Communication method and device based on mesh network, processing equipment and storage medium

Abstract

The embodiment of the invention discloses a communication method and device based on a mesh network, processing equipment and a storage medium. The method comprises the following steps: determining that a first aircraft is not in a signal coverage range of aircrafts on a first link; signal coverage areas between two adjacent aircrafts on the first link are overlapped; determining a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft; and by taking collinear of the first aircraft, the second aircraft and the third aircraft as a reference, the positions of the aircrafts on the first link are adjusted, and the first aircraft is located in the adjusted signal coverage range of the aircrafts in the first cluster. According to the embodiment of the invention, the first aircraft can be located in the adjusted signal coverage range of the aircrafts in the first cluster, so that the lost first aircraft returns to the first cluster, the adjustment efficiency is high, and the situation that the aircrafts collide with one another is reduced.

Description

Technical Field

[0001] The present invention relates to but is not limited to the field of information processing, and in particular to a method, apparatus, processing device and storage medium based on mesh network communication. Background Art

[0002] Drone technology is developing rapidly. The technology that provides network coverage for drones is mainly through the C2 link (or command and control link) signal coverage of the remote control or through the signal coverage of the wireless base station. The coverage range of the C2 link is small, which will limit the ability of drones in many scenarios. The coverage range of wireless base stations is relatively large, but the cost of moving wireless base stations is high, and the real-time performance of movement is low, which is not suitable for providing dynamic and real-time network coverage for high-speed moving drones. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure disclose a method, an apparatus, a processing device and a storage medium based on mesh network communication.

[0004] According to a first aspect of an embodiment of the present disclosure, a method based on mesh network communication is provided, the method comprising:

[0005] determining that the first aircraft is not within a signal coverage range of an aircraft on a first link, wherein the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; and signal coverage areas between two adjacent aircraft on the first link overlap;

[0006] determining a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft;

[0007] Based on the fact that the first aircraft, the second aircraft, and the third aircraft are in a collinear line, the positions of the aircraft on the first link are adjusted, and the first aircraft is within the signal coverage range of the aircraft in the first aircraft group after the adjustment.

[0008] In some embodiments, determining a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft includes:

[0009] Based on a preset distance between the first aircraft and the i-th aircraft on the first link, and a maximum distance that can be covered by signals of all aircraft after the i-th aircraft on the first link, the third aircraft is determined from the first link; the third aircraft is the aircraft closest to the first aircraft; and i is an integer greater than or equal to 1.

[0010] In some embodiments, the first link is a straight line link formed by the aircraft in the first fleet being arranged in sequence starting from the second aircraft.

[0011] In some embodiments, adjusting the position of the aircraft on the first link based on the collinearity of the first aircraft, the second aircraft, and the third aircraft includes:

[0012] Determine a first reference point close to the first aircraft within the signal coverage range of the third aircraft;

[0013] determining a first difference between a position of a fourth aircraft next adjacent to the third aircraft and a position of the first reference point;

[0014] determining whether the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft are collinear based on the first difference, and obtaining a determination result;

[0015] Based on the determination result, the position of the aircraft on the first link is adjusted.

[0016] In some embodiments, determining the second aircraft from the first link includes:

[0017] It is determined that the maximum distance that can be covered by all aircraft after the i-th aircraft is greater than the preset distance, and the i-th aircraft is determined from the first link to be the third aircraft.

[0018] In some embodiments, determining a first reference point within a signal coverage range of the third aircraft and close to the first aircraft includes:

[0019] A point on a boundary of a signal coverage range of the third aircraft and close to the first aircraft is determined as the first reference point.

[0020] In some embodiments, adjusting the positions of the aircraft in the first fleet based on the determination result includes:

[0021] In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft being not collinear, controlling the fourth aircraft to move to the first reference point;

[0022] The aircrafts in the first fleet except the fourth aircraft are controlled to fly to a target position; wherein the target position is determined based on a current position of the corresponding aircraft and the first difference.

[0023] In some embodiments, adjusting the positions of the aircraft in the first fleet based on the determination result includes:

[0024] In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft being collinear, determining a second reference point;

[0025] Determine a position of a third reference point close to the second reference point from within the network coverage of the third aircraft;

[0026] determining a second difference between a position of a fifth aircraft next adjacent to the third aircraft and a position of the third reference point;

[0027] Controlling the fifth aircraft to move to the first reference point via the position of the third reference point based on the second difference;

[0028] The aircraft except the fifth aircraft in the first aircraft group is controlled to fly to a target position, wherein the target position is determined based on a current position of the aircraft and the first difference.

[0029] In some embodiments, the distance between the position coordinates of the second reference point and the position coordinates of the third aircraft is less than or equal to the signal coverage radius of the third aircraft. 10. The method according to claim 1, characterized in that the method further comprises:

[0030] In response to not receiving the information on the position reported by the first aircraft within a first time period, it is determined that the first aircraft is not within the signal coverage of aircraft on the first link.

[0031] In some embodiments, the method further comprises:

[0032] Obtaining the most recently reported position of the first aircraft;

[0033] Determining a position of the first aircraft after the first preset time period based on the most recently reported position, the moving speed of the first aircraft, and a first preset time period;

[0034] Determine a fifth aircraft from the first aircraft group, where the fifth aircraft is the aircraft closest to the first aircraft;

[0035] determining whether the first aircraft is within the signal coverage of the fifth aircraft based on the distance between the position of the first aircraft and the position of the fifth aircraft and the signal coverage of the fifth aircraft;

[0036] In response to determining that the first aircraft is not within the signal coverage range of the fifth aircraft, it is determined that the first aircraft is not within the signal coverage range of aircraft on the first link.

[0037] In some embodiments, before determining the position of the first aircraft after the first preset time period based on the most recently reported position, the moving speed of the first aircraft, and the first preset time period, the method further includes:

[0038] A spatial line segment of the route on which the first aircraft is located is determined, where the spatial line segment is a line segment between adjacent waypoints on the route.

[0039] According to a second aspect of an embodiment of the present disclosure, a device based on mesh network communication is provided, the device comprising:

[0040] a determining module configured to determine that a first aircraft is not within a signal coverage range of an aircraft on a first link, wherein the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; and signal coverage areas between two adjacent aircraft on the first link overlap;

[0041] The determination module is further configured to determine a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft;

[0042] The adjustment module is further configured to: adjust the position of the aircraft on the first link based on the collinearity of the first aircraft, the second aircraft and the third aircraft, so that the first aircraft is within the signal coverage range of the aircraft in the first fleet after the adjustment.

[0043] According to a third aspect of an embodiment of the present disclosure, a processing device is provided, the processing device comprising:

[0044] A memory for storing executable programs;

[0045] The processor is used to implement any method described in the embodiments of the present disclosure when executing the executable program stored in the memory.

[0046] According to a fourth aspect of the embodiments of the present disclosure, a computer storage medium is provided, wherein the computer storage medium stores an executable program, and when the executable program is executed by a processor, the method described in any one of the embodiments of the present disclosure is implemented.

