CN112039574B - Method and system for quickly reconstructing unmanned aerial vehicle cooperative relay network under communication interference - Google Patents

Method and system for quickly reconstructing unmanned aerial vehicle cooperative relay network under communication interference Download PDF

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CN112039574B
CN112039574B CN202010521529.3A CN202010521529A CN112039574B CN 112039574 B CN112039574 B CN 112039574B CN 202010521529 A CN202010521529 A CN 202010521529A CN 112039574 B CN112039574 B CN 112039574B
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aerial vehicle
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王国强
罗贺
余本功
胡笑旋
唐奕城
靳鹏
马华伟
夏维
朱默宁
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Hefei University of Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
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    • H04B7/14—Relay systems
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    • H04B7/18502—Airborne stations
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
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    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/28—Routing or path finding of packets in data switching networks using route fault recovery

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Abstract

The invention provides a communication trunkAn unmanned aerial vehicle cooperative relay network rapid reconstruction method and system under disturbance. The invention is based on a relay network T before communication interference, a weighted undirected graph G before communication interference and a communication link set E with interruption fault in the relay network T‑(ii) a Calculating out communication link E without interruption faultrA 1 is mixing E‑Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyThen, the weighted undirected graph G is reducedyIn (E)rSo as to be able to use the original relay node in the reconstructed relay network as much as possible, and simultaneously based on the undirected graph G after weight reductionrAnd re-acquiring n shortest paths which do not contain repeated arrangement points, combining the selected n shortest paths to obtain a reconstructed relay network, and taking the available unmanned aerial vehicle corresponding to each relay arrangement point as a relay unmanned aerial vehicle to realize the rapid reconstruction of the relay network after the relay network is interfered by communication.

Description

Method and system for quickly reconstructing unmanned aerial vehicle cooperative relay network under communication interference
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference.
Background
In order to meet the requirement of information war, under the countermeasure environment of battlefield, it is necessary to use unmanned aerial vehicle as relay node, and construct effective relay network between source node s and target node t.
Aviation bulletin, 2017,38(11):236-, and finally, the time spent on constructing the relay network is reduced by preferentially meeting the arrangement points which are difficult to reach through a greedy strategy, and the relay network T is obtained. On the premise of communication, the aims of minimizing the number of unmanned aerial vehicles used in the construction of the relay network and shortening the construction time as much as possible are fulfilled.
However, the above method does not consider how to quickly reconfigure the relay network when one or more communication links are interrupted due to communication interference after the relay network is constructed.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a method and a system for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference, and solves the technical problem of how to quickly reconstruct the relay network when a communication link is interrupted after the relay network is constructed.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference comprises the following steps:
s1, source node S, target node t and receiver for acquiring relayRelay network before communication interference T ═ (V)*,E*,W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1,…,ui,…,ukInitial positions of all available drones
Figure BDA0002532326910000021
S2, mixing E-Deleting the edge in the relay network from the weighted undirected graph G before the communication interference, obtaining a new weighted undirected graph G, and obtaining a communication link E without interruption fault in the relay network Tr＝E*-E-；
S3, reducing weighting undirected graph GyIn (E)rTo obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; and combining the selected n shortest paths to obtain the reconstructed relay network.
Further, the step S4 is based on the undirected graph G after weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; the step of combining the selected n shortest paths to obtain the reconstructed relay network specifically includes:
l1 weighted undirected graph G based on S3rObtaining the set of all shortest paths from source node s to destination node t, P ═ P1,…,pi,…,pn}; where n denotes the total number of shortest paths, piIt represents the ith shortest path,
Figure BDA0002532326910000031
Figure BDA0002532326910000032
represents the jth alternative placement point in the ith shortest path, m represents the shortest path piThe number of alternative placement points in;
l2 set P ═ P from all shortest paths1,…,pi,…,pnScreening a shortest path as a preferred shortest path, preferably selecting alternative arrangement points in the shortest path as preferred arrangement points, and screening available unmanned aerial vehicles corresponding to the preferred arrangement points one by one from all available unmanned aerial vehicles as preferred unmanned aerial vehicles;
l3, set P of all shortest paths ═ P1,…,pi,…,pnDeleting the shortest paths containing the optimal arrangement points from the P to obtain an updated set P 'of all shortest paths, and deleting the optimal unmanned aerial vehicle from the available unmanned aerial vehicle set U to obtain an updated unmanned aerial vehicle set U';
l4, repeatedly executing L2-L3 based on the updated set P 'of all shortest paths and the updated set U' of the unmanned aerial vehicles until the nth preferred shortest path is screened out;
and L5, taking all the optimized shortest paths as a relay network, taking the corresponding optimized arrangement points as relay arrangement points, optimizing the unmanned aerial vehicle as a relay unmanned aerial vehicle, and screening out the maximum value of the flight time of all the relay unmanned aerial vehicles as the time length required for constructing the relay network.
