Unmanned aerial vehicle dynamic self-organizing network method and system based on multi-satellite cooperation

Abstract

The invention relates to an unmanned aerial vehicle dynamic self-organizing network method and system based on multi-satellite cooperation. The method comprises the following steps: receiving positioning information of an unmanned aerial vehicle and anchor point data of topological anchor points broadcasted by a satellite network through a multi-channel communication terminal arranged on the unmanned aerial vehicle; calculating the distance between the unmanned aerial vehicle and the topological anchor point based on the positioning information and the anchor point data; selecting an unmanned aerial vehicle cluster head of the unmanned aerial vehicle group according to the distance between the aircrafts and the anchors based on a smaller distance priority principle; the unmanned aerial vehicle cluster head is connected with the unmanned aerial vehicle members in the unmanned aerial vehicle group, and the problems that an existing unmanned aerial vehicle dynamic self-organizing network is fragile in topological structure, poor in high-speed moving adaptability, lack of air-space cooperative ability and insufficient in network survivability can be solved.

Description

Technical Field

[0001] This application relates to the field of wireless communication network technology, and in particular to a method and system for dynamic self-organizing networks of unmanned aerial vehicles based on multi-satellite cooperation. Background Technology

[0002] UAV Dynamic Ad Hoc Network (UAV-DANET) is a type of distributed network system that uses unmanned aerial vehicles (UAVs) as core communication nodes, does not rely on fixed infrastructure, and achieves dynamic discovery, autonomous networking, and collaborative communication between nodes through wireless communication technology. This network has core characteristics such as flexible deployment, wide coverage, and rapid reconfiguration. However, existing UAV dynamic ad hoc networks suffer from problems such as fragile topology, poor adaptability to high-speed movement, lack of air-space coordination capabilities, and insufficient network resilience. Summary of the Invention

[0003] This application provides a method and system for dynamic self-organizing networks of unmanned aerial vehicles (UAVs) based on multi-satellite cooperation, which can solve the problems of fragile topology, poor adaptability to high-speed movement, lack of air-space cooperation capability, and insufficient network resilience of existing UAV dynamic self-organizing networks.

[0004] Firstly, this application provides a method for dynamic self-organizing networks of unmanned aerial vehicles (UAVs) based on multi-satellite cooperation, including: The drone receives its location information and topological anchor data broadcast by satellite network through a multi-channel communication terminal mounted on the drone. The distance between the UAV and the topological anchor point is calculated based on the positioning information and the anchor point data. Based on the principle of prioritizing smaller distances, the leader of the drone swarm is selected according to the anchor spacing. The drone cluster leader connects the drone members in the drone swarm.

[0005] In some embodiments, the satellite network comprises a plurality of individual satellites; Before receiving the drone's positioning information and topological anchor data broadcast by the multi-channel communication terminal mounted on the drone, the method further includes: The multi-channel communication terminal is used to detect the satellite signal strength between the UAV and the multiple individual satellites. Based on the principle of prioritizing signal strength, a target communication satellite is selected from multiple individual satellites according to the satellite signal strength. The positioning information and anchor point data are broadcast to the multi-channel communication terminal via the target communication satellite.

[0006] In some embodiments, broadcasting the positioning information and the anchor point data to the multi-channel communication terminal via the target communication satellite includes: The drones in the drone swarm are located using the target communication satellite to obtain the location information; Based on the positioning information, the anchor point data of the topological anchor point of the UAV swarm is calculated, wherein the topological anchor point is located at the center of the UAV swarm; The target communication satellite broadcasts the positioning information and anchor point data to the drone swarm via an inter-satellite link.

[0007] In some embodiments, the drone is also equipped with a smart beamforming antenna; The selection of the drone swarm leader based on the anchor spacing according to the principle of prioritizing smaller distances also includes: The cluster-head satellite directional beam is formed by the smart beam antenna of the drone cluster head; The cluster head satellite's directional beam is pointed at the target communication satellite to communicate with the target communication satellite.

[0008] In some embodiments, connecting drone members in the drone swarm via the drone cluster head includes: The drone cluster leader sends a network access invitation message to the drone members. Receive the network access response message from the drone member in response to the network access invitation message.