[0047] In an embodiment of the present disclosure, it is determined that the first aircraft is not within the signal coverage of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with the second aircraft supporting the base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap; based on the position of the first aircraft, a third aircraft adjacent to the first aircraft is determined from the first link; based on the collinearity of the first aircraft, the second aircraft and the third aircraft, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage of the aircraft in the adjusted first group. In this way, the first aircraft that is out of contact and is not within the signal coverage of the aircraft on the first link can be determined, and the position of the aircraft on the first link can be adjusted based on the collinearity of the first aircraft, the second aircraft and the third aircraft, so that the first aircraft can be within the signal coverage of the aircraft in the adjusted first group, so that the first aircraft that is out of contact returns to the first group, the adjustment efficiency is high and the collision between aircraft is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The present invention is a flow chart of a method based on mesh network communication according to an exemplary embodiment;

[0049] Figure 2 The present invention is a flowchart of a method based on mesh network communication according to an exemplary embodiment;

[0050] Figure 3 The figure is a schematic diagram of the spatial layout of an aircraft according to an exemplary embodiment;

[0051] Figure 4 The figure is a schematic diagram of the spatial layout of an aircraft according to an exemplary embodiment;

[0052] Figure 5 The present invention is a schematic structural diagram of a device based on mesh network communication according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0054] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0055] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein.

[0056] In the following description, “greater than” and “less than” are involved. It should be noted that in the present disclosure, “greater than” can be used to indicate “greater than” or “equal to”; “less than” can be used to indicate “less than” or “equal to”.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0058] In order to better understand the embodiments of the present disclosure, firstly, some related concepts and applications are described:

[0059] In some embodiments, the mesh device may be a distributed router capable of providing wireless network access services, and the mesh devices may be interconnected to expand the coverage of the wireless network.

[0060] In some embodiments, a multi-rotor drone may be a drone that utilizes multiple rotors to fly.

[0061] In some embodiments, a route specifies a route for a drone to fly, consisting of a set of waypoints.

[0062] In some embodiments, a waypoint corresponds to a location point of the drone flight, including longitude, latitude, and altitude.

[0063] In some embodiments, a base station is an infrastructure used to provide mobile wireless network coverage.

[0064] In some embodiments, a method for deploying a multi-population network of drones is provided, the method mainly comprising the following steps:

[0065] Step a1: Setting multiple populations of communication node drones: Setting multiple populations of communication node drones, and performing initial settings on single population communication node drone clusters respectively;

[0066] Step a2: acquiring the position of the node to be communicated: performing positioning scanning and acquiring the position of the node to be communicated according to the two-dimensional interest area to be communicated;

[0067] Step a3: Perform offline optimization of the deployment of cluster communication node drones using a multi-population co-evolutionary algorithm: Use a multi-population co-evolutionary algorithm to offline optimize the deployment of communication node drones, and find the cluster communication node drone deployment plan with the highest score among all single populations as the final deployment plan, that is, obtain the topological structure of the communication node drone cluster;

[0068] Step a4: Network deployment of communication node drones under the multi-population co-evolution algorithm: According to the topological structure of the communication node drone cluster of the final deployment plan, release the first and second communication node drones respectively until all communication node drones are released.

[0069] like Figure 1 As shown, the present disclosure provides a method based on mesh network communication, the method comprising:

[0070] Step S101, determining that a first aircraft is not within a signal coverage range of an aircraft on a first link, wherein the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; and signal coverage areas between two adjacent aircraft on the first link overlap;

[0071] Step S102, determining a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft;

[0072] Step S103: adjusting the positions of the aircraft on the first link based on the fact that the first aircraft, the second aircraft and the third aircraft are in a collinear line, so that the first aircraft is within the signal coverage range of the aircraft in the first aircraft group after the adjustment.

[0073] In the above embodiment, the lost first aircraft that is not within the signal coverage range of the aircraft on the first link can be determined, and the position of the aircraft on the first link can be adjusted based on the collinearity of the first aircraft, the second aircraft and the third aircraft, so that the first aircraft can be within the signal coverage range of the aircraft in the adjusted first cluster, so that the lost first aircraft returns to the first cluster, the adjustment efficiency is high and the collision between aircraft is reduced.

[0074] In some embodiments, the first group of aircraft may be a drone cluster, for example, a multi-rotor drone cluster. The aircraft may be a drone. The aircraft in the present disclosure is described by taking a multi-rotor drone as an example, which is only for illustrative purposes and is not intended to limit the present disclosure.

[0075] In some embodiments, a mesh module is provided on the aircraft, and the mesh module is used for mesh communication between different aircraft.

[0076] In some embodiments, the position of the aircraft may be represented by position coordinates, which may include altitude, longitude, and latitude.

[0077] In some embodiments, it is determined that the first aircraft is not within the signal coverage of aircraft on a first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap. Based on a preset distance between the first aircraft and the i-th aircraft on the first link, and a maximum distance that can be covered by signals of all aircraft after the i-th aircraft on the first link, the third aircraft is determined from the first link; the third aircraft is the aircraft closest to the first aircraft; i is an integer greater than or equal to 1. Based on the collinearity of the first aircraft, the second aircraft and the third aircraft, the positions of the aircraft on the first link are adjusted, and the first aircraft is within the signal coverage of the aircraft in the first fleet after the adjustment. In the disclosed embodiment, a third aircraft closest to the first aircraft can be determined from the first link based on a preset distance between the first aircraft and the i-th aircraft on the first link. The selection of the third aircraft can substantially adapt to the preset distance. Exemplarily, in order to shorten the time for determining the third aircraft, the preset distance can be set to be greater than a predetermined value.

[0078] In some embodiments, it is determined that the first aircraft is not within the signal coverage range of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with the second aircraft supporting the base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap. Based on the preset distance between the first aircraft and the i-th aircraft on the first link, and the maximum distance that the signals of all aircraft after the i-th aircraft on the first link can cover, it is determined that the maximum distance that all aircraft after the i-th aircraft can cover is greater than the preset distance, and the i-th aircraft is determined from the first link to be the third aircraft; the third aircraft is the aircraft closest to the first aircraft; i is an integer greater than or equal to 1. Based on the collinearity of the first aircraft, the second aircraft and the third aircraft, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage range of the aircraft in the adjusted first fleet. In the embodiment of the present disclosure, the third aircraft can be determined based on the preset distance between the first aircraft and the i-th aircraft on the first link and the maximum distance that the signals of all aircraft after the i-th aircraft can cover.

[0079] In some embodiments, it is determined that the first aircraft is not within the signal coverage of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the first link is a straight link formed by the aircraft in the first group of aircraft arranged in sequence with the second aircraft as the starting point; the signal coverage areas between two adjacent aircraft on the first link overlap. Based on the position of the first aircraft, a third aircraft adjacent to the first aircraft is determined from the first link. Based on the collinearity of the first aircraft, the second aircraft and the third aircraft, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage of the aircraft in the first group of aircraft after the adjustment. In the embodiment of the present disclosure, since the first link is a straight link formed by the aircraft in the first group of aircraft arranged in sequence with the second aircraft as the starting point, after the third aircraft is determined from the first link, the position of the aircraft on the first link can be quickly adjusted based on the collinearity of the first aircraft, the second aircraft and the third aircraft. At the same time, since the aircraft are arranged in a straight line, the collision between the aircraft can be reduced.