Further, the calculation formula of the number n of shortest paths required by the relay network is as follows:
n＝ceil(ftotal/fUAV)
wherein f istotalFor traffic demand to be relayed, fUAVThe maximum relay traffic for the drone.
Further, the L2 sets P ═ P from all shortest paths1,…,pi,…,pnSifting out a shortest path as a preferred shortest path, and selecting alternative arrangement points in the preferred shortest path as preferred arrangement pointsPut some to screening out from all available unmanned aerial vehicles and arranging some available unmanned aerial vehicles of one-to-one with preferred, including as preferred unmanned aerial vehicle:
l201, for shortest path piAlternative arrangement points in
Figure BDA0002532326910000041
Calculating all available unmanned aerial vehicles to reach alternative arrangement points from initial positions
Figure BDA0002532326910000042
Time of flight set
Figure BDA0002532326910000043
And obtain
Figure BDA0002532326910000044
Minimum value of (1);
l202, repeatedly executing L201 until obtaining the shortest path piScreening the maximum value from the minimum value sets corresponding to all the alternative arrangement points, determining the alternative arrangement point corresponding to the maximum value and the available unmanned aerial vehicle, and enabling the alternative arrangement point to be the shortest path piDeleting the available unmanned aerial vehicle from all available unmanned aerial vehicles;
l203, repeatedly executing L201-L202 until the shortest path piAll the alternative arrangement points are distributed with one available unmanned aerial vehicle to obtain the shortest path piCorresponding unmanned aerial vehicle selection scheme
Figure BDA0002532326910000045
And acquiring the maximum flight time corresponding to the unmanned aerial vehicle in the unmanned aerial vehicle selection scheme
Figure BDA0002532326910000046
As the shortest path piThe network construction duration of (1);
l204, enabling the available unmanned aerial vehicle set U to be returned to the available unmanned aerial vehicle set U' after all the preferred unmanned aerial vehicles are deleted for the last time;
l205, repeatedly executing L201-L204 untilObtaining the network construction time of all shortest paths; and taking the shortest path with the minimum network construction time as an optimal shortest path, taking an alternative arrangement point in the optimal shortest path as an optimal arrangement point, and taking an unmanned aerial vehicle selection scheme corresponding to the optimal shortest path
Figure BDA0002532326910000047
As a preferred drone, may be used.
Further, in the L201, all available drones are calculated to reach the alternative arrangement point from the initial position
Figure BDA0002532326910000051
Includes:
if it satisfies
Figure BDA0002532326910000052
And is
Figure BDA0002532326910000053
Namely the initial position of the available unmanned aerial vehicle
Figure BDA0002532326910000054
To alternative points of arrangement
Figure BDA0002532326910000055
There is a line-of-sight path in between, then
Figure BDA0002532326910000056
Wherein,
Figure BDA0002532326910000057
to be driven from
Figure BDA0002532326910000058
To
Figure BDA0002532326910000059
The Euclidean distance of (a) is,
Figure BDA00025323269100000510
to represent
Figure BDA00025323269100000511
To
Figure BDA00025323269100000512
V is the flight speed of the unmanned aerial vehicle; z 'is a discretized enemy air defense threat coverage area, and Y' is a discretized terrain obstacle coverage area;
if not satisfied with
Figure BDA00025323269100000513
And is
Figure BDA00025323269100000514
Namely the initial position of the available unmanned aerial vehicle
Figure BDA00025323269100000515
To alternative points of arrangement
Figure BDA00025323269100000516
If no sight line path exists between the unmanned aerial vehicle and the unmanned aerial vehicle, calculating the initial position of the available unmanned aerial vehicle by using Floyd algorithm
Figure BDA00025323269100000517
To alternative points of arrangement
Figure BDA00025323269100000518
The shortest arrival time of the unmanned aerial vehicle is taken as the flight time of the unmanned aerial vehicle
Figure BDA00025323269100000519
Further, the reduced weighting undirected graph G belongs to ErTo obtain a new weighted undirected graph GrThe method specifically comprises the following steps: the weight is reduced from 1 to 0.9.
Further, the weighted undirected graph G obtained based on S3 in the L1rAnd acquiring all shortest paths from the source node s to the target node t by adopting a multiple shortest path algorithm improved based on a Dijkstra algorithm.
An unmanned aerial vehicle cooperative relay network rapid reconstruction system under communication interference, the system comprises a computer, and the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, source node S and target node T for acquiring relay, and relay network T before communication interference (V ═ V)*,E*,W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1,…,ui,…,ukInitial positions of all available drones
Figure BDA0002532326910000061
S2, mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyObtaining the communication link E without interruption fault in the relay network Tr＝E*-E-；
S3, reducing weighting undirected graph GyIn (E)rTo obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; and combining the selected n shortest paths to obtain the reconstructed relay network.
