Bee colony unmanned aerial vehicle communication system based on enhanced OTFS frame and hybrid topology

Abstract

The invention provides a bee colony unmanned aerial vehicle communication system based on an enhanced OTFS frame and a hybrid topology, and relates to the technical field of unmanned aerial vehicle cluster wireless communication, and the system comprises autonomous wireless communication modules which are deployed in all unmanned aerial vehicles and are used for generating and processing orthogonal time-frequency space OTFS modulation signals; a star-mesh-linear IP hybrid topology network dynamically constructed by unmanned aerial vehicle nodes supports autonomous optimization of a communication path according to channel quality; embedding an enhanced OTFS frame structure of reduced-order cyclic prefix (RCP) and reduced-order zero filling (RZP) pilot frequency; a ground control station GSC integrating an OTFS module and a remote controller RC establish a low-delay link through UDP multicast; the invention relates to a RadCom joint module with integrated radar sensing and communication functions. According to the invention, a single-point fault risk is eliminated through decentration topology, inter-symbol and inter-carrier interference caused by multipath interference is effectively suppressed by an enhanced OTFS frame, the anti-interference capability of a complex environment is improved by a dual-band frequency hopping spread spectrum technology, and target detection and data transmission millisecond-level synchronization are realized by a RadCom module.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless communication of unmanned aerial vehicle (UAV) clusters, and in particular to a swarm UAV communication system based on enhanced OTFS frames and hybrid topology. Background Art

[0002] Drone swarm technology has shown great potential in areas such as military reconnaissance, disaster relief, and agricultural monitoring, but its communication systems face severe challenges. Existing swarm communication systems mostly use a centralized master-slave architecture, where a master drone coordinates slave drones. This architecture has significant flaws in dynamic and complex environments: once the master node fails, the entire system will be paralyzed, and all communications must be relayed through the master node, resulting in communication delays exceeding 200 milliseconds, which cannot meet the needs of real-time collaborative operations. In addition, traditional systems are highly dependent on external cellular networks (such as 5G / 6G) or temporary ad-hoc networks, which pose a risk of communication interruption in remote areas, disaster sites, and other areas with weak network coverage.

[0003] At the signal transmission level, inter-symbol interference (ISI) and inter-carrier interference (ICI) caused by multipath effects are another key bottleneck. Especially in non-line-of-sight (NLOS) environments, signals are reflected and diffracted to form multiple paths, resulting in signal distortion at the receiving end. Existing orthogonal frequency division multiplexing (OFDM) technology alleviates this problem by adding a cyclic prefix (CP), but the synchronization overhead increases significantly with the increase in communication distance (the synchronization overhead accounts for more than 30% in a typical frame structure), seriously reducing data transmission efficiency. When the communication distance exceeds 5 kilometers, the bit error rate of traditional modulation technology rises sharply to more than 10-3, which cannot guarantee the reliability of mission-critical data.

[0004] Existing network topologies also constrain system performance. Star topologies support long-distance communication but present single points of failure; mesh topologies offer robustness but multi-hop routing leads to cumulative latency; and cluster topologies require designated cluster heads, which can easily create communication bottlenecks. These static topologies struggle to adapt to the dynamic movement of drone swarms. When node spacing exceeds 8 kilometers or relative speeds fluctuate, frequent link interruptions reduce communication success rates by over 40%. More significantly, the existing system separates radar sensing from communication functions, leading to synchronization issues between target detection and data transmission. This can cause mission failures in scenarios such as emergency obstacle avoidance due to processing delays. Summary of the Invention

[0005] In order to solve the technical problems in the existing technology, such as high risk of single-point failure in centralized architecture, strong dependence on external networks, deterioration of communication quality caused by multipath interference, low efficiency of long-distance transmission, insufficient dynamic adaptability of topology, and separation of perception-communication functions, the present invention provides a swarm drone communication system based on enhanced OTFS frames and hybrid topology.

