CN110401932B - Unmanned aerial vehicle group cooperative sensing system and method - Google Patents
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Abstract
The embodiment of the invention provides a cooperative sensing system and a method for an unmanned aerial vehicle cluster, wherein the system comprises the following steps: a central drone and a plurality of slave drones; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system; the central unmanned aerial vehicle broadcasts a handshake initiating frame through a communication beam of the central unmanned aerial vehicle, wherein the handshake initiating frame comprises communication time slots distributed by the slave unmanned aerial vehicles and search motion direction information; for each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives a broadcast handshake initiating frame through a communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain a communication time slot allocated to the slave unmanned aerial vehicle and search motion direction information; the slave unmanned aerial vehicle moves according to the search motion direction information and senses through the sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data; and transmitting the sensing data to the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle. Thus, the utilization rate of frequency spectrum resources can be improved.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a system and a method for cooperative sensing of an unmanned aerial vehicle group.
Background
The existing perception information fusion scheme between unmanned aerial vehicles groups adopts a mode that a communication system and a perception system are mutually independent. Specifically, the sensing system and the communication system adopt independent system equipment such as a radio frequency antenna, a radio frequency link, digital processing equipment and the like. Each drone in the drone swarm has a perception system and a communication system.
The sensing system forms a wave beam to sense the surrounding environment, and sensing data processing is carried out in data processing equipment in the sensing system, when sensing result data are required to be fused, the sensing system of a sending unmanned aerial vehicle transmits the sensing result data to a transmitting port of a communication system of the sending unmanned aerial vehicle through an internal transmission link, the communication system of the sending unmanned aerial vehicle sends the sensing result data to a receiving unmanned aerial vehicle serving as a fusion center, the receiving unmanned aerial vehicle of the fusion center receives the sensing result data sent by other unmanned aerial vehicles and fuses the sensing result data with the sensing result data, and the fused result data are used for subsequent processes such as unmanned aerial vehicle group decision making.
Disclosure of Invention
The embodiment of the invention aims to provide a system and a method for cooperative sensing of an unmanned aerial vehicle cluster, so as to improve the utilization rate of frequency spectrum resources. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle cluster cooperative sensing system, where the system includes:
a central drone and a plurality of slave drones; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system;
the central unmanned aerial vehicle broadcasts a handshake initiating frame through a communication beam of the central unmanned aerial vehicle, wherein the handshake initiating frame comprises communication time slots distributed by each slave unmanned aerial vehicle and search motion direction information;
for each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives the broadcast handshake initiating frame through the communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain the distributed communication time slot and the search motion direction information of the slave unmanned aerial vehicle; the slave unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data; and sending the obtained sensing data to the central unmanned aerial vehicle in a communication time slot corresponding to the slave unmanned aerial vehicle.
Optionally, each unmanned aerial vehicle in the unmanned aerial vehicle group cooperative sensing system broadcasts referral information corresponding to the unmanned aerial vehicle, where the referral information includes identification information, available computing resource information, location information, and motion state information corresponding to the unmanned aerial vehicle; the unmanned aerial vehicle in the unmanned aerial vehicle group cooperative perception system comprises the central unmanned aerial vehicle and the plurality of slave unmanned aerial vehicles.
Optionally, each slave drone is located with the central drone as a circle center, with a maximum cooperation radius xQIs inside a circle of radius;
wherein,
βRfor sensing the power division ratio, P is the total available power, gcFor communication beam gain, Q-1Is Q (p)1,p2) With respect to p2Inverse function of the parameter, Q (p)1,p2) Is a first-order Marcum Q function, B is the bandwidth, M is the number of slave unmanned aerial vehicles, N is the communication noise power, epsilon is the interrupt probability threshold, α is the path loss coefficient, K is the Rice factor, VdataTo sense the rate of generation of data.
Optionally, for each slave drone, the communication capacity of the slave drone with the central drone is greater than or equal to the generation rate at which the slave drone generates the perception data.
Optionally, the central unmanned aerial vehicle fuses perception data of the central unmanned aerial vehicle and perception data sent by each slave unmanned aerial vehicle to the central unmanned aerial vehicle.
Optionally, for each drone in the drone swarm cooperative sensing system, the antenna array of the drone generates a communication beam and a sensing beam that are orthogonal to each other through a beam forming technique.
In a second aspect, an embodiment of the present invention provides a method for cooperative sensing of an unmanned aerial vehicle cluster, where the method includes:
the central unmanned aerial vehicle broadcasts a handshake initiating frame through a communication beam of the central unmanned aerial vehicle, wherein the handshake initiating frame comprises communication time slots distributed by each slave unmanned aerial vehicle and search motion direction information; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system;
for each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives the broadcast handshake initiating frame through the communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain the distributed communication time slot and the search motion direction information of the slave unmanned aerial vehicle; the slave unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data; and sending the obtained sensing data to the central unmanned aerial vehicle in a communication time slot corresponding to the slave unmanned aerial vehicle.
Optionally, after the obtained sensing data is sent to the central drone in the communication time slot corresponding to the slave drone, the method further includes:
the central unmanned aerial vehicle fuses perception data of the central unmanned aerial vehicle and perception data sent to the central unmanned aerial vehicle by each slave unmanned aerial vehicle.
Optionally, before the slave unmanned aerial vehicle moves according to the search movement direction information and performs sensing through a sensing beam of the slave unmanned aerial vehicle to obtain sensing data, the method further includes:
receiving a broadcast end mark frame sent by the central unmanned aerial vehicle;
the subordinate unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing beam of the subordinate unmanned aerial vehicle to obtain sensing data, and the method comprises the following steps:
and after receiving the broadcast end mark frame, the slave unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing beam of the slave unmanned aerial vehicle to obtain sensing data.