(III) advantageous effects
The invention provides a method and a system for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference. Compared with the prior art, the method has the following beneficial effects:
the invention is based on a relay network T ═ V (V) before communication interference*,E*,W*) Weighted undirected graph G ═ V, E, W before communication interference occurs, and communication link set E in which interruption failure occurs in relay network T-(ii) a Calculating out communication link E without interruption faultrA 1 is mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyThen, the weighted undirected graph G is reducedyIn (E)rSo as to be able to use the original relay node in the reconstructed relay network as much as possible, and simultaneously based on the undirected graph G after weight reductionrAnd re-acquiring n shortest paths which do not contain repeated arrangement points, combining the selected n shortest paths to obtain a reconstructed relay network, and taking the available unmanned aerial vehicle corresponding to each relay arrangement point as a relay unmanned aerial vehicle to realize the rapid reconstruction of the relay network after the relay network is interfered by communication.
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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 flow chart of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but 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.
The embodiment of the application provides a method and a system for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference, so that how to quickly reconstruct the relay network when a communication link is interrupted is solved, and the quick reconstruction of the relay network is realized.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
based on relay network before communication interference T ═ (V)*,E*,W*) Weighted undirected graph G ═ V, E, W before communication interference occurs, and communication link set E in which interruption failure occurs in relay network T-(ii) a Calculating out communication link E without interruption faultrA 1 is mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyThen, the weighted undirected graph G is reducedyIn (E)rSo as to be able to use the original relay node in the reconstructed relay network as much as possible, and simultaneously based on the undirected graph G after weight reductionrAnd re-acquiring n shortest paths which do not contain repeated arrangement points, combining the selected n shortest paths to obtain a reconstructed relay network, and taking the available unmanned aerial vehicle corresponding to each relay arrangement point as a relay unmanned aerial vehicle to realize the rapid reconstruction of the relay network after the relay network is interfered by communication.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
as shown in fig. 1, the present invention provides a method for fast reconstructing an unmanned aerial vehicle cooperative relay network under communication interference, where the method is executed by a computer and includes steps S1-S4:
s1, source node S and target node T for acquiring relay, and relay network T before communication interference (V ═ V)*,E*,W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1,…,ui,…,ukInitial positions of all available drones
Figure BDA0002532326910000081
S2, mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyObtaining the communication link E without interruption fault in the relay network Tr＝E*-E-；
S3, reducing weighting undirected graph GyIn (E)rTo obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; and combining the selected n shortest paths to obtain the reconstructed relay network.
The embodiment of the invention has the beneficial effects that:
based on relay network before communication interference T ═ (V)*,E*,W*) Weighted undirected graph G ═ V, E, W before communication interference occurs, and communication link set E in which interruption failure occurs in relay network T-(ii) a Calculating out communication link E without interruption faultrA 1 is mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyThen, the weighted undirected graph G is reducedyIn (E)rSo as to be able to use the original relay node in the reconstructed relay network as much as possible, and simultaneously based on the undirected graph G after weight reductionrAnd re-acquiring n shortest paths which do not contain repeated arrangement points, combining the selected n shortest paths to obtain a reconstructed relay network, and taking the available unmanned aerial vehicle corresponding to each relay arrangement point as a relay unmanned aerial vehicle to realize the rapid reconstruction of the relay network after the relay network is interfered by communication.
The following describes the implementation process of the embodiment of the present invention in detail:
s1, source node S and target node for acquiring relayT, relay network T before communication interference (V)*,E*,W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1,…,ui,…,ukInitial positions of all available drones
Figure BDA0002532326910000091
Figure BDA0002532326910000092
Representing the initial position of the ith drone in drone set U.
Specifically, when a relay network before communication interference is constructed, the relay network before communication interference can be constructed according to an algorithm in a relay node arrangement problem modeling and optimizing method based on multiple unmanned aerial vehicles in the background art, and since the method can only obtain one shortest path each time, in order to make the relay network before communication interference T ═ (V ═ V)*,E*,W*) To meet the traffic demand, those skilled in the art only need to repeat the execution n times to make the relay network T ═ V (before being interfered by communication)*,E*,W*) The calculation formula of the number n of the shortest paths required by the relay network comprises n non-overlapping shortest paths as follows:
n＝ceil(ftotal/fUAV)
wherein f istotalFor traffic demand to be relayed, fUAVThe maximum relay traffic for the drone.
