无人机数据采集系统中基于动态干扰的轨迹优化方案
Trajectory Optimization Scheme Based on Dynamic Interference in UAV Data Collection System
朱江 1王彦敏1
作者信息
- 1. 重庆邮电大学通信与信息工程学院,重庆 400065
- 折叠
摘要
针对无人机数据采集中的动态干扰问题,提出一种无人机飞行轨迹实时优化方案.在采集距离有限的情况下,通过优化无人机飞行轨迹,使无人机在有限任务时间内的能耗最小.为了规避干扰,该方案分为初始轨迹规划和在线轨迹优化2个阶段.初始轨迹规划阶段,不考虑干扰,根据轨迹成本和转角能耗进行离线规划;在线轨迹优化阶段,在初始轨迹基础上,考虑动态干扰,设计出基于马尔可夫预测模型的干扰定位算法,同时还提出干扰势场,对初始轨迹进行优化.仿真分析表明,所提方案可以有效改善无人机通信的抗干扰性能,提高无人机数据采集能力.
Abstract
Aiming at the dynamic interference problem in UAV data collection,this paper proposes a real-time optimization scheme for UAV flight trajectory.In the case of limited collection distance,by optimizing the UAV flight trajectory,the energy consumption of the UAV in the limited mission time is minimized.In order to avoid interference,the scheme is divided into two stages:initial trajectory planning and online trajectory optimization.In the initial trajectory planning stage,offline planning is carried out according to trajectory cost and corner energy consumption without considering interference;in the online trajectory optimization stage,on the basis of the initial trajectory,dynamic interference is considered,and an interference localization algorithm based on Markov prediction model is designed and the interference potential field is also proposed to optimize the initial trajectory.Simulation analysis shows that the proposed scheme can effectively improve the anti-interference performance of UAV communication and improve the UAV data collection ability.
关键词
无人机通信/动态干扰/轨迹优化/数据采集/马尔可夫预测模型Key words
UAV communication/dynamic interference/trajectory optimization/data collection/Markov prediction model引用本文复制引用
基金项目
重庆市留创计划创新类资助项目(cx2020059)
出版年
2024
国家科技期刊平台
NSTL
万方数据