A method and system for relaying transmission of unmanned aerial vehicle command and control information

Abstract

The application provides a UAV command information relay transmission method and system, and belongs to the technical field of UAV control. In the process of UAV command control, when a link fault occurs, the relay UAV is used to forward messages, the demand for measurement and control link resources is reduced, the global optimal allocation of link resources is realized, and when the measurement and control link of a UAV is interfered, the UAV can be adaptively adjusted to the command relay transmission mode, the anti-interference ability of the UAV communication link is greatly enhanced, and the survivability of the UAV is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of unmanned aerial vehicle control, and particularly relates to a method and system for relaying transmission of command and control information of unmanned aerial vehicles. BACKGROUND

[0002] Currently, in the process of command and control, unmanned aerial vehicles mainly adopt the mode of directly transmitting information to unmanned aerial vehicles through a measurement and control link by an unmanned aerial vehicle control station (or ground station). In this mode, when the occupancy rate of the measurement and control link resources (frequency, channel) is high, and the measurement and control link of a certain unmanned aerial vehicle is interfered, the unmanned aerial vehicle will not be able to continue to perform the task. SUMMARY

[0003] The present application aims to provide a method and system for relaying transmission of command and control information of unmanned aerial vehicles to solve or alleviate at least one problem in the background art.

[0004] In a first aspect, the present application provides a method for relaying transmission of command and control information of unmanned aerial vehicles, comprising uplink relay forwarding of command information and downlink relay forwarding of command information, wherein the uplink relay forwarding of command information comprises:

[0005] S11, the ground station divides the uplink messages sent to multiple unmanned aerial vehicles into multiple messages according to message numbers, and prioritizes the multiple messages according to importance or urgency, and the messages with high priority are sent first;

[0006] S12, the ground station judges whether a command information link fault occurs in the multiple unmanned aerial vehicles, and when the command information link fault occurs, the ground station selects a designated relay unmanned aerial vehicle and a relayed unmanned aerial vehicle from the multiple unmanned aerial vehicles, and starts uplink relay forwarding;

[0007] S13, the ground station combines the multiple messages sent to the unmanned aerial vehicles into a message queue, and alternately sends the message queue of the relay unmanned aerial vehicle and the message queue of the relayed unmanned aerial vehicle to the relay unmanned aerial vehicle. After the relay unmanned aerial vehicle receives the uplink message queue, it judges whether the message receiver of the message queue is the local machine. If yes, the local machine processes according to the message content. If not, the message queue is delivered to the relayed unmanned aerial vehicle in the formation through the inter-machine link. After the relayed unmanned aerial vehicle receives the message queue, it processes according to the message content;

[0008] The downlink relay forwarding of command information comprises:

[0009] S21, the downlink messages sent by the unmanned aerial vehicles to the ground station are divided into multiple messages according to message numbers, and the multiple messages are prioritized according to importance or urgency, and the messages with high priority are sent first;

[0010] S22, the unmanned aerial vehicle judges whether the command information link failure occurs, when the command information link failure occurs, the relayed unmanned aerial vehicle which the command information link failure occurs notifies the unmanned aerial vehicle which does not send the command information link failure of the link interruption through the inter-aircraft link, and starts to perform the downlink relay forwarding;

[0011] S23, the relayed unmanned aerial vehicle combines the downlink message queue of the unmanned aerial vehicle into a message queue, and changes the sending period Z of the message queue into a period Z1, wherein Z1=Z(1+M), the relayed unmanned aerial vehicle transmits the downlink message queue to the relayed unmanned aerial vehicle through the inter-aircraft link; after the relayed unmanned aerial vehicle receives the message queue sent by the relayed unmanned aerial vehicle, the downlink message of the relayed unmanned aerial vehicle is also combined into a message queue, and the sending period Z of the message queue is also changed into a period Z2, Z2=Z1, the relayed unmanned aerial vehicle sends the message queue of the relayed unmanned aerial vehicle and the message queue of the relayed unmanned aerial vehicle to the ground station in a rotating sending mode.

[0012] In the preferred embodiment of the present application, the priority level includes at least three levels, i.e. high priority A, medium priority B and low priority C, and the message with high priority is sent first.