By doing so, the relay network T ═ (V) meeting the traffic demand can be obtained by the existing method*,E*,W*) And data such as (V, E, W) weighted undirected graph G before communication interference;
s2, mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyI.e. E-E-Due to interrupted communicationIf the link is unavailable, the edge corresponding to the communication link needs to be deleted from the relay network T to obtain the communication link E without interruption failure in the relay network Tr(ii) a And the calculation formula is as follows: er＝E*-E-。
S3, since not all communication links in the relay network T are interrupted, other communication links can be used continuously, and in order to utilize the communication links that are not interfered as much as possible, the weighted undirected graph G is reducedyIn (E)rThe weight of the edge of (1) is specifically: reducing the weight value from 1 to 0.9 to obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; combining the selected n shortest paths to obtain a reconstructed relay network;
in order to minimize the number of unmanned aerial vehicles used by the reconstructed relay network, minimize the time spent on reconstructing the relay network, and meet the traffic demand, the steps L1-L5 may be adopted:
l1 weighted undirected graph G based on S3rObtaining the set of all shortest paths from source node s to destination node t, P ═ P1,…,pi,…,pn}; where n denotes the total number of shortest paths, piIt represents the ith shortest path,
Figure BDA0002532326910000111
the corresponding feasible placement points in the shortest path are alternative placement points,
Figure BDA0002532326910000112
represents the jth alternative placement point in the ith shortest path, m represents the shortest path piThe number of alternative placement points in; all shortest path sets can be acquired by adopting the existing multiple shortest path algorithm improved based on Dijkstra algorithm; specific references may be made to: harbin university of industryReport "shortest Path problem with multiple shortest paths" in 9 months 2010, volume 42, phase 9.
L2 set P ═ P from all shortest paths1,…,pi,…,pnScreening a shortest path as a preferred shortest path, preferably selecting alternative arrangement points in the shortest path as preferred arrangement points, and screening available unmanned aerial vehicles corresponding to the preferred arrangement points one by one from all available unmanned aerial vehicles as preferred unmanned aerial vehicles; the specific steps include L201-L205.
L201, for shortest path piAlternative arrangement points in
Figure BDA0002532326910000113
Calculating all available unmanned aerial vehicles to reach alternative arrangement points from initial positions
Figure BDA0002532326910000114
Time of flight set
Figure BDA0002532326910000115
And obtain
Figure BDA0002532326910000116
Minimum value of (1);
for example, there are N available drones, for the shortest path piFirst alternative arrangement point of
Figure BDA0002532326910000117
Time of flight aggregation
Figure BDA0002532326910000118
The flight duration of all available drones flying to the first alternative arrangement point is recorded, and if N is 5,
Figure BDA0002532326910000119
the minimum value is 44s, which means that when the alternative placement point is a relay node, the most preferred available drone is the 5 th available drone, and the most preferred available drone arrives at the alternative placement from the initial positionThe time required for set-point was 44 s.
In which, to reduce the calculation
Figure BDA0002532326910000121
The difficulty and the key points of research are not lost, the unmanned aerial vehicle is assumed to have the same flight speed and the unmanned aerial vehicle dynamics characteristic is not considered, and the unmanned aerial vehicle is driven to the initial position
Figure BDA0002532326910000122
To alternative points of arrangement
Figure BDA0002532326910000123
The shortest flight path of (2) includes two cases:
1 from
Figure BDA0002532326910000124
To
Figure BDA0002532326910000125
Line-of-sight paths that do not traverse any type of obstacle and threat coverage area;
2 due to
Figure BDA0002532326910000126
To
Figure BDA0002532326910000127
Is subject to terrain obstacles or hostile air defense threats to travel into the polyline path of other feasible deployment points.
Order to
Figure BDA0002532326910000128
All available drones arrive from the initial position at the alternative deployment point
Figure BDA0002532326910000129
The specific calculation steps of the flight duration of (2) are as follows:
if it satisfies
Figure BDA00025323269100001210
And is
Figure BDA00025323269100001211
Namely the initial position of the available unmanned aerial vehicle
Figure BDA00025323269100001212
To alternative points of arrangement
Figure BDA00025323269100001213
There is a line-of-sight path in between, then
Figure BDA00025323269100001214
Wherein,
Figure BDA00025323269100001215
to be driven from
Figure BDA00025323269100001216
To
Figure BDA00025323269100001217
The Euclidean distance of (a) is,
Figure BDA00025323269100001218
to represent
Figure BDA00025323269100001219
To
Figure BDA00025323269100001220
V is the flight speed of the unmanned aerial vehicle;
if not satisfied with
Figure BDA00025323269100001221
And is
Figure BDA00025323269100001222
Namely the initial position of the available unmanned aerial vehicle
Figure BDA00025323269100001223
To alternative points of arrangement
Figure BDA00025323269100001224
If no sight line path exists between the unmanned aerial vehicle and the unmanned aerial vehicle, calculating the initial position of the available unmanned aerial vehicle by using Floyd algorithm
Figure BDA00025323269100001225
To alternative points of arrangement
Figure BDA00025323269100001226
The shortest arrival time of the unmanned aerial vehicle is taken as the flight time of the unmanned aerial vehicle
Figure BDA00025323269100001227