[0006] The technical solutions provided by the present invention are as follows:

[0007] First aspect:

[0008] The present invention provides a swarm drone communication system based on enhanced OTFS frames and hybrid topology, comprising:

[0009] An autonomous wireless communication module deployed on each UAV, configured to generate and process orthogonal time-frequency-space (OTFS) modulated signals;

[0010] A hybrid network topology dynamically constructed by multiple drone nodes, including star, mesh, and linear IP connection structures, supports autonomous selection of communication paths between nodes;

[0011] An enhanced OTFS frame structure, wherein a reduced-order cyclic prefix (RCP) and a reduced-order zero padding (RZP) are embedded in a data grid of the enhanced OTFS frame structure as pilot sequences;

[0012] The ground control station GSC and the remote controller RC establish a two-way communication link with the UAV cluster through the hybrid topology;

[0013] The communication system realizes decentralized communication through the OTFS modulation signal and supports long-distance data transmission in a non-line-of-sight (NLOS) environment.

[0014] Furthermore, the mathematical expression of the enhanced OTFS frame structure is:

[0015] Frame OTFS ={1×(MN)+RCP length +RZP length}

[0016] Among them, M is the delay dimension index, N is the Doppler dimension index, the RCP length is attached to the beginning of the symbol as a pilot, and the RZP length zero-valued samples are attached to both ends of the symbol.

[0017] Furthermore, the autonomous wireless communication module operates on at least two switchable frequency bands, including 600MHz and 1.4GHz frequency bands, and adopts adaptive modulation and coding technology, and the modulation and coding technology includes at least one of QPSK, 16-QAM, 64-QAM and 256-QAM.

[0018] Furthermore, the autonomous wireless communication module integrates frequency hopping spread spectrum FHSS technology to achieve anti-interference communication through cross-band hopping.

[0019] Furthermore, in the hybrid network topology:

[0020] Each node is assigned an independent IP address and dynamically assumes the role of master or slave node;

[0021] The connection between nodes is dynamically optimized based on the reference signal received power RSRP, signal-to-noise ratio SNR and node distance;

[0022] Supports single-hop or multi-hop communication, with a maximum communication distance of 10-15km.

[0023] Furthermore, the remote controller RC integrates an OTFS communication module and establishes a low-latency link with the drone cluster through the User Datagram Protocol UDP multicast mode, with an end-to-end transmission delay of ≤5ms~15ms.

[0024] Furthermore, the autonomous wireless communication module is integrated with the radar sensor module to form a radar-communication RadCom joint system for synchronously performing target detection, tracking and data transmission functions.

[0025] Second aspect:

[0026] The present invention provides a swarm drone communication method based on enhanced OTFS frames and hybrid topology, which is characterized by comprising:

[0027] Dynamically build a hybrid star-mesh-linear IP topology between drone nodes;

[0028] An enhanced OTFS frame structure is used for signal modulation, wherein RCP and RZP pilot sequences are inserted into the frame structure;

[0029] Combat multipath interference through adaptive modulation coding and frequency band switching technology;

[0030] The UDP multicast protocol is used to transmit data between the UAV cluster and the ground control station.

[0031] Furthermore, the dynamic topology construction includes:

[0032] Monitor RSRP, SNR and distance parameters between nodes;

[0033] Dynamically switch between star, mesh or linear connection modes based on monitoring results;

[0034] Automatically reconstruct communication paths when a node fails.

[0035] Furthermore, the radar-communication joint module collects environmental perception data and communication data synchronously;

[0036] Embed the sensing data into the OTFS frame structure and transmit it to the ground control station;

[0037] Dynamically selects QPSK to 256-QAM modulation order based on channel status.

[0038] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0039] (1) In the present invention, the problems of single point failure and network dependence are completely solved through decentralized hybrid topology and dynamic role allocation. A hybrid topology architecture of star-mesh-linear IP fusion is adopted, and each drone node autonomously switches the master-slave role and optimizes the communication path based on the real-time channel quality (RSRP / SNR / distance). This design eliminates the single point failure risk of the traditional master-slave architecture, while breaking away from the dependence on 5G / 6G cellular networks and realizing autonomous networking in network-free scenarios such as disaster blind spots. The dynamic topology reconstruction mechanism ensures millisecond-level self-healing of the communication link when any node fails, significantly improving the survivability and continuity of the system in complex environments.