Optionally, before sending the obtained sensing data to the central drone in the communication time slot corresponding to the slave drone, the method further includes:
the slave unmanned aerial vehicle adds the position information and the motion direction information corresponding to the slave unmanned aerial vehicle to the perception data to obtain additional data;
the perception data that will obtain in the communication time slot that this subordinate unmanned aerial vehicle corresponds send to central unmanned aerial vehicle includes:
and sending the obtained additional data to the central unmanned aerial vehicle in a communication time slot corresponding to the slave unmanned aerial vehicle.
The unmanned aerial vehicle group cooperative sensing system and the method provided by the embodiment of the invention can comprise a central unmanned aerial vehicle and a plurality of slave unmanned aerial vehicles; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system; the central unmanned aerial vehicle broadcasts a handshake initiating frame through a communication beam of the central unmanned aerial vehicle, wherein the handshake initiating frame comprises communication time slots distributed by the slave unmanned aerial vehicles and search motion direction information; for each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives a broadcast handshake initiating frame through a communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain a communication time slot allocated to the slave unmanned aerial vehicle and search motion direction information; the slave unmanned aerial vehicle moves according to the search motion direction information and senses through the sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data; and sending the obtained sensing data to the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle. In the embodiment of the invention, independent equipment does not need to be respectively deployed for the sensing process and the communication process of transmitting sensing data, the unmanned aerial vehicle in the unmanned aerial vehicle cluster cooperative sensing system realizes the sensing process through the sensing beam and the communication process through the communication beam, and each slave unmanned aerial vehicle interacts with the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle, so that the spectrum resources can be shared in the unmanned aerial vehicle cluster cooperative sensing system, and the utilization rate of the spectrum resources is improved. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above advantages at the same time.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle cluster cooperative sensing system according to an embodiment of the present invention;
fig. 2 is a schematic view of a collaborative awareness scene of an unmanned aerial vehicle cluster according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a vertical beam width of a communication beam and a vertical beam width of a sensing beam according to an embodiment of the present invention;
fig. 4 is a schematic diagram of timeslot allocation according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a relationship between a cooperative sensing area and a sensing power distribution ratio according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a relationship between a cooperative sensing area and the number of slave unmanned aerial vehicles according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a relationship between a cooperative sensing area and the number and sensing power distribution ratio of slave unmanned aerial vehicles according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for cooperative sensing of an unmanned aerial vehicle cluster according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a cooperative sensing apparatus for an unmanned aerial vehicle cluster according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the existing perception information fusion scheme among unmanned aerial vehicles, each unmanned aerial vehicle is provided with a perception system and a communication system. The sensing system realizes the sensing function through the equipment forming the sensing system, the communication system realizes the communication function through the equipment forming the communication system, and the sensing system and the communication system respectively utilize respective frequency spectrum resources, so that the frequency spectrum resource utilization rate is lower in the process of realizing unmanned aerial vehicle cluster sensing.
Wireless communication technology has developed rapidly over the last thirty years, and the frequency spectrum allocated to wireless communication is continuously developing towards high frequency band and large bandwidth. Especially after the millimeter wave frequency band is opened, the frequency spectrum of wireless communication and the frequency spectrum allocated to perception show more and more obvious fusion trend. In addition, with the rapid development of Digital signal processing technology, Analog-to-Digital converters (ADC/DAC) and Digital processor modules of sensing systems and wireless communication systems are moving forward, and the system structures of the two are becoming more similar.
On the other hand, the unmanned aerial vehicle cluster is a development trend of the unmanned aerial vehicle technology, and unmanned aerial vehicle cluster cooperative sensing has important significance in unmanned aerial vehicle cluster cooperative sensing applications (such as maritime search and rescue, wide area investigation and the like) which need to quickly sense a large-area, and has good application prospects in sensing and communication integration of shared hardware equipment, radio frequency links and frequency spectrum resources under the trend that unmanned aerial vehicle equipment is increasingly required to be miniaturized, low in energy consumption and high in energy efficiency.
The embodiment of the invention provides a cooperative sensing system for an unmanned aerial vehicle cluster, which is used for realizing the integration of sensing and communication of the unmanned aerial vehicle cluster and realizing the sensing and communication functions through a set of equipment. Therefore, the unmanned aerial vehicle cluster realizes the sensing function and the communication function to share the spectrum resource, and the utilization rate of the spectrum resource can be improved. Meanwhile, the sensing process and the communication process share equipment, so that favorable conditions are provided for equipment miniaturization, and the equipment miniaturization can be realized more conveniently. In addition, interference of the independent sensing system to the independent communication system is avoided.
The following describes the unmanned aerial vehicle group cooperative sensing system provided by the embodiment of the present invention in detail.
An embodiment of the present invention provides an unmanned aerial vehicle cluster cooperative sensing system, as shown in fig. 1, the system may include:
one central drone 101 and a plurality of slave drones 102. The central drone 101 is the drone with the richest available computing resources in the cooperative awareness system of the drone swarm. Wherein, the richest available resource can be understood as the maximum available computing resource.
In the embodiment of the invention, each unmanned aerial vehicle in the unmanned aerial vehicle group cooperative sensing system respectively broadcasts the referral information corresponding to the unmanned aerial vehicle. The drones in the unmanned fleet cooperative awareness system include a central drone 101 and a plurality of slave drones 102.
The referral information may include Identification information corresponding to the drone, such as unique Identification (ID) information, available computing resources information, location information, and motion status information.
