摘要
针对基于旋翼无人机的近地面空间应急物联网在缺少地面基站和能量受限的情况下,可靠节能地远距离传输重点区域全信息的要求,研究由无人机组成的移动Ad-Hoc网络的远距离通信问题,提出近地面空间应急物联网空地节点动态协同部署方法.首先,对该类物联网进行系统建模;其次,根据所建模型中无人机编队大范围、队列化、微漂移地分散于监测区域的特点和编队的联合分布情况,在提供可靠通信的同时,将系统通信能耗和移动能耗的计算构建成二次约束二次规划问题;再次,根据Gerschgorin圆盘定理和根的存在性定理,证明了此问题为凸优化问题,进而可求解得到移动地面站的最佳路径点,实现近地面空间应急物联网空地节点动态协同部署.最后,通过实验,从通信耗能和运动耗能两方面验证了本文所提方法的有效性,同时,也分析了影响本文所述方法效能的因素.
Aiming at the reliable, energy-saving and long-distance transmission requirement of key areas information,without ground base station and limited energy, the long-distance communication problem of a mobile Ad-Hoc network based on multi-drones in the near ground space as emergency Internet of things(eIoT) is studied. A dynamic cooperative deployment method based on drone was proposed. First, model this type of eIoT. Second, given drones formation scattered in large area, in formation, and moved slowly, energy consumption of communication and movement was calculated as a quadratic programming problem with quadratic constraint. Third, according to the Gerschgorin disc theorem and the existence theorem of the root, the problem above was proved as a convex optimization problem. So the optimal path point of the mobile earth station could be obtained. Dynamic cooperative deployment of eIoT near ground space was realized. Finally, from transferring to moving energy consumption, the effect of the proposed method was verified through experiments. At the same time, the factors that affect the effectiveness of the methods were also analyzed.
作者
王巍
彭力
赵继军
朱天宇
崔益豪
田立勤
WANG Wei;PENG Li;ZHAO Ji-Jun;ZHU Tian-Yu;CUI Yi-Hao;TIAN Li-Qin(Hebei Key Laboratory of Security&Protection Informa-tion Sensing and Processing,School of Information&Electrical Engineering,Hebei University of Engineering,Handan 056038;Engineering Research Center of Internet of Things Technol-ogy Applications of the Ministry of Education,School of Inter-net of Things Engineering,Jiangnan University,Wuxi 214122;Hebei Engineering Technology Research Center for IoT Data Acquisition&Processing,North China Institute of Science and Technology,Langfang 065201)
出处
《自动化学报》
EI
CAS
CSCD
北大核心
2021年第8期2002-2015,共14页
Acta Automatica Sinica
基金
国家重点研发计划(2018YFF0301004,2018YFD0400902)
国家自然科学基金(61802107,61873112)
教育部-中国移动科研基金(MCM20170204)
河北省自然科学基金(F2015402108)
河北省物联网数据采集与处理工程技术研究中心开放课题(2016-2)
江苏省博士后科研资助计划项目(1601085C)资助。
关键词
公共安全
应急物联网
移动地面站
无人机
空地协同
Public security
emergency internet of things
mobile earth station
drone
air-ground synergy