[0040] (2) In the present invention, based on the enhanced OTFS frame and dual-band anti-interference technology, the bottlenecks of multipath interference and long-distance transmission are overcome. The OTFS frame structure with embedded RCP / RZP pilot is innovatively designed, and the ISI / ICI interference caused by the multipath effect is suppressed by the orthogonality of the delay-Doppler domain signal. Combined with the 600MHz / 1.4GHz dual-band frequency hopping spread spectrum (FHSS) technology, the low-frequency long-distance penetration and high-frequency high-speed transmission modes are adaptively switched. This solution enables the system to maintain stable communication in non-line-of-sight (NLOS) environments, breaking through the distance limitations of traditional OFDM technology and achieving 10-kilometer-level ultra-long-distance high-reliability data transmission.

[0041] (3) In the present invention, the radar-communication integrated module realizes the coordination of perception and transmission, improving the real-time response of tasks. The radar target detection and tracking functions are integrated with the OTFS communication module hardware to form a RadCom joint system. Radar data is preferentially embedded in the OTFS frame through the hardware-level interrupt mechanism, so that environmental perception and data transmission are completed synchronously. This design eliminates the processing delay of traditional separate modules and realizes the millisecond-level closed loop of "perception-decision-communication" in scenarios such as drone cluster obstacle avoidance and target tracking, greatly improving the collaborative efficiency and mission success rate of the swarm in dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A schematic diagram of a flow chart of a new intelligent algorithm communication system based on swarm drone RC in a swarm drone communication system based on enhanced OTFS frames and hybrid topology provided by an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a new RC-OSML-IP design system and Swarm drone communication in a swarm drone communication system based on enhanced OTFS frames and hybrid topology provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of a swarm drone communication system based on an enhanced OTFS frame and a hybrid topology provided by an embodiment of the present invention, which is designed based on AutRADCOM-OSML-IP;

[0046] Figure 4 This is an example diagram of a two-drone system configured with a hybrid topology structure in a swarm drone communication system based on enhanced OTFS frames and hybrid topology provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0048] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0049] In the embodiments of the present invention, the terms "image" and "picture" may be used interchangeably. It should be noted that, when the distinction between them is not emphasized, their intended meanings are the same. The terms "of," "corresponding," and "corresponding" may be used interchangeably. It should be noted that, when the distinction between them is not emphasized, their intended meanings are the same.

[0050] In the embodiments of the present invention, sometimes a subscript such as W1 may be mistakenly written as a non-subscript form such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0051] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0052] An embodiment of the present invention provides a swarm UAV communication system based on enhanced OTFS frames and hybrid topology, which is a novel decentralized approach for designing an autonomous wireless communication system suitable for a swarm of unmanned aerial vehicles (UAVs) and aims to ensure autonomous, long-distance communication and data transmission between UAVs within a swarm and a ground control station (GCS).

[0053] Unlike existing systems, the swarm drone communication system provided in this embodiment generates its own communication signals based on an improved orthogonal time-frequency-space (OTFS) module, eliminating the need for cellular networks (5G / 6G) or temporary networks. This avoids latency issues and ensures strong synchronization between the signal frames transmitted by each drone. The design integrates the advanced OTFS module with the Pixhawk Jetson in a minimized module for drone mission control, serving as both a radar (for target detection and tracking) and a communication system. This autonomous radar communication system uses an advanced hybrid Starlink-Meshline IP topology to ensure decentralization, parallelism, and increased communication range.

[0054] To ensure signal synchronization and robust data acquisition in long-distance communications, the OTFS module adopts a newly developed signal frame structure. Reduced Cyclic Prefix (RCP) and Reduced Zero Padding (RZP) are introduced as new pilots in the new OTFS data grid.