[0009] In some embodiments, before connecting the drone members in the drone swarm via the drone cluster head, the method further includes: The intelligent beam antenna at the head of the drone cluster forms a directional beam for the cluster members and directs the beam of the cluster members toward the drone members. The member drones form a member cluster head directional beam using their smart beam antennas and point the member cluster head beam at the drone cluster head to form a cluster head member communication link. Dynamic multiple access between the UAV cluster head and the UAV members is achieved based on the cluster head member communication link.

[0010] In some embodiments, sending the network access invitation message to the drone members through the drone cluster head specifically involves: The drone cluster leader sends the network access invitation message to the drone members through the cluster leader member communication link. The specific steps of receiving the network access response message from the drone member in response to the network access invitation message are as follows: The cluster head member receives the network access response message from the UAV member in response to the network access invitation message through the cluster head member communication link.

[0011] In some embodiments, the selection of the drone cluster leader based on the anchor spacing according to the principle of prioritizing smaller distances further includes: Based on the principle of prioritizing smaller distances, the backup leader of the drone swarm is selected according to the anchor spacing.

[0012] In some embodiments, connecting drone members in the drone swarm via the drone cluster head further includes: Monitor the cluster head communication quality of the cluster head member communication links; If the communication quality of the cluster head is less than a preset quality threshold, the cluster head of the UAV swarm will be switched to the backup cluster head of the UAV.

[0013] Secondly, embodiments of this application provide a UAV dynamic self-organizing network system based on multi-satellite cooperation, characterized in that the method applied to the UAV dynamic self-organizing network method based on multi-satellite cooperation as described in any one of the first aspects includes: A satellite network is used to broadcast the UAV's positioning information and topological anchor data; A smart beamforming antenna, mounted on the UAV, is used to form a directional beam and point it toward the target communication satellite and UAV crew. A multi-channel communication terminal, mounted on the UAV, is used to select the target communication satellite and perform beam switching.

[0014] The technical solutions provided in this application have the following advantages compared with the prior art: The method and system for a dynamic self-organizing UAV network based on multi-satellite collaboration provided in this application embodiment receive UAV positioning information and topological anchor data broadcast by a satellite network through a multi-channel communication terminal installed on the UAV; calculate the UAV-to-anchor distance between the UAV and the topological anchor based on the positioning information and the anchor data; select a UAV cluster leader based on the anchor distance according to the principle of smaller distance priority; connect the UAV members in the UAV cluster through the UAV cluster leader, wherein the selection of the UAV cluster leader based on the principle of smaller distance priority of anchor distance results in a shorter average communication distance between UAV members and the UAV cluster leader, and better intra-cluster link signal quality; the positioning information and anchor data are broadcast by the satellite network, so that the cluster leader selection no longer depends on the local link interaction between UAV nodes, reduces the dependence of core nodes on local links, and improves the network's survivability in complex confrontation or harsh environments. It can solve the problems of fragile topology, poor adaptability to high-speed movement, lack of air-space collaboration capability, and insufficient network resilience of existing dynamic self-organizing UAV networks. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 A flowchart of a method for dynamic self-organizing UAV networks based on multi-satellite cooperation provided in an embodiment of this application; Figure 2 This is a schematic diagram of the satellite multibeam coverage area provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0021] The UAV Dynamic Ad Hoc Network (UAV-DANET) is a distributed network system that uses unmanned aerial vehicles (UAVs) as core communication nodes. It does not rely on fixed infrastructure and achieves dynamic discovery, autonomous networking, and collaborative communication between nodes through wireless communication technology. This network has core characteristics such as flexible deployment, wide coverage, and rapid reconfiguration. It can complete information interaction and resource sharing between nodes in environments without pre-set communication. It has irreplaceable application value in many key areas such as military reconnaissance and communication support, emergency disaster relief communication, IoT terminal interconnection, intelligent traffic collaborative scheduling, and low-altitude economic scenario services, and has become one of the core directions for the development of next-generation communication technologies.

