基于无人机的空间传感网多源数据收集技术研究

The spatial sensing network system based on UAV is a typical application of unmanned aerial vehicle and spatial sensing technology. It combines the technologies of cooperative flight of space unmanned aerial vehicle, data collection, networking of the ground sensor network as well as data exchanging. With the help of deep cooperation and organic integration of the technologies about computation, communication and control, it can realize real time perception about ground air physical system and information system, information interaction and information interaction. However, the current spatial sensor network has some shortcomings in the aspects of multi source data collection, transmission and security. To solve this problem, on the basis of the large-scale, regionalized and spatial characteristics of UAV space sensor network, we first formulate a network architecture based on FGNETs (Flying and Ground Networkds). Then, we study how the spatial sensing network system can obtain information from the spatial physical environment, and how to control the space physical world. In addition, research on optimal coverage based on terrain and energy consumption as well as the space access gateway interconnection architecture are also important in this project. Meanwhile, some key scientific problems like data control and processing, communication and data acquisition as well as security and trustworthiness are also the focuses of research. Finally, in order to optimize the data collection of space sensor network, the spatial sensing network architecture based on QoS and information security should be built.

基于无人机的空间传感网系统是无人机和空间传感技术相融合的典型应用，综合了空间无人机协同飞行、数据收集、地面传感网组网、数据传输交换的多空间复杂系统，通过3C技术的深度协作与有机融合，可实现地空物理系统与信息系统的实时感知、信息交互和动态控制，具有广阔的发展前景。然而，当前的空间传感网在多源数据收集、传输与安全性方面存在一定不足。为此，本课题拟定首先结合无人机空间传感网大规模、区域化和空间性特点，研究基于FGNETs（Flying and Ground Networkds：FGNETs）的网络体系架构；随后，研究空间传感网系统在从空间物理环境感知获取信息同时，如何对空间物理世界进行反馈控制、研究基于地形和能耗方面的优化覆盖、空地接入网关互联架构、数据控制与处理、通信和数据获取、安全可信等关键问题的基础上，给出基于QoS和信息安全的空间传感网体系架构，优化空间传感网的数据收集。

本项目紧密围绕大规模、异构化、自组织的空间传感网数据收集过程中面临的关键问题开展了研究。首先，我们结合空间传感网大规模、区域化和空间化的特征设计并实现了其层间协作的体系架构，重点解决了空间传感网系统在从空间物理环境感知获取信息同时，对空间物理世界进行反馈控制的关键问题；其次，针对空间传感网中的空中强终端和地面弱终端在地理空间位置分布的几何特征，分别确定了单无人机和多无人机系统下的空对地协同覆盖调度问题。在解决了高低维度投影区域配准问题的基础上，实现了多旋翼无人机遍历悬停高度与投影覆盖范围互制衡下的遍历点优化选取，从而极大程度确保了空间传感网下的移动数据收集实效性；随后，我们以优化空间传感网组网与数据交互技术为目标，针对其网络拓扑易变化、空间交互过程复杂的特点，在所提出的空间传感网下无人机数据收集能耗模型的基础上，实现了基于近似算法的最少化悬停位置的选择设计方案，有效提升了空-地上下行数据交互效率，并由此形成了面向地面传感网区域化组网的无人机飞行轨迹优化模型；最后，我们充分考虑到了实际应用场景下的空间传感网属性异构、分布式和多源的特征，还重点对多无人机系统下的均衡化问题进行了深入研究，并最终实现了多无人机协同数据收集模式下的负载均衡轨迹生成方案和能耗优化的变邻域搜索方法。