Specifically, in the embodiment of the present invention, after each unmanned aerial vehicle in the unmanned aerial vehicle group cooperative sensing system is lifted off and enters the flight plane, the information may be pushed to the unmanned aerial vehicle group by using a Carrier Sense Multiple access with Collision Detection (CSMA/CD).
Therefore, each unmanned aerial vehicle in the unmanned aerial vehicle group cooperative sensing system can obtain the referral information of the unmanned aerial vehicle and other unmanned aerial vehicles except the unmanned aerial vehicle. In this way, it may be determined that the drone with the most abundant available computing resources is the central drone 101, and the other drones except the central drone 101 are the slave drones 102 corresponding to the central drone 101. Specifically, each drone agrees to the affiliation of the central drone 101, and changes its own working mode to be the central drone 101 or the slave drone 102.
The central drone 101 broadcasts a handshake initiation frame through the communication beam of the central drone 101.
The handshake initiation frame includes the communication time slot allocated to each slave drone 102 and the search motion direction information. The handshake initiation frame may further include position information and movement speed information of the central drone 101.
Each slave drone 102 remains in the listening state until the end of the central drone 101 broadcast.
For each slave drone 102, the slave drone 102 receives a broadcast handshake initiation frame through a communication beam of the slave drone 102, and analyzes the broadcast handshake initiation frame to obtain a communication time slot and search motion direction information allocated to the slave drone 102; the slave unmanned aerial vehicle 102 moves according to the search motion direction information, and senses through the sensing beam of the slave unmanned aerial vehicle 102 to obtain sensing data; the obtained sensing data is sent to the central drone 101 in the communication time slot corresponding to the slave drone 102.
The slave unmanned aerial vehicle 102 perceives the perception target to obtain perception data, the perception target can be understood as a detection target to perceive the perception target, and can be understood as a detection target in a detection area of the slave unmanned aerial vehicle 102 to detect to obtain detection data.
In the embodiment of the present invention, the central drone 101 detects a detection target in a detection area thereof to obtain detection data.
After receiving the handshake initiation frame of the central drone 101, each slave drone 102 listens and confirms the communication time slot and the movement direction information allocated to the slave drone 102. Specifically, the communication time slot may include a Time Division Multiple Access (TDMA) communication time slot, and the movement direction information is used to instruct the slave drone 102 to fly according to the movement direction included in the movement direction information.
In the embodiment of the invention, independent equipment does not need to be respectively deployed for the sensing process and the communication process of transmitting sensing data, the unmanned aerial vehicle in the unmanned aerial vehicle cluster cooperative sensing system realizes the sensing process through the sensing beam and the communication process through the communication beam, and each slave unmanned aerial vehicle 102 interacts with the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle 102, so that the spectrum resources can be shared in the unmanned aerial vehicle cluster cooperative sensing system, and the utilization rate of the spectrum resources is improved.
In order to realize integration of communication and perception, the embodiment of the invention adopts a beam splitting mode, and specifically introduces a result scene schematic diagram of the underground in detail.
The embodiment of the invention provides a schematic view of a cooperative sensing scene of an unmanned aerial vehicle cluster, as shown in fig. 2. Specifically, after all unmanned aerial vehicles in the unmanned aerial vehicle group cooperative sensing system are lifted off and networking is completed, all unmanned aerial vehicles are distributed in a plane with the height h for sensing, and the plane sensed by the unmanned aerial vehicle group is called a target sensing plane. The unmanned aerial vehicle carries out the perception and can understand as carrying out the perception for detecting the target, also can understand as detecting for detecting the target, obtains the perception data, and the perception data also can understand as the detection data.
Specifically, the unmanned aerial vehicle performs downward sensing and a plane which is downward sensed by the unmanned aerial vehicle group is referred to as a target sensing plane. The unmanned aerial vehicle cluster is composed of 1 central unmanned aerial vehicle (hereinafter referred to as CU) and M subordinate unmanned aerial vehicles (hereinafter referred to as SU). As shown in FIG. 2, unmanned aerial vehicle UAV0For CU, unmanned aerial vehicle UAV1、UAV2、UAV3、UAV4And UAV5The unmanned aerial vehicle is SU of CU. The CU is responsible for receiving perception data of all the slave unmanned aerial vehicles and conducting downward-looking perception at the same time; the SU is responsible for performing regional downward-looking perception and transmitting perception data of the SU to the CU, so that the CU can fuse perception data of all unmanned aerial vehicles in the unmanned aerial vehicle cluster.
In order to realize integration of communication and perception, the embodiment of the invention adopts a beam splitting mode. In an alternative embodiment, for each drone in the drone swarm cooperative sensing system, the antenna array of the drone generates mutually orthogonal communication beams and sensing beams through a beamforming technique.
Specifically, the antenna array of each drone generates orthogonal beams through a beamforming technique, wherein the beams with main lobe directions within the plane of flight of the drone are responsible for communication data transmission, referred to as communication beams (which may be referred to as CB for short hereinafter); another beam main lobe direction is generated below the flight plane, responsible for sensing the perception task below, called the perceived beam (which may be referred to as RB below for short). A schematic diagram of the vertical beamwidth of the communication beam and the vertical beamwidth of the sensing beam in the front view direction is shown in fig. 3. The horizontal beamwidth of the communication beam is θchVertical beam width of phicv(ii) a The horizontal beam width and the vertical beam width of the sensing beam are thetarhAnd phirv. According to the relation between the three-dimensional beam width angle and the beam directional gain, the following can be obtained:
where g is a beam gain, which may include a communication beam gain gcOr may also include a perceived beam gain grΔ θ is the horizontal beamwidth of the beam, which may be the horizontal beamwidth θ of the communication beamchOr may be the horizontal beamwidth θ of the perceived beamrhAnd Δ φ is the vertical beamwidth of the beam, which may be the vertical beamwidth φ of the communication beamcvOr may be the vertical beamwidth phi of the perceived beamrv。
Communication beam power PcAnd sensing beam power PrThe total available power P of the communication and perception integrated equipment is shared, and the ratio of the perception beam power to the total available power is βrThen sense the beam power Pr＝PβrCommunication beam power Pc＝(1-βr) P. for convenience, title βrTo sense the power splitting ratio.