[0022] However, existing UAV dynamic ad hoc networks still face three major technical bottlenecks in real-world complex scenarios, severely restricting their reliability and applicability: 1) Fragile topology and poor adaptability to high-speed movement: Existing technologies mostly directly use routing protocols from traditional Mobile Ad Hoc Networks (MANETs). These protocols are not designed to fully consider the high-speed movement characteristics of UAV nodes (when node speed exceeds 200 km / h), leading to continuous link breaks between nodes and frequent changes in network topology. Furthermore, the routing discovery and convergence mechanisms of traditional routing protocols have slow response speeds and cannot adapt to dynamic topology changes in a timely manner, resulting in high data transmission packet loss rates and significantly increased end-to-end latency, making it difficult to meet the real-time communication requirements in high-speed movement scenarios; 2) Lack of air-space coordination capabilities and insufficient network resilience: Current UAV ad hoc networks are mostly limited to distributed networking between nodes in low-altitude areas, lacking the ability to form a robust network structure. The existing network relies excessively on the link connection between UAV nodes and low-Earth orbit satellites (such as low-Earth orbit satellites and medium-Earth orbit satellites) for integrated air-space collaborative communication. It lacks satellite-level redundancy backup and global scheduling capabilities. Once the core UAV node (such as the cluster head node) fails or the critical link is interrupted, it is very easy to cause local network partitioning or even the entire network to be paralyzed. The overall network resilience and survivability are weak and cannot adapt to the continuous operation requirements in complex confrontation or harsh environments. 3) The anti-interference mechanism is simple and has weak adaptability to complex electromagnetic environments: The existing network's anti-interference means mainly rely on traditional communication anti-interference technologies such as frequency hopping and spread spectrum. The anti-interference principle of such technologies is based on the expansion or hopping of the signal frequency domain. In complex electromagnetic warfare scenarios, its anti-interference strategy lacks dynamic adjustment capability and is easily located and suppressed by enemy jamming equipment, resulting in communication link interruption or information leakage, and failing to ensure the safe and reliable transmission of critical business data.

[0023] Firstly, such as Figure 1 , 2 As shown, to address the aforementioned technical problems, this application provides a method for a dynamic self-organizing network of unmanned aerial vehicles (UAVs) based on multi-satellite cooperation, comprising: S101: Receives the drone's positioning information and topology anchor data broadcast by the satellite network through a multi-channel communication terminal installed on the drone; S102: Calculate the distance between the UAV and the topological anchor point based on the positioning information and the anchor point data; S103: Select the drone leader of the drone swarm based on the principle of prioritizing smaller distances according to the anchor spacing; S104: Connect the drone members in the drone swarm through the drone cluster head.

[0024] It should be noted that by receiving positioning information and anchor point data broadcast by satellite network through multi-channel communication terminals, the collaborative transmission of multiple satellites ensures the redundancy of data sources and avoids data loss caused by the failure of a single satellite. This solves the problems of large errors and unreliable data caused by traditional networks relying on the UAV's own positioning (such as GPS single-point positioning) or local node interaction. Moreover, the satellite network has a wide coverage area and can provide UAV nodes with a globally unified positioning benchmark and anchor point coordinates, breaking down the local information barriers of traditional low-altitude networking. This allows UAV nodes to obtain global key data without multiple rounds of link interaction, providing efficient data support for subsequent spacing calculation and cluster head election.

[0025] It should be noted that the spacing calculation based on high-precision positioning information and anchor point data (such as the 3D coordinates of anchor points and the real-time position of UAVs) provided by satellite networks is simple in logic and yields objective results. This avoids the election bias caused by traditional cluster head elections that rely on parameters such as the remaining energy and computing power of nodes. The anchor-to-cluster spacing is updated in real time as the UAV (or UAV node) moves, and the calculation process can quickly respond to changes in node position, solving the problem of mismatch between cluster head and network state caused by the lag in parameter updates in traditional election mechanisms. This provides support for dynamic networking in high-speed mobile scenarios. Furthermore, the spacing calculation only involves spatial coordinate distance formulas, resulting in low computational complexity. It does not require a large amount of computing power resources from UAV nodes, avoiding excessive node energy consumption or response delays caused by complex calculations. It adopts a single, clear principle of "smaller distance priority," eliminating the need for multiple rounds of negotiation, voting, or computing power competition. UAV nodes only need to compare their own anchor-to-cluster spacing with other nodes to complete the cluster head selection, significantly shortening the election time and solving the problems of complex processes and high costs in traditional election mechanisms.

