The invention relates to an unmanned aerial vehicle assisted environment state sensing and data collecting method, and belongs to the technical field of unmanned aerial vehicles. The method comprises the following steps: constructing an environment state perception and data collection scene assisted by an unmanned aerial vehicle, and modeling a system model; establishing an unmanned aerial vehicle channel model in an unmanned aerial vehicle assisted environment state perception and data collection scene, and modeling a data collection rate; modeling an interest point detection probability sum; modeling system information age; modeling the total energy consumption of the unmanned aerial vehicle; modeling unmanned aerial vehicle sensing and data collection limiting conditions; modeling a system state space, an action space and a reward function; modeling and training a multi-agent depth deterministic strategy gradient model combined with long and short term memory and an attention mechanism; and determining a flight path, perception scheduling and data collection strategy of the unmanned aerial vehicle based on the trained model. According to the method, the man-machine flight path, the perception scheduling and the data collection strategy are jointly optimized, and the award function maximization in the environment state perception and data collection scene assisted by the unmanned aerial vehicle is realized.
本发明涉及一种无人机辅助的环境状态感知及数据收集方法,属于无人机技术领域。该方法包括:构建无人机辅助的环境状态感知及数据收集场景,并建模系统模型;在无人机辅助的环境状态感知及数据收集场景中建立无人机信道模型、建模数据收集速率;建模兴趣点检测概率和;建模系统信息年龄;建模无人机总能耗;建模无人机感知及数据收集限制条件;建模系统状态空间、动作空间及奖励函数;建模并训练结合长短期记忆及注意力机制的多代理深度确定性策略梯度模型;基于训练的模型确定无人机的飞行轨迹、感知调度及数据收集策略。本发明联合优化人机的飞行轨迹、感知调度及数据收集策略,实现无人机辅助的环境状态感知及数据收集场景中的奖励函数最大化。
Unmanned aerial vehicle assisted environment state sensing and data collecting method
一种无人机辅助的环境状态感知及数据收集方法
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
Wind data collecting system using unmanned aerial vehicle and wind data collecting method
European Patent Office | 2018
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