CN-122028133-A - Dual-mode communication node data access method and system based on unmanned aerial vehicle and unmanned aerial vehicle

CN122028133ACN 122028133 ACN122028133 ACN 122028133ACN-122028133-A

Abstract

The invention belongs to the technical field related to communication of the Internet of things, and discloses a dual-mode communication node data access method and system based on an unmanned aerial vehicle, wherein the method comprises the steps of performing topology block division; the method comprises the steps of sequentially accessing each block, broadcasting a wakeup frame through a first communication module to determine nodes to be planned of the block, constructing an internal path optimization model of the block, wherein the unmanned aerial vehicle energy constraint is that the energy consumption of the unmanned aerial vehicle for completing block access does not exceed the upper limit of the energy consumption, the working mode constraint is that the unmanned aerial vehicle only vertically descends to a hovering point right above the node and performs data collection through a second communication module during hovering of the hovering point, the optimization target comprises the shortest access time in the block, and solving the model to obtain an intra-block access strategy. Based on the method, when the data recovery task is oriented to the large-scale node, the energy consumption and the transmission rate can be considered, the overall planning difficulty is reduced, the dynamic adaptability of the node access is improved, and the high-efficiency and high-reliability recovery of the data is realized.

Inventors

XU JING
HU JIYUAN
XU XINYI
TANG DEWEI
GUO YAN

Assignees

华中科技大学

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (10)

1. A dual-mode communication node data access method based on an unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is provided with a first communication module and a second communication module, the communication rate of the second communication module is larger than that of the first communication module, and the communication distance of the first communication module is larger than that of the second communication module; The data access method comprises the following steps: Determining a to-be-accessed set containing all to-be-accessed nodes, performing topology block division on the nodes in the to-be-accessed set, wherein each block has a pivot position, and when the unmanned aerial vehicle is positioned at the pivot position, the unmanned aerial vehicle can communicate with any node in the block to which the unmanned aerial vehicle belongs; The method comprises the steps of sequentially accessing each block, controlling an unmanned aerial vehicle to reach a hub position of the block, acquiring node information of each node in the block through the first communication module, deleting the node if the node residual energy is insufficient to transmit data of the node, constructing a block internal path optimization model aiming at the reserved node in the block, wherein the node information comprises the node position, the residual energy and the data to be transmitted, the constraint condition comprises an optimization target and a constraint condition, the constraint condition comprises unmanned aerial vehicle energy constraint and a working mode constraint, the energy consumption of the unmanned aerial vehicle for completing block access is not more than the energy consumption upper limit of the unmanned aerial vehicle, the working mode constraint comprises the steps that the unmanned aerial vehicle only vertically descends to a hovering point above the node and does not perform data collection through the second communication module during hovering of the node, the data collection is not performed during vertical ascending from the hovering point to the horizontal flying height and the horizontal flying period, the access time in the block is shortest, solving the block internal path optimization model, and acquiring access policies of the unmanned aerial vehicle in the block comprise a Hadamard access point and nodes in a Hadamard access loop according to the access policies, and access policies in the access nodes in the block.
2. The method for accessing data of dual-mode communication nodes based on an unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle is controlled to reach a pivot position of the block, and validity judgment is performed before node information of each node in the block is acquired through the first communication module, the process comprising: the unmanned aerial vehicle is controlled to periodically broadcast a wake-up frame through the first communication module and wait for node response; receiving a response packet replied by the node, wherein the response packet at least comprises a node equipment ID; Judging whether the node is legal or not based on the node equipment ID, if the node equipment ID belongs to the unmanned aerial vehicle pre-authorization white list, judging that the node equipment ID is legal and continuously acquiring the node information of the node equipment ID for planning the access strategy in the block.
3. The method for accessing data of dual-mode communication node based on unmanned aerial vehicle as claimed in claim 1, wherein nodes in the set to be accessed are topologically partitioned into blocks, each block Satisfy the existence of pivot position So that To a block The distance of any node in the network is not more than And maximizes the distance from the pivot location to the furthest node within the block, wherein, For the node set of the kth block, And covering a distance threshold for waking up the first communication module.
4. The method for accessing data of dual-mode communication nodes based on an unmanned aerial vehicle according to claim 1, wherein controlling the unmanned aerial vehicle to reach the hub position of the block, acquiring node information of each node in the block through the first communication module comprises: controlling unmanned aerial vehicle to reach pivot position of kth block After that, the first communication module broadcasts the wake-up frame and receives the state vector carrying the node information returned by each node i in the block State vector Can be expressed as: ; In the formula, And marks respectively representing the coordinates of the ith node, the amount of data to be transmitted, the residual energy and whether the current kth block is idle.
5. The unmanned aerial vehicle-based dual-mode communication node data access method of claim 1, wherein the expression form of the optimization objective is: ; where F is the horizontal flight path length within the block, Is the horizontal flying speed, h is the horizontal flying height, For the hover point corresponding to the i-th node in the block, For a vertical flight speed of the vehicle, The data transmission time of the ith node is g, which is the total number of nodes in the block; Wherein: ; ; ; ; In the formula, Indicating a drop from horizontal fly height h to hover point Is used for the vertical fall time of (a), Indicated at the hover point Is used for the hover time of (a), The amount of data to be transmitted for the i-th node, For the time when the drone flies horizontally to just above the ith node and begins transmitting data, For the unmanned aerial vehicle to vertically descend to a hovering point Is used for the time of day (c), For unmanned aerial vehicle at hover point Is used for the data transmission rate of (a), The data transmission rate at the moment t in the vertical descending period of the unmanned aerial vehicle is set; data transmission rate The expression of (2) is: ; In the formula, Is the vertical distance between the unmanned aerial vehicle and the node at the moment t, Is the bandwidth of the channel and, For the signal-to-noise ratio, Is the attenuation coefficient.
6. The method for accessing data of a dual-mode communication node based on an unmanned aerial vehicle according to claim 1, wherein if a part of nodes to be accessed cannot participate in data recovery during access to a current area, the access sequence between global blocks is kept unchanged, only re-planning of the current block is triggered, and intra-block access policies are regenerated based on other nodes to be accessed in the current block.
7. The method for accessing data of dual-mode communication nodes based on unmanned aerial vehicles according to the intra-block access strategy of claim 1, wherein controlling the unmanned aerial vehicles to acquire data of all nodes in the block according to the intra-block access strategy comprises controlling the unmanned aerial vehicles to execute flight tasks according to the generated intra-block access strategy, horizontally flying to a next node to be accessed, judging whether the distance between the unmanned aerial vehicles and the node is within a communication range of the second communication module after reaching the right above the node, if not, controlling the unmanned aerial vehicles to vertically descend until the distance between the unmanned aerial vehicles and the node is within the communication range of the second communication module, issuing instructions to activate a high-speed communication module in the node through the first communication module, establishing a high-speed link and starting data transmission, closing the second communication module after the data transmission of the node is completed, vertically ascending to a horizontal flying to the next node to be accessed.
8. The method for accessing data of a dual-mode communication node based on an unmanned aerial vehicle according to any one of claims 1 to 7, wherein the first communication module is a LoRa module and the second communication module is a Wi module Fi class module.
9. A dual mode communication node data access system based on an unmanned aerial vehicle, comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 8.
10. An unmanned aerial vehicle, comprising: the communication device comprises a first communication module and a second communication module, wherein the communication rate of the second communication module is larger than that of the first communication module, and the communication distance of the first communication module is larger than that of the second communication module; And a dual mode communication node data access system based on an unmanned aerial vehicle as claimed in claim 9.

