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Relay location planning method based on online self-optimization

When flying at a low altitude in a complex mountainous area, the UAV will lose the signal with the ground control terminal due to the obstruction of the mountain, and it will not be able to reach the mission site smoothly. An unmanned aerial vehicle is added between the unmanned aerial vehicle and the ground control terminal, and the unmanned aerial vehicle acts as a communication relay to maintain the communication transmission between them. To this end, this paper proposes a UAV communication relay location planning method, which includes the reduction of the search area and the establishment of the visibility model of the relay UAV. The relay UAV autonomously searches visible areas according to the visibility. The simulation results show that the reduction of the search area shortens the running time of the single iteration cycle algorithm by 128 times and improves the efficiency of the algorithm; the establishment of the visibility model enables the relay UAV to search for the visibility position within a limited number of iterations. This method can converge to the visible area under the premise of meeting real-time requirements.