In the embodiment of the invention, sensing beams and communication beams of all communication and sensing integrated equipment of the unmanned aerial vehicle use the same frequency spectrum. The sensing process uses a multi-pulse mode, and the sensing wave beam receiving signals adopt a coherent fusion receiving mode. The communication multiple access mode of SU and CU in the unmanned aerial vehicle cluster is TDMA mode. For the reliability that satisfies the communication, unmanned aerial vehicle's CB horizontal beam width is 2 pi, and unmanned aerial vehicle's communication beam main lobe direction is in unmanned aerial vehicle flight horizontal plane, and like this, perception, communication function will be because of not receiving the influence of sending and receiver communication beam alignment precision in the horizontal plane and more stable.
In the embodiment of the invention, the perception and communication integration can eliminate the influence of co-channel interference between multi-pulse perception by applying an interference rejection technology (interference rejection). A least-variance beamforming algorithm may be employed to form orthogonal communication beams and sensing beams. The communication beam is orthogonal to the sensing beam, i.e. the beam gain of the sensing beam in the communication direction is a minimum value close to 0 and the beam gain of the communication beam in the sensing direction is also a minimum value close to 0.
The embodiment of the invention realizes communication and perception integration based on a beam splitting mode in combination with an interference rejection mode and an orthogonal beam forming mode.
In order to enable the central unmanned aerial vehicle to utilize the sensing data of the central unmanned aerial vehicle and each slave unmanned aerial vehicle, in an optional embodiment of the present invention, the central unmanned aerial vehicle may fuse the sensing data of the central unmanned aerial vehicle with the sensing data sent by each slave unmanned aerial vehicle to the central unmanned aerial vehicle.
In an alternative embodiment of the invention, for each slave drone, the slave drone has a communication capacity with the central drone that is greater than or equal to the rate at which the slave drone generates the perception data. It can also be understood as a condition for the central drone to successfully fuse the perception data of the slave drone.
In the embodiment of the present invention, the communication mode between the central unmanned aerial vehicle and the slave unmanned aerial vehicles is a TDMA mode, and in order to ensure the communication fairness of all the unmanned aerial vehicles, an embodiment of the present invention provides a schematic time slot allocation diagram, as shown in fig. 4.
τcmax_iIndicating the length of the communication slot of the slave drone i, e.g. τcmax_1、τcmax_2And M slave drones communicateAll gap lengths are taucmaxRemoving of taucmax_1、τcmax_2The total communication time slot length of other M-2 slave unmanned aerial vehicles is (M-2) taucmax。τdet_iFor sensing duration of unmanned aerial vehicle, e.g. taudet_1、τdet_2All sensing time lengths of M +1 unmanned aerial vehicles (including a central unmanned aerial vehicle and M slave unmanned aerial vehicles) are taudet. With SUiPerceptual data fusion process with CU, at τ, for examplecmax_iIn the communication time slot, the unmanned aerial vehicle SUiShould finish before τdetTransmitting the sensed data sensed in the sensing time to a central unmanned aerial vehicle; otherwise, exceed taucmax_iAfter a long time, SUiCommunication with CU will be with SUi+1Conflict with the communication process of the CU. Therefore, when SUiAt τcmax_iThe channel, SU, will be released after completion of the communication time sloti+1Waiting for an access slot τcmax_(i+1)And (4) repeating the steps in a cycle. When SUiAt τcmax_iT after completion of the time slotdet-τcmaxDuration, will go back intocmax_iA time slot. Obviously, in the situation of ensuring the fairness of unmanned aerial vehicle communication, tau existscmax≤(τdetand/M) is true.
Based on the assumption of the successful condition of perceptual data fusion, the following conclusions can be drawn: the successful condition of perception data fusion between SU and CU is the generation rate of perception data of a single unmanned aerial vehicle, wherein the communication capacity between each slave unmanned aerial vehicle and the central unmanned aerial vehicle is greater than or equal to M times. The derivation is as follows: in case of need to satisfy perceptual timeliness, τdetIs a very small value, therefore τcmaxAlso of a small value, so that SU can be assumediAt taucmaxThe relative position with the central unmanned aerial vehicle in the time slot is almost unchanged, and SU is setiThe Euclidean distance from CU is xiThen, in the unmanned aerial vehicle group environment, SUiCommunication capacity T with CUcCan be expressed as xiFunction of correlation Tc(xi). The rate of generation of perception data of a single drone is VdataAt τdetThe amount of sensed data in time is Vdata×τdetFrom SUiThe perception data fusion time between the system and the CU is less than the maximum communication time length taucmaxThen, there are:
therefore, SUiThe condition for successful fusion of the perception data with the CU is as follows:
Tc(xi)≥M×Vdata(1.3)
considering that the farther the distance between the transmitting and receiving nodes of wireless communication is, the smaller the communication capacity is, xiShould satisfy the upper limit value of perception data fusion success condition, note this value as xQ. Therefore, the cooperative sensing system of the unmanned aerial vehicle cluster can ensure that all the SUs meet the condition of successful sensing data fusion, so that all the SUsiShould be deployed around the center of CU and xQWithin a circle of radius. This circular area is called the maximum cooperation area, this radius xQReferred to as the maximum synergy radius. It is reasonably assumed that M SUs are uniformly distributed in two dimensions in the maximum cooperation area, that is, the positions of M +1 drones at different times are independently and uniformly distributed in two dimensions.
