Analysis Of Pigeon Flock Flight Behavior And Dynamic Modeling

Individuals in biological clusters can form self-organized behaviors with strong robustness,high adaptability and good scalability by using simple rules and local interaction.The mechanism of behavior dynamics of biological clusters needs further study.In this paper,pigeons with better group cooperation ability are used as model animals to collect flight trajectory data of pigeon group by GPS recording equipment,and analyze the flight behavior characteristics of pigeon group.A pigeon group flight dynamics model including group,local,perceptual and hierarchical mechanisms is established,which is combined with Kalman filtering framework to achieve the purpose of predicting pigeon group flight trajectory,and is used to analyze pigeon group Hierarchy.The results of this paper are of great significance for revealing the flight dynamics mechanism of pigeon group.The work done is summarized as follows:(1)A large number of pigeon group flight and flight track recording experiments have been completed.The pigeon group which has been trained before flight has been carried out flight experiments and GPS position data of pigeon group flight has been collected.The noise containing GPS data has been reduced by shadow filtering method.Then the leadership level structure of pigeon Group flight has been determined by using the method of calculating directional correlation delay.Finally,the existing literature has been combined Four typical pigeon flight mechanisms are summarized: global and local mechanism,pigeon limited time exploration mechanism,pigeon Limited vision mechanism and pigeon flight leadership level mechanism,which lay the foundation for the establishment of pigeon flight dynamics model.(2)On the basis of the existing model theory,the flight dynamics model of pigeon group is established,which includes cluster,local,perceptual and hierarchical mechanisms.The model is divided into two parts,the global dynamics part and the local dynamics part.The global dynamics is mainly based on the cluster flightmechanism,which is used to explain the overall action of pigeon group.The local dynamics describes the dynamic relationship between the internal individuals in the pigeon group during the flight process,which integrates the local exclusion attraction mechanism,the pigeon flight limited perception mechanism and the pigeon group level leader System.The optimal parameters of flight dynamics model of pigeon group are determined by using the improved pigeon group optimization algorithm which introduces the mechanism of cluster splitting and lost exploration.The simulation results show the validity and accuracy of the model.(3)Taking the flight dynamics model of pigeon group established in this paper as the state prediction model,GPS data as the observation data and combining with Kalman model framework,the flight trajectory prediction model of pigeon group is established.The method of adding noise to the simulation flight trajectory verifies that the prediction model can not only predict the flight of pigeon group,but also remove the noise of GPS data to a certain extent.Finally,the prediction model is applied to the GPS data to de-noising,and the flight leadership level of pigeon group is calculated after de-noising,which proves the validity of the prediction model.