[0080] In some embodiments, it is determined that a first aircraft is not within the signal coverage of an aircraft on a first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap. A third aircraft adjacent to the first aircraft is determined from the first link based on the position of the first aircraft. A first reference point close to the first aircraft within the signal coverage of the third aircraft is determined; a first difference between the position of a fourth aircraft next adjacent to the third aircraft and the position of the first reference point is determined; based on the first difference, it is determined whether the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft are collinear to obtain a determination result; based on the determination result, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage of the aircraft in the adjusted first fleet. In an embodiment of the present disclosure, a first reference point can be determined based on the third aircraft determined from the first link and based on the signal coverage range of the third aircraft, so that it can be determined whether the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft are collinear based on a first difference between the position of a fourth aircraft next adjacent to the third aircraft and the position of the first reference point, and the positions of the aircraft in the first fleet are adaptively adjusted based on the result of whether they are collinear so that the first aircraft is within the adjusted signal coverage range of the aircraft in the first fleet.

[0081] In some embodiments, it is determined that the first aircraft is not within the signal coverage of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with the second aircraft supporting the base station function as a reference point; the signal coverage areas between the two adjacent aircraft on the first link overlap. Based on the position of the first aircraft, a third aircraft adjacent to the first aircraft is determined from the first link. A point close to the first aircraft on the boundary of the signal coverage of the third aircraft is determined as the first reference point; a first difference between the position of the next adjacent fourth aircraft to the third aircraft and the position of the first reference point is determined; based on the first difference, it is determined whether the position coordinates of the first aircraft, the second aircraft and the fourth aircraft are collinear, and a determination result is obtained; based on the determination result, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage of the aircraft in the adjusted first fleet. In the embodiment of the present disclosure, it is possible to determine that the point close to the first aircraft on the boundary of the signal coverage of the third aircraft is the first reference point and use it as the reference point to adjust the position of the aircraft on the first link.

[0082] In some embodiments, it is determined that a first aircraft is not within the signal coverage of an aircraft on a first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap. A third aircraft adjacent to the first aircraft is determined from the first link based on the position of the first aircraft. A first reference point close to the first aircraft within the signal coverage of the third aircraft is determined; a first difference between the position of a fourth aircraft next adjacent to the third aircraft and the position of the first reference point is determined; based on the first difference, whether the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft are collinear is determined to obtain a determination result. In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft not being collinear, the fourth aircraft is controlled to move to the first reference point; and aircraft other than the fourth aircraft in the first fleet are controlled to fly to a target position; wherein the target position is determined based on the current position of the corresponding aircraft and the first difference. In the embodiment of the present disclosure, when the position coordinates of the first aircraft, the second aircraft and the fourth aircraft are not collinear, the fourth aircraft and aircraft in the first fleet other than the fourth aircraft can be controlled to fly to the target position based on the first reference point, so that the first aircraft is within the signal coverage range of the adjusted aircraft in the first fleet.

[0083] In some embodiments, it is determined that the first aircraft is not within the signal coverage of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with the second aircraft supporting the base station function as a reference point; the signal coverage areas between the two adjacent aircraft on the first link overlap. Based on the position of the first aircraft, a third aircraft adjacent to the first aircraft is determined from the first link. A first reference point close to the first aircraft within the signal coverage of the third aircraft is determined; a first difference between the position of the fourth aircraft next adjacent to the third aircraft and the position of the first reference point is determined. In response to the position coordinates of the first aircraft, the second aircraft and the fourth aircraft being collinear, a second reference point is determined; a position of a third reference point close to the second reference point is determined from the network coverage of the third aircraft; a second difference between the position of the fifth aircraft next adjacent to the third aircraft and the position of the third reference point is determined; based on the second difference, the fifth aircraft is controlled to move to the first reference point via the position of the third reference point; and aircraft other than the fifth aircraft in the first fleet are controlled to fly to a target position, wherein the target position is determined based on the current position of the aircraft and the first difference. In the embodiment of the present disclosure, when the position coordinates of the first aircraft, the second aircraft and the fourth aircraft are collinear, the fifth aircraft and the aircraft in the first fleet except the fifth aircraft can be flown to the target position based on the first reference point, the second reference point and the third reference point, so that the first aircraft is within the signal coverage range of the adjusted aircraft in the first fleet.

[0084] In some embodiments, the distance between the position coordinates of the second reference point and the position coordinates of the third aircraft is less than or equal to the signal coverage radius of the third aircraft.

[0085] In some embodiments, in response to not receiving information about the position reported by the first aircraft in a first time period, it is determined that the first aircraft is not within the signal coverage of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with the second aircraft supporting the base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap. Based on the position of the first aircraft, a third aircraft adjacent to the first aircraft is determined from the first link. Based on the collinearity of the first aircraft, the second aircraft and the third aircraft are used as a reference, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage of the aircraft in the adjusted first fleet. In the embodiment of the present disclosure, it can be determined that the first aircraft is not within the signal coverage of the aircraft on the first link based on whether the information about the position reported by the first aircraft is received in the first time period.

[0086] In some embodiments, the most recently reported position of the first aircraft is obtained; based on the most recently reported position, the moving speed of the first aircraft and the first preset time, the position of the first aircraft after the first preset time is determined; a fifth aircraft is determined from the first fleet, the fifth aircraft being the aircraft closest to the position of the first aircraft; based on the distance between the position of the first aircraft and the position of the fifth aircraft, and the signal coverage of the fifth aircraft, whether the first aircraft is within the signal coverage of the fifth aircraft is determined; in response to determining that the first aircraft is not within the signal coverage of the fifth aircraft, determining that the first aircraft is not within the signal coverage of aircraft on a first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; the signal coverage areas between two adjacent aircraft on the first link overlap. Based on the position of the first aircraft, a third aircraft adjacent to the first aircraft is determined from the first link. Based on the collinearity of the first aircraft, the second aircraft and the third aircraft are used as a reference, the position of the aircraft on the first link is adjusted, and the first aircraft is within the signal coverage of the aircraft in the first fleet after the adjustment. In the embodiment of the present disclosure, it can be determined based on the predicted position of the first aircraft that the first aircraft is not within the signal coverage of the aircraft on the first link.

[0087] In some embodiments, before determining the location of the first aircraft after the first preset time period based on the most recently reported location, the moving speed of the first aircraft, and the first preset time period, the method further includes: determining a spatial line segment of the route where the first aircraft is located, the spatial line segment being a line segment between adjacent waypoints on the route. In this way, the location of the first aircraft can be accurately determined based on the determined spatial line segment.