L202, repeatedly executing L201 until obtaining the shortest path piAnd considering that the time of constructing the relay network is determined by the last-arriving unmanned aerial vehicle, the minimum value set corresponding to all the alternative arrangement points in the relay network needs to meet the priority rule of the arrangement points which are the hardest to arrive, screening out the maximum value from the minimum value set, determining the alternative arrangement points corresponding to the maximum value and the available unmanned aerial vehicles, and obtaining the alternative arrangement points which are the hardest to arrive arrangement points, the corresponding optimal unmanned aerial vehicles and the flight time. And to take this alternative placement point from the shortest path piDeleting the available unmanned aerial vehicle from all available unmanned aerial vehicles; for the shortest path piThe unmanned aerial vehicle set U can be used for updating, and repeated selection is avoided;
l203, repeatedly executing L201-L202 until the shortest path piAll the alternative arrangement points are distributed with one available unmanned aerial vehicle to obtain the shortest path piCorresponding unmanned aerial vehicle selection scheme
Figure BDA0002532326910000131
RpiThat is, the optimal unmanned aerial vehicle corresponding to the shortest path takes into account that the time for constructing the relay network is determined by the last-arriving unmanned aerial vehicle, so that the priority rule of the arrangement point which is the most difficult to arrive needs to be satisfied, and the maximum flight time corresponding to the unmanned aerial vehicle in the unmanned aerial vehicle selection scheme is obtained
Figure BDA0002532326910000132
As the shortest path piThe network construction duration of (1);
l204, enabling the available unmanned aerial vehicle set U to be returned to the available unmanned aerial vehicle set U' after all the preferred unmanned aerial vehicles are deleted for the last time; namely, when a first relay link is determined, the initial data of the available unmanned aerial vehicle set U is returned to, and when a second relay link is determined, the initial data is returned to the available unmanned aerial vehicle set U' after all the preferred unmanned aerial vehicles are deleted for the first time, that is, the available unmanned aerial vehicle set U after the preferred unmanned aerial vehicle corresponding to the first relay link is deleted. And the like in other cases.
L205, repeatedly executing L201-L204 until the network construction duration of all shortest paths is obtained; and taking the shortest path with the minimum network construction time as an optimal shortest path, taking an alternative arrangement point in the optimal shortest path as an optimal arrangement point, and taking an unmanned aerial vehicle selection scheme corresponding to the optimal shortest path
Figure BDA0002532326910000133
As a preferred drone, may be used.
L3, set P of all shortest paths ═ P1,…,pi,…,pnDeleting the shortest paths containing the optimal arrangement points from the P to obtain an updated set P 'of all shortest paths, and deleting the optimal unmanned aerial vehicle from the available unmanned aerial vehicle set U to obtain an updated unmanned aerial vehicle set U'; the next preferred shortest path selected can be avoided to contain the selected placement point and the drone.
L4, repeatedly executing L2-L3 based on the updated set P 'of all shortest paths and the updated set U' of the unmanned aerial vehicles, namely, respectively updating P and U in L2 to P 'and U', and obtaining a preferred shortest path once per cycle until the nth preferred shortest path is screened out;
and L5, taking all the optimized shortest paths as a relay network, taking the corresponding optimized arrangement points as relay arrangement points, optimizing the unmanned aerial vehicle as a relay unmanned aerial vehicle, and screening out the maximum value of the flight time of all the relay unmanned aerial vehicles as the time length required for constructing the relay network.
In summary, compared with the prior art, the invention has the following beneficial effects:
1. the embodiment of the invention is based on a relay network before communication interference, wherein the relay network is T ═ V (V)*,E*,W*) Weighted undirected graph G ═ V, E, W before communication interference occurs, and communication link set E in which interruption failure occurs in relay network T-(ii) a Calculating out communication link E without interruption faultrA 1 is mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyThen, the weighted undirected graph G is reducedyAnd the weights of the edges belonging to the Er in the relay network are used as far as possible, n shortest paths which do not contain repeated arrangement points are obtained again based on the undirected graph Gr after the weights are reduced, the selected n shortest paths are combined to obtain the reconstructed relay network, and the available unmanned aerial vehicle corresponding to each relay arrangement point is used as a relay unmanned aerial vehicle, so that the relay network is rapidly reconstructed after being interfered by communication.
2. Calculating the number of shortest paths required by a relay network based on the maximum relay flow of the unmanned aerial vehicle and the flow demand to be relayed, acquiring a set of all shortest paths from a source node s to a target node t based on a weighted undirected graph to obtain all shortest paths meeting the requirement of using the least unmanned aerial vehicle, screening the preferred shortest paths to determine preferred arrangement points, further screening the preferred unmanned aerial vehicles to realize the determination of a first relay link, deleting the selected feasible arrangement points and available unmanned aerial vehicles to meet the uniqueness of the unmanned aerial vehicles and the arrangement points, screening the updated data again by using the same method to obtain a second relay link, repeating the steps until the number of the required shortest paths is met, combining all the obtained optimal shortest paths into the relay network, wherein the relay network comprises a plurality of relay links which do not comprise repeated arrangement points, thus, the flow demand can be satisfied.
