Ocean emergency communication method based on hierarchical deployment of high-altitude balloon and unmanned aerial vehicle

Abstract

The invention relates to an ocean emergency communication method based on hierarchical deployment of a high-altitude balloon and an unmanned aerial vehicle. The method comprises the following steps: acquiring a communication weighted demand of a user; constructing an unmanned aerial vehicle deployment optimization objective function based on the dynamic demand distribution map, solving the objective function to obtain an optimal target deployment position of the unmanned aerial vehicle, planning an unmanned aerial vehicle moving path based on the target deployment position, and obtaining a central position of the unmanned aerial vehicle cluster at the moment after the unmanned aerial vehicle moves to the optimal target deployment position; and calculating and maximizing the beam pointing efficiency based on the central position, obtaining a target pointing angle adjustment instruction of a line beam of the high-altitude captive balloon platform, executing the target pointing angle adjustment instruction, and communicating the user, the unmanned aerial vehicle cluster and the high-altitude captive balloon platform after executing the adjustment instruction. Compared with the prior art, the method has the advantages of improving the network topology adjustment and resource allocation efficiency of ocean emergency communication and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine emergency communication, and in particular to a marine emergency communication method based on layered deployment of high-altitude balloons and unmanned aerial vehicles. BACKGROUND

[0002] With the increasing global marine development activities, the demand for communication support in the fields of marine transportation, fishery production, energy exploitation and marine tourism is growing. Especially in the emergency scenarios of extreme weather, natural disasters, and sudden accidents, the smooth communication in the marine area plays a crucial role in personnel rescue, material dispatch and information sharing. However, the existing marine communication system mainly relies on shore-based base stations, satellite communication and shipborne wireless devices. The shore-based base station is limited by the signal coverage distance, and it is difficult to meet the communication needs of the open sea and large-scale sea areas; satellite communication has the problems of limited bandwidth, high time delay, high deployment and operation cost, and the communication quality is easily affected in extreme weather conditions; the shipborne wireless device depends on the relative position and number of ships, and it is difficult to form a stable wide-area network.

[0003] In recent years, with the rapid development of high-altitude platform and unmanned aerial vehicle technology, the communication system based on high-altitude platform has gradually become a new direction of marine emergency communication. The high-altitude tethered balloon platform can hover in the stratosphere or the upper troposphere for a long time, has wide coverage and strong disaster resistance, and is suitable as a backbone node for emergency communication. However, a single high-altitude platform cannot meet the dynamic needs of local high-density users, and in complex marine environments, the deployment and maintenance of the balloon platform still face certain challenges. The unmanned aerial vehicle communication platform has the advantages of mobility, flexibility, rapid deployment, and adjustable coverage range, and can serve as a relay node to supplement the coverage blind area of the high-altitude platform and enhance the flexibility and adaptability of the network. However, the existing high-altitude platform and unmanned aerial vehicle communication systems are mostly deployed independently, lack a multi-level and collaborative optimization system architecture, and cannot realize the organic combination of wide-area coverage and local enhancement.

[0004] In addition, the existing technology also has deficiencies in resource scheduling, network self-healing, and energy efficiency management. The traditional static deployment method cannot cope with the dynamic changes of the marine environment and sudden events, and the network topology adjustment and resource allocation efficiency are low, which makes it difficult to guarantee the reliability and continuity of emergency communication services. SUMMARY

[0005] The purpose of the present application is to improve the network topology adjustment and resource allocation efficiency of marine emergency communication, and to provide a marine emergency communication method based on layered deployment of high-altitude balloons and unmanned aerial vehicles.

[0006] The purpose of the present application can be realized by the following technical solutions:

[0007] A marine emergency communication method based on high altitude balloon and unmanned aerial vehicle hierarchical deployment, the method comprises the following steps:

[0008] Obtaining the communication weighted demand of the user;

[0009] Based on the communication weighted demand of the user, an unmanned aerial vehicle deployment optimization objective function is constructed, the objective function is solved to obtain the optimal target deployment position of the unmanned aerial vehicle, the unmanned aerial vehicle moving path is planned based on the optimal target deployment position, and the center position of the unmanned aerial vehicle cluster at this time is obtained after all unmanned aerial vehicles move to the optimal target deployment position;

[0010] Based on the center position, the beam pointing performance is calculated and maximized, the target pointing angle adjustment instruction of the antenna of the high altitude tethered balloon platform is obtained, the user, the unmanned aerial vehicle cluster and the high altitude tethered balloon platform after executing the adjustment instruction are communicated.

