A multi-relay UAV track planning method, system and storage medium in uncertain channel environment

A technology for track planning and channel environment, applied in the field of unmanned aerial vehicles, which can solve the problems of difficulty in researching the communication network of unmanned aerial vehicles, inability to obtain accurate channel state information, etc., and achieve the effect of high reliability and improved energy efficiency.

Active Publication Date: 2022-07-08
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the highly dynamic environment where UAVs move, some important parameters of the communication link with ground mobile vehicles, such as channel state information, cannot be accurately obtained, which also brings difficulties to the research of UAV communication networks.

Method used

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  • A multi-relay UAV track planning method, system and storage medium in uncertain channel environment
  • A multi-relay UAV track planning method, system and storage medium in uncertain channel environment
  • A multi-relay UAV track planning method, system and storage medium in uncertain channel environment

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Effect test

Embodiment 1

[0064] figure 1 This is the flow chart of the multi-relay UAV track planning method in the uncertain channel environment of the present invention. like figure 1 As shown, the present invention provides a multi-relay UAV track planning method in an uncertain channel environment, and the method includes the following steps:

[0065] S1: Establish a multi-UAV swarm-to-ground link communication model, and express the downlink transmission rate of the UAV swarm as:

[0066]

[0067] where N is the number of drones, p i [t] is the transmission power of the i-th UAV at time t, g[t] is the channel gain at time t; T is the communication and flight time between the UAV group and ground vehicles; B is the bandwidth parameter; σ is white Gaussian noise parameter; d s，i [t] is the distance between the ith UAV of the relay UAV group and the ground mobile vehicle m;

[0068] In this step, the multi-UAV swarm-to-ground link communication model is described by the UAV transmission powe...

Embodiment 2

[0118] like figure 2 As shown, the present invention also provides a multi-relay UAV track planning system in an uncertain channel environment, the system includes a group of relay UAVs, a ground mobile vehicle and a base station, and the ground mobile vehicle passes through the The relay drone swarm communicates with the base station, and the system implements the multi-relay drone track planning method in the uncertain channel environment in Embodiment 1 through the relay drone swarm and the ground mobile vehicle.

[0119] in, figure 2 The medium ground mobile vehicle m transmits a download request to the base station m' and enters the wireless network coverage of the drone swarm. The drone swarm establishes a connection with the ground mobile vehicle, and according to the figure 1 The method in calculates the flight trajectories of UAV swarms.

[0120] Preferably, when the ground mobile vehicle requests transmission from the base station, the UAV swarm is triggered to ...

Embodiment 3

[0122] According to another aspect of the present invention, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor The method for planning the trajectory of a multi-relay UAV in an uncertain channel environment in Embodiment 1 is implemented.

[0123] Among them, the storage medium includes a floppy disk, a hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray (registered trademark) Disc), semiconductor memory, and the like. In addition, as one aspect of the present invention, a computer system may be provided including a microprocessor and a memory, the memory recording the above-mentioned computer program, and the microprocessor operating according to the computer program. In addition, the above-mentioned program may be transferred via a network and implemented by another independent computer ...

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Abstract

The invention relates to a multi-relay UAV track planning method, system and storage medium in an uncertain channel environment. The method comprises the following steps: establishing a multi-UAV group-to-ground link communication model; calculating the UAV transmission and energy efficiency in the moving process; establish a multi-relay UAV energy-efficient optimal trajectory planning model according to the energy efficiency and constraints; convert the multi-relay UAV energy-efficiency optimal trajectory planning model into an A randomly constrained multi-relay UAV energy efficiency optimal trajectory planning model is used to solve the multi-relay UAV energy efficiency optimal trajectory planning model by using a convex optimization algorithm, and the optimal navigation trajectory of the UAV swarm is obtained. The invention can improve the energy efficiency of the transmission of the unmanned aerial vehicle group and the ground moving vehicle.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a multi-relay unmanned aerial vehicle track planning method, system and storage medium in an uncertain channel environment. Background technique [0002] As a low-altitude wireless network platform, the application of drones in wireless communication networks has received extensive attention. In the future post-5G and 6G era, the cooperative network between aerial drones and ground mobile will become an important communication network mode . Compared with traditional wireless networks with fixed base stations, UAV wireless communication networks have better situational awareness, flexible deployment capabilities and wider coverage. UAVs are involved in more and more wireless communication systems. Building communication relays in the air can effectively improve communication performance, and can avoid the problem of shadow fading encountered in the p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G5/00H04B7/185H04W4/44G05D1/10
CPCG08G5/0069H04B7/18504H04W4/44G05D1/104Y02T10/40
Inventor 周建山郝威龙科军
Owner BEIHANG UNIV
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