Low-altitude aircraft network based on virtual aerial orbit identifier and networking method thereof

Abstract

The embodiment of the invention belongs to the technical field of low-altitude network communication, and particularly relates to a low-altitude aircraft network based on a virtual air track identifier and a networking method of the low-altitude aircraft network based on the virtual air track identifier. The airspace is divided into virtual track tracks and the virtual track tracks are identified by using virtual air track IDs; when the low-altitude aircraft accesses the corresponding ground wireless base station, the ground wireless base station uses the aircraft ID and the virtual air track ID to register in the distributed position analysis system; according to the aircraft ID and the virtual air track ID, an SDN path calculation unit is used to calculate an optimal routing path, and the optimal routing path is issued to a relay router to execute routing and forwarding of the data flow; and based on the historical flight path data of the low-altitude aircraft and the real-time data collected by the ground flight path management and control center, predicting the future trajectory of the aircraft, and generating a digital twin image.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure belong to the technical field of low-altitude network communication, and particularly relate to a low-altitude aircraft network based on virtual air track identification, a networking method thereof, a computing device, and a storage medium. BACKGROUND

[0002] The rapid development of low-altitude aircraft networks is due to the widespread application of unmanned aerial vehicles, electric vertical take-off and landing aircraft, and low-altitude logistics aircraft. Generally, low-altitude aircraft network architecture can be divided into centralized control networks, distributed ad hoc networks, and hybrid heterogeneous networks. Centralized control networks rely on ground control stations or satellite communications for centralized scheduling, and the tasks and routes of all aircraft are managed by a central control. Although it can provide better task coordination and management, the risk of single-point failure and high latency limit its application in more dynamic and complex environments. In the distributed ad hoc network architecture, aircraft communicate directly with each other through wireless ad hoc networks (such as Wi-Fi, 5G, D2D, millimeter wave, etc.), forming a decentralized network. The network has good invulnerability and scalability, and is suitable for dynamic task scenarios, but in some cases, the requirements for network management and accurate data transmission are high. Hybrid heterogeneous networks combine cellular networks (such as 5G / 6G), satellite communications, and ad hoc networks, and although they can achieve wider coverage and higher flexibility, they may face interoperability and coordination problems between different networks.

[0003] In the low-altitude aircraft network, due to the high-speed movement of the aircraft and the dynamic change of the topology, the traditional routing protocol faces many challenges in design. For example, due to the fast moving speed of the aircraft, the network link is easily broken, which affects the continuity of data transmission. The AODV (Ad-hoc On-demand Distance Vector) protocol is a protocol based on on-demand routing, although it is widely used in ground mobile networks, but it does not take into account the height change of low-altitude aircraft in three-dimensional space. The OLSR (Optimized Link State Routing) protocol is a link state-based protocol, suitable for static or relatively stable network environment, lacks the ability to adapt to dynamic environment, and is difficult to quickly respond to sudden events such as aircraft leaving the network or node failure. The GeoTORA (Geographic Temporary Ordered Routing Algorithm) protocol is a location-based routing protocol, which optimizes routing selection by using the geographical position of the node, but the GPS positioning error may lead to inaccurate routing selection and affect the accuracy of routing calculation. Secondly, the design of GeoTORA does not consider the cooperation problem with the ground network, which makes the low-altitude aircraft network unable to effectively work with the ground or other networks, thereby affecting the scalability and stability of the network. The traditional TCP / IP protocol-based ground network also cannot adapt to the rapid movement of low-altitude aircraft and dynamic topology change.

[0004] Therefore, there is currently no unified solution that can fully meet the characteristics and needs of low-altitude aircraft networks, and it is necessary to combine the high-speed dynamic movement characteristics of low-altitude aircraft, three-dimensional space positioning, and the collaborative ability with the ground network to design a more adaptive network protocol to ensure the accuracy and reliability of data transmission. SUMMARY

[0005] The embodiments of the present disclosure propose a low-altitude aircraft network based on virtual air track identification and a networking method, a computing device and a storage medium thereof, which constructs a three-dimensional virtual airspace by using virtual air track identification (VATI) and GPS / Beidou geographical position identification, and realizes path calculation, forwarding and dynamic management by using a distributed location analysis system, a path calculation unit of SDN and SRv6 protocol. It not only supports the high-speed movement and seamless switching of aircraft, but also guarantees the efficient transmission and security of data flow.

[0006] According to a first aspect of the present disclosure, a virtual air track identification-based low-altitude aircraft network networking method is provided, comprising: dividing airspace into virtual air track orbits based on geographical position information of ground wireless base stations and airspace hierarchical height, and identifying using virtual air track IDs; when a low-altitude aircraft accesses a corresponding ground wireless base station, the ground wireless base station registers in a distributed location resolution system using an aircraft ID and a virtual air track ID; according to the aircraft ID and the virtual air track ID, an SDN path calculation unit is used to calculate an optimal routing path, and the optimal routing path is issued to a relay router to perform routing and forwarding of data flow; based on historical flight path data of the low-altitude aircraft and real-time data collected by a ground flight path control center, a future trajectory of the aircraft is predicted, and a digital twin image is generated.

[0007] In some embodiments of the present disclosure, dividing airspace into virtual air track orbits based on geographical position information of ground wireless base stations and airspace hierarchical height and identifying using virtual air track IDs comprises: dividing the ground surface into a plurality of grid areas according to GPS