[0088] In order to better understand the embodiments of the present disclosure, the technical solution of the present disclosure is described below through two exemplary embodiments:

[0089] Example 1:

[0090] See also Figure 2 , the exemplary method includes (it should be noted that at least one of step 1, step 2 and step 3 can be performed alone, and at least two of step 1, step 2 and step 3 can be performed in combination, which is not limited here):

[0091] Step 1:

[0092] In some embodiments, the coordinates of the position point of the multi-rotor UAV used to perform the base station BS function are set to O(x, y, z), where x represents longitude, y represents latitude, and z represents altitude. The multi-rotor UAV cluster equipped with mesh devices (corresponding to the first group in the present disclosure) is set to UAVGroup, and UAVGroup.count represents the number of multi-rotor UAVs in the cluster.

[0093] In some embodiments, the base station BS (corresponding to one aircraft) is taken as UAVGroup[0] and is regarded as the first multi-rotor UAV (corresponding to the second aircraft in the present disclosure). The position of UAVGroup[0] cannot be changed. UAVGroup[UAVGroup.count-1] represents the last multi-rotor UAV, and so on.

[0094] Among them, (UAVGroup[k].x, UAVGroup[k].y, UAVGroup[k].z) represents the longitude, latitude, and altitude of the k-th multi-rotor drone. UAVGroup[k].nextUAV represents the next multi-rotor drone adjacent to the k-th multi-rotor drone. UAVGroup[k].prevUAV represents the previous multi-rotor drone adjacent to the k-th multi-rotor drone.

[0095] In some embodiments, assuming that the wireless network coverage radius of a mesh device (corresponding to the mesh module in the present disclosure, one mesh module can be provided on each aircraft) is R, then there is wireless network coverage in a spherical area with a radius of R around each multi-rotor drone equipped with a mesh device, and the coverage area set is expressed as:

[0096] cArea=[

[0097] Sphere((UAVGroup[0].x, UAVGroup[0].y, UAVGroup[0].z),R),

[0098] Sphere((UAVGroup[1].x, UAVGroup[1].y, UAVGroup[1].z),R),

[0099] ...,

[0100] Sphere((UAVGroup[UAVGroup.count-1].x,UAVGroup[UAVGroup.count-1].y,UAVGroup[UAVGroup.count-1].z),R)],where Sphere((UAVGroup[0].x,UAVGroup[0].y,UAVGroup[0].z),R) indicates that the wireless network space covered by the first multi-rotor drone equipped with mesh equipment is a sphere with (UAVGroup[0].x,UAVGroup[0].y,UAVGroup[0].z) as the center and R as the radius. The same applies to the others. cArea[0] indicates the wireless network space covered by the first multi-rotor drone equipped with mesh equipment.

[0101] In some embodiments, the initial state of the drone system may be:

[0102] For example,

[0103] UAVGroup[0].nextUAV=UAVGroup[1], UAVGroup[1].nextUAV=UAVGroup[2],

[0104] UAVGroup[2].nextUAV=UAVGroup[3], UAVGroup[3].nextUAV=UAVGroup[4],

[0105] UAVGroup[4].nextUAV=UAVGroup[5], UAVGroup[5].nextUAV=UAVGroup[6],

[0106] UAVGroup[6].nextUAV=UAVGroup[7], UAVGroup[7].nextUAV=UAVGroup[8],

[0107] …

[0108] UAVGroup[UAVGroup.count-2].nextUAV=UAVGroup[UAVGroup.count-1],

[0109] UAVGroup[1].prevUAV=UAVGroup[0], UAVGroup[2].prevUAV=UAVGroup[1],

[0110] UAVGroup[3].prevUAV=UAVGroup[2], UAVGroup[4].prevUAV=UAVGroup[3],

[0111] UAVGroup[5].prevUAV=UAVGroup[4], UAVGroup[6].prevUAV=UAVGroup[5],

[0112] UAVGroup[7].prevUAV=UAVGroup[6], UAVGroup[8].prevUAV=UAVGroup[7],

[0113] …

[0114] UAVGroup[UAVGroup.count-1].prevUAV=UAVGroup[UAVGroup.count-2],

[0115] Among them, count represents the number of drones, and this expression indicates that there is a bidirectional chain relationship between multi-rotor drones equipped with mesh devices.

[0116] For example,

[0117] For each UAV in UAVGroup (excluding UAVGroup[UAVGroup.count-1]), DIS(UAV, UAV.nextUAV) == R, which means that the initial position distance between adjacent UAVs in the chained UAV cluster UAVGroup is R.

[0118] For example,

[0119] (UAVGroup[1].xO.x) / (UAVGroup[1].yO.y)=

[0120] (UAVGroup[2].xO.x) / (UAVGroup[2].yO.y)=

[0121] (UAVGroup[3].xO.x) / (UAVGroup[3].yO.y)=

[0122] (UAVGroup[4].xO.x) / (UAVGroup[4].yO.y)=

[0123] …

[0124] (UAVGroup[UAVGroup.count-1].xO.x) / (UAVGroup[UAVGroup.count-1].yO.y)=k1, where k1 is a constant.

[0125] (UAVGroup[1].zO.z) / (UAVGroup[1].yO.y)=

[0126] (UAVGroup[2].zO.z) / (UAVGroup[2].yO.y)=

[0127] (UAVGroup[3].zO.z) / (UAVGroup[3].yO.y)=

[0128] (UAVGroup[4].zO.z) / (UAVGroup[4].yO.y)=

[0129] …

[0130] (UAVGroup[UAVGroup.count-1].zO.z) / (UAVGroup[UAVGroup.count-1].yO.y)=k2, where k2 is a constant.

[0131] The expressions k1 and k2 represent the spatial distribution of multi-rotor drones equipped with mesh devices forming a straight line.

[0132] In some embodiments, see Figure 3, point A represents the location of the multi-rotor drone equipped with mesh equipment, V represents the location of the target multi-rotor drone TargetUAV, and (TargetUAV.x(t), TargetUAV.y(t), TargetUAV.z(t)) represents the longitude, latitude, and altitude of the target multi-rotor drone at time t.

[0133] In some embodiments, assume that the route sent by the system to the target multi-rotor drone TargetUAV is TLine[p1(x, y, z), p2(x, y, z), p3(x, y, z), p4(x, y, z), p5(x, y, z)], where p1 to p5 represent waypoints of the route TLine, each waypoint has longitude, latitude and altitude, and the drone TargetUAV needs to fly from waypoint p1 to waypoint p2, p3, p4 in sequence to waypoint p5, where waypoint p1 to waypoint p2 is a straight line flight, waypoint p2 to waypoint p3 is a straight line flight, and so on.

[0134] In some embodiments, let LineGroup[Line[p1, p2), Line[p2, p3), Line[p3, p4), Line[p4, p5]] be a set of spatial line segments consisting of adjacent waypoints, Line[p1, p2) is the spatial line segment from waypoint p1 to waypoint p2 (excluding point p2), Line[p2, p3) is the spatial line segment from waypoint p2 to waypoint p3 (excluding point p3), Line[p3, p4) is the spatial line segment from waypoint p3 to waypoint p4 (excluding point p4), Line[p4, p5] is the spatial line segment from waypoint p4 to waypoint p5, and so on.