[0055] These new data meshes are designed to handle data loss, latency, and ensure robust signal synchronization. The communication system includes two designs: "AutoRadcom-OTFS-starlink MESH linear-IP" (denoted as AutRADCOMOSML-IP) for integration with each drone in the swarm, and "RC-OTFS-starlink MESH linear-IP" (denoted as RC-OSML-IP), an innovative remote control (RC) design.

[0056] Next, the network topology, the new signal frame structure, and two designs based on OTFS technology will be described in detail.

[0057] The core of the RC-OSML-IP design is to establish a ground control node that is completely consistent with the communication protocol, frequency and standard of the UAV end, ensuring seamless, low-latency long-distance communication and data reception. Figure 2(as shown) is achieved by connecting the TTL port of the 2x2 MIMO OTFS COM module to the SBUS-UART port. This connection is crucial as it establishes a communication bridge with the autopilot remote control (such as the Pixhawk 6x), supporting bidirectional exchange of MAVLink and NLOS (non-line-of-sight) protocols. This enables the RC to communicate with swarm drones via mission planning software (such as QGroundControl) and network management software (such as MeshSoftware), and implements the concept of parallel distribution of control commands. At the same time, the remaining serial RS45 port on the 2x2 MIMO OTFS COM module is directly connected to the UART port of the autopilot remote control. This connection method is directly related to the data transmission and reception functions of the autopilot remote control. Specifically, when the RC operates in UDP transmit-receive mode, this port is responsible for handling all data streams sent and received by the RC. This design innovatively unifies the data transmission channel, which is only managed by a single OTFS COM module and operates on a single switchable frequency band (600MHz or 1.4GHz), simplifying system complexity.

[0058] In addition, the integration of the RC-OSML-IP design with the ground control station (GSC) is achieved through the serial port (RS45 COM port) of the PC. This serial port is specifically designed to connect to the PC so that flight missions and drone clusters can be managed through software such as QGroundControl or Mission Planner. More importantly, the newly developed RC system provides powerful data monitoring and analysis capabilities through the Mesh Manager software. Operators can access and monitor key communication performance indicators (KPIs) in real time, including: In addition, the integration of the RC-OSML-IP design with the ground control station (GSC) is achieved through the serial port (RS45 COM port) of the PC. This serial port is specifically designed to connect to the PC so that flight missions and drone clusters can be managed through software such as QGroundControl or Mission Planner. More importantly, the newly developed RC system provides powerful data monitoring and analysis capabilities through the Mesh Manager software. Operators can access and monitor key communication performance indicators (KPIs) in real time, including:

[0059] SNR (Signal-to-Noise Ratio): reflects signal quality, the higher the value, the better; RSRP (Reference Signal Received Power): indicates the received signal strength; Distance D: displays the physical distance between RC and each drone node; Communication Maintainability: monitors the stability and availability of links between drones and drones and between drones and ground stations; these real-time data provide important basis for mission decision-making and network optimization.

[0060] In GSC / RC-OSML-IP, the operator can dynamically switch the drone (node) that is receiving data. This function is realized through MeshSoftware: the operator modifies and enters the corresponding IP address of the target drone in the software interface (for example, switching the current connection from drone 1 with IP: 192.168.1.6 to drone 2 with IP: 192.168.1.2). This dynamic switching capability (such as Figure 2 This allows ground controllers to flexibly focus on the status of different members in the cluster or obtain data from specific areas, greatly enhancing the flexibility and efficiency of mission control.

[0061] The UAV side design (AutRADCOM-OSML-IP) is the core of the system in the air (such as Figure 3 Each drone is designed as an intelligent central node with a unique IP address (e.g., Drone 1: 192.168.1.6, Drone 2: 192.168.1.2), operates in TCP / UDP server mode, and uses control protocols such as MQTT and Modbus. Together, they form a Starlink-Mesh-Linear IP (SML-IP) hybrid topology network. Key hardware integration includes:

[0062] 1. Unified OTFS RADCOM Module (1, 2, 4): This is the core innovative component of the system, integrating communication (COM) and radar (RAD) functions into a single module.