[0013] In the preferred embodiment of the present application, the relayed unmanned aerial vehicle is the unmanned aerial vehicle which does not have the command information link failure, and the relayed unmanned aerial vehicle is the unmanned aerial vehicle which has the command information link failure.

[0014] The ground station is provided with an uplink relay forwarding switch, and the execution of the relay forwarding is controlled by opening the uplink relay forwarding switch.

[0015] In the preferred embodiment of the present application, the ground station sends X message queues to the relayed unmanned aerial vehicle, X=1+M, and M is the number of the relayed unmanned aerial vehicles.

[0016] In the preferred embodiment of the present application, during the process that the ground station sends the message queue to the relayed unmanned aerial vehicle, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the ground station rotates and sends the message queue of the next unmanned aerial vehicle which needs to be sent.

[0017] During the process that the relayed unmanned aerial vehicle sends the message queue to the ground station, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the relayed unmanned aerial vehicle rotates and sends the message queue of the next unmanned aerial vehicle which needs to be sent.

[0018] In the second aspect, the present application provides a system for implementing the unmanned aerial vehicle command information relay transmission method as described above, the system includes a ground station and a plurality of unmanned aerial vehicles, and the ground station and the unmanned aerial vehicle include command information uplink relay forwarding and command information downlink relay forwarding, wherein the command information uplink relay forwarding process includes:

[0019] S31, the ground station divides the uplink messages sent to the plurality of unmanned aerial vehicles into a plurality of messages according to message numbers, and the plurality of messages are prioritized according to importance or urgency, and the messages with high priority are sent first;

[0020] S32, the ground station judges whether a command information link fault occurs in the plurality of unmanned aerial vehicles, and when the command information link fault occurs, the ground station specifies a relay unmanned aerial vehicle and a relayed unmanned aerial vehicle from the unmanned aerial vehicles, and starts to perform uplink relay forwarding;

[0021] S33, the ground station combines the plurality of messages sent to the unmanned aerial vehicles into a message queue, and sends the message queue of the relay unmanned aerial vehicle and the message queue of the relayed unmanned aerial vehicle to the relay unmanned aerial vehicle alternately, after the relay unmanned aerial vehicle receives the uplink message queue, judges whether the message receiver of the message queue is the machine itself, if yes, the machine processes according to the message content, if not, the message queue is delivered to the relayed unmanned aerial vehicle in the formation through the inter-machine link, and the relayed unmanned aerial vehicle processes according to the message content after receiving the message queue;

[0022] The command information downlink relay forwarding comprises:

[0023] S41, the downlink messages sent by the unmanned aerial vehicles to the ground station are divided into a plurality of messages according to message numbers, and the plurality of messages are prioritized according to importance or urgency, and the messages with high priority are sent first;

[0024] S42, the unmanned aerial vehicle judges whether a command information link fault occurs, when the command information link fault occurs, the relayed unmanned aerial vehicle with the command information link fault notifies the relay unmanned aerial vehicle without the command information link fault in the formation through the inter-machine link that its link is interrupted, and starts to perform downlink relay forwarding;

[0025] S43, the relayed unmanned aerial vehicle combines its own downlink messages into a message queue, and changes the sending period Z of the message queue to a period Z1, where Z1=Z(1+M), the relayed unmanned aerial vehicle transmits the downlink message queue to the relay unmanned aerial vehicle through the inter-machine link; after the relay unmanned aerial vehicle receives the message queue sent by the relayed unmanned aerial vehicle, the relay unmanned aerial vehicle also combines its own downlink messages into a message queue, and changes the sending period Z of the message queue to a period Z2, Z2=Z1, the relay unmanned aerial vehicle sends its own message queue and the message queue of the relayed unmanned aerial vehicle to the ground station in a rotating sending mode.

[0026] In the preferred embodiment of the present application, the priority level includes at least three levels, i.e. high priority A, medium priority B and low priority C, and the messages with high priority are sent first.

[0027] In the preferred embodiment of the present application, the relay unmanned aerial vehicle is an unmanned aerial vehicle whose command information link is not malfunctioning, and the relayed unmanned aerial vehicle is an unmanned aerial vehicle whose command information link is malfunctioning.