[0011] Further, the weighted demand is:

[0012]

[0013] Wherein, P i is the service priority of the user i itself, R i is the basic communication demand of the user i, D u represents the weighted demand collected by the unmanned aerial vehicle u, u cov represents the coverage range of the unmanned aerial vehicle u.

[0014] Further, the objective function is:

[0015]

[0016] Wherein, U deploy (P uav ) is the total utility value of the unmanned aerial vehicle deployed at a specific position P uav D i represents the weighted demand of the i th user, which represents the urgency and importance of the user's communication demand, the higher the value of the weighted demand, the more the user's communication demand needs to be satisfied, d i represents the straight line distance between the specific position P uav of the unmanned aerial vehicle and the i th user position, G0 is a constant, indicating signal gain.

[0017] Further, the specific steps for solving the objective function to obtain the optimal target deployment position of the unmanned aerial vehicle are:

[0018] Solving the objective function, the specific position that satisfies the maximum total utility value of the unmanned aerial vehicle is taken as the optimal target deployment position.

[0019] Further, the path planned by the unmanned aerial vehicle is a path from the current position of the unmanned aerial vehicle to the optimal target deployment position.

[0020] Further, the target function of maximizing the beam pointing performance is:

[0021]

[0022] wherein E beam (θ h ,θ v ) represents the beam pointing performance of the antenna at a specific horizontal beam pointing angle θ h and a vertical beam pointing angle θ v , G max is a constant representing the maximum signal amplification capability of the antenna in the central direction of its main beam, θ h,opt and θ v,opt represent the optimal horizontal and vertical angles of pointing to the center position P cluster of the unmanned aerial vehicle cluster, which are ideal target angles calculated according to the three-dimensional coordinates of the high-altitude tethered balloon platform and the center position of the unmanned aerial vehicle cluster, σ h and σ v represent the beam width parameters of the antenna in the horizontal and vertical directions.

[0023] Further, based on the calculation of the center position and the maximization of the beam pointing performance, the target pointing angle adjustment instruction of the antenna of the high-altitude tethered balloon platform is obtained, and the specific steps of executing the target pointing angle adjustment instruction are:

[0024] Based on the calculation of the center position and the maximization of the beam pointing performance, the target horizontal beam pointing angle and the target vertical beam pointing angle are obtained, the current horizontal beam pointing angle and the current vertical beam pointing angle are obtained, the target horizontal beam pointing angle is subtracted from the current horizontal beam pointing angle to obtain a horizontal beam adjustment amount, the target vertical beam pointing angle is subtracted from the current vertical beam pointing angle to obtain a vertical beam adjustment amount, and the horizontal beam adjustment amount and the vertical beam adjustment amount together constitute the target pointing angle adjustment instruction of the antenna of the high-altitude tethered balloon platform.

[0025] Further, the specific steps of the user and the unmanned aerial vehicle cluster communicating based on the high-altitude tethered balloon platform after executing the adjustment instruction are:

[0026] The user sends information to the unmanned aerial vehicle cluster, and the unmanned aerial vehicle cluster sends the information to the high-altitude tethered balloon platform after executing the adjustment instruction.

[0027] Further, the method further comprises that the communication weighting demand of the user is updated in real time.

[0028] Further, the high-altitude tethered balloon platform is composed of one or more tethered balloons deployed in the stratosphere or upper troposphere.

[0029] Compared with the prior art, the present application has the following beneficial effects:

[0030] The present application analyzes the communication needs from the user, analyzes the target position of the unmanned aerial vehicle under the condition of the maximum utility of the unmanned aerial vehicle deployment, so that the unmanned aerial vehicle contributes to the service of a single or multiple users under the optimal unmanned aerial vehicle deployment position, adjusts the antenna beam pointing angle of the platform according to the midpoint of the cluster after determining the target position, and optimizes the beam pointing, which can significantly enhance the backhaul link bandwidth and stability between the unmanned aerial vehicle and the user core network, thereby ensuring the communication efficiency of the whole space-ground integrated network. This set of methods intelligently perceive user demand and network situation, and then cooperatively regulate the dynamic deployment of the unmanned aerial vehicle cluster and the beam pointing of the high-altitude platform, forming an adaptive and efficient communication resource allocation and coverage optimization closed loop. In the complex dynamic environment, the challenges of rapid changes in communication demand and inflexible resource allocation are overcome, and the communication response speed, deployment flexibility, coverage efficiency and resource utilization rate are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The present application is a schematic diagram of the overall process;