[0026] It should be noted that the anchor point data can be global anchor point data (i.e., multiple anchor point data). Based on the distance priority selection of global anchor point benchmark, the cluster heads can be more evenly distributed in space (avoiding multiple nodes concentrating near the same anchor point to compete for the cluster head). The coverage and number of members of each cluster are more balanced, solving the problem of local overload and frequent congestion caused by uneven distribution of cluster heads in traditional election.

[0027] It should be noted that the proximity between the cluster head node (i.e., the UAV cluster head) and the topology anchor point results in a shorter average communication distance between member nodes and the cluster head, better signal transmission quality, and a significant reduction in data packet loss rate and end-to-end latency, meeting the requirements for real-time communication. When a member node moves beyond the cluster coverage area or the cluster head fails, a new cluster head (i.e., the UAV cluster head) can be quickly re-elected or the cluster affiliation adjusted based on the real-time updated UAV-anchor spacing. The connection relationship between the cluster head and members can dynamically adapt to topology changes, solving the problems of slow topology reconstruction and poor adaptability in traditional networks.

[0028] In some embodiments, the satellite network comprises a plurality of individual satellites; Before receiving the drone's positioning information and topological anchor data broadcast by the multi-channel communication terminal mounted on the drone, the method further includes: The multi-channel communication terminal is used to detect the satellite signal strength between the UAV and the multiple individual satellites. Based on the principle of prioritizing signal strength, a target communication satellite is selected from multiple individual satellites according to the satellite signal strength. The positioning information and anchor point data are broadcast to the multi-channel communication terminal via the target communication satellite.

[0029] It should be noted that by detecting the signal strength between the UAV and each individual satellite through a multi-channel communication terminal, the target communication satellite is selected based on the principle of "signal strength priority" to ensure that the signal attenuation of the data transmission link is smaller and the anti-interference capability is stronger. Moreover, the satellite network contains multiple individual satellites, and the target satellite selection mechanism can realize "strong signal satellite priority access". When the signal of a certain individual satellite weakens due to orbital movement, obstruction or interference, it can quickly switch to other satellites with stronger signals, avoiding data transmission interruption caused by the failure of a single satellite and improving the continuity and stability of data acquisition.

[0030] In some embodiments, broadcasting the positioning information and the anchor point data to the multi-channel communication terminal via the target communication satellite includes: The drones in the drone swarm are located using the target communication satellite to obtain the location information; Based on the positioning information, the anchor point data of the topological anchor point of the UAV swarm is calculated, wherein the topological anchor point is located at the center of the UAV swarm; The target communication satellite broadcasts the positioning information and anchor point data to the drone swarm via an inter-satellite link.

[0031] It should be noted that the target communication satellite has global coverage capability in high airspace. Compared with local positioning within the UAV swarm, it can effectively avoid the impact of complex environments such as urban obstruction and mountainous terrain on positioning signals, ensuring that all nodes in the UAV swarm (including edge nodes) can obtain stable and accurate positioning information, avoiding network interruption caused by positioning failure of some nodes. Based on the real-time positioning information of the UAV swarm, the topological anchor point located at the center of the UAV swarm is calculated, so that the anchor point naturally becomes the spatial geometric center of the cluster. This ensures that the "smaller distance priority" principle of cluster head election is highly adapted to the cluster distribution. That is, the cluster head node (i.e., the UAV cluster head) will be concentrated in the central area of ​​the cluster, and the average distance between the cluster members and the cluster head is shorter, resulting in better communication link quality and lower transmission latency within the cluster.

[0032] It should be noted that inter-satellite links are located in the high-altitude domain, and are minimally affected by ground electromagnetic interference and terrain obstruction. Compared with low-altitude links between UAVs, they have stronger anti-interference capabilities for data transmission. At the same time, inter-satellite links can achieve redundancy backup through a multi-satellite collaborative architecture. When the target communication satellite faces interference, it can relay broadcasts through inter-satellite links of other satellites to avoid data transmission interruption and enhance the resilience of the integrated air-space network. Furthermore, the global broadcast characteristic of inter-satellite links allows all nodes in the UAV swarm to receive positioning information and anchor point data simultaneously, without the need for each node to establish a separate communication link with a satellite. This significantly reduces the access pressure and energy consumption of multi-channel communication terminals of UAVs, extends the endurance of UAVs, and reduces the concurrent access load of the satellite network.

