面向组合式柔性飞行器的多机协同通信及博弈式资源分配

The dynamic uncertain battlefield environment and the complex tasks determine that the UAV system will certainly develop towards the clustering and intelligence direction. The coordinated development of the platform, communication and payload is the key to solve the UAV cluster technology, thereinto, multi-point cooperative communication is the first important problem to cluster formation. Through the mutual communication and coordinated control among a large number of UAVs, an effective coordination strategy can be established and the overall performance of the UAVs cluster system can be improved. Inspired by the advanced design ideas in the field of civil-military integration, and oriented by the clustering development demand, this project focuses on the cooperative communication for an innovative structure of modular flexible aircraft. We investigate the transmission mechanism and method for the heterogeneous network environment of cooperative communication, and achieve safe and efficient information interaction in the physical layer of communication protocol. For this purpose, this project mainly studies the efficient transmission mechanism of multi-user data stream based on Network-Coding, Gelfand-Pinsker coding and Dirty-paper coding, for the sake of satisfying the incomplete information and asymmetric communication service of compact formation UAV. Considering the energy and power limitation of individual UAV cluster, a fair and effective allocation strategy concerning on joint symbol rate and transmit power are studied by bargaining cooperative game theory. By making full use of the random distribution of Gaussian signals, this paper studies the encoding and modulation algorithm for the irregular constellation, and tries to improve the adaptive code and modulation technology of the UAVs formation.

动态不确定的战场环境和复杂任务决定了无人机系统势必朝着集群化、智能化方向发展。平台、通信、载荷的协调发展是解决无人机集群技术的关键，多点协作通信问题又是集群编队需要解决的首要问题。通过大量无人机间的相互通信和协调控制，可建立有效的协同策略，实现集群系统的整体效能提升。借鉴军民融合领域的先进设计思想，以集群化发展需求为导向，本项目着眼于一种结构创新型组合式柔性飞行器平台的协同通信需求，研究异构网络环境下的协同通信传输机制，在通信协议物理层实现安全高效的信息交互。基于此目的，本项目针对多节点非完全信息和非对称通信业务需求，研究基于网络编码、Gelfand-Pinsker编码、脏纸编码的多用户信息交互机制；综合考虑集群无人机个体能量及功率受限，利用讨价还价合作博弈研究公平有效的码元速率和传输功率的联合分配策略；充分利用高斯信号的随机性，研究非规则星座图的编码调制算法，促进自适应编码调制技术提升。

天地网络互联、高空长航时、集群智能化聚焦了无人机面向应用突破式增长中的两方面关键问题，其一是无人机通信与计算能力依旧是制约应用的瓶颈问题，其二是多空域多样化融合运用的潜在需求是无人机发展的驱动杠杆。本课题研究致力于探索解决上述两方面问题，提出了一种结构创新的集群组合式柔性无人飞行器，融合低空数字化集群无人机和高空长航时无人机两类无人机通信特点，主要解决发展面向立体空域融合运用的技术体系和平台装备需求，重点研究组合式无人机总体设计、协同通信交互及控制、多智能体博弈资源分配等关键技术解决方案。通过持续和深入的研究，本项目系统地建立了组合体无人机面向任务的通信组网框架，将通信的理论研究和载荷设计实践与无人机总体设计紧密结合，设计了有效的多机信息交互传输方法、博弈协同路径规划等方案。具体包括以下三方面结果：（1）建模组合体无人机通信实际，针对中继协同的多机通信分别研究了联合网络编码、叠加编码、脏纸编码、星座映射、自适应调制技术的信息交互框架和方案；（2）构建组合体无人机集群任务场景，针对变体/拆分/组合的平台特点，以博弈论、信息论、多目标优化为基础，设计了组合体无人机平台总体参数、多机协同任务资源分配、合作博弈规划方案，有效提升了集群无人机的自主协同和任务效能；（3）将学术研究和工程实践深度结合，带领团队开展航模试制、桌面联调联试、动力系统设计、低空试飞等工程研制。依托项目支持，发表无人机和通信领域CJA、AST等权威期刊发表学术论文22篇，授权实用新型专利6项，申请发明专利6项，后续国自然青年基金2项，培养博士研究生6名，硕士研究生1名。