[0032] Figure 2 The present application is a detailed flowchart of the demand perception and situation assessment module in the embodiment;

[0033] Figure 3 The present application is a detailed flowchart of the unmanned aerial vehicle relay layer dynamic planning and scheduling module in the embodiment;

[0034] Figure 4 The present application is a detailed flowchart of the high-altitude platform layer cooperative adjustment module in the embodiment. DETAILED DESCRIPTION

[0035] The present application will be described in detail below in conjunction with the drawings and specific embodiments. The present embodiment is implemented on the basis of the technical solution of the present application, and gives a detailed implementation and specific operation process, but the protection scope of the present application is not limited to the following embodiments.

[0036] The present application aims to overcome the inherent defects of existing marine emergency communication technology in coverage, deployment flexibility, dynamic response capability and multi-platform cooperation efficiency, and proposes a marine emergency communication system based on high-altitude tethered balloon platform and unmanned aerial vehicle hierarchical cooperative deployment and a dynamic optimization method thereof. The core innovation of the system lies in the construction of a three-layer heterogeneous network architecture composed of a high-altitude tethered balloon platform layer, an unmanned aerial vehicle relay layer and a user terminal layer. Through the clear functional positioning and efficient intelligent cooperation of each layer, the architecture aims to realize seamless connection and intelligent response from high-altitude wide-area coverage to on-demand dynamic service, thereby fundamentally improving the overall efficiency and reliability of marine emergency communication. The feasibility of the present application not only lies in the innovative system architecture design, but also in the embedded dynamic optimization algorithm which can ensure the efficient and stable operation of the system in complex and variable marine environment.

[0037] The high-altitude tethered balloon platform layer, as the top backbone network of the system, can provide stable and broad communication coverage. The layer is composed of one or more tethered balloons deployed in the stratosphere or the upper troposphere. Each balloon platform carries a large-power, multi-beam communication payload and can form a continuous coverage area with a radius of tens to hundreds of kilometers, providing basic communication support for a wide sea area. Its key functions include:

[0038] (1) Providing a large-capacity, low-latency wireless backhaul link for the lower unmanned aerial vehicle relay layer, which is the prerequisite for the effective operation of the unmanned aerial vehicle cluster;

[0039] (2) Guiding and regionally coordinating the deployment of the unmanned aerial vehicle cluster according to the overall emergency communication strategy issued by the shore-based control center or the preset emergency response plan, and the task priority;

[0040] (3) Connecting with the terrestrial core network through satellite link or direct ground link to realize the interconnection of marine emergency communication network and global communication network. The deployment position of the balloon platform will be selected by optimization algorithm according to historical marine weather data, main route distribution, potential high-risk sea area and expected emergency communication coverage demand, to ensure that it can stay in the air for a long time and maximize the coverage benefit and link quality, thereby ensuring the feasibility of the layer as a stable backbone network.

[0041] The unmanned aerial vehicle relay layer, as the intermediate dynamic network of the system, has the feasibility of rapid response and flexible coverage. The layer is composed of a cluster of unmanned aerial vehicles with autonomous flight control, intelligent networking protocol stack and relay communication payload. These unmanned aerial vehicles are deployed below the wide-area coverage airspace of the high-altitude tethered balloon platform and work by receiving instructions from the high-altitude tethered balloon platform and using the backhaul link provided by the high-altitude tethered balloon platform. Its core functions and feasibility assurance measures include:

[0042] (1) Dynamically and autonomously adjust the flight path, deployment density, and network topology of the drone swarm based on the real-time communication needs reported by the user terminal layer and the macro-dispatching instructions of the balloon layer. This dynamic adjustment capability enables the drone swarm to quickly focus on high-demand areas or emergency locations, forming flexible and fast-response local enhanced coverage or "hotspot" coverage, effectively making up for the coverage deficiencies of a single high-altitude platform or meeting local high-bandwidth requirements;

[0043] (2) Provide low-altitude, high-quality wireless access services for various user devices in the user terminal layer, and efficiently transmit user data back to the high-altitude tethered balloon platform through optimized relay links.

[0044] (3) UAVs have advanced autonomous collaboration and self-organizing network capabilities, and can quickly self-organize relays and task switching based on local network load, link quality changes, and their own energy status. This distributed intelligence ensures the network robustness and service continuity of the UAV relay layer when some nodes fail or the environment changes, and is the key to its feasibility as a dynamic relay layer.