[0033] In some embodiments, the drone is also equipped with a smart beamforming antenna; The selection of the drone swarm leader based on the anchor spacing according to the principle of prioritizing smaller distances also includes: The cluster-head satellite directional beam is formed by the smart beam antenna of the drone cluster head; The cluster head satellite's directional beam is pointed at the target communication satellite to communicate with the target communication satellite.

[0034] It should be noted that the intelligent beamforming antenna, through beamforming technology, concentrates the communication signal energy in the direction of the target communication satellite, forming a high-gain directional beam (compared to traditional omnidirectional antennas or sector antennas). This significantly reduces signal diffusion loss in space transmission and improves the received signal strength (RSSI) between the cluster head (i.e., the UAV cluster head) and the satellite. It can solve the problems of severe link attenuation and limited transmission distance caused by signal energy dispersion in traditional wide-beam communication. Moreover, the directional beam has strong spatial directivity, which can reduce signal leakage and external noise interference from non-target directions and reduce the link error rate. At the same time, combined with the optimal signal characteristics of the target communication satellite, it forms a dual guarantee of "strong signal satellite + directional beam". Even in scenarios where the UAV moves at high speed (>200km / h), it can still maintain link stability by tracking the target satellite in real time through the beam, avoiding signal drift or link interruption caused by node movement.

[0035] In some embodiments, connecting drone members in the drone swarm via the drone cluster head includes: The drone cluster leader sends a network access invitation message to the drone members. Receive the network access response message from the drone member in response to the network access invitation message.

[0036] It should be noted that the drone cluster leader actively sends the network access invitation message, which clarifies the core scheduling status of the cluster leader and the access permissions of the members. This avoids network topology chaos caused by drone member nodes blindly accessing or accessing across clusters, and solves the problems of disordered node access and ambiguous cluster boundaries in traditional distributed networking. Moreover, the one-way triggering mechanism of "invitation-response" allows member nodes to complete the network access by simply responding to the cluster leader's invitation, without having to participate in complex cluster affiliation negotiations or competition. This reduces the complexity of node networking decisions and is especially suitable for large-scale drone swarm networking scenarios, ensuring that the networking process is efficient and orderly.

[0037] In some embodiments, before connecting the drone members in the drone swarm via the drone cluster head, the method further includes: The intelligent beam antenna at the head of the drone cluster forms a directional beam for the cluster members and directs the beam of the cluster members toward the drone members. The member drones form a member cluster head directional beam using their smart beam antennas and point the member cluster head beam at the drone cluster head to form a cluster head member communication link. Dynamic multiple access between the UAV cluster head and the UAV members is achieved based on the cluster head member communication link.

[0038] It should be noted that, based on the established cluster head member communication links, dynamic multiple access can flexibly allocate time slots, frequencies, or code channels according to the number of members within the cluster, service priorities (such as real-time control commands > non-real-time data transmission), and data transmission rate requirements, avoiding the problems of resource idleness or overload in the traditional fixed multiple access mode; for example, dedicated time slots are allocated to high-priority services, and spectrum resources are shared for low-rate services, thereby maximizing the utilization of spectrum resources and alleviating the current situation of spectrum shortage in UAV ad hoc networks.

[0039] It should be noted that the signal coverage of the bidirectional directional beam is highly concentrated between the cluster head and members, with extremely low signal power in non-target areas, making it difficult for third parties to intercept. At the same time, the resource allocation of dynamic multiple access is random and dynamic, making it difficult for third parties to predict communication resources (time slots / frequency), further reducing the risk of information leakage and meeting the information security needs of critical scenarios such as military communications and emergency disaster relief. Moreover, when the link of a member is degraded due to interference or obstruction, dynamic multiple access can quickly allocate backup resources for it. With the fine adjustment of the beam direction, the link can be quickly restored, improving the overall resilience and fault tolerance of the intra-cluster network.

