java实现无人机编队飞行无人机编队的应用

转载

mob6454cc7901c3 2024-01-25 22:06:08

文章标签 java实现无人机编队飞行无人机 sed ci 文章分类 Java 后端开发

java实现无人机编队飞行无人机编队的应用_无人机

本文为法国贝尔福－蒙贝利亚尔技术大学（作者：Rana ABDALLAH）的博士论文，共139页。

无人驾驶飞行器最初在军事领域使用和发展，近年来已经经历了深刻的变化，越来越多地应用于民用领域。无人机已经应用于消防、救援以及监视和攻击等特定应用。编队飞行是无人机最常用的，因为它允许任务的合理分配，并大大提高了无人机的效率（食肉动物成群结队攻击的原则）。这将引起协调和战略问题，以及操作类型（主/从…）的选择。而且，最优信息的类型和质量也有待确定。在危险环境中越来越多地使用这些无人协作系统，使得它们的可靠性对于防止任何灾难性事件至关重要。应确保无人机机群的总体性能，尽管组件可能退化或网络和环境发生任何变化。有必要检测可能导致碰撞从而影响任务的异常行为。考虑到性能和成本，容错系统和冗余系统并不总是编队飞行最有效的解决方案。故障树分析（FTA）、故障模式及影响分析（FMEA）等方法在直升机领域得到了广泛的应用。在第一部分中，我们提出了一种基于FTA的静态方法，通过强调信息流的交换，保证了无人机之间从一侧到另一侧以及无人机与地面站之间的成功通信。算法使用不同的故障树来表示这个复杂系统的不同误差条件。在第二部分中，我们分析了不同的故障状态及其概率。由于这一过程是随机的，因此发展了一种吸收马尔可夫链方法。所提出的方法可以用来找出最危险的情况和提高可靠性的考虑因素。最后，在第三部分中，我们重点讨论了无人机通信网络中的消息接收问题，提出了一种基于重传次数的协议。消息的接收具有一定的可靠性概率，这取决于无人机的若干属性，例如调制和误比特率（BER）。

Unmanned aerial vehicles, used anddeveloped initially in the military field, have experienced profound changes inrecent years and are increasingly used in the civilian field. Recognized asdrones, they are most often used in the civil and military domains. They areused for firefighting, rescue as well as in specific applications such assurveillance and attack. The formation flight is the most used because itallows a judicious distribution of the tasks and greatly improves theefficiency of the drones (principle of the attack in pack, carnivorousanimals). This will raise the issue of coordination and strategy, as well asthe type of operation (master /slave, …). The type and quality of optimalinformation also remain to be defined. The increased use of these cooperativesystems in hazardous environments makes their reliability essential to preventany catastrophic event. Overall performance of the drone fleet should beensured, despite possible degradation of components or any changes that occur tothe network and the environment. It is necessary to detect the anomalousbehaviors that might contribute to collisions and thus affect the mission.Taking into consideration performance and cost, the fault-tolerant system andredundant systems are not always the most efficient solution for the formationfleet flight. Different methods like the fault tree analysis (FTA), FailureModes and Effects Analysis (FMEA) have been used in the helicopter field. Inthe first part, we propose a static method based on FTA, to ensure a successfulcommunication between the drones from one side, and between the drones and theground station from the other side by emphasizing on the exchange ofinformation flows. It uses various fault trees to represent the different errorconditions of this complex system. In the second part, we analyze the differentfault states and their probabilities. As this process is stochastic, anabsorbing Markov chain approach is developed. The proposed approach can be usedto find the most risky scenarios and considerations for improving reliability. Finally,in the third part, we put the emphasis on the message receipt problem in adrone’s communication network by proposing a protocol based on number ofretransmissions. The reception of a message is provided with a certainprobability of reliability depending on several attributes such as modulationand bit error rate (BER) characterizing the UAVs.