[0045] The user terminal layer, as the underlying access network of the system, is characterized by its diverse access capabilities and support for upper-layer optimization. This layer covers various types of fixed or mobile user devices operating in the marine environment, such as ocean-going vessels, offshore oil drilling platforms, fishing boats, handheld satellite phones or dedicated data terminals used by rescue teams performing search and rescue missions, and low-power communication modules deployed on emergency equipment such as life rafts and buoys. Its main functions and feasibility guarantees include:

[0046] (1) Through the flexible access points provided by the drone relay layer, stable access to the emergency communication network is achieved, providing diversified communication services including voice calls, short messages, data transmission, and real-time video backhaul;

[0047] (2) It can provide the drone relay layer with real-time or periodic feedback on key information such as its precise geographic location, network service quality experience, and business priority requirements. This information is an important input for the high-altitude tethered balloon platform layer and the drone relay layer to make dynamic optimization decisions, forming a demand-driven closed-loop control, ensuring that network resources can accurately match user needs, and improving the overall intelligence and practicality of the system.

[0048] (3) In the extreme communication environment, for example, when the user terminal cannot connect to the UAV relay layer or the entire upper layer network is completely interrupted, part of the user terminal with advanced functions can automatically or manually switch to the direct communication mode between devices or form a temporary self-organizing network mode in a small range. This emergency autonomous function ensures that the basic communication ability in a small range can be maintained in the worst case, and enables the user terminal to continuously attempt to search and re-enter the network service provided by the UAV relay layer or the high-altitude tethered balloon platform layer, greatly enhancing the user's survival and help opportunities in emergency scenarios.

[0049] The application further proposes a three-layer cooperative dynamic optimization algorithm closely combined with the above-mentioned three-layer heterogeneous network architecture. The algorithm is the core of realizing the intelligent and efficient operation of the system of the application, and aims to maximize the system operation efficiency, minimize the energy consumption, and optimize the user experience by globally perceiving, intelligently deciding, and cooperatively optimizing the configuration of the communication resources, computing resources, and platform movement resources in the entire emergency communication system. The algorithm is a closed-loop control process that runs continuously, and its decision-making is based on real-time monitoring data of the state of each level platform in the system, demand information reported by the user terminal layer, and comprehensive input of the external environment. The data-driven closed-loop characteristics ensure the real-time and accuracy of the algorithm decision, which is the key to the system's ability to adapt to complex dynamic environments.

[0050] The application proposes a marine emergency communication method based on the hierarchical deployment of high-altitude balloons and unmanned aerial vehicles, characterized in that the method comprises the following steps:

[0051] Obtain the communication weighted demand of the user, and construct a dynamic demand distribution map based on the weighted demand;

[0052] Based on the dynamic demand distribution map, an unmanned aerial vehicle deployment optimization objective function is constructed, the objective function is solved to obtain the optimal target deployment position of the unmanned aerial vehicle, the unmanned aerial vehicle moves to the optimal target deployment position, and the center position of the unmanned aerial vehicle cluster at this time is obtained;

[0053] Based on the center position, the beam pointing efficiency is calculated and maximized, the target pointing angle adjustment instruction of the linear beam of the high-altitude tethered balloon platform is obtained, the target pointing angle adjustment instruction is executed, and the user, the unmanned aerial vehicle cluster, and the high-altitude tethered balloon platform after executing the adjustment instruction communicate.

[0054] The above three steps correspond to the following three modules:

[0055] Module 1: Demand Perception and Situation Assessment Module

[0056] This module is responsible for collecting and analyzing the communication needs of users in real time. First, the system collects the service type, expected service quality parameters and the user's own service priority P reported by the user terminal. i and basic communication demand R i Based on the above input, the module uses the following formula to calculate the weighted demand D of each user or user group u :

[0057]

[0058] In the formula, the urgency of the business and the basic needs of users are comprehensively considered through weighted demand, providing a quantitative decision-making basis for subsequent resource allocation and network adjustment. For example, in an emergency scenario, high-priority businesses such as rescue command will receive a higher P i value, and thus its weighted demand D u The output of this module is a dynamic demand distribution map containing the weighted demands of all users, as well as a preliminary assessment of the current network coverage and potential bottlenecks.