[0135] In some embodiments, let vAngle(Line[p1, p2)) be the angle of the route Line[p1, p2) relative to the horizontal plane xOy, and hAngle(Line[p1, p2)) be the angle of the route Line[p1, p2) relative to the vertical plane xOz. Go to step 2.

[0136] Step 2:

[0137] In some embodiments, let the current time be t0, and the system waits t1 seconds to detect the position coordinate data reported by the target multi-rotor drone TargetUAV at time t1. If TargetUAV does not report position coordinate data within the time range (t0, t0+t1] (which may correspond to the first time period of the present disclosure), it means that TargetUAV has left the wireless network coverage of the multi-rotor drone cluster UAVGroup equipped with mesh devices. At this time, TargetUAV can be defined as a lost drone (corresponding to the first aircraft in the present disclosure).

[0138] In some embodiments, the system receives the coordinate data (TargetUAV.x(t1), TargetUAV.y(t1), TargetUAV.z(t1)) of the position point V reported by the target multi-rotor UAV TargetUAV (corresponding to the first aircraft) at time t1, and the system obtains the spatial line segment Line_V where the position point V is located.

[0139] In some embodiments, the method for obtaining Line_V is as follows: The system traverses each line segment lineSeg[pStart, pEnd) in LineGroup, where pStart represents the starting point of the line segment and pEnd represents the ending point of the line segment, and then compares the positional relationship between lineSeg and the position point V.

[0140] Exemplarily, the comparison method is as follows:

[0141] Condition 1:

[0142] (lineSeg.pStart.x <= TargetUAV.x(t1) < lineSeg.pEnd.x) or

[0143] (lineSeg.pEnd.x < TargetUAV.x(t1) <= lineSeg.pStart.x)

[0144] And

[0145] (lineSeg.pStart.y <= TargetUAV.y(t1) < lineSeg.pEnd.y) or

[0146] (lineSeg.pEnd.y < TargetUAV.y(t1) <= lineSeg.pStart.y)

[0147] And

[0148] (lineSeg.pStart.z <= TargetUAV.z(t1) < lineSeg.pEnd.z) or

[0149] (lineSeg.pEnd.z < TargetUAV.z(t1) <= lineSeg.pStart.z).

[0150] Condition 2:

[0151] (lineSeg.pStart.x - TargetUAV.x(t1)) / (lineSeg.pStart.y - TargetUAV.y(t1)) =

[0152] (lineSeg.pEnd.x-TargetUAV.x(t1)) / (lineSeg.pEnd.y-TargetUAV.y(t1))

[0153] =slope1

[0154] and

[0155] (lineSeg.pStart.z-TargetUAV.z(t1)) / (lineSeg.pStart.y-TargetUAV.y(t1))

[0156] =

[0157] (lineSeg.pEnd.z-TargetUAV.z(t1)) / (lineSeg.pEnd.y-TargetUAV.y(t1))

[0158] =slope2, where slope1 and slope2 are constants.

[0159] If conditions 1 and 2 are met, Line_V = lineSeg. If Line_V is not obtained after the traversal is completed, it means that TargetUAV has not entered the flight route of the planned route TLine. Otherwise, the system estimates the flight time from TargetUAV to the end point of Line_V. The estimation method is as follows:

[0160] tSpan=DIS(Line_V.pEnd, (TargetUAV.x, TargetUAV.y, TargetUAV.z)) / v,

[0161] Among them, DIS (Line_V.pEnd, (TargetUAV.x, TargetUAV.y, TargetUAV.z)) represents the distance between the end point of Line_V and the target multi-rotor drone TargetUAV at the current moment, and v represents the flight speed of the drone (corresponding to the moving speed in the present disclosure). Then the system calculates the coordinates of the position point V1 of the target drone TargetUAV after tInterval seconds (corresponding to the first preset duration in the present disclosure) based on the flight speed v and the estimated time interval tInterval (if tInterval>tSpan, then tInterval=tSpan, this constraint makes the flight path of TargetUAV always remain on the space line segment Line_V).

[0162] Exemplarily, the calculation method is as follows:

[0163] V1.x=TargetUAV.x(t1)+(v*tInterval)*cos(vAngle(Line_V))*cos(hAngle(Line_V)),

[0164] V1.y=TargetUAV.y(t1)+(v*tInterval)*cos(vAngle(Line_V))*sin(hAngle(Line_V)),

[0165] V1.z=TargetUAV.z(t1)+(v*tInterval)*sin(vAngle(Line_V)).

[0166] The system traverses the multi-rotor drone cluster UAVGroup equipped with mesh devices, selects the drone UAVGroup[i] closest to point V1 from UAVGroup, and determines whether point V1 is within the range of cArea[i].

[0167] Exemplarily, the determination method is as follows:

[0168] Compare the distance DIS(V1, (UAVGroup[i].x, UAVGroup[i].y, UAVGroup[i].z)) from point V1 to the center of cArea[i] (UAVGroup[i].x, UAVGroup[i].y, UAVGroup[i].z)) and the wireless network coverage radius R of the mesh device. If DIS(V1, (UAVGroup[i].x, UAVGroup[i].y, UAVGroup[i].z)) <= R, proceed to step 2. Otherwise, the system compares DIS(V1, (UAVGroup[i].x, UAVGroup[i] .y, UAVGroup[i].z)) and the maximum distance that can be covered by all subsequent UAVs of UAVGroup[i] (step 1 defines UAVGroup as a chain structure composed of one UAV) Remainder_Max_DIS=(UAVGroup.count-i)*R, where UAVGroup.count represents the number of UAVs in the chain structure, i represents the position number of the current UAV in the chain structure, and (UAVGroup.count-i)*R represents the chain coverage length of all UAVs from UAVGroup[i].nextUAV to UAVGroup[count-1]. If DIS(V1,(UAVGroup[i].x,UAVGroup[i].y,UAVGroup[i].z))>Remainder_Max_DIS, the system records UAVGroup[i] as UAVNearest and proceeds to step 301, otherwise it proceeds to step 302.

[0169] Step 3 involves step 301, step 302, step 303, step 304, step 305 and step 306. Among them,

[0170] Step 301, the system obtains the previous drone UAVneighbor=UAVNearest.prevUAV of the drone UAVNearest. If UAVneighbor does not exist, it goes to step 302, otherwise it calculates the distance DIS(V1,(UAVneighbor.x,UAVneighbor.y,UAVneighbor.z)) from point V1 to the previous drone position point (UAVneighbor.x,UAVneighbor.y,UAVneighbor.z).

[0171] In some embodiments, the number k of subsequent drones of the drone UAVneighbor and the maximum distance that the subsequent drones can cover are calculated:

[0172] Remainder_Max_DIS=(k+1)*R.

[0173] If DIS(V1,(UAVneighbor.x,UAVneighbor.y,UAVneighbor.z))>Remainder_Max_DIS, the system records the UAVneighbor as UAVNearest and enters step 301 again, otherwise set i=UAVGroup.count-k-1 and enter step 302.