Each slave unmanned aerial vehicle is positioned by taking the central unmanned aerial vehicle as the circle center and taking the maximum cooperative radius xQIs inside a circle of radius;
wherein,
βRfor sensing the power division ratio, P is the total available power, gcFor communication beam gain, Q-1Is Q (p)1,p2) With respect to p2Inverse function of the parameter, Q (p)1,p2) Is a first-order Marcum Q function, B is the bandwidth, M is the number of slave unmanned aerial vehicles, N is the communication noise power, epsilon is the interrupt probability threshold, α is the path loss coefficient, K is the Rice factor, VdataTo sense the rate of generation of data.
In the embodiment of the invention, the coherent fusion receiving multi-pulse receiver is adoptedMaximum perceived distance R of the known patternmaxI.e. Rmax(βR) Comprises the following steps:
wherein, βRFor sensing the power division ratio, P is the total available power, Gt，GrRespectively sensing beam transmitting gain and sensing beam receiving gain, c is light speed, f is carrier frequency, sigma is sensing reflection sectional area, npTo sense the number of pulse repetitions, (SNR)minFor the minimum value of the perceived received signal-to-noise ratio, k is the boltzmann constant whose value is: 1.38X 1023Joule/kelvin. T is0Is 290 Kelvin, FnIs the receiver noise figure, B is the bandwidth, LsEnergy loss in the transmitter, receiver and propagation process.
Perception radius R of each unmanned aerial vehicle on perception planedComprises the following steps:
where u (x) is a unit step function, and when x >0, u (x) is 1, otherwise u (x) is 0.
Suppose an SU that is performing perceptual data fusion with a CUiDistance R to CUiBetween two drones, i.e. SUiThe perceptual overlap area to the CU will be:
easily obtain the cooperative sensing area between two unmanned aerial vehicles, namely the union S of the sensing areas of the two unmanned aerial vehiclesu1I.e. Su1(Ri)：
Su1(Ri)＝2S(Rd)-Sol(Ri) (1.7)
Wherein,
the sensing area of each unmanned plane on the sensed plane is obtained. Calculating Su1With respect to RiAs expected as SUiAnd (5) cooperatively sensing the performance index with the CU. According to the configuration that the M SU unmanned aerial vehicles satisfy two-dimensional uniform distribution,
and the maximum value of the distance SU from CU should be xQ。
The closed-form solution of the above formula is:
wherein,
the unmanned aerial vehicle group cooperative sensing system consists of M SU and one CU. The mathematical expectation considering the union of M uniformly randomly distributed circular sensing areas is not a closed-form solution and is very difficult to apply. The upper bound of the cooperative sensing area of the M SU and the CU which can obtain the closed solution is used as the sensing cooperative sensing performance index of the unmanned aerial vehicle group cooperative sensing system. The method for solving the upper bound is as follows: only the area intersection of each SU and CU is considered for subtraction when computing the union of the perceived areas of M SUs and CUs.
Wherein R is a vector (R)1,R2,...,RM)，RiIs SUiDistance to CU.
Considering that the farthest target position which can be cooperatively sensed by the whole unmanned aerial vehicle group cooperative sensing system is located at a distance CU of
The position of (a). UAV as in FIG. 24As shown. Therefore, it is easy to know that the maximum cooperative sensing area of the unmanned aerial vehicle group cooperative sensing system is as follows:
therefore, by combining the above solutions, the perception collaborative perception performance index of the unmanned aerial vehicle group collaborative perception system
Comprises the following steps:
and the communication capacity of the unmanned aerial vehicle group cooperative sensing system is used as a communication performance index of the unmanned aerial vehicle group cooperative sensing system. Firstly, a communication channel model is established, and a communication link model between unmanned aerial vehicles is a Rice channel model. The transmission power of the communication beam of the unmanned aerial vehicle is PcThe power of the expected signal received by the unmanned aerial vehicle is P0＝Pcgchcx0 -αWherein g isc＝gtc×grcI.e. the product of the transmit beam gain and the receive beam gain, wherein the beam gain can be found by equation (1.1). h iscWhich is the rice fading factor, follows a rice distribution as follows.
Wherein K is the Rice factor,
is the multipath reflected power 2 sigma2And v2And power, here normalized to 1,
is hcIs a function of the probability density of (d), w is a value representing hcThe temporary variable symbol used for the probability density function value of (1) is a common means for probability theory representation.
And calculating the interrupt capacity cooperatively sensed by the unmanned aerial vehicle group as a communication performance index. Probability of interruption
Can be expressed as:
the solution of equation (1.14) is:
wherein, Q (p)1,p2) Is a first order Marcum Q function, x0The distance from the SU performing communication transmission to the CU is defined as γ, which is a communication interruption threshold, i.e. when the Signal to Interference plus noise ratio (SINR) is greater than or equal to γ, it is called successful transmission; otherwise, it is called transmission interruption.
The interrupt capacity can be expressed as:
TC(x0)＝B(1-ε)log(1+γmin) (1.16)
wherein, γminTo satisfy the outage probability
A minimum communication interruption threshold value.