[0059] Module 2: UAV relay layer dynamic planning and scheduling module

[0060] This module receives the user weighted demand D output from module 1 u and demand distribution information, and combined with the current state of the drone itself, such as position pos UAV , remaining energy, load capacity, etc., to dynamically deploy and plan the UAV cluster. The core goal is to optimize the spatial position of the UAVs to maximize the service efficiency for high-weighted demand users. Specifically, the module solves a UAV deployment utility U UAV The optimization problem with maximization as the goal can be expressed by the following formula:

[0061] By dynamically adjusting the drone's hovering point or flight path, drone resources can be flexibly and efficiently focused on areas with the highest service quality requirements. This module outputs the drone's target deployment position pos UAV Or adjust the command and set the center position of the drone cluster it serves to pos Cluster The information is passed to module 3.

[0062]

[0063] Among them, U deploy (P uav ) is the UAV at a specific location P uav The total utility value of the deployment, D iThe weighted demand of the i-th user, represents the urgency and importance of the user's communication demand, the higher the value of the weighted demand, the more the user's communication demand needs to be prioritized, d i The specific position P of the UAV uav The straight-line distance between the i-th user position, G0 is a constant, representing the signal gain.

[0064] Module 3: High-altitude platform layer cooperative adjustment module

[0065] This module is responsible for the resource cooperative adjustment of the high-altitude communication platform, the main goal is to optimize its backhaul link quality to the underlying UAV cluster. Module 2 provides the UAV cluster position information pos Cluster , combined with the high-altitude platform's own operating state, such as available power, antenna array parameters, etc. The core task is to adjust the beam pointing of the high-altitude platform communication load to ensure that its main beam can accurately point to and effectively cover the active UAV cluster. The adjustment process aims to maximize the beam pointing efficiency E

[0066] By optimizing the beam pointing, the backhaul link bandwidth and stability between the UAV and the user core network can be significantly enhanced, thereby guaranteeing the communication efficiency of the entire space-ground integration network. This module outputs the target pointing angle adjustment instruction of the high-altitude platform antenna beam to drive the antenna system to complete accurate alignment.

[0067] The optimization goal is:

[0068]

[0069] Where E beam (θ h ,θ v ) represents the beam pointing efficiency of the antenna at a specific horizontal pointing angle θ h and vertical pointing angle θ v . G max is a constant, representing the maximum signal amplification capability of the antenna in the center direction of its main beam. θ h,opt and θ v,opt represent the best horizontal and vertical angles pointing to the center P cluster of the UAV cluster. These two angles are ideal target angles calculated according to the real-time three-dimensional coordinates of the high-altitude platform and the UAV cluster, σ h and σ v represent the beam width parameters of the antenna in the horizontal and vertical directions, respectively. The smaller the value, the narrower the beam, the more concentrated the energy, but the higher the accuracy requirement for alignment. The larger the value, the wider the beam, the larger the coverage, but the energy is dispersed, and the gain is lower.

[0070] The application can realize rapid, flexible and efficient communication coverage of the target area by constructing a three-layer heterogeneous network architecture of high-altitude tethered balloon platform layer, unmanned aerial vehicle relay layer and user terminal layer, and combining with innovative three-layer cooperative dynamic optimization algorithm, and adaptively adjusting the resource configuration of the unmanned aerial vehicle relay layer and the high-altitude platform layer according to the dynamically changing user demand and network environment. First, the key of communication service is accurately grasped through demand perception; second, the aerial access resource is accurately put into the area most in need through dynamic scheduling of unmanned aerial vehicles; finally, the smoothness of the unmanned aerial vehicle backhaul link is ensured through the cooperative adjustment of the high-altitude platform, forming a closed-loop optimization control system. This multi-level cooperative mechanism significantly improves the response speed, coverage ability and resource utilization efficiency of the emergency communication network.

[0071] The application constructs an ocean emergency communication system of high-altitude tethered balloon and unmanned aerial vehicle cooperation, which has the advantages of significantly expanding the communication coverage range and improving the flexibility of deployment. The system realizes the leap of emergency response speed and multi-platform cooperation efficiency through innovative three-layer heterogeneous network architecture and dynamic optimization algorithm, and can intelligently optimize resource allocation, improve overall communication performance and energy utilization.

[0072] Compared with the prior art, the positive effects of the application are reflected in multiple aspects. In the face of complex ocean environment and sudden conditions, the multi-level dynamic cooperative architecture is much better than the traditional single platform scheme. The high-altitude balloon provides wide-area stable coverage, and the unmanned aerial vehicle can accurately enhance the local communication on demand, effectively making up for the inherent shortcomings of ground stations, ship-based base stations and satellite communication.