[0040] In some embodiments, sending the network access invitation message to the drone members through the drone cluster head specifically involves: The drone cluster leader sends the network access invitation message to the drone members through the cluster leader member communication link. The specific steps of receiving the network access response message from the drone member in response to the network access invitation message are as follows: The cluster head member receives the network access response message from the UAV member in response to the network access invitation message through the cluster head member communication link.

[0041] It should be noted that the network access invitation and response messages are transmitted through the cluster head member communication link. This link is built on a bidirectional directional beam, which has highly focused signal energy and strong anti-interference capabilities. Compared with traditional wireless broadcast links, it can effectively avoid packet loss or bit errors caused by signal attenuation and electromagnetic interference during message transmission, ensuring that member nodes accurately receive the network access invitation and the cluster head obtains response feedback in a timely manner, thus solving the network omission problem caused by "lost invitation messages" and "no response" in traditional networking.

[0042] In some embodiments, the selection of the drone cluster leader based on the anchor spacing according to the principle of prioritizing smaller distances further includes: Based on the principle of prioritizing smaller distances, the backup leader of the drone swarm is selected according to the anchor spacing.

[0043] In some embodiments, connecting drone members in the drone swarm via the drone cluster head further includes: Monitor the cluster head communication quality of the cluster head member communication links; If the communication quality of the cluster head is less than a preset quality threshold, the cluster head of the UAV swarm will be switched to the backup cluster head of the UAV.

[0044] It should be noted that, based on the principle of prioritizing shorter distances, a backup cluster head (i.e., the UAV backup cluster head) is pre-elected, ensuring that both the backup cluster head and the core cluster head possess the characteristics of "close anchor-to-hub distance and strong link stability," forming a dual-protection architecture of "core cluster head + backup cluster head." When the core cluster head (or main cluster head) loses connection due to hardware failure, energy depletion, severe interference, or high-speed movement, the backup cluster head can quickly fill the gap, avoiding the problem of "cluster head failure leading to cluster-level network paralysis" in the traditional single-cluster head mode, and significantly improving the network's survivability in complex adversarial and harsh environments. By monitoring the communication quality of the cluster head member's communication link in real time (such as signal strength, bit error rate, and latency, and using this as a basis to determine whether beam attenuation occurs; if beam attenuation is significant, switching beams to achieve route reconstruction), when the quality falls below a preset threshold, a switchover is actively triggered instead of passively waiting for the cluster head to completely fail. This can proactively avoid the risk of communication interruption and data loss caused by link deterioration, solving the communication vacuum problem in the traditional "failure and reconstruction" mode. It should be noted that the backup cluster leader of the UAV can complete link pre-adaptation with satellites and cluster members during the election phase (due to the close anchor spacing, the link quality between the backup cluster leader and members is close to that of the core cluster leader). During the switchover, there is no need to re-execute the lengthy processes of cluster leader election, link construction, and resource allocation; only identity switching and resource handover are required. This can control communication interruption time to the millisecond level, ensuring the continuous transmission of real-time services such as high-definition video and emergency commands. Both the backup cluster leader and the core cluster leader are elected based on the same anchor point (the UAV swarm center), and their spatial locations are close. After the switchover, the cluster boundary does not need to be significantly adjusted, avoiding network topology chaos caused by cross-cluster migration of members within the cluster, and ensuring that the clustered architecture of the entire UAV swarm remains regular and stable.

[0045] Secondly, embodiments of this application provide a UAV dynamic self-organizing network system based on multi-satellite cooperation, characterized in that the method applied to the UAV dynamic self-organizing network method based on multi-satellite cooperation as described in any one of the first aspects includes: A satellite network is used to broadcast the UAV's positioning information and topological anchor data; A smart beamforming antenna, mounted on the UAV, is used to form a directional beam and point it toward the target communication satellite and UAV crew. A multi-channel communication terminal, mounted on the UAV, is used to select the target communication satellite and perform beam switching.