By combining formulae (1.14), (1.15) and (1.16), it is possible to obtain:
Q-1is Q (p)1,p2) With respect to p2The inverse function of the parameter. The maximum synergy radius x is determined by combining (1.15) and (1.16)QComprises the following steps:
the combined formulas (1.10), (1.11), (1.12) and (1.18) can calculate the cooperative sensing performance based on the unmanned aerial vehicle group cooperative sensing system.
In an optional embodiment of the present invention, in order to improve the cooperative sensing performance of the unmanned aerial vehicle group-based cooperative sensing system, for example, the average cooperative sensing area is maximized, specifically, the cooperative sensing performance is maximized
A maximum value is reached. In the embodiment of the invention, the number of slave unmanned aerial vehicles and the distribution ratio influence of the sensing power
Can make by adjusting the number of the slave unmanned aerial vehicles and the perception power distribution ratio
Reaches a maximum value and can be adjusted
The number of the slave unmanned aerial vehicles reaching the maximum value and the sensing power distribution ratio are respectively called as the optimal slave unmanned aerial vehicle number MoptAnd an optimal perceived power split ratio βroptIn the case of a liquid crystal display device, in particular,
the embodiment of the invention also carries out simulation experiments. Specifically, according to the parameters listed in table 1, the unmanned aerial vehicle group cooperates with the sensing system, and performs the sensing task through the unmanned aerial vehicle group sensing system, and fuses the sensing data obtained by each unmanned aerial vehicle.
TABLE 1
Simulation results obtained by simulation experiments are shown in fig. 5, 6 and 7, fig. 5 is a schematic diagram of a relationship between a cooperative sensing area and a sensing power distribution ratio, the abscissa in fig. 5 is the sensing power distribution ratio, the ordinate is the cooperative sensing area, fig. 5 includes theoretical results and simulation results when the number M of slave unmanned aerial vehicles is 5, 25, 45 and 65, respectively, fig. 6 is a schematic diagram of a relationship between the cooperative sensing area and the number of slave unmanned aerial vehicles, the abscissa in fig. 6 is the number of slave unmanned aerial vehicles, the ordinate is the cooperative sensing area, fig. 6 includes the sensing power distribution ratio βRTheoretical values and simulated values of 0.25, 0.5, 0.75, 0.95, respectively; fig. 7 is a schematic diagram of a relationship between the cooperative sensing area and the number and sensing power distribution ratio of the slave drones.
According to simulation experiments, the performance of the unmanned aerial vehicle group cooperative sensing system in the embodiment of the invention is changed along with the number of the slave unmanned aerial vehicles and the sensing power distribution ratio, so that the unmanned aerial vehicle group sensing system can realize different sensing performances by adjusting the number of the slave unmanned aerial vehicles and the sensing power distribution ratio, and the sensing performance of the unmanned aerial vehicle group sensing system is the best by adjusting the number of the optimal slave unmanned aerial vehicles and the optimal sensing power distribution ratio.
The communication and perception integrated unmanned aerial vehicle cluster cooperative perception system based on the multi-beam has the advantages of sharing hardware equipment, radio frequency links and frequency spectrum resources. The shared hardware equipment provides great convenience for equipment miniaturization, the spectrum utilization rate can be greatly improved by sharing spectrum resources with the sensing system and the communication system, and the shared radio-frequency antenna port, the data link, the radio-frequency processor and the data memory can support equal voltage magnitude order processing of communication signals and sensing signals.
The transmitted signal of the independent sensing system is often up to several hundred watts or even kilowatts in power and the out-of-band spurs can be on the order of watts. However, the received signal power of a stand-alone communication system is typically only on the order of milliwatts. The independent communication systems tend to be strongly interfered by the independent sensing systems. In the embodiment of the invention, the communication and perception are integrated, so that the interference of the difference between the powers on the communication system is avoided, and the communication performance in the unmanned aerial vehicle group cooperative perception system is improved.
The embodiment of the present invention further provides a method for cooperative sensing of an unmanned aerial vehicle cluster, as shown in fig. 8, the method may include:
and S801, the central unmanned aerial vehicle broadcasts handshake initiation frames through communication beams of the central unmanned aerial vehicle.
The handshake initiating frame comprises communication time slots distributed to all the slave unmanned aerial vehicles and search motion direction information; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system.
S802, aiming at each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives a broadcast handshake initiating frame through a communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain the distributed communication time slot and the search motion direction information of the slave unmanned aerial vehicle.
And S803, the slave unmanned aerial vehicle moves according to the search motion direction information and senses through the sensing beam of the slave unmanned aerial vehicle to obtain sensing data.
And S804, sending the obtained sensing data to the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle.
In the embodiment of the invention, independent equipment does not need to be respectively deployed for the sensing process and the communication process of transmitting sensing data, the unmanned aerial vehicle in the unmanned aerial vehicle cluster cooperative sensing system realizes the sensing process through the sensing beam and the communication process through the communication beam, and each slave unmanned aerial vehicle interacts with the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle, so that the spectrum resources can be shared in the unmanned aerial vehicle cluster cooperative sensing system, and the utilization rate of the spectrum resources is improved.
Optionally, after sending the obtained sensing data to the central drone in the communication time slot corresponding to the slave drone, the method further includes:
the central unmanned aerial vehicle fuses the perception data of the central unmanned aerial vehicle and the perception data sent to the central unmanned aerial vehicle by each slave unmanned aerial vehicle.
Optionally, before the slave unmanned aerial vehicle moves according to the search movement direction information and performs sensing through the sensing beam of the slave unmanned aerial vehicle to obtain sensing data, the method further includes:
receiving a broadcast ending mark frame sent by a central unmanned aerial vehicle;
this subordinate unmanned aerial vehicle moves according to searching direction of motion information to perception is carried out through this subordinate unmanned aerial vehicle's perception wave beam, obtains the perception data, includes:
after receiving the broadcast end mark frame, the slave unmanned aerial vehicle moves according to the search motion direction information and senses through the sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data.
