to reproduce due to lack of time determinacy replay capability are solved.

Devices, networks, systems, methods, and processes for probing a network path in a Disaggregated Scheduled Fabric (DSF) are described herein. A source device, such as a first leaf switch can receive a probe command and identify a network path associated with the probe command. The first leaf switch may generate, based on the probe command, a probe packet comprising a fabric header. The first leaf switch can identify an adjacent device such as a spine switch and transmit the probe packet to the spine switch. The spine switch can forward the probe packet to a destination device, such as a second leaf switch. The second leaf switch may generate and transmit a response probe packet in response to the probe packet. The probe packet can be utilized to measure one or more Quality of Service (QOS) parameters such as jitter, latency, packet loss, or congestion etc. for example.

The invention discloses an anti-packet loss processing method and system for audio and video data. The method is applied to an articulated naturality web, the articulated naturality web comprises two groups of devices, and the two groups of devices are respectively a receiving end device and a transmitting end device. According to the anti-packet-loss processing method and system for the audio and video data, provided by the invention, through a series of steps of packet loss detection, recovery, error concealment and the like, the audio and video data can be recovered to the greatest extent under the condition of data packet loss, the problems of jamming, fuzzy pictures, discontinuous sound and the like are reduced, and the quality of the audio and video is remarkably improved; forward error correction, interpolation compensation and various error hiding methods are carried out by using redundant data, and lost data packets are processed from different angles, so that the definition and fluency of audios and videos and the fidelity of the audios are ensured; meanwhile, through secondary packet loss detection, the situation that the transmission integrity of the audio and video data packets is affected due to the fact that the packet loss phenomenon is not found in time can be effectively avoided.

The invention relates to the technical field of computer network communication and intelligent control, and discloses a switch configuration method and system based on AI adaptive congestion control, and the method comprises the steps: collecting the multi-dimensional feature data of a network in real time through a data plane programmable pipeline of a switch, and transmitting the multi-dimensional feature data to an AI intelligent decision engine through an encryption channel; based on the multi-dimensional feature data, executing congestion prediction, strategy generation and interpretability analysis through an AI intelligent decision engine to obtain a congestion control regulation and control strategy; converting the congestion control regulation and control strategy into an executable switch configuration command, and issuing the executable switch configuration command to switch hardware to dynamically adjust congestion control parameters of the switch; and acquiring the network performance index after configuration execution, calculating the profit value of the congestion control strategy, and updating the model weight of the AI intelligent decision engine based on the profit value. According to the invention, the adaptability of the network to dynamic loads and complex scenes is effectively improved, delay and packet loss are reduced, and the operation and maintenance complexity is reduced.

A method, computer program product, and computing system for processing a plurality of packets transmitted from a first computing device to a second computing device. A packet sequence number associated with each packet is identified. An error-detecting code representation is generated using the packet sequence number of each packet. A packet that is missing from the plurality of packets is identified. A packet loss pattern associated with the plurality of packets is identified by comparing the error-detecting code representation with a plurality of entries of a high probability loss pattern memory table.

The invention discloses a robot formation control method based on double-layer nonlinear model predictive control, and relates to the technical field of model predictive control. In order to solve the defects that in the prior art, a pilot vehicle is excessively dependent, and a navigator is difficult to replace quickly during communication packet loss or fault, the technical scheme provided by the invention comprises the following steps: collecting a reference track and initializing control parameters and initial poses of all vehicles; controlling a pilot vehicle according to the reference trajectory and generating an expected formation matrix and an orientation compensation angle; converting the expected formation matrix and the orientation compensation angle into a global target pose of the following vehicle; controlling the following vehicle to perform nonlinear model prediction tracking based on the global target pose of the following vehicle; and when detecting that the pilot vehicle is abnormal, replacing a new pilot vehicle and updating the formation. The method is suitable for unmanned vehicle or multi-robot formation control tasks requiring high-reliability, low-delay switching and real-time formation keeping in a complex dynamic environment.