[0028] The ground station is provided with an uplink relay forwarding switch, and the execution of relay forwarding is controlled by opening the uplink relay forwarding switch.

[0029] In the preferred embodiment of the present application, the ground station sends X message queues to the relay unmanned aerial vehicle, where X = 1 + M, and M is the number of relayed unmanned aerial vehicles.

[0030] In the preferred embodiment of the present application, during the process in which the ground station sends message queues to the relay unmanned aerial vehicle, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the ground station sends the message queue of the next unmanned aerial vehicle in turn.

[0031] During the process in which the relay unmanned aerial vehicle sends message queues to the ground station, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the relay unmanned aerial vehicle sends the message queue of the next unmanned aerial vehicle in turn.

[0032] Compared with the prior art, the unmanned aerial vehicle command information relay transmission method and system provided by the present application reduce the demand for measurement and control link resources, thereby achieving global optimal allocation of link resources, and when the measurement and control link of a certain unmanned aerial vehicle is interfered, the system can be adaptively adjusted to the command relay transmission mode, greatly enhancing the anti-interference ability of the unmanned aerial vehicle communication link and improving the survivability of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions provided by the present application, the following will briefly introduce the drawings. Obviously, the drawings described below are only some embodiments of the present application.

[0034] Figure 1 FIG. 1 is a schematic diagram of the unmanned aerial vehicle command information relay transmission process in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.

[0036] The present application provides an unmanned aerial vehicle command information transmission method and system, which can improve resource utilization efficiency when the measurement and control link resources (frequency, channel) are tight, and provide adaptive link recovery measures when the measurement and control link of a certain unmanned aerial vehicle is interfered, thereby improving the link anti-interference ability.

[0037] As Figure 1As shown, the application provides a UAV command information relay transmission method, including command information uplink relay forwarding and command information downlink relay forwarding.

[0038] The command information uplink relay forwarding includes the following processes:

[0039] S11, the ground station divides the uplink message sent to multiple UAVs into multiple messages according to the message number, and prioritizes the multiple messages according to the importance or urgency, and the high-priority message is sent first.

[0040] For example, in this embodiment of the application, the message is divided into three priority levels, i.e. high priority A, medium priority B and low priority C, and the high-priority message is sent first. It can be understood that the above-mentioned priority can also be divided into 5 levels or higher levels, which will not be described here.

[0041] S12, the ground station determines whether a command information link failure occurs in the multiple UAVs, and when the command information link failure occurs, the ground station specifies a relay UAV and a relayed UAV from the UAVs, and starts uplink relay forwarding.

[0042] In some embodiments of the application, after the ground station sends a message to the UAV, the UAV usually feeds back to the ground station that it has received the message sent by the ground station. When the ground station continuously sends information to the UAV for several periods without receiving feedback information from the UAV, the ground station can determine that a command information link failure occurs.

[0043] In the application, the relay UAV is a UAV that does not have a command information link failure, which can be one or more, and the relayed UAV is a UAV that has a command information link failure, which can also be one or more. When performing command information upload relay forwarding, the ground station usually specifies one or more UAVs that do not have a command information link failure from the multiple UAVs as the relay UAV, and one or more UAVs that have a command information link failure are automatically specified as the relayed UAV.

[0044] In the application, the ground station is provided with an uplink relay forwarding switch, and the relay forwarding is started by turning on the uplink relay forwarding switch of the ground station.

[0045] S13, the ground station combines the multiple messages sent to the UAV into a message queue, and sends the message queue of the relay UAV which does not have a command link failure and the message queue of the relayed UAV which has a command information link failure to the relay UAV alternately, after the relay UAV receives the uplink message queue, judges whether the message receiver of the message queue is the UAV itself, if yes, the UAV processes according to the message content, if not, the UAV delivers the message queue to the relayed UAV in the formation through the inter-aircraft link, and the relayed UAV processes according to the message content after receiving the message queue.

[0046] In the present application, the number of message queues sent by the ground station to the relay UAV is X, X = 1 + M, and M is the number of relayed UAVs.