Description

Dual-mode communication node data access method and system based on unmanned aerial vehicle and unmanned aerial vehicle Technical Field The invention belongs to the technical field related to communication of the Internet of things, and particularly relates to a dual-mode communication node data access method and system based on an unmanned aerial vehicle, and the unmanned aerial vehicle. Background In the scenes of imperfect communication infrastructures such as remote areas, forest protection areas, unmanned areas and the like, ground monitoring equipment (such as infrared cameras, ecological sensors, meteorological nodes and the like) generally have the characteristics of wide area scattered deployment, long-term unmanned on duty and periodic increase of data volume. In the existing unmanned aerial vehicle monitoring data collection technology, obvious short plates exist in the aspects of efficiency, energy consumption and environmental adaptability, and the requirements of low power consumption and high reliability of wide area distributed equipment in remote areas are difficult to meet. The following problems are presented in detail: 1. The traditional scheme adopts a single communication module, wherein the communication module is divided into a low-rate communication module and a high-rate communication module, the low-rate communication module has the advantages of low power consumption and long-distance transmission, but the bandwidth is usually lower, and the transmission of large data files is difficult to carry out; 2. When the number N of the nodes is large, TSP global optimization is directly carried out on all the nodes, the complexity and the calculation cost are obviously increased, and rapid re-planning is difficult to carry out when the node state changes in the task process; 3. many planning methods are only ordered based on static geographic positions, so that the situation that 'node energy is exhausted and still accessed' or 'unmanned aerial vehicle is insufficient in endurance' is easy to occur, and the success rate of data recovery is reduced. Based on the above, it is highly desirable to provide a method for improving the dynamic adaptability of node access, and realizing high efficiency and high reliability recovery under the planning of large-scale nodes, which combines energy consumption and transmission rate Disclosure of Invention Aiming at the defects or improvement demands of the prior art, the invention provides a dual-mode communication node data access method and system based on an unmanned aerial vehicle, and the unmanned aerial vehicle, which aim to give consideration to energy consumption and transmission rate, reduce overall planning difficulty, improve node access dynamic adaptability and realize high-efficiency and high-reliability recovery of data when aiming at a large-scale node data recovery task. The present invention has been made in order to achieve the above object. According to a first aspect of the invention, a dual-mode communication node data access method based on an unmanned aerial vehicle is provided, wherein the unmanned aerial vehicle is provided with a first communication module and a second communication module, the communication rate of the second communication module is larger than that of the first communication module, and the communication distance of the first communication module is larger than that of the second communication module; The data access method comprises the following steps: Determining a to-be-accessed set containing all to-be-accessed nodes, performing topology block division on the nodes in the to-be-accessed set, wherein each block has a pivot position, and when the unmanned aerial vehicle is positioned at the pivot position, the unmanned aerial vehicle can communicate with any node in the block to which the unmanned aerial vehicle belongs; The method comprises the steps of sequentially accessing each block, controlling an unmanned aerial vehicle to reach a hub position of the block, acquiring node information of each node in the block through the first communication module, deleting the node if the node residual energy is insufficient to transmit data of the node, constructing a block internal path optimization model aiming at the reserved node in the block, wherein the node information comprises the node position, the residual energy and the data to be transmitted, the constraint condition comprises an optimization target and a constraint condition, the constraint condition comprises unmanned aerial vehicle energy constraint and a working mode constraint, the energy consumption of the unmanned aerial vehicle for completing block access is not more than the energy consumption upper limit of the unmanned aerial vehicle, the working mode constraint comprises the steps that the unmanned aerial vehicle only vertically descends to a hovering point above the node and does not perform data collection through the second communicat