[0063] OTFS COM module (1): responsible for the generation, modulation, transmission and reception of communication signals based on enhanced OTFS frames.

[0064] Radar OTFS module (2): Utilizes the advantages of OTFS waveform to synchronously perform target detection and tracking functions, realizing the integration of radar perception and communication (RadCom).

[0065] The module is connected to the flight control core via the RS232-TTL chipset (4).

[0066] 2. TTL-SBUS UART module (3): This module serves as a key communication bridge, connecting the OTFS COM module (1) and the autopilot. It is responsible for transmitting data streams based on the MAVLink protocol (for drone communication and control) and the NLOS protocol (for ensuring non-line-of-sight reliable links) between the two, enabling the issuance of real-time flight control commands and the upload of status data.

[0067] 3. Autopilot and data processing unit (5): uses a high-performance platform such as the Pixhawk 6x Jetson Baseboard. This unit includes:

[0068] Pixhawk 6x module: Responsible for core flight control (Autopilot), including attitude stabilization, navigation, and actuator control.

[0069] NVIDIA Jetson core: Provides powerful edge computing capabilities for real-time processing of target information from the radar OTFS module, video streams from the onboard camera (Camera), and data from other sensors (such as GPS, IMU, and environmental sensors) (Data Processing). The processed perception data and system status information are sent back (SendBack) to the OTFS COM module (1) for encapsulation into OTFS frames and transmission.

[0070] 4. Power supply system: Provides stable and reliable power supply (VCC5V, GND) for all modules.

[0071] 5. Network Connection: The module supports dual working modes (Dual Modes) - TCP / UDP server / client, and provides wired network connection options through the current RS45 port. Its core is to establish an IP-based Starlink Mesh Line-IP (SML-IP) hybrid topology connection through the OTFS wireless module.

[0072] System workflow and intelligent algorithms such as Figure 1 As shown, it drives the communication and control of the entire swarm:

[0073] 1. Data collection layer:

[0074] Each UAV (e.g., UAV 1 and UAV 2) continuously collects environmental perception data (e.g., obstacle locations, moving target trajectories, terrain images) through its integrated radar OTFS module and camera.

[0075] At the same time, various onboard sensors (such as GPS, IMU, meteorological sensors, and specific mission sensors) collect the drone's own status and external environment parameters.

[0076] 2. Data processing layer:

[0077] Raw perception and sensor data are sent to the Pixhawk 6x autopilot and data processing unit.

[0078] With the powerful computing power of the NVIDIA Jetson core, real-time data processing is performed, including:

[0079] Flight control calculations (attitude solution, path tracking).

[0080] Radar point cloud processing and target recognition and tracking.

[0081] Video stream encoding compression (if required for transmission).

[0082] Environmental information fusion and situation assessment.

[0083] The processed valid information (such as detected target coordinates, compressed key video frames, aggregated sensor readings, and drone status) is transmitted back (Serial Back) to the OTFS COM module.

[0084] 3. Communication layer - hybrid topology and protocol:

[0085] UAV-to-UAV communication: UAV nodes establish direct IP-to-IP connections (Link: UAV1-UAV2) through a mesh topology (e.g., UAV 1 IP1:192.168.1.6 to UAV 2 IP2:192.168.1.2) to share perception data, exchange information for collaborative decision-making, or relay forwarding. This direct connection reduces latency and improves reliability.

[0086] UAV-to-Ground Control (GSC / RC) communication: All UAVs transmit their critical data (status, perception results, and mission data) to the RC-OSML-IP ground node (IP3: 192.168.1.3) via the OTFS COM module using UDP multicast (low latency, high efficiency). These links are established based on the MAVLink and NLOS protocols (Link: UAV1-RC-OSML-IP-MAVLink, NLOS / Link: UAV2-RC-OSML-IP-MAVLink, NLOS). Link: RC-OSML-IPUAV1 UAV2 establishes a bidirectional communication link between the ground RC and the two UAVs. The remote controller (RC) establishes a communication link with the UAV cluster using UDP multicast. This reduces protocol handshake overhead and utilizes a parallel data transmission mechanism to achieve end-to-end transmission latency of ≤5ms to 15ms (serial two-hop one-way), significantly reducing the response latency of cluster coordinated control.

