Research On Modeling And Simulation Of Flying Ad Hoc Network For UAV Swarm Cooperation

With the rapid development of UAV swarm technology,the application of UAV swarm is more and more extensive.The test of swarm control technology under real UAVs has disadvantages such as high investment cost,high risk and long test period,so the simulation is often used as a preliminary verification method for UAV swarm control system.The cooperative control of UAV swarm in real flight needs to exchange the cooperative information of UAV through the flying ad hoc network.However,there is a lack of effective modeling of the network in the existing swarm cooperative control simulation research.In addition,because the simulation of UAV cooperative control is often based on time driven and networking simulation is often based on event driven,the problems of large system error and low simulation efficiency often exist when using the co-simulation.Network performance directly affects the cooperative control effect of UAV swarm.Therefore,it is of great significance to study the cooperative control of UAV swarm by accurately modeling the flying ad hoc network under UAV swarm and effectively combining the network simulation with the cooperative control simulation of UAV swarm.The research goal of this thesis is to build a UAV swarm control simulation system with integrated flying ad hoc network.In order to avoid the shortcomings of co-simulation,this thesis designed the operation mechanism of the swarm control model and the network model in the simulation system based on the time driven,and achieved the accurate synchronization of control and communication,thus constructing the network control integrated simulation system.At the same time,in order to accurately model the flying ad hoc network under swarm coordination,based on its main characteristics,topology time-varying,data packet loss and network delay,this thesis builds corresponding network models at each layer of the network to simulate it.The main results of this research are as follows:(1)A networked simulation system for UAV swarm control is constructed.The UAV agent is modeled in the simulation system,and physical properties and communication properties are configured.The cooperative control model and network model of the UAV swarm are realized,and the timing control of these two in the simulation system is designed.At the same time,the operation mechanism of the swarm control model and the network model in the simulation system is designed based on the time driven,and the network control integrated simulation environment is constructed.(2)In the flying ad hoc network modeling,the network routing control module is designed at the network layer,the packet queue buffer model,the channel access model and the error control model are designed at the data link layer,and the transceiver control model,transmission loss model and signal interference model are designed at the physical layer.In this way,we accurately simulate the networking characteristics under swarm coordination.(3)The data interaction mode between network modules is constructed to integrate the network modules in each layer of the flying ad hoc network to ensure the accurate transmission of data in the networking model.At the same time,an evaluation method of network indicators in the networking model is designed,which reflects network performance through end-to-end delay,packet loss rate and throughput.(4)By designing multiple sets of experimental parameters and comparing with the network simulator NS-3,the results show that the networking model designed in this paper can effectively simulate the networking characteristics of UAV swarms.In addition,compared with the time-event-driven co-simulation in the cooperative control scenario,the effectiveness of the time-driven simulation system designed in this paper is verified.Finally,this paper verifies the effectiveness of the simulation system in networked swarm control simulation through multiple sets of cooperative control scenarios.