[0073] In terms of communication reliability and invulnerability, the system design has more advantages. The high-altitude balloon is less disturbed by the ground, the unmanned aerial vehicle cluster has self-organizing ability, and the user terminal can switch to direct connection mode in extreme conditions, which makes it provide more stable and continuous service than traditional radio and satellite communication in severe weather, electromagnetic interference or infrastructure damage.

[0074] In addition, the intelligent resource management of the application ensures efficient operation. The three-layer cooperative dynamic optimization algorithm can accurately match user demand, prioritize key communication and avoid resource waste. Compared with the traditional system which relies on preset or manual scheduling, the application shows significant progress in network performance, energy efficiency and economy.

[0075] The application realizes dynamic communication coverage and resource optimization based on the cooperation of unmanned aerial vehicles and high-altitude platforms, aiming to address the challenges of rapid changes in communication demand and inflexible resource allocation in emergency communication and wide-area coverage networks in complex dynamic environments. Figure 1As shown, the method constructs a multi-level and intelligent collaborative scheduling system, mainly including a demand perception and situation assessment module, a UAV relay layer dynamic planning and scheduling module, and a high-altitude platform layer collaborative adjustment module. Through close data interaction and collaborative decision-making, these modules realize on-demand allocation of communication resources and dynamic optimization of network coverage.

[0076] When the method of the application is adopted, the hardware foundation comprises:

[0077] (1) User terminal: can be a smart phone, a special communication device, etc., capable of reporting service type, expected service quality parameter, location information, and receiving communication service.

[0078] (2) UAV cluster: carrying communication load, high-precision positioning system, and energy management unit. The UAV is responsible for forming a dynamic air access network in a designated area.

[0079] (3) High-altitude communication platform: carrying large-capacity communication load and phased array antenna or multi-beam antenna with beamforming and dynamic adjustment capability, used for providing stable and high-speed backhaul link to the UAV cluster below.

[0080] (4) Shore-based control center and core network interface: responsible for running each core algorithm module of the method described in the application, monitoring the state of the entire system, and connected to the ground core communication network.

[0081] Referring to Figure 2 , the specific implementation steps of the demand perception and situation assessment module are as follows:

[0082] (1) Data collection: the system collects information of each user through the application program built-in the ground user terminal or through the underlying network signaling, periodically or event-triggered, including but not limited to: service type, expected service quality parameter, user's own set service priority P u , and user's basic communication demand amount R u .

[0083] (2) Weighted demand calculation: based on the collected user priority and basic communication demand amount, the module calculates the weighted demand D u of each user or user group according to the preset formula. This calculation combines the subjective priority of the user with the objective demand amount, providing more refined measurement for subsequent resource allocation.

[0084] (3) Situation generation and output: The module integrates all users' weighted demands and their geographical location information to generate a dynamic demand distribution heat map. This heat map visually shows the distribution and intensity of communication demands in geographical space. Meanwhile, the module preliminarily evaluates the current network coverage and potential communication bottlenecks. The output of this module is a dynamic demand distribution map containing all users' weighted demands, users' location information, and a preliminary network situation evaluation report, which are passed to the UAV relay layer dynamic planning and scheduling module.

[0085] Referring to Figure 3 The specific implementation steps of the UAV relay layer dynamic planning and scheduling module are as follows:

[0086] (1) Input information processing: The module receives users' weighted demands and demand distribution maps from the demand perception and situation assessment module. At the same time, the module obtains real-time state information of each UAV in the UAV cluster, including the current three-dimensional position pos UAV , endurance time, communication payload type and capability, and current flight state.

[0087] (2) Optimization target and algorithm: The core goal of this module is to optimize the spatial deployment position and task allocation of UAVs to maximize the service efficiency of high-weighted demand users. This optimization problem can be formulated as maximizing the total utility U uAV of UAV deployment.

[0088] (3) Scheduling decision and instruction issuance: The optimization algorithm calculates the optimal deployment scheme of the UAV cluster according to real-time inputs. Specifically, it includes adjusting the hovering position or flight path of existing UAVs, scheduling standby UAVs to take off to designated areas, and ordering some UAVs to return for charging or replacement. The decision-making process considers factors such as energy constraints, payload capacity, and airspace collaborative obstacle avoidance of UAVs.

