基于有向图的蜂群无人机故障影响

基于蜂群无人机控制模型，针对虚假数据注入的故障情形，为了分析该故障情形下，蜂群无人机中故障的的影响及传播关系，采用故障传播有向图及一致性理论，开展蜂群无人机故障影响机理研究。首先，通过Dijkstra算法计算故障源到各无人机的最短路径，建立故障传播有向图；然后预测各无人机受故障影响的程度，结合蜂群无人机系统，计算一致性行为偏差的指标，并将其作为实际故障影响程度；最后，通过对预测结果与实际故障影响程度进行仿真比较，验证了所建立的故障影响机理的合理性。

Influences of drone swarm failure based on directed graph

Based on the drone swarm control model, the influence mechanism of the drone swarm failure is studied using the failure propagation directed graph and consistency theory, aiming at the fault resulted from false information injection. The shortest path from the fault source to each drone is first obtained by the Dijkstra Algorithm, based on which a directed graph of fault propagation is established. Then, the influence degree on each drone by the fault is predicted, and the index of consistent behavior deviation is calculated as the actual influence degree in combination with the drone swarm system. Finally, the prediction result is compared with the actual fault influence degree through simulation, and the accuracy of the fault influence mechanism is verified.