[0087] Ground Control Command Distribution: Ground operators generate mission commands and flight control signals (SCMs) via RC-OSML-IP and GSC. These commands are also sent to designated UAV nodes via MAVLink / NLOS protocol and UDP (or TCP, depending on reliability requirements). RC-OSML-IP is a key intelligent node in the entire communication network.

[0088] 4. Decision-making and collaboration layer:

[0089] Based on shared environmental perception data and ground commands, drone swarms can leverage swarm intelligence to make local collaborative decisions. For example, when a drone detects an obstacle or threat, it can quickly share this information with neighboring drones. The swarm can then reach consensus through negotiation and autonomously adjust their flight paths to mitigate the risk without having to wait for ground commands each time, improving the system's autonomy and responsiveness.

[0090] The ground controller performs macro-mission planning and dynamic command adjustments based on the global information received by RC-OSML-IP and the network status (SNR, RSRP, D) provided by the Mesh Manager.

[0091] Initial validation of the system was conducted on a swarm consisting of two unmanned aerial vehicles (UAVs) (e.g. Figure 1 , Figure 3 , Figure 4 The test successfully confirmed the reliable operation of the system at the extremely challenging long communication distance (10-15 kilometers).

[0092] Subsequently, the system was expanded to a configuration of four drones for secondary verification, further demonstrating its multi-node collaborative capabilities.

[0093] Based on a proven logical framework, this innovative architecture system is designed to scale to support large swarms of up to 32 drones (32 intelligent access nodes). The MeshManager software is designed to manage a network of nodes at this scale. Key performance indicators are summarized below:

[0094]

[0095]

[0096] It should be noted that the autonomous wireless communication module supports adjustable bandwidth from 1.4MHz to 100MHz to adapt to different communication distances and data volume requirements; its serial port transmission rate is as high as 460800bps, ensuring real-time interaction between flight control commands and sensor data.

[0097] Furthermore, to ensure normal communication, all nodes (swarm drones and RC-OSML-IP ground stations) must be configured on the same IP network segment (e.g. 192.168.1.x).

[0098] When the system starts and nodes join the network, performing a ping test through the node's serial port is a key step in verifying basic network connectivity between nodes.

[0099] The Mesh Manager software is the core tool for network configuration, used to assign and modify IP addresses for each node (drone and RC); set the node's working mode (such as TCP Server, UDP Client, UDP Multicast Group); monitor the real-time status of the entire network, including RSRP, SNR, distance D, connection status and data rate of all nodes; visualize the network topology (star, mesh, line or their hybrid forms); and perform operator-initiated drone node switching (by entering the target drone IP).

[0100] The network's self-healing capabilities are reflected in the event of node failure (such as malfunction or out-of-range): in a star topology, edge nodes that rely on the central node will automatically try to connect to other available nodes (such as another drone or RC). In a mesh topology, the routing protocol will automatically calculate new multi-hop paths to bypass the failed node and maintain network connectivity.

[0101] Complete process of data collection and transmission:

[0102] 1. The radar OTFS module and sensors obtain raw environment and status information (target information, video, sensor readings).

[0103] 2. The data processing unit (Jetson) performs real-time processing, compression, and fusion.

[0104] 3. The processed valid data is sent back to the OTFS COM module.

[0105] 4. The data is embedded (mapped) into the enhanced OTFS data grid.

[0106] 5. During the grid construction process, RCP (reduced order cyclic prefix) is added to the beginning of the symbol and RZP (reduced order zero padding) is added to both ends of the symbol, which together serve as pilot sequences.

[0107] 6. The adaptive modulation encoder dynamically selects the most appropriate modulation order (from robust QPSK to efficient 256-QAM) based on the real-time channel state information (CSI) fed back by the MeshManager.