3. Calculating all available unmanned aerial vehicles to reach the alternative arrangement point from the initial position when the ith relay link is determined
Figure BDA0002532326910000151
Time of flight set
Figure BDA0002532326910000152
And obtain
Figure BDA0002532326910000153
The above steps are repeatedly executed until the shortest path p is obtainediScreening the maximum value from the minimum value sets corresponding to all the alternative arrangement points, determining the alternative arrangement point and the available unmanned aerial vehicle corresponding to the maximum value, and obtaining the most difficult-to-reach arrangement point corresponding to the shortest path, the most optimal unmanned aerial vehicle corresponding to the shortest path and the flight time; updating the alternative arrangement points and the unmanned aerial vehicle set in the shortest path, repeatedly executing the steps, and distributing the available unmanned aerial vehicles for the next alternative arrangement point until the shortest path piAll the alternative arrangement points are distributed with one available unmanned aerial vehicle to obtain the shortest path piCorresponding unmanned aerial vehicle selection scheme
Figure BDA0002532326910000154
And acquiring the maximum flight time corresponding to the unmanned aerial vehicle in the unmanned aerial vehicle selection scheme
Figure BDA0002532326910000155
After the available unmanned aerial vehicle set U is shifted back, the steps are repeatedly executed, and the unmanned aerial vehicle selection scheme and the corresponding network construction duration of the next shortest path are determined until the network construction durations of all shortest paths are obtained; and taking the shortest path with the minimum network construction time as a relay network, wherein the shortest path corresponds to an unmanned aerial vehicle selection scheme, alternative arrangement points corresponding to the shortest path are taken as relay arrangement points, an unmanned aerial vehicle in the unmanned aerial vehicle selection scheme corresponding to the shortest path is taken as a relay unmanned aerial vehicle, and the maximum flight time of the unmanned aerial vehicle in the unmanned aerial vehicle selection scheme is the time required by the relay network construction. Compared with the algorithm in the prior art, the time required for constructing the relay network obtained by calculation is shorter, and the number of the used unmanned aerial vehicles is the same, so that the requirement of meeting the requirement of the relay network in the prior art can be metThe unmanned aerial vehicle for constructing the relay network has the minimum use number, and the shortest time for constructing the relay network is ensured.
Example 2
The invention also provides a system for quickly reconstructing the unmanned aerial vehicle cooperative relay network under the communication interference, which comprises a computer, wherein the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, source node S and target node T for acquiring relay, and relay network T before communication interference (V ═ V)*,E*,W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1,…,ui,…,uk}, initial positions x of all available dronesi0；
S2, deleting the edge in the E-from the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyThat is, E-, a communication link E in the relay network T in which no interruption failure has occurred is acquiredr＝E*-E-；
S3, reducing weighting undirected graph GyIn (E)rTo obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; and combining the selected n shortest paths to obtain the reconstructed relay network.
It can be understood that the system for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference provided in the embodiment of the present invention corresponds to the method for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference, and explanations, examples, beneficial effects, and other parts of relevant contents thereof may refer to corresponding contents in a method for quickly generating an unmanned aerial vehicle cooperative relay network under communication interference, which are not described herein again.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
In this document, 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.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (6)

1. A method for quickly reconstructing an unmanned aerial vehicle cooperative relay network under communication interference is characterized by comprising the following steps:
s1, source node S and target node T for acquiring relay, and relay network T before communication interference (V ═ V)*，E*，W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1，…，ui，…，ukInitial positions of all available drones
Figure FDA0003313144410000013
S2, mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyObtaining the communication link E without interruption fault in the relay network Tr＝E*-E-；
S3, reducing weighting undirected graph GyIn (E)rTo obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; combining the selected n shortest paths to obtain a reconstructed relay network, comprising:
l1 weighted undirected graph G based on S3rObtaining the set of all shortest paths from source node s to destination node t, P ═ P1，…，pi，…，pn}; where n denotes the total number of shortest paths, piIt represents the ith shortest path,
Figure FDA0003313144410000011
Figure FDA0003313144410000012
represents the jth alternative placement point in the ith shortest path, m represents the shortest path piThe number of alternative placement points in;
l2 set P ═ P from all shortest paths1，…，pi，…，pnScreening a shortest path as a preferred shortest path, preferably selecting alternative arrangement points in the shortest path as preferred arrangement points, and screening available unmanned aerial vehicles corresponding to the preferred arrangement points one by one from all available unmanned aerial vehicles as preferred unmanned aerial vehicles; the method comprises the following steps:
l201, for shortest path piAlternative arrangement points in
Figure FDA0003313144410000021
Calculating all available unmanned aerial vehicles to reach alternative arrangement points from initial positions
Figure FDA0003313144410000022
Time of flight set
Figure FDA0003313144410000023
And obtain
Figure FDA0003313144410000024
Minimum value of (1);
l202, repeatedly executing L201 until obtaining the shortest path piScreening the maximum value from the minimum value sets corresponding to all the alternative arrangement points, determining the alternative arrangement point corresponding to the maximum value and the available unmanned aerial vehicle, and enabling the alternative arrangement point to be the shortest path piDeleting the available unmanned aerial vehicle from all available unmanned aerial vehicles;
l203, repeatedly executing L201-L202 until the shortest path piAll the alternative arrangement points are allocated with oneWith unmanned aerial vehicle, obtain shortest path piCorresponding unmanned aerial vehicle selection scheme
Figure FDA0003313144410000025
And acquiring the maximum flight time corresponding to the unmanned aerial vehicle in the unmanned aerial vehicle selection scheme
Figure FDA0003313144410000026
As the shortest path piThe network construction duration of (1);
l204, enabling the available unmanned aerial vehicle set U to be returned to the available unmanned aerial vehicle set U' after all the preferred unmanned aerial vehicles are deleted for the last time;
l205, repeatedly executing L201-L204 until the network construction duration of all shortest paths is obtained; and taking the shortest path with the minimum network construction time as an optimal shortest path, taking an alternative arrangement point in the optimal shortest path as an optimal arrangement point, and taking an unmanned aerial vehicle selection scheme corresponding to the optimal shortest path
Figure FDA0003313144410000027
The available drone in (1) is the preferred drone;
l3, set P of all shortest paths ═ P1，…，pi，…，pnDeleting the shortest paths containing the optimal arrangement points from the P to obtain an updated set P 'of all shortest paths, and deleting the optimal unmanned aerial vehicle from the available unmanned aerial vehicle set U to obtain an updated unmanned aerial vehicle set U';
l4, repeatedly executing L2-L3 based on the updated set P 'of all shortest paths and the updated set U' of the unmanned aerial vehicles until the nth preferred shortest path is screened out;
and L5, taking all the optimized shortest paths as a relay network, taking the corresponding optimized arrangement points as relay arrangement points, optimizing the unmanned aerial vehicle as a relay unmanned aerial vehicle, and screening out the maximum value of the flight time of all the relay unmanned aerial vehicles as the time length required for constructing the relay network.
2. The method for fast reconstructing the cooperative relay network of the unmanned aerial vehicle under the communication interference of claim 1, wherein a calculation formula of the number n of shortest paths required by the relay network is as follows:
n＝ceil(ftotal/fUAV)
wherein f istotalFor traffic demand to be relayed, fUAVThe maximum relay traffic for the drone.
3. The method for fast reconstruction of cooperative relay network of unmanned aerial vehicle under communication interference of claim 1, wherein in the L201, all available unmanned aerial vehicles are calculated to arrive at alternative deployment points from initial positions
Figure FDA0003313144410000031
Includes:
if it satisfies
Figure FDA0003313144410000032
And is
Figure FDA0003313144410000033
Namely the initial position of the available unmanned aerial vehicle
Figure FDA0003313144410000034
To alternative points of arrangement
Figure FDA0003313144410000035
There is a line-of-sight path in between, then
Figure FDA0003313144410000036
Wherein,
Figure FDA0003313144410000037
to be driven from
Figure FDA0003313144410000038
To
Figure FDA0003313144410000039
The Euclidean distance of (a) is,
Figure FDA00033131444100000310
to represent
Figure FDA00033131444100000311
To
Figure FDA00033131444100000312
V is the flight speed of the unmanned aerial vehicle; z 'is a discretized enemy air defense threat coverage area, and Y' is a discretized terrain obstacle coverage area;
if not satisfied with
Figure FDA00033131444100000313
And is
Figure FDA00033131444100000314
Namely the initial position of the available unmanned aerial vehicle
Figure FDA00033131444100000315
To alternative points of arrangement
Figure FDA00033131444100000316
If no sight line path exists between the unmanned aerial vehicle and the unmanned aerial vehicle, calculating the initial position of the available unmanned aerial vehicle by using Floyd algorithm
Figure FDA00033131444100000317
To alternative points of arrangement
Figure FDA00033131444100000318
The shortest arrival time of the unmanned aerial vehicle is taken as the flight time of the unmanned aerial vehicle
Figure FDA00033131444100000319
4. As in claimThe method for rapidly reconstructing unmanned aerial vehicle cooperative relay network under communication interference of claim 1, wherein the undirected graph G with reduced weighting belongs to ErTo obtain a new weighted undirected graph GrThe method specifically comprises the following steps: the weight is reduced from 1 to 0.9.
5. The method of claim 1, wherein the weighted undirected graph G obtained based on S3 in L1 is used for fast reconstruction of unmanned aerial vehicle cooperative relay network under communication interferencerAnd acquiring all shortest paths from the source node s to the target node t by adopting a multiple shortest path algorithm improved based on a Dijkstra algorithm.