[0046] The device / system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0047] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0048] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a specific order described or illustrated unless the order of execution is explicitly indicated. It should also be understood that additional or alternative steps may be used. The above description is merely a specific embodiment of the invention to enable those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for dynamic self-organizing networks of unmanned aerial vehicles (UAVs) based on multi-satellite cooperation, characterized in that, include: The drone receives its location information and topological anchor data broadcast by satellite network through a multi-channel communication terminal mounted on the drone. The distance between the UAV and the topological anchor point is calculated based on the positioning information and the anchor point data. Based on the principle of prioritizing smaller distances, the leader of the drone swarm is selected according to the anchor spacing. The drone cluster leader connects the drone members in the drone swarm.

2. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 1, characterized in that, The satellite network comprises multiple individual satellites; Before receiving the drone's positioning information and topological anchor data broadcast by the multi-channel communication terminal mounted on the drone, the method further includes: The multi-channel communication terminal is used to detect the satellite signal strength between the UAV and the multiple individual satellites. Based on the principle of prioritizing signal strength, a target communication satellite is selected from multiple individual satellites according to the satellite signal strength. The positioning information and anchor point data are broadcast to the multi-channel communication terminal via the target communication satellite.

3. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 2, characterized in that, The step of broadcasting the positioning information and the anchor point data to the multi-channel communication terminal via the target communication satellite includes: The drones in the drone swarm are located using the target communication satellite to obtain the location information; Based on the positioning information, the anchor point data of the topological anchor point of the UAV swarm is calculated, wherein the topological anchor point is located at the center of the UAV swarm; The target communication satellite broadcasts the positioning information and anchor point data to the drone swarm via an inter-satellite link.

4. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 2, characterized in that, The drone is also equipped with a smart beamforming antenna. The selection of the drone swarm leader based on the anchor spacing according to the principle of prioritizing smaller distances also includes: The cluster-head satellite directional beam is formed by the smart beam antenna of the drone cluster head; The cluster head satellite's directional beam is pointed at the target communication satellite to communicate with the target communication satellite.

5. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 1, characterized in that, The connection between the drone members in the drone swarm via the drone cluster leader includes: The drone cluster leader sends a network access invitation message to the drone members. Receive the network access response message from the drone member in response to the network access invitation message.

6. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 5, characterized in that, Before connecting the drone members in the drone swarm via the drone cluster leader, the process also includes: The intelligent beam antenna at the head of the drone cluster forms a directional beam for the cluster members and directs the beam of the cluster members toward the drone members. The member drones form a member cluster head directional beam using their smart beam antennas and point the member cluster head beam at the drone cluster head to form a cluster head member communication link. Dynamic multiple access between the UAV cluster head and the UAV members is achieved based on the cluster head member communication link.

7. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 6, characterized in that, The process of sending a network access invitation message to the drone members through the drone cluster head is specifically as follows: The drone cluster leader sends the network access invitation message to the drone members through the cluster leader member communication link. The specific steps of receiving the network access response message from the drone member in response to the network access invitation message are as follows: The cluster head member receives the network access response message from the UAV member in response to the network access invitation message through the cluster head member communication link.

8. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 6, characterized in that, The selection of the drone swarm leader based on the anchor spacing according to the principle of prioritizing smaller distances also includes: Based on the principle of prioritizing smaller distances, the backup leader of the drone swarm is selected according to the anchor spacing.

9. The method for dynamic self-organizing UAV networks based on multi-satellite cooperation according to claim 8, characterized in that, The connection between the drone members in the drone swarm via the drone cluster leader also includes: Monitor the cluster head communication quality of the cluster head member communication links; If the communication quality of the cluster head is less than a preset quality threshold, the cluster head of the UAV swarm will be switched to the backup cluster head of the UAV.

10. A dynamic self-organizing network system for unmanned aerial vehicles (UAVs) based on multi-satellite collaboration, characterized in that, The method for dynamic self-organizing UAV networks based on multi-satellite cooperation, as described in any one of claims 1-9, includes: A satellite network is used to broadcast the UAV's positioning information and topological anchor data; A smart beamforming antenna, mounted on the UAV, is used to form a directional beam and point it toward the target communication satellite and UAV crew. A multi-channel communication terminal, mounted on the UAV, is used to select the target communication satellite and perform beam switching.

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