[0047] For example, in the embodiment of the present application, queue 1 is the message queue sent to the relay UAV, queue 2 and queue 3 are the message queues sent to the relayed UAV 1 and the relayed UAV 2 respectively, and each message queue contains a plurality of messages. The message queue sent by the ground station to the relay UAV is queue 1 to queue 3.

[0048] It should be noted that during the process of sending the message queue from the ground station to the relay UAV, if the message queue of a UAV does not need to be sent, the message queue of the next UAV which needs to be sent is sent alternately.

[0049] For example, in the embodiment of the present application, the message queue of the relayed UAV 1 does not need to be sent, so after the ground station sends the message queue of the relay UAV, the message queue of the relayed UAV 2 is sent directly, and the message queue of the relayed UAV 1 does not need to be sent.

[0050] The downlink relay forwarding of command information includes the following processes:

[0051] S21, the downlink message sent by the UAV to the ground station is divided into multiple messages according to the message number, and the multiple messages are prioritized according to the importance or urgency, and the high-priority message is sent first.

[0052] In the present application, the same as the uplink relay forwarding of command information, the messages are divided into three priority levels, i.e. high priority A, medium priority B and low priority C, and the high-priority message is sent first.

[0053] S22, the UAV judges whether a command information link failure occurs, when a command information link failure occurs, the relayed UAV which has a command information link failure notifies the relay UAV which does not have a command information link failure in the formation of the link interruption through the inter-aircraft link, and starts the downlink relay forwarding.

[0054] In some embodiments of the present application, after the UAV sends a message to the ground station, the ground station will generally feed back to the UAV that it has received the message sent by the UAV. When the UAV continuously sends information to the ground station for several cycles without receiving feedback information from the ground station, the UAV can determine that a command information link failure occurs.

[0055] S23, the relayed UAV combines its downlink message into a message queue, and changes the sending period Z of the message queue to period Z1, where Z1=Z(1+M). The relayed UAV transmits the downlink message queue to the relay UAV through the inter-aircraft link. After receiving the message queue sent by the relayed UAV, the relay UAV also combines its downlink message into a message queue, and changes the sending period Z of the message queue to period Z2, Z2=Z1. The relay UAV sends its message queue and the message queue of the relayed UAV to the ground station in a round-robin manner.

[0056] It should be noted that, in the process of transmitting the message queue to the ground station by the relay UAV, if the message queue of a UAV (the relay UAV itself or any relayed UAV) does not need to be sent, the message queue of the next UAV with sending requirements is sent in a round-robin manner.

[0057] On this basis, the present application further provides a UAV command information relay transmission system, which comprises a ground station and multiple UAVs. The ground station and the multiple UAVs comprise command information uplink relay forwarding and command information downlink relay forwarding.

[0058] In the process of command information uplink relay forwarding, the ground station and the UAV perform the following contents:

[0059] S31, the ground station divides the uplink message sent to the multiple UAVs into multiple messages according to the message number, and performs priority division according to the importance or urgency of the multiple messages. The high-priority message is sent first.

[0060] S32, the ground station determines whether a command information link failure occurs in the multiple UAVs. When the command information link failure occurs, the ground station specifies a relay UAV and a relayed UAV from the UAVs, and starts uplink relay forwarding.

[0061] S33, the ground station combines the multiple messages sent to the UAV into a message queue, and alternately sends the message queue of the relay UAV which has not occurred command information link failure and the message queue of the relayed UAV which has occurred command information link failure to the relay UAV, after the relay UAV receives the uplink message queue, judges whether the receiver of the message queue is the local machine, if yes, the local machine processes according to the message content, if not, the relay UAV delivers the message queue to the relayed UAV in the formation through the inter-machine link, and the relayed UAV processes according to the message content after receiving the message queue.

[0062] In the process of downlink relay forwarding of command information:

[0063] S41, the downlink messages sent by the UAV to the ground station are divided into multiple messages according to the message number, and the multiple messages are prioritized according to the importance or urgency, and the high-priority messages are sent first.

[0064] S42, the UAV judges whether the command information link failure occurs, when the command information link failure occurs, the relayed UAV which has occurred command information link failure notifies the relay UAV which has not occurred command information link failure in the formation that its link is interrupted, and starts to perform downlink relay forwarding.

