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首页> 外文会议>Proceedings of the Institute of Navigation 2011 international technical meeting >Autonomous Formation Flying of Micro Aerial Vehicles for Communication Relay Chains
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Autonomous Formation Flying of Micro Aerial Vehicles for Communication Relay Chains

机译：用于通信中继链的微型飞行器的自动编队飞行

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In this paper we describe the use of GNSS locationrndetermination for formation flying of multiple MicrornAerial Vehicles (MAVs). These MAVs are the corerncomponent of a system that realizes a chain of airbornerncommunication relays to provide communication servicesrnto mobile terminals. This chain of communication relayrnnodes improves wireless radio communication byrnutilizing two effects. Firstly, a chain of relay nodes is ablernto convert an unfavorable non-line-of-sight condition to arnline-of-sight condition by positioning its nodes around thernobstacle. Secondly, relay nodes reduce free-space losses.rnThe transmission of a radio signal in free-space is subjectrnto a reduction in received signal power proportional to thernsquare of the distance between transmitter and receiver.rnBy placing a communication relay between the originalrntransmitter and receiver, the distance is cut in half,rnreducing the required transmission power for eachrntransmitter by a factor of four. The reductions in requiredrntransmission power can be directly utilized to increase thernrange and/or data rate of the communication system. Thernmotors required to hover the relay platform also consumernpower, typically more than the transmission power. But asrnthe transmission power of a single antenna is limited andrncannot be increased over a certain level, range andrnbandwidth are limited. Flying relay nodes increase thernnecessary total electrical power, but offer the possibilityrnto enhance range and data rate above the limits of a singlernnode. Location determination of all involved networkrnnodes, both airborne and on the ground, is crucial forrndetermining and maintaining the optimal formation asrnwell as network routing information. Due to the knownrnspatial configuration of the nodes, routing is significantlyrnsimplified, since the network topology neighborhoodrnrelations are known. Routing tables can be initialized andrnmaintained based on the knowledge of the nodes’ spatialrnconfiguration. We provide experimental results carriedrnout with up to six nodes. Four of which are autonomousrnquadrotor MAVs, which are able to hover at a fixedrnposition. One ground terminal acts as a stationary base,rnanother ground terminal is mobile and moves. Thernoptimal formation, given the positions of the groundrnstations, is automatically determined and maintained byrnthe fleet of quadrotor MAVs. We discuss a suite ofrnnecessary further work, including automatic replacement,rnrearrangement and replenishment of MAVs, as well asrncovering user terminals at multiple locations and perchingrnof MAVs in order to extend their battery life.
机译：在本文中，我们描述了使用GNSS定位技术来确定多架微型飞机（MAV）的编队飞行。这些MAV是系统的核心组件，该系统实现了一系列空中通信中继器，以向移动终端提供通信服务。通信中继节点链通过利用两种效果改善了无线通信。首先，一连串中继节点能够通过将其节点放置在障碍物周围来将不利的非视线条件转换为视线条件。其次，中继节点减少了自由空间的损耗。在自由空间中无线电信号的传输受到的接收信号功率的降低与发射器和接收器之间的距离的平方成正比。通过在原始发射器和接收器之间放置一个通信中继，距离减少了一半，每个发射器所需的发射功率降低了四倍。所需的发射功率的减小可以直接用于增加通信系统的范围和/或数据速率。悬停在中继平台上的电动机也消耗功率，通常大于传输功率。但是，单个天线的发射功率是有限的，并且不能在一定水平上增加，范围和带宽是有限的。飞行中继节点增加了必要的总电功率，但提供了将范围和数据速率提高到单个节点的极限以上的可能性。空中和地面上所有涉及的网络节点的位置确定对于确定和维持网络路由信息的最佳形成和保持至关重要。由于已知节点的空间配置，因此路由被大大简化，因为已知网络拓扑邻域关系。可以基于节点的空间配置知识来初始化和维护路由表。我们提供的实验结果最多可以包含六个节点。其中四个是自主quadromator MAV，它们可以在固定位置悬停。一个接地端子充当固定基座，另一个接地端子可移动并移动。给定地面站的位置的最佳编队由四旋翼MAV的车队自动确定和维护。我们讨论了一系列必要的进一步工作，包括自动更换，重新布置和补充MAV，以及在多个位置发现用户终端并部署MAV以延长其电池寿命。

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