[0089] (4) Output and information transfer: The module outputs specific UAV control instructions to each scheduled UAV. At the same time, it calculates and updates the equivalent center position pos Cluster of the UAV cluster currently serving the main demand area and transfers this information to the high-altitude platform layer collaborative adjustment module.

[0090] Referring to Figure 4 The specific implementation steps of the high-altitude platform layer collaborative adjustment module are as follows:

[0091] (1) Input information processing: The module receives the equivalent center position of the UAV cluster from the UAV relay layer dynamic planning and scheduling module. At the same time, the module obtains the operating state of the high-altitude communication platform itself, including available transmit power, current pointing of the antenna array, beam width, and other parameters.

[0092] (2) Optimization target and adjustment: The main goal of this module is to adjust the directional antenna beam of the high-altitude platform communication payload, so that it can accurately aim at and effectively cover the current active UAV cluster, thereby maximizing the backhaul link quality from the UAV cluster to the high-altitude platform. The adjustment process aims to maximize the beam pointing efficiency E of the high-altitude platform.

[0093] (3) Beam adjustment execution: According to the optimal beam pointing angles θ and α obtained by optimization calculation, the module sends adjustment instructions to the antenna control system of the high-altitude platform.

[0094] (4) Output: The module outputs the target pointing angle adjustment instructions of the high-altitude platform antenna beam, and monitors the adjusted link quality parameters to form a closed-loop control.

[0095] The overall cooperative workflow of the method of the present application is shown in Figure 1 , which embodies a continuously running dynamic optimization process:

[0096] (1) After the system is started, the demand perception and situation assessment module continuously monitors user demand and environmental changes, and updates the weighted demand and demand distribution map in real time.

[0097] (2) When the demand changes significantly or reaches the preset update period, module 1 transfers the updated demand information to the UAV relay layer dynamic planning and scheduling module.

[0098] (3) Module 2 re-optimizes the UAV deployment according to the new demand distribution and the current state of the UAV, generates new UAV scheduling instructions, and calculates the updated UAV cluster center position, which is transmitted to the high-altitude platform layer cooperative adjustment module.

[0099] (4) After receiving the updated UAV cluster center position, module 3 optimizes the beam pointing of the high-altitude platform to ensure the backhaul link quality to the UAV cluster.

[0100] (5) After the UAV and high-altitude platform execute the adjustment instructions, their new state and service effect will be fed back to module 1, starting a new round of perception-decision-control cycle. This iterative cooperative optimization enables the entire communication system to adaptively respond to dynamic changes, accurately and efficiently allocating limited air resources to the areas and users that need them most.

[0101] The communication link in the present application specifically includes:

[0102] (1) User access link: the wireless communication link between the user terminal and the UAV that provides coverage for it.

[0103] (2) Inter-UAV relay link: In some scenarios, wireless relay links can be established between UAVs to expand coverage or enhance link robustness.

[0104] (3) UAV-HAP backhaul link: UAVs return the aggregated user data to HAPs through this link. This link requires high bandwidth and stability, and utilizes the beamforming capability of HAPs.

[0105] (4) HAP-land-based control center link: HAPs are connected to the land-based control center through a large-capacity satellite link or directional link, and then connected to the ground core communication network.

[0106] (5) Control and management link: used for the land-based control center to send control instructions to HAPs and receive status information.

[0107] In this embodiment, the algorithms and logical functions of the three core modules can be deployed as software programs on the server of the land-based control center. UAVs and HAPs mainly execute the received instructions and report the status. The components of the system interact information through standardized data interfaces and communication protocols.

[0108] The multi-level optimization mechanism of demand perception quantization, UAV dynamic planning, and HAP beam coordination adjustment can significantly improve the response speed, deployment flexibility, coverage efficiency, and resource utilization rate of emergency communication and wide-area coverage networks. Especially in complex scenarios where user demand distribution is uneven and dynamic changes are rapid, this method can realize intelligent and refined management and scheduling of communication resources, and provide reliable and efficient communication support for various users.

[0109] The three-layer collaborative communication architecture of "HAP-UAV relay-user terminal" and the dynamic closed-loop optimization algorithm designed for this architecture are the core of the application. This set of methods intelligently perceive user demand and network situation, and then cooperatively regulate the dynamic deployment of UAV clusters and the beam pointing of HAPs, forming an adaptive and efficient communication resource allocation and coverage optimization closed loop. The core value lies in solving the challenge of fast-changing communication demand and inflexible resource allocation in emergency communication and wide-area coverage in complex dynamic environments. Through the close linkage of this three-layer architecture and the precise calculation of the optimization algorithm, the response speed, deployment flexibility, coverage efficiency, and resource utilization rate of communication are significantly improved.