[0174] Step 302: The system obtains the coordinates of the intersection of point V1 and the spherical wireless network coverage area cArea[i], and takes the intersection point close to point V1, which is recorded as J(x, y, z) = Intersect(V1, cArea[i]). The system obtains the next UAV neighbor adjacent to UAVGroup[i] UAVneighbor = UAVGroup[i].nextUAV. If UAVneighborv does not exist, it goes to step 2. Otherwise, it calculates the coordinate difference delta(x, y, z) between the current position coordinates of the UAVneighbor and the intersection J(x, y, z), where:

[0175] delta.x = UAVneighbor.xJ.x,

[0176] delta.y=UAVneighbor.yJ.y,

[0177] delta.z=UAVneighbor.zJ.z. Go to step 303.

[0178] Step 303:

[0179] If (UAVneighbor.xJ.x) / (UAVneighbor.yJ.y)!=(UAVneighbor.xO.x) / (UAVneighbor-Oy) or (UAVneighbor.zJ.z) / (UAVneighbor.yJ.y)!=(UAVneighbor.zO.z) / (UAVneighbor.yO.y), it indicates that the target UAV TargetUAV, the mesh UAV UAVneighbor and the base station BS position point O are not collinear, and the process goes to step 304, otherwise, the process goes to step 305.

[0180] In step 304 (including step 3041), the system sends a route instruction Line[(UAVneighbor.x, UAVneighbor.y, UAVneighbor.z), J] to the UAVneighbor. The route has two waypoints. The coordinates of the starting waypoint are the current position coordinates of the UAVneighbor, and the coordinates of the ending waypoint are the coordinates of the intersection J.

[0181] In some embodiments, the system traverses all subsequent drones of the drone UAVneighbor, and sends a route instruction Line[(nextUAV.x, nextUAV.y, nextUAV.z),(nextUAV.x-delta.x, nextUAV.y-delta.y, nextUAV.z-delta.z)] to each traversed drone nextUAV, where the starting waypoint coordinates are the current position coordinates of the drone nextUAV, and the ending waypoint coordinates are the current position coordinates of the drone nextUAV minus the coordinate difference delta(x, y, z).

[0182] In some embodiments, after receiving the command, the UAVneighbor and its subsequent UAVs move synchronously from the starting waypoint to the ending waypoint at the same flight speed, and the system updates the current position coordinates of the UAVneighbor to the coordinates of point J, and the system updates the current position coordinates of each subsequent UAV nextUAV of UAVneighbor to (nextUAV.x-delta.x, nextUAV.y-delta.y, nextUAV.z-delta.z). Go to step 3041.

[0183] Step 3041, from the chain structure of the multi-rotor UAV cluster UAVGroup equipped with mesh devices, it can be known that the spherical wireless network coverage area cArea[j] corresponding to the UAVneighbor, where j=i+1, let i=j, and go to step 302.

[0184] Step 305: Since the target UAV TargetUAV, mesh UAVneighbor and base station BS position point O are collinear, the system selects the bypass point V2 (V1.x+deltaX, V1.y+deltaY, V1.z+deltaZ) of point V1, where deltaX, deltaY and deltaZ are empirical values, and DIS(V2,(UAVGroup[i].x, UAVGroup[i].y, UAVGroup[i].z))<=R.

[0185] In some embodiments, the system obtains the coordinates of the intersection of point V2 and the spherical wireless network coverage area cArea[i], takes the intersection point close to point V2, which is recorded as J2(x, y, z) = Intersect(V2, cArea[i]), and calculates the coordinate difference delta2(x, y, z) between the current position coordinates of the drone UAVneighbor and the intersection J2(x, y, z), where:

[0186] delta2.x=UAVneighbor.x-J2.x,

[0187] delta2.y=UAVneighbor.y-J2.y,

[0188] delta2.z=UAVneighbor.z-J2.z. Go to step 306.

[0189] Step 306: The system sends a route instruction Line[(UAVneighbor.x, UAVneighbor.y, UAVneighbor.z), J2, J] to the UAVneighbor. The route has three waypoints. The coordinates of the starting waypoint are the current position coordinates of the UAVneighbor, and the coordinates of the ending waypoint are the coordinates of the intersection J.

[0190] In some embodiments, the system traverses all subsequent drones of the drone UAVneighbor, and sends a route instruction Line[(nextUAV.x, nextUAV.y, nextUAV.z),(nextUAV.x-delta2.x, nextUAV.y-delta2.y, nextUAV.z-delta2.z),(nextUAV.x-delta.x, nextUAV.y-delta.y, nextUAV.z-delta.z)] to each traversed drone nextUAV, where the starting waypoint coordinates are the current position coordinates of the drone nextUAV, and the ending waypoint coordinates are the current position coordinates of the drone nextUAV minus the coordinate difference delta(x, y, z).

[0191] In some embodiments, after receiving the command, the UAVneighbor and its subsequent UAVs move synchronously from the starting waypoint to the ending waypoint at the same flight speed, and the system updates the current position coordinates of the UAVneighbor to the coordinates of point J (x, y, z), and the system updates the current position coordinates of each subsequent UAV nextUAV of UAVneighbor to (nextUAV.x-delta.x, nextUAV.y-delta.y, nextUAV.z-delta.z). Go to step 3041.

[0192] See also Figure 4 , showing that the location of the target multi-rotor UAV TargetUAV is within the wireless network coverage of the multi-rotor UAV cluster equipped with mesh devices.

[0193] Example 2:

[0194] The present disclosure provides a method for dynamic wireless network coverage based on a multi-rotor UAV mesh device, the method comprising:

[0195] In some embodiments, the following initial settings are made for a mesh drone (corresponding to the first aircraft in the present disclosure) cluster (corresponding to the first cluster in the present disclosure, mesh drone refers to: a multi-rotor drone equipped with a mesh device, the wireless network coverage radius of the mesh device is R, and there is a two-way signal chain relationship between the drones equipped with the mesh device): the base station BS is used as the first mesh drone in the mesh drone cluster (the longitude, latitude, and altitude remain unchanged), and the other drones in the cluster are arranged in a straight line with the base station BS as the starting point.

[0196] In some embodiments, a dynamic wireless network coverage method and a mesh drone dynamic adjustment method are used to achieve active network coverage of the lost drone, wherein:

[0197] In some embodiments, the dynamic wireless network coverage method may be: since all drones are set to report their position coordinate data to the platform at a certain frequency, first determine the lost drone that is out of wireless network coverage based on whether the drone reports its position coordinates within a preset time range. At this time, the system extracts the coordinates of the position point V reported by the lost drone for the last time, determines the space segment where the position point V is located (the space segment is composed of different adjacent waypoints, if the lost drone does not fall into any space segment, repeat the above steps until the space segment that best matches it is determined), and then calculates the coordinates of the position point V1 of the lost drone after the estimated time interval based on the flight speed of the lost drone and the estimated time interval.

[0198] In some embodiments, a neighboring drone (mesh drone) closest to point V1 is selected from the mesh drone cluster, and further based on whether the distance 1 from point V1 to the neighboring drone (or the center of the wireless network coverage sphere) is less than or equal to the wireless network coverage radius R, it is determined whether point V1 is within the wireless network coverage range of the neighboring drone.

