When a drone flies along with the waypoint flight plan, rerouting has to pay a cost to change its route in real time through the Internet. The inflight rerouting cost estimation algorithm can predict the rerouting cost as a function of the flight direction and the speed of the drone. Previous studies proved that the rerouting cost estimation would apply to the cases where the entire waypoint route flight, including the modified waypoints, had been completed, as it was merely about changing the next waypoint at any point in the overall path. The drone must traverse all the waypoints to complete its flight. If the estimated flight time, including the rerouting cost, is almost equal to the real flight time when the waypoint is changed once, or more times, we can validate the accuracy of the inflight rerouting cost estimation algorithm. In this paper, we modified the inflight rerouting cost estimation algorithm proposed in our previous works. We compared the total estimated rerouting cost to the total flight time derived through the actual flight according to the number of rerouting. To prove the enhancement of the modified inflight rerouting cost estimation algorithm under the multiple inflight reroutings, the experimental flight trial was performed ten times on various routes that have five waypoints up to five times rerouting. The experimental results indicate that the modified rerouting cost estimation algorithm has a rerouting cost estimation of more than 92% accuracy under the multiple rerouting waypoints.

中文翻译：

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一种面向无人机互联网的增强型重路由成本估算算法

当无人机按照航点飞行计划飞行时，重新路由必须支付成本才能通过互联网实时更改其路线。飞行中改道成本估算算法可以预测改道成本作为飞行方向和无人机速度的函数。先前的研究证明，改航成本估算适用于整个航路点航线飞行（包括修改的航路点）已经完成的情况，因为它只是在整个路径中的任何一点更改下一个航路点。无人机必须穿越所有航路点才能完成飞行。如果航路点改变一次或多次时，估计的飞行时间，包括改道成本，几乎等于实际飞行时间，我们可以验证飞行改道成本估计算法的准确性。在本文中，我们修改了我们之前工作中提出的飞行中重新路由成本估计算法。我们根据改航次数将估算的改航总成本与通过实际飞行得出的总飞行时间进行了比较。为了证明改进的飞行中改道成本估算算法在多次飞行改道下的增强，在具有五个航路点的各种航线上进行了十次实验飞行试验，最多五次改道。实验结果表明，改进的改航成本估算算法在多个改航航路点下的改航成本估算准确率超过92%。我们根据改航次数将估算的改航总成本与通过实际飞行得出的总飞行时间进行了比较。为了证明改进的飞行中改道成本估算算法在多次飞行改道下的增强，在具有五个航路点的各种航线上进行了十次实验飞行试验，最多五次改道。实验结果表明，改进的改航成本估算算法在多个改航航路点下的改航成本估算准确率超过92%。我们根据改航次数将估算的改航总成本与通过实际飞行得出的总飞行时间进行了比较。为了证明改进的飞行中改道成本估算算法在多次飞行改道下的增强，在具有五个航路点的各种航线上进行了十次实验飞行试验，最多五次改道。实验结果表明，改进的改航成本估算算法在多个改航航路点下的改航成本估算准确率超过92%。实验性飞行试验在具有五个航路点的各种航线上进行了十次，最多五次。实验结果表明，改进的改航成本估算算法在多个改航航路点下的改航成本估算准确率超过92%。实验性飞行试验在具有五个航路点的各种航线上进行了十次，最多五次。实验结果表明，改进的改航成本估算算法在多个改航航路点下的改航成本估算准确率超过92%。