Optionally, before sending the obtained sensing data to the central drone in the communication time slot corresponding to the slave drone, the method further includes:
the slave unmanned aerial vehicle adds the position information and the motion direction information corresponding to the slave unmanned aerial vehicle to the sensing data to obtain additional data;
will obtain perception data transmission to central unmanned aerial vehicle in the communication time slot that this subordinate unmanned aerial vehicle corresponds, include:
and sending the obtained additional data to the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle.
Corresponding to the cooperative sensing method for the unmanned aerial vehicle cluster provided in the foregoing embodiment, an embodiment of the present invention further provides a cooperative sensing apparatus for an unmanned aerial vehicle cluster, as shown in fig. 9, which may include:
the central drone comprises a broadcast module 901.
The subordinate unmanned aerial vehicle includes: a first receiving module 902, a parsing module 903, a sensing module 904, and a sending module 905.
A broadcasting module 901, configured to broadcast a handshake initiation frame through a communication beam of a central drone, where the handshake initiation frame includes communication time slots allocated to each slave drone and search motion direction information; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system;
for each slave drone, a first receiving module 902 for receiving a broadcast handshake initiation frame over a communication beam of the slave drone;
the analysis module 903 is configured to analyze the broadcast handshake initiation frame to obtain a communication time slot allocated to the slave unmanned aerial vehicle and search motion direction information;
the sensing module 904 is configured to move according to the search motion direction information and sense through a sensing beam of the slave unmanned aerial vehicle to obtain sensing data;
a sending module 905, configured to send the obtained sensing data to the central drone in the communication time slot corresponding to the slave drone.
In the embodiment of the invention, independent equipment does not need to be respectively deployed for the sensing process and the communication process of transmitting sensing data, the unmanned aerial vehicle in the unmanned aerial vehicle cluster cooperative sensing system realizes the sensing process through the sensing beam and the communication process through the communication beam, and each slave unmanned aerial vehicle interacts with the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle, so that the spectrum resources can be shared in the unmanned aerial vehicle cluster cooperative sensing system, and the utilization rate of the spectrum resources is improved.
Optionally, the central unmanned aerial vehicle further includes a fusion module for fusing the sensing data of the central unmanned aerial vehicle with the sensing data sent by each slave unmanned aerial vehicle to the central unmanned aerial vehicle.
Optionally, the slave drone in the apparatus further comprises:
the second receiving module is used for receiving a broadcast ending mark frame sent by the central unmanned aerial vehicle;
the sensing module 904 is specifically configured to, after receiving the broadcast end flag frame, move according to the search movement direction information, and sense through a sensing beam of the slave unmanned aerial vehicle to obtain sensing data.
Optionally, the slave drone in the apparatus further comprises: the additional module is used for adding the position information and the motion direction information corresponding to the subordinate unmanned aerial vehicle into the perception data to obtain additional data;
the sending module 905 is specifically configured to send the obtained additional data to the central drone in the communication time slot corresponding to the slave drone.
The embodiment of the present invention further provides an electronic device, as shown in fig. 10, including a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, where the processor 1001, the communication interface 1002 and the memory 1003 complete mutual communication through the communication bus 1004.
A memory 1003 for storing a computer program;
the processor 1001 is configured to implement the method steps of the above-described unmanned aerial vehicle group cooperative sensing method when executing the program stored in the memory 1003.
In the embodiment of the invention, independent equipment does not need to be respectively deployed for the sensing process and the communication process of transmitting sensing data, the unmanned aerial vehicle in the unmanned aerial vehicle cluster cooperative sensing system realizes the sensing process through the sensing beam and the communication process through the communication beam, and each slave unmanned aerial vehicle interacts with the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle, so that the spectrum resources can be shared in the unmanned aerial vehicle cluster cooperative sensing system, and the utilization rate of the spectrum resources is improved.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
Corresponding to the above embodiments, the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program is executed by a processor to perform the method steps of the above unmanned aerial vehicle group cooperative sensing method.
In the embodiment of the invention, independent equipment does not need to be respectively deployed for the sensing process and the communication process of transmitting sensing data, the unmanned aerial vehicle in the unmanned aerial vehicle cluster cooperative sensing system realizes the sensing process through the sensing beam and the communication process through the communication beam, and each slave unmanned aerial vehicle interacts with the central unmanned aerial vehicle in the communication time slot corresponding to the slave unmanned aerial vehicle, so that the spectrum resources can be shared in the unmanned aerial vehicle cluster cooperative sensing system, and the utilization rate of the spectrum resources is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle cluster cooperative sensing system, the system comprising:
a central drone and a plurality of slave drones; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system; the central unmanned aerial vehicle is determined according to the referral information by interacting the referral information of each unmanned aerial vehicle in the unmanned aerial vehicle group cooperative sensing system, and the referral information comprises identification information, available computing resource information, position information and motion state information;
each slave unmanned aerial vehicle is positioned by taking the central unmanned aerial vehicle as a circle center and taking the maximum cooperative radius xQIs inside a circle of radius;
wherein,
βRfor sensing the power division ratio, P is the total available power, gcFor communication beam gain, Q-1Is Q (p)1,p2) With respect to p2Inverse function of the parameter, Q (p)1,p2) Is a first-order Marcum Q function, B is the bandwidth, M is the number of slave unmanned aerial vehicles, N is the communication noise power, epsilon is the interrupt probability threshold, α is the path loss coefficient, K is the Rice factor, VdataA rate of generation of the perception data;
the central unmanned aerial vehicle broadcasts a handshake initiating frame through a communication beam of the central unmanned aerial vehicle, wherein the handshake initiating frame comprises communication time slots distributed by each slave unmanned aerial vehicle and search motion direction information;
for each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives the broadcast handshake initiating frame through the communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain the distributed communication time slot and the search motion direction information of the slave unmanned aerial vehicle; the slave unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data; the communication beam and the sensing beam are orthogonal to each other, wherein,
g is the beam gain, g is the communication beam gain gcOr perceived beam gain grΔ θ is the horizontal beam width of the beam, Δ θ is the horizontal beam width θ of the communication beamchOr the horizontal beam width theta of the sensing beamrhWhere Δ φ is a vertical beam width of a beam, Δ φ is a vertical beam width of said communication beam φcvOr the vertical beam width phi of the sensing beamrv(ii) a And sending the obtained sensing data to the central unmanned aerial vehicle in a communication time slot corresponding to the slave unmanned aerial vehicle.
