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For the first question, we establish two main models for SSA drones and repeater drones respectively. For repeater drones, we establish a grid search model, aiming at terrain, repeater range limits and other restrictions, by gradually removing the grid points, work out the optimal position and quantity of the repeater drones. For SSA drones, we also use the grid search model, considering the flight parameters of SAA drones, to find the position of the charging station (EOC) and fully meet the charging needs of SSA drones. Considering the impact of the size of fire, we divide the size of the fire into three levels, which correspond to different SSA drones demand quantities, and referred to the VRPTW algorithm to solve the TSP problem with different node requirements. Finally, we use genetic algorithm to optimize.

Research on Mountain Fire Detection method of UAV based on Mathematical Modeling method