[0199] In some embodiments, if the drone is not within the wireless network coverage of a neighboring drone, a mesh drone dynamic adjustment method is used to achieve wireless network coverage of the lost drone with the shortest adjustment distance.

[0200] In some embodiments, the dynamic adjustment method of mesh drones can be: based on the target distance between the lost drone and the i-th drone in the mesh drone cluster, and the maximum distance that can be covered by all drones after the i-th drone (since mesh drones are arranged in a straight line, all drones after the i-th drone refer to: all drones after the i-th drone is arranged in the straight line direction opposite to the location of the base station) (since mesh drones maintain a two-way chain relationship of signals, a signal coverage extension state can be formed between multiple adjacent mesh drones) to determine the nearest mesh drone (which can be regarded as a new neighboring drone. By comparing them in sequence, when the above target distance is less than the above maximum distance, the current i-th mesh drone can be determined as the nearest mesh drone). Further, from the wireless network coverage range of the nearest mesh drone, an intersection point 1 (a point on a sphere with R as the radius and the mesh device as the center) close to the lost drone is determined, and the coordinate difference 1 between the position of the next neighbor drone adjacent to the nearest mesh drone and the above intersection point 1 is calculated, and based on the coordinate difference 1, it is determined whether the position points of the lost drone, the neighbor drone and the base station BS are collinear.

[0201] In some embodiments, if they are not collinear, the neighboring drone is controlled to fly from the current position coordinate to the intersection 1 coordinate, and the other drones are controlled to fly from the current position coordinate to the preset target position (the current position coordinate of each mesh drone minus the above coordinate difference 1). Since the mesh drone cluster is a chain structure, the spherical wireless network coverage area corresponding to the neighboring drone can include the lost drone.

[0202] In some embodiments, if they are collinear, a bypass point V2 of point V1 is selected (the distance between V2 and the nearest mesh drone is less than or equal to the wireless network coverage radius R). The coordinates of intersection 2 close to V2 are determined from the wireless network coverage range of the nearest mesh drone, and the coordinate difference 2 between the current position coordinates of the neighbor drone and intersection 2 is calculated. Based on the above coordinate difference 2, the system controls the neighbor drone to fly from its current position coordinates to intersection 1 via intersection 2. All subsequent drones of the neighbor drone (UAVneighbor) are controlled to fly from the current position coordinates to the target position (the coordinate position of the current position coordinate minus the coordinate difference 1). Since the multi-rotor drone cluster equipped with mesh devices is a chain structure, the spherical wireless network coverage area of ​​the neighbor drone includes the lost drone.

[0203] The disclosed embodiment selects the nearest neighboring drones to the location of the lost drone, and then arranges the mesh drone cluster in a straight line, and maintains a two-way chain relationship of signals as a condition, so as to control the mesh drone cluster to be arranged in a straight line based on the location of the base station BS, the location of the neighboring drones, and the location between the lost drones, and bring the lost drone into the wireless network coverage of the mesh device. Compared with the prior art, this proposed method not only has fewer calculation iterations, but also a faster wireless network coverage response speed, and can achieve dynamic wireless network coverage deployment for nodes in different spatial locations with a smaller number of drones. Therefore, it has the technical effects of improving the efficiency of drone wireless network deployment, reducing the cost of drone wireless network deployment, and saving computing resources.

[0204] like Figure 5 As shown, an embodiment of the present disclosure provides a device based on mesh network communication, the device comprising:

[0205] The determining module 51 is configured to determine that the first aircraft is not within the signal coverage of the aircraft on the first link, the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with the second aircraft supporting the base station function as a reference point; and the signal coverage areas between two adjacent aircraft on the first link overlap;

[0206] The determination module 51 is further configured to determine a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft;

[0207] The determination module 51 is further configured to adjust the position of the aircraft on the first link based on the collinearity of the first aircraft, the second aircraft and the third aircraft, so that the first aircraft is within the signal coverage range of the aircraft in the first fleet after the adjustment.

[0208] In one embodiment, the determining module 51 is further configured to:

[0209] Based on a preset distance between the first aircraft and the i-th aircraft on the first link, and a maximum distance that can be covered by signals of all aircraft after the i-th aircraft on the first link, the third aircraft is determined from the first link; the third aircraft is the aircraft closest to the first aircraft; and i is an integer greater than or equal to 1.

[0210] In one embodiment, the determining module 51 is further configured to:

[0211] The first link is a straight link formed by arranging the aircraft in the first fleet in sequence with the second aircraft as the starting point.

[0212] In one embodiment, the adjustment module 52 is further configured to:

[0213] Determine a first reference point close to the first aircraft within the signal coverage range of the third aircraft;

[0214] determining a first difference between a position of a fourth aircraft next adjacent to the third aircraft and a position of the first reference point;

[0215] determining whether the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft are collinear based on the first difference, and obtaining a determination result;

[0216] Based on the determination result, the position of the aircraft on the first link is adjusted.

[0217] In one embodiment, the determining module 51 is further configured to:

[0218] It is determined that the maximum distance that can be covered by all aircraft after the i-th aircraft is greater than the preset distance, and the i-th aircraft is determined from the first link to be the third aircraft.

[0219] In one embodiment, the determining module 51 is further configured to:

[0220] A point on a boundary of a signal coverage range of the third aircraft and close to the first aircraft is determined as the first reference point.

[0221] In one embodiment, the adjustment module 52 is further configured to:

[0222] In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft being not collinear, controlling the fourth aircraft to move to the first reference point;

[0223] The aircrafts in the first fleet except the fourth aircraft are controlled to fly to a target position; wherein the target position is determined based on a current position of the corresponding aircraft and the first difference.

[0224] In one embodiment, the adjustment module 52 is further configured to:

[0225] In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft being collinear, determining a second reference point;

[0226] Determine a position of a third reference point close to the second reference point from within the network coverage of the third aircraft;

[0227] determining a second difference between a position of a fifth aircraft next adjacent to the third aircraft and a position of the third reference point;

[0228] Controlling the fifth aircraft to move to the first reference point via the position of the third reference point based on the second difference;

[0229] The aircraft except the fifth aircraft in the first aircraft group is controlled to fly to a target position, wherein the target position is determined based on a current position of the aircraft and the first difference.

[0230] In one embodiment, the adjustment module 52 is further configured such that: a distance between the position coordinates of the second reference point and the position coordinates of the third aircraft is less than or equal to a signal coverage radius of the third aircraft.

[0231] In one embodiment, the determining module 51 is further configured to:

[0232] In response to not receiving the information on the position reported by the first aircraft within a first time period, it is determined that the first aircraft is not within the signal coverage of aircraft on the first link.