[0065] S43, the relayed UAV combines its downlink messages into a message queue, and changes the sending period Z of the message queue to Z1, wherein Z1=Z(1+M), the relayed UAV transmits the downlink message queue to the relay UAV through the inter-machine link; after the relay UAV receives the downlink message queue sent by the relayed UAV, the relay UAV combines its downlink messages into a message queue, and also changes the sending period Z of the message queue to Z2, Z2=Z1, the relay UAV sends its message queue and the message queue of the relayed UAV to the ground station in the form of alternately sending.

[0066] Compared with the prior art, the UAV command information relay transmission method and system provided by the present application reduces the demand for measurement and control link resources, thereby realizing global optimal allocation of link resources, and when the measurement and control link of a UAV is interfered, the UAV can be adaptively adjusted to the command relay transmission mode, greatly enhancing the anti-interference ability of the UAV communication link and improving the survivability of the UAV.

[0067] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for relaying and transmitting command information of an unmanned aerial vehicle, comprising uplink relaying and forwarding of command information and downlink relaying and forwarding of command information, wherein, The command information uplink relay forwarding comprises: S11, the ground station divides the uplink messages sent to the multiple unmanned aerial vehicles into multiple messages according to message numbers, and the multiple messages are prioritized according to importance or urgency, and the messages with high priority are sent first; S12, the ground station determines whether a command information link fault occurs in the multiple unmanned aerial vehicles, and when the command information link fault occurs, the ground station specifies a relay unmanned aerial vehicle and a relayed unmanned aerial vehicle from the unmanned aerial vehicles, and starts to perform uplink relay forwarding; S13, the ground station combines the multiple messages sent to the unmanned aerial vehicles into a message queue, and sends the message queue of the relay unmanned aerial vehicle and the message queue of the relayed unmanned aerial vehicle to the relay unmanned aerial vehicle alternately, and after the relay unmanned aerial vehicle receives the uplink message queue, it determines whether the message receiver of the message queue is the machine itself, if yes, the machine processes according to the message content, if not, the message queue is delivered to the relayed unmanned aerial vehicle in the formation through the inter-machine link, and the relayed unmanned aerial vehicle processes according to the message content after receiving the message queue; The command information downlink relay forwarding comprises: S21, the downlink messages sent by the unmanned aerial vehicles to the ground station are divided into multiple messages according to message numbers, and the multiple messages are prioritized according to importance or urgency, and the messages with high priority are sent first; S22, the unmanned aerial vehicle determines whether a command information link fault occurs, and when the command information link fault occurs, the relayed unmanned aerial vehicle that has the command information link fault notifies the relay unmanned aerial vehicle in the formation that has no command information link fault of its link interruption through the inter-machine link, and starts to perform downlink relay forwarding; S23, the relayed unmanned aerial vehicle combines its downlink messages into a message queue, and changes the sending period Z of the message queue to a period Z1, where Z1=Z(1+M), M is the number of relayed unmanned aerial vehicles, and the relayed unmanned aerial vehicle transmits the downlink message queue to the relay unmanned aerial vehicle through the inter-machine link; after the relay unmanned aerial vehicle receives the message queue sent by the relayed unmanned aerial vehicle, it also combines its downlink messages into a message queue, and changes the sending period Z of the message queue to a period Z2, Z2=Z1, and the relay unmanned aerial vehicle sends its message queue and the message queue of the relayed unmanned aerial vehicle to the ground station in a rotating manner. 2.The method of claim 1, wherein, The priority comprises at least three levels, i.e., high priority A, medium priority B, and low priority C, and the messages with high priority are sent first. 3.The method of claim 1, wherein, The relay unmanned aerial vehicle is an unmanned aerial vehicle that has no command information link fault, and the relayed unmanned aerial vehicle is an unmanned aerial vehicle that has a command information link fault. The ground station is provided with an uplink relay forwarding switch, and the execution of relay forwarding is controlled by opening the uplink relay forwarding switch. 4.The method of claim 3, wherein, The ground station sends X message queues to the relay unmanned aerial vehicle, X=1+M, and M is the number of relayed unmanned aerial vehicles. 5.The method of claim 4, wherein, During the process in which the ground station sends the message queues to the relay unmanned aerial vehicle, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the ground station sends the message queue of the next unmanned aerial vehicle that needs to be sent alternately. In the process of sending the message queue of the relay unmanned aerial vehicle to the ground station, if the message queue of one unmanned aerial vehicle does not need to be sent, the relay unmanned aerial vehicle sends the message queue of the next unmanned aerial vehicle with sending demand in turn.

6. A system for implementing the unmanned aerial vehicle command and control information relay transmission method according to any one of claims 1 to 5, characterized in that, The system comprises a ground station and multiple unmanned aerial vehicles, and comprises uplink relay forwarding and downlink relay forwarding of command information between the ground station and the unmanned aerial vehicles, wherein the uplink relay forwarding process comprises: S31, the ground station divides the uplink messages sent to the multiple unmanned aerial vehicles into multiple messages according to message numbers, and the multiple messages are prioritized according to importance or urgency, and the messages with high priority are sent first; S32, the ground station judges whether a command information link fault occurs in the multiple unmanned aerial vehicles, and when the command information link fault occurs, the ground station specifies a relay unmanned aerial vehicle and a relayed unmanned aerial vehicle from the unmanned aerial vehicles, and starts uplink relay forwarding; S33, the ground station combines the multiple messages sent to the unmanned aerial vehicles into a message queue, and sends the message queue of the relay unmanned aerial vehicle and the message queue of the relayed unmanned aerial vehicle to the relay unmanned aerial vehicle in turn, after the relay unmanned aerial vehicle receives the uplink message queue, judges whether the message receiver of the message queue is the machine itself, if yes, the machine processes according to the message content, if not, the message queue is delivered to the relayed unmanned aerial vehicle in the formation through the inter-machine link, and the relayed unmanned aerial vehicle processes according to the message content after receiving the message queue; The downlink relay forwarding of the command information comprises: S41, the downlink messages sent by the unmanned aerial vehicles to the ground station are divided into multiple messages according to message numbers, and the multiple messages are prioritized according to importance or urgency, and the messages with high priority are sent first; S42, the unmanned aerial vehicle judges whether a command information link fault occurs, when the command information link fault occurs, the relayed unmanned aerial vehicle with the command information link fault notifies the relay unmanned aerial vehicle without the command information link fault in the formation through the inter-machine link that its link is interrupted, and starts downlink relay forwarding; S43, the relayed unmanned aerial vehicle combines its downlink messages into a message queue, and changes the sending period Z of the message queue to a period Z1, wherein Z1=Z(1+M), and the relayed unmanned aerial vehicle transmits the downlink message queue to the relay unmanned aerial vehicle through the inter-machine link; after the relay unmanned aerial vehicle receives the message queue sent by the relayed unmanned aerial vehicle, the relay unmanned aerial vehicle also combines its downlink messages into a message queue, and also changes the sending period Z of the message queue to a period Z2, Z2=Z1, and the relay unmanned aerial vehicle sends its message queue and the message queue of the relayed unmanned aerial vehicle to the ground station in turn.

7. The system of claim 6, wherein, The priority level comprises at least three levels, i.e. high priority A, medium priority B and low priority C, and the messages with high priority are sent first.

8. The system of claim 6, wherein, The relay unmanned aerial vehicle is an unmanned aerial vehicle without a command information link fault, and the relayed unmanned aerial vehicle is an unmanned aerial vehicle with a command information link fault. The ground station is provided with an uplink relay forwarding switch, and the execution of the relay forwarding is controlled by opening the uplink relay forwarding switch.

9. The system of claim 8, wherein, The ground station sends a message queue to the relay unmanned aerial vehicle, and the number of the message queue is X, X=1+M, and M is the number of the relay unmanned aerial vehicles.

10. The system of claim 9, wherein, During the process of sending the message queue to the relay unmanned aerial vehicle by the ground station, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the ground station will send the message queue of the next unmanned aerial vehicle in turn. During the process of sending the message queue to the ground station by the relay unmanned aerial vehicle, if the message queue of a certain unmanned aerial vehicle does not need to be sent, the relay unmanned aerial vehicle will send the message queue of the next unmanned aerial vehicle in turn.

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