Design And Implementation Of Forest Fire Prevention And Control System Based On LoRa For UAV Swarm

This system provides a forest fire prevention and control solution based on the UAV cluster technology for the prevention and control of forest fires.In the absence of fire,the drone formation can complete the forest detection under the control of the drone ground station,collect images,temperature,flammable gas and other data,and return it to the ground station software in real time;if a fire is found,the inspection will be The man-machine obtains the fire point GPS position back to the ground station through the flame recognition algorithm.After the fire location is confirmed,the fire-fighting drone formation is dispatched and flies to the vicinity of the fire area.The fire-fighting drone formation is fired by the flame detection algorithm.Fire to extinguish the fire.Cooperate with firefighters to reduce the risk of fire fighting.The UAV system adopts Pix Hawk flight control as the flight control platform,and customizes the flight control application layer for the cluster scenario to provide cluster feature support.In navigation,RTK technology is used to complete the high-precision position control of the UAV;data link,Using Ethernet+Private Lo Ra network,the communication link is encrypted to ensure the security of the data link.In terms of communication protocol,the UAV communication protocol is used to communicate with the UAV,and the MAVLink protocol is used twice.Development,expansion of protocol content,new sensor data transmission,fire-fighting bomb throwing control,etc.,the unmanned unit network protocol uses the private Lo Ra protocol stack for star-type rapid networking,completes the drone cluster network construction;the drone platform is equipped The Lo Ra node is used to communicate with the ground station,and is equipped with a task computer for running the flame detection algorithm,and at the same time completes sensor data acquisition and back transmission of the camera,temperature,combustible gas detection and the like.In terms of algorithm,a multi-sensor fire location algorithm based on image,GPS and electronic compass is proposed to determine the GPS coordinates of fire points and assist in fire extinguishing.