Data chain channel allocating method for automatic formation of unmanned air vehicle
A technology for unmanned aerial vehicles and channel allocation, which is applied in the field of data link channel allocation for autonomous formations of unmanned aerial vehicles. It can solve problems such as the inability to meet the requirements of the formation control system of unmanned aerial vehicles and insufficient data link reliability, and achieve optimal node update rates. , optimize the system update rate, eliminate the effect of sending time
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[0036] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.
[0037] The present invention is a kind of data link channel distribution method used for autonomous formation of unmanned aerial vehicle, the flow process of this method is as follows figure 1 As shown, the data link time slot structure is defined first, then the time slot allocation is performed, and then the dynamic time slot reservation is performed. Finally, the physical realization method is given. The specific steps of the method are as follows:
[0038] Step 1: Define the data link slot structure
[0039] This data link adopts the time division multiple access technology TDMA mechanism to construct a network time slot structure of 16 nodes. Nodes send their own information in the time slots they occupy, and one time slot can only be occupied by one node. The slot structure is as figure 2 As shown, taking 200ms as a frame, three frames form a...
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