6. An unmanned aerial vehicle cooperative relay network rapid reconstruction system under communication interference is characterized in that the system comprises a computer, and the computer comprises:
at least one memory cell;
at least one processing unit;
wherein the at least one memory unit has stored therein at least one instruction that is loaded and executed by the at least one processing unit to perform the steps of:
s1, source node S and target node T for acquiring relay, and relay network T before communication interference (V ═ V)*，E*，W*) A weighted undirected graph G ═ V, E, W before communication interference, the number n of shortest paths required for the relay network T, and a communication link set E in which an interruption failure has occurred in the relay network T-Available set of unmanned aerial vehicles U ═ U1，…，ui，…，ukInitial positions of all available drones
Figure FDA0003313144410000041
S2, mixing E-Deleting the edge in the weighted undirected graph G before the communication interference, and obtaining a new weighted undirected graph GyObtaining the communication link E without interruption fault in the relay network Tr＝E*-E-；
S3, reducing weighting undirected graph GyIn (E)rTo obtain a new weighted undirected graph Gr；
S4 directed graph G based on weight reductionrRe-acquiring n preferable shortest paths which do not contain repeated arrangement points; selecting an available unmanned aerial vehicle as a relay unmanned aerial vehicle from the available unmanned aerial vehicle set U by taking feasible arrangement points in the optimized shortest path as relay arrangement points; combining the selected n shortest paths to obtain a reconstructed relay network, comprising:
l1 weighted undirected graph G based on S3rObtaining the set of all shortest paths from source node s to destination node t, P ═ P1，…，pi，…，pn}; where n denotes the total number of shortest paths, piIt represents the ith shortest path,
Figure FDA0003313144410000051
Figure FDA0003313144410000052
represents the jth alternative placement point in the ith shortest path, m represents the shortest path piThe number of alternative placement points in;
l2 set P ═ P from all shortest paths1，…，pi，…，pnScreening a shortest path as a preferred shortest path, preferably selecting alternative arrangement points in the shortest path as preferred arrangement points, and screening available unmanned aerial vehicles corresponding to the preferred arrangement points one by one from all available unmanned aerial vehicles as preferred unmanned aerial vehicles; the method comprises the following steps:
l201, for shortest path piAlternative arrangement points in
Figure FDA0003313144410000053
Calculating all available unmanned aerial vehicles to reach alternative arrangement points from initial positions
Figure FDA0003313144410000054
Time of flight set
Figure FDA0003313144410000055
And obtain
Figure FDA0003313144410000056
Minimum value of (1);
l202, repeatedly executing L201 until obtaining the shortest path piScreening the maximum value from the minimum value sets corresponding to all the alternative arrangement points, determining the alternative arrangement point corresponding to the maximum value and the available unmanned aerial vehicle, and enabling the alternative arrangement point to be the shortest path piDeleting the available unmanned aerial vehicle from all available unmanned aerial vehicles;
l203, repeatedly executing L201-L202 until the shortest path piAll the alternative arrangement points are distributed with one available unmanned aerial vehicle to obtain the shortest path piCorresponding unmanned aerial vehicle selection scheme
Figure FDA0003313144410000057
And acquiring the maximum flight time corresponding to the unmanned aerial vehicle in the unmanned aerial vehicle selection scheme
Figure FDA0003313144410000061
As the shortest path piThe network construction duration of (1);
l204, enabling the available unmanned aerial vehicle set U to be returned to the available unmanned aerial vehicle set U' after all the preferred unmanned aerial vehicles are deleted for the last time;
l205, repeatedly executing L201-L204 until the network construction duration of all shortest paths is obtained; and taking the shortest path with the minimum network construction time as an optimal shortest path, taking an alternative arrangement point in the optimal shortest path as an optimal arrangement point, and taking an unmanned aerial vehicle selection scheme corresponding to the optimal shortest path
Figure FDA0003313144410000062
The available drone in (1) is the preferred drone;
l3 set of all shortest pathsP＝{p1，…，pi，…，pnDeleting the shortest paths containing the optimal arrangement points from the P to obtain an updated set P 'of all shortest paths, and deleting the optimal unmanned aerial vehicle from the available unmanned aerial vehicle set U to obtain an updated unmanned aerial vehicle set U';
l4, repeatedly executing L2-L3 based on the updated set P 'of all shortest paths and the updated set U' of the unmanned aerial vehicles until the nth preferred shortest path is screened out;
and L5, taking all the optimized shortest paths as a relay network, taking the corresponding optimized arrangement points as relay arrangement points, optimizing the unmanned aerial vehicle as a relay unmanned aerial vehicle, and screening out the maximum value of the flight time of all the relay unmanned aerial vehicles as the time length required for constructing the relay network.
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