Unmanned aerial vehicle team state sharing and synchronous sending method and system

Abstract

The invention discloses an unmanned aerial vehicle team state sharing and synchronous sending method and system, and relates to the technical field of unmanned aerial vehicle team cooperation. According to the method, on the basis of the fact that most state data of the unmanned aerial vehicle is a non-stationary time sequence, automatic real-time breakpoint segmentation is carried out on the state data collected or sensed by each sensor of the unmanned aerial vehicle, then non-uniform fragmentation is carried out on each segment, then data synthesis is carried out on each segment, and finally the state data of the unmanned aerial vehicle are obtained. And finally, sharing and sending the fragmented data comprehensive result in the unmanned aerial vehicle team. The system comprises a state time sequence segmentation module, a fragmentation length adjustment module, an in-segment fragmentation module, a fragmentation data integration module and an integrated data sending module. According to the invention, on the premise that the real-time performance of state sharing among unmanned aerial vehicle team members is not reduced, the unmanned aerial vehicle flight and working state is subjected to parameter change automatic discovery and sequence segmentation non-uniform fragmentation, so that timely transmission when the state change is non-stable and large-interval transmission when the state change is stable are realized, and the real-time performance of state sharing among the unmanned aerial vehicle team members is improved. The number of data sending times of state sharing among unmanned aerial vehicle team members is greatly reduced, and the bandwidth consumption of state sharing of the unmanned aerial vehicle team is reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle team collaboration, in particular to a method and system for sharing and synchronously sending the state of an unmanned aerial vehicle team. Background technique [0002] In order to achieve stable flight and specific functions, drones usually carry a large number of sensors, such as accelerometers, gyroscopes, magnetic compass, air pressure sensors, ultrasonic sensors, GPS, high-definition cameras, radars, etc. The sampling frequency of these sensors ranges from a few Hz to hundreds of MHz. Due to the limitation of wireless network bandwidth and the variation of the communication topology of the drone team, it is inefficient to directly send the data sensed by these sensors to all members of the drone team. , which is not even possible when the team members are large. Each member of the UAV team needs to send its perceived flight status and working status data to other team membe...

AI Technical Summary

Problems solved by technology

For the second type of method, if the frequency of downsampling and sending is too low, it is easy to cause the UAV team to be unable to perceive the dynamic environment in real time, so that efficient coordination and collaboration cannot be achieved. On the contrary, if the frequency of downsampling and sending is too high, It is impossible to achieve the purpose of reducing the number of data sharing and sending and bandwidth consumption among members

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