2. The system according to claim 1, wherein each drone in the drone swarm cooperative sensing system broadcasts referral information corresponding to the drone, the referral information including identification information, available computing resource information, location information, and motion state information corresponding to the drone; the unmanned aerial vehicle in the unmanned aerial vehicle group cooperative perception system comprises the central unmanned aerial vehicle and the plurality of slave unmanned aerial vehicles.
3. The system of claim 1, wherein for each slave drone, the slave drone has a communication capacity with the central drone that is greater than or equal to the rate at which the slave drone generates the perception data.
4. The system of claim 1, wherein the central drone fuses the central drone's perception data with the perception data sent to the central drone by each slave drone.
5. The system of claim 1, wherein for each drone in the drone swarm cooperative awareness system, the antenna array of that drone generates mutually orthogonal communication and awareness beams through beamforming techniques.
6. A cooperative sensing method for an unmanned aerial vehicle cluster is characterized by comprising the following steps:
the central unmanned aerial vehicle broadcasts a handshake initiating frame through a communication beam of the central unmanned aerial vehicle, wherein the handshake initiating frame comprises communication time slots distributed by each slave unmanned aerial vehicle and search motion direction information; the central unmanned aerial vehicle is the unmanned aerial vehicle with the richest available computing resources in the unmanned aerial vehicle group cooperative sensing system; the central unmanned aerial vehicle is determined according to the referral information by interacting the referral information of each unmanned aerial vehicle in the unmanned aerial vehicle group cooperative sensing system, and the referral information comprises identification information, available computing resource information, position information and motion state information;
each slave unmanned aerial vehicle is positioned by taking the central unmanned aerial vehicle as a circle center and taking the maximum cooperative radius xQIs inside a circle of radius;
wherein,
βRfor sensing the power division ratio, P is the total available power, gcFor communication beam gain, Q-1Is Q (p)1,p2) With respect to p2Inverse function of the parameter, Q (p)1,p2) Is a first-order Marcum Q function, B is the bandwidth, M is the number of slave unmanned aerial vehicles, and N is the communication noisePower, ε is the outage probability threshold, α is the path loss coefficient, K is the Rice factor, VdataA rate of generation of the perception data;
for each slave unmanned aerial vehicle, the slave unmanned aerial vehicle receives the broadcast handshake initiating frame through the communication beam of the slave unmanned aerial vehicle and analyzes the broadcast handshake initiating frame to obtain the distributed communication time slot and the search motion direction information of the slave unmanned aerial vehicle; the slave unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing wave beam of the slave unmanned aerial vehicle to obtain sensing data; the communication beam and the sensing beam are orthogonal to each other, wherein,
g is the beam gain, g is the communication beam gain gcOr perceived beam gain grΔ θ is the horizontal beam width of the beam, Δ θ is the horizontal beam width θ of the communication beamchOr the horizontal beam width theta of the sensing beamrhWhere Δ φ is a vertical beam width of a beam, Δ φ is a vertical beam width of said communication beam φcvOr the vertical beam width phi of the sensing beamrv(ii) a And sending the obtained sensing data to the central unmanned aerial vehicle in a communication time slot corresponding to the slave unmanned aerial vehicle.
7. The method of claim 6, wherein after sending the perception data obtained during the communication time slot corresponding to the slave drone to the central drone, the method further comprises:
the central unmanned aerial vehicle fuses perception data of the central unmanned aerial vehicle and perception data sent to the central unmanned aerial vehicle by each slave unmanned aerial vehicle.
8. The method of claim 7, wherein before the slave drone moves according to the search direction of motion information and is perceived through the slave drone's perceived beam to obtain perception data, the method further comprises:
receiving a broadcast end mark frame sent by the central unmanned aerial vehicle;
the subordinate unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing beam of the subordinate unmanned aerial vehicle to obtain sensing data, and the method comprises the following steps:
and after receiving the broadcast end mark frame, the slave unmanned aerial vehicle moves according to the search motion direction information and senses through a sensing beam of the slave unmanned aerial vehicle to obtain sensing data.
9. The method of claim 6, wherein before sending the obtained perception data to the central drone during the communication time slot corresponding to the slave drone, the method further comprises:
the slave unmanned aerial vehicle adds the position information and the motion direction information corresponding to the slave unmanned aerial vehicle to the perception data to obtain additional data;
the perception data that will obtain in the communication time slot that this subordinate unmanned aerial vehicle corresponds send to central unmanned aerial vehicle includes:
and sending the obtained additional data to the central unmanned aerial vehicle in a communication time slot corresponding to the slave unmanned aerial vehicle.
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