一种新颖的无人机编队拓扑形成与信道接入机制

针对全球导航卫星系统（Global Navigation Satellite System,GNSS）高精度相对定位的无人机编队飞行应用中的信息交互与通信时延问题，首先优化设计了编队飞行网络拓扑，实现所有成员的信息交互且通信代价最小；其次，基于优化设计的网络，提出一种新的通信信道接入机制；最后对16机编队飞行场景进行了仿真分析，评估通信网络及相对定位性能。结果表明，编队成员端到端通信时延小于20 ms，且当通信与载波相位差分处理的总时延小于相对位置感知时间间隔时，相对位置感知精度可达到亚分米级，且感知误差与时延和载体运动状态相关。

A Novel Topology Formation and Channel Access Mechanism of UAV Formation

In order to solve the problem of information interaction and communication delay in the application of unmanned aerial vehicle(UAV) formation flight based on global navigation satellite system(GNSS) high precision relative positioning,the design of network topology of the formation flight is optimized to realize the information interaction of all members and minimize the communication cost.Then,a new communication channel access mechanism is proposed.Finally,a formation flight simulation of 16 aircrafts is performed to evaluate the communication network and relative positioning performance.Results show that the end-to-end communication delay among formation members is less than 20 ms.The relative position accuracy can reach sub-decimeter when the total delay of communication and carrier phase difference processing is less than the time interval of relative position sensing,and the sensing error is related to the delay and vehicle maneuver.