[0110] The above describes the preferred embodiments of the application in detail. It should be understood that those skilled in the art can make many modifications and changes without creative labor based on the concept of the application. Therefore, any technical solution obtained by logical analysis, reasoning or limited experiment based on the prior art according to the concept of the application shall be within the protection scope determined by the claims.

Claims

1. A marine emergency communication method based on layered deployment of high-altitude balloons and drones, characterized in that: The method comprises the following steps: Obtaining the user's weighted communication needs; Based on the user's weighted communication requirements, a drone deployment optimization objective function is constructed. The optimal target deployment position of the drones is obtained by solving the objective function. The drone movement path is planned based on the optimal target deployment position. After all drones move to the optimal target deployment position, the center position of the drone cluster is obtained. Based on the center position calculation and maximization of the beam pointing efficiency, the target pointing angle adjustment instruction of the antenna of the high-altitude tethered balloon platform is obtained. The target pointing angle adjustment instruction is executed, and the user, the UAV cluster and the high-altitude tethered balloon platform after the execution of the adjustment instruction communicate.

2. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 1 is characterized in that: The weighted demand is: Among them, P i is the service priority of user i, R i is the basic communication demand of user i, D u Represents the weighted demand collected by UAV u, u cov Represents the coverage range of drone u.

3. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 2 is characterized in that: The objective function is: Among them, U deploy (P uav ) is the UAV at a specific location P uav The total utility value of the deployment, D i Represents the weighted demand of the i-th user, which represents the urgency and importance of the user's communication demand. The higher the value of the weighted demand, the more priority the user's communication demand needs to be met. i Represents the specific position P of the drone uav The straight-line distance between the i-th user position and G0 is a constant representing the signal gain.

4. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 3 is characterized in that: The specific steps to solve the objective function and obtain the optimal target deployment position of the UAV are: Solve the objective function and take the specific location that maximizes the total utility value of the drone as the optimal target deployment location.

5. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 4 is characterized in that: The planned path of the UAV is the path from the current position of the UAV to the optimal target deployment position.

6. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 1 is characterized in that: The objective function for maximizing beam pointing efficiency is: Among them, E beam (θ h ,θ v ) represents the antenna’s horizontal beam pointing angle θ h and vertical beam pointing angle θ v Beam pointing efficiency under G max is a constant representing the maximum signal amplification capability of the antenna in the direction of the center of its main beam, θ h,opt and θ v,opt They respectively represent the center position P of the drone cluster cluster The optimal horizontal and vertical angles are the ideal target angles calculated based on the three-dimensional coordinates of the position of the high-altitude tethered balloon platform and the center position of the UAV cluster, σ h and σ v Represent the antenna beamwidth parameters in the horizontal and vertical directions respectively.

7. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 6 is characterized in that: Based on the center position calculation and maximization of the beam pointing efficiency, the target pointing angle adjustment instruction of the antenna of the high-altitude tethered balloon platform is obtained. The specific steps for executing the target pointing angle adjustment instruction are as follows: The beam pointing efficiency is calculated and maximized based on the center position to obtain the target horizontal beam pointing angle and the target vertical beam pointing angle, obtain the current horizontal beam pointing angle and the current vertical beam pointing angle, subtract the target horizontal beam pointing angle from the current horizontal beam pointing angle to obtain a horizontal beam adjustment amount, and subtract the target vertical beam pointing angle from the current vertical beam pointing angle to obtain a vertical beam adjustment amount. The horizontal beam adjustment amount and the vertical beam adjustment amount together constitute a target pointing angle adjustment instruction for the antenna of the high-altitude tethered balloon platform.

8. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 1 is characterized in that: The specific steps for the user and the drone cluster to communicate based on the high-altitude tethered balloon platform after executing the adjustment instructions are as follows: The user sends information to the drone cluster, and the drone cluster sends the information to the high-altitude tethered balloon platform after executing the adjustment instructions.

9. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 1, characterized in that: The method also includes: updating the user's communication weighted demand in real time.

10. The marine emergency communication method based on layered deployment of high-altitude balloons and drones according to claim 1, characterized in that: The high-altitude tethered balloon platform consists of one or more tethered balloons deployed in the stratosphere or the upper troposphere.

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