[0233] In one embodiment, the apparatus further comprises a processing module 53, wherein the processing module 53 is configured to:

[0234] Obtaining the most recently reported position of the first aircraft;

[0235] Determining a position of the first aircraft after the first preset time period based on the most recently reported position, the moving speed of the first aircraft, and a first preset time period;

[0236] Determine a fifth aircraft from the first aircraft group, where the fifth aircraft is the aircraft closest to the first aircraft;

[0237] determining whether the first aircraft is within the signal coverage of the fifth aircraft based on the distance between the position of the first aircraft and the position of the fifth aircraft and the signal coverage of the fifth aircraft;

[0238] In response to determining that the first aircraft is not within the signal coverage range of the fifth aircraft, it is determined that the first aircraft is not within the signal coverage range of aircraft on the first link.

[0239] In one embodiment, the determining module 51 is further configured to:

[0240] A spatial line segment of the route on which the first aircraft is located is determined, where the spatial line segment is a line segment between adjacent waypoints on the route.

[0241] The present disclosure provides a processing device, the processing device comprising:

[0242] A memory for storing executable programs;

[0243] The processor is used to implement any method described in the embodiments of the present disclosure when executing the executable program stored in the memory.

[0244] It can be understood that the memory can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0245] Among them, the method for determining the topological structure disclosed in the present invention can be applied to the processor or implemented by the processor. The processor can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the method for determining the topological structure can be completed by an integrated logic circuit of the hardware in the processor or an instruction in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps and logic block diagrams disclosed in the present invention. The general-purpose processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory, and completes the steps of the method for determining the topological structure provided in the embodiment of the present application in combination with its hardware.

[0246] The present invention also provides a computer storage medium, wherein the computer storage medium stores an executable program, and when the executable program is executed by a processor, the method for determining the topological structure as described in any of the embodiments of the present disclosure is implemented. Specifically, it can be a computer-readable storage medium, such as a memory including a computer program, and the computer program can be executed by a processor of a processing device to complete the steps described in the method of the embodiment of the present application. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM.

[0247] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method based on mesh network communication, characterized in that: The method comprises: determining that the first aircraft is not within a signal coverage range of an aircraft on a first link, wherein the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; and signal coverage areas between two adjacent aircraft on the first link overlap; determining a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft; Based on the fact that the first aircraft, the second aircraft, and the third aircraft are in a collinear line, the positions of the aircraft on the first link are adjusted, and the first aircraft is within the signal coverage range of the aircraft in the first aircraft group after the adjustment.

2. The method according to claim 1, characterized in that The step of determining a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft comprises: Based on a preset distance between the first aircraft and the i-th aircraft on the first link, and a maximum distance that can be covered by signals of all aircraft after the i-th aircraft on the first link, the third aircraft is determined from the first link; the third aircraft is the aircraft closest to the first aircraft; and i is an integer greater than or equal to 1.

3. The method according to claim 2, characterized in that The first link is a straight link formed by arranging the aircraft in the first fleet in sequence with the second aircraft as the starting point.

4. The method according to claim 2, characterized in that The adjusting the position of the aircraft on the first link based on the collinearity of the first aircraft, the second aircraft, and the third aircraft comprises: Determine a first reference point close to the first aircraft within the signal coverage range of the third aircraft; determining a first difference between a position of a fourth aircraft next adjacent to the third aircraft and a position of the first reference point; determining whether the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft are collinear based on the first difference, and obtaining a determination result; Based on the determination result, the position of the aircraft on the first link is adjusted.

5. The method according to claim 4, characterized in that Determining a second aircraft from the first link includes: It is determined that the maximum distance that can be covered by all aircraft after the i-th aircraft is greater than the preset distance, and the i-th aircraft is determined from the first link to be the third aircraft.

6. The method according to claim 4, characterized in that The determining a first reference point close to the first aircraft within the signal coverage range of the third aircraft includes: A point on a boundary of a signal coverage range of the third aircraft and close to the first aircraft is determined as the first reference point.

7. The method according to claim 4, characterized in that The adjusting the positions of the aircraft in the first fleet based on the determination result includes: In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft being not collinear, controlling the fourth aircraft to move to the first reference point; The aircrafts in the first fleet except the fourth aircraft are controlled to fly to a target position; wherein the target position is determined based on a current position of the corresponding aircraft and the first difference.

8. The method according to claim 4, characterized in that The adjusting the positions of the aircraft in the first fleet based on the determination result includes: In response to the position coordinates of the first aircraft, the second aircraft, and the fourth aircraft being collinear, determining a second reference point; Determine a position of a third reference point close to the second reference point from within the network coverage of the third aircraft; determining a second difference between a position of a fifth aircraft next adjacent to the third aircraft and a position of the third reference point; Controlling the fifth aircraft to move to the first reference point via the position of the third reference point based on the second difference; The aircraft except the fifth aircraft in the first aircraft group is controlled to fly to a target position, wherein the target position is determined based on a current position of the aircraft and the first difference.

9. The method according to claim 8, characterized in that The distance between the position coordinates of the second reference point and the position coordinates of the third aircraft is less than or equal to the signal coverage radius of the third aircraft.

10. The method according to claim 1, characterized in that The method further comprises: In response to not receiving the information on the position reported by the first aircraft within a first time period, it is determined that the first aircraft is not within the signal coverage of aircraft on the first link.

11. The method according to claim 1, characterized in that: The method further comprises: Obtaining the most recently reported position of the first aircraft; Determining a position of the first aircraft after the first preset time period based on the most recently reported position, the moving speed of the first aircraft, and a first preset time period; Determine a fifth aircraft from the first aircraft group, where the fifth aircraft is the aircraft closest to the first aircraft; determining whether the first aircraft is within the signal coverage of the fifth aircraft based on the distance between the position of the first aircraft and the position of the fifth aircraft and the signal coverage of the fifth aircraft; In response to determining that the first aircraft is not within the signal coverage range of the fifth aircraft, it is determined that the first aircraft is not within the signal coverage range of aircraft on the first link.

12. The method according to claim 11, characterized in that Before determining the position of the first aircraft after the first preset time period based on the most recently reported position, the moving speed of the first aircraft, and the first preset time period, the method further includes: A spatial line segment of the route on which the first aircraft is located is determined, where the spatial line segment is a line segment between adjacent waypoints on the route.

13. A device based on mesh network communication, characterized in that: The device comprises: a determining module configured to determine that a first aircraft is not within a signal coverage range of an aircraft on a first link, wherein the first link includes at least two aircraft supporting mesh communication, the at least two aircraft are arranged in a straight line with a second aircraft supporting a base station function as a reference point; and signal coverage areas between two adjacent aircraft on the first link overlap; The determination module is further configured to determine a third aircraft adjacent to the first aircraft from the first link based on the position of the first aircraft; The adjustment module is further configured to: adjust the position of the aircraft on the first link based on the collinearity of the first aircraft, the second aircraft and the third aircraft, so that the first aircraft is within the signal coverage range of the aircraft in the first fleet after the adjustment.

14. A processing device, characterized in that: The processing equipment comprises: A memory for storing executable programs; A processor, configured to implement the method according to any one of claims 1 to 12 when executing the executable program stored in the memory.

15. A computer storage medium, characterized in that: The computer storage medium stores an executable program, and when the executable program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

Images