[0108] 7. The modulated OTFS signal frame is transmitted through the switchable 1.4 GHz or 600 MHz frequency band.

[0109] 8. The receiving end (another drone or RC-OSML-IP) uses the RCP / RZP pilot sequence embedded in the frame to effectively perform channel estimation, delay spread compensation, and Doppler spread compensation, overcome multipath effects, achieve highly reliable signal detection and synchronization, and ultimately demodulate the original data.

[0110] It should be noted that the Mesh Manager software provides dynamic network management functions, including:

[0111] (a) Assign independent IP addresses to all nodes and configure the working mode (such as TCP Server / UDP multicast);

[0112] (b) Real-time monitoring of key network parameters: RSRP (reference signal received power), SNR (signal-to-noise ratio), and node spacing (D);

[0113] (c) Supports operators to manually switch the communication target node: by entering the target drone IP address (for example, switching the master control node from 192.168.1.6 to 192.168.1.2), data can be sent and received to the specified drone;

[0114] (d) Visualization of the connection status of star, mesh, or linear hybrid topologies.

[0115] On the ground, the RC-OSML-IP, through its UDP multicast reception capabilities, can efficiently and simultaneously receive data streams from multiple drones. The operator uses the MeshManager software interface to monitor the communication health of the entire swarm (RSRP, SNR, and distance D of each node) in real time. When emergency intervention or focusing on a specific drone is required, the operator can manually switch the main control view or the target of the command (by entering the target drone's IP address) to ensure that critical commands are delivered to the target node in a timely and accurate manner.

[0116] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0117] (1) In the present invention, the problems of single point failure and network dependence are completely solved through decentralized hybrid topology and dynamic role allocation. A hybrid topology architecture of star-mesh-linear IP fusion is adopted, and each drone node autonomously switches the master-slave role and optimizes the communication path based on the real-time channel quality (RSRP / SNR / distance). This design eliminates the single point failure risk of the traditional master-slave architecture, while breaking away from the dependence on 5G / 6G cellular networks and realizing autonomous networking in network-free scenarios such as disaster blind spots. The dynamic topology reconstruction mechanism ensures millisecond-level self-healing of the communication link when any node fails, significantly improving the survivability and continuity of the system in complex environments.

[0118] (2) In the present invention, based on the enhanced OTFS frame and dual-band anti-interference technology, the bottlenecks of multipath interference and long-distance transmission are overcome. The OTFS frame structure with embedded RCP / RZP pilot is innovatively designed, and the ISI / ICI interference caused by the multipath effect is suppressed by the orthogonality of the delay-Doppler domain signal. Combined with the 600MHz / 1.4GHz dual-band frequency hopping spread spectrum (FHSS) technology, the low-frequency long-distance penetration and high-frequency high-speed transmission modes are adaptively switched. This solution enables the system to maintain stable communication in non-line-of-sight (NLOS) environments, breaking through the distance limitations of traditional OFDM technology and achieving 10-kilometer-level ultra-long-distance high-reliability data transmission.

[0119] (3) In the present invention, the radar-communication integrated module realizes the coordination of perception and transmission, improving the real-time response of tasks. The radar target detection and tracking functions are integrated with the OTFS communication module hardware to form a RadCom joint system. Radar data is preferentially embedded in the OTFS frame through the hardware-level interrupt mechanism, so that environmental perception and data transmission are completed synchronously. This design eliminates the processing delay of traditional separate modules and realizes the millisecond-level closed loop of "perception-decision-communication" in scenarios such as drone cluster obstacle avoidance and target tracking, greatly improving the collaborative efficiency and mission success rate of the swarm in dynamic environments.

[0120] The above content is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

[0121] There are a few points to note:

[0122] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention. Other structures may refer to conventional designs.

[0123] (2) For the sake of clarity, the thickness of layers or regions in the drawings used to describe the embodiments of the present invention are exaggerated or reduced, that is, these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or intervening elements may be present.

[0124] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to form new embodiments.

[0125] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A swarm drone communication system based on enhanced OTFS frames and hybrid topology, characterized in that: include: An autonomous wireless communication module deployed on each UAV, configured to generate and process orthogonal time-frequency-space (OTFS) modulated signals; A hybrid network topology dynamically constructed by multiple drone nodes, including star, mesh, and linear IP connection structures, supporting autonomous selection of communication paths between nodes; An enhanced OTFS frame structure, wherein a reduced-order cyclic prefix (RCP) and a reduced-order zero padding (RZP) are embedded in a data grid of the enhanced OTFS frame structure as pilot sequences; The ground control station GSC and the remote controller RC establish a two-way communication link with the UAV cluster through the hybrid topology; The communication system realizes decentralized communication through the OTFS modulation signal and supports long-distance data transmission in a non-line-of-sight (NLOS) environment.

2. A swarm drone communication system based on enhanced OTFS frames and hybrid topology according to claim 1, characterized in that: include: The mathematical expression of the enhanced OTFS frame structure is: Frame OTFS ={1×(MN)+RCP length +RZP length } Among them, M is the delay dimension index, N is the Doppler dimension index, the RCP length is attached to the beginning of the symbol as a pilot, and the RZP length zero-valued samples are attached to both ends of the symbol.

3. A swarm drone communication system based on enhanced OTFS frames and hybrid topology according to claim 2, characterized in that: include: The autonomous wireless communication module operates on at least two switchable frequency bands, including 600 MHz and 1.4 GHz frequency bands, and adopts adaptive modulation and coding technology, which includes at least one of QPSK, 16-QAM, 64-QAM and 256-QAM.

4. A swarm drone communication system based on enhanced OTFS frames and hybrid topology according to claim 3, characterized in that: include: The autonomous wireless communication module integrates frequency hopping spread spectrum FHSS technology to achieve anti-interference communication through cross-band hopping.

5. The swarm drone communication system based on enhanced OTFS frames and hybrid topology according to claim 1, characterized in that: In the hybrid network topology: Each node is assigned an independent IP address and dynamically assumes the role of master or slave node; The connection between nodes is dynamically optimized based on the reference signal received power RSRP, signal-to-noise ratio SNR and node distance; Supports single-hop or multi-hop communication, with a maximum communication distance of 10-15km.

6. A swarm drone communication system based on enhanced OTFS frames and hybrid topology according to claim 1, characterized in that: include: The remote controller RC integrates an OTFS communication module and establishes a low-latency link with the drone cluster through the User Datagram Protocol UDP multicast mode, with an end-to-end transmission delay of ≤5ms to 15ms.

7. The swarm drone communication system based on enhanced OTFS frames and hybrid topology according to claim 1, characterized in that: include: The autonomous wireless communication module is integrated with the radar sensor module to form a radar-communication RadCom joint system for synchronously performing target detection, tracking and data transmission functions.

8. A swarm drone communication method based on enhanced OTFS frames and hybrid topology, characterized in that: include: Dynamically build a hybrid star-mesh-linear IP topology between drone nodes; An enhanced OTFS frame structure is used for signal modulation, wherein RCP and RZP pilot sequences are inserted into the frame structure; Combat multipath interference through adaptive modulation coding and frequency band switching technology; The UDP multicast protocol is used to transmit data between the UAV cluster and the ground control station.

9. A swarm drone communication method based on enhanced OTFS frames and hybrid topology according to claim 8, characterized in that: The dynamic topology construction includes: Monitor RSRP, SNR and distance parameters between nodes; Dynamically switch between star, mesh or linear connection modes based on monitoring results; Automatically reconstruct communication paths when a node fails.

10. The swarm drone communication method based on enhanced OTFS frames and hybrid topology according to claim 8, characterized in that: include: Synchronously collect environmental perception data and communication data through the radar-communication joint module; Embed the sensing data into the OTFS frame structure and transmit it to the ground control station; Dynamically selects QPSK to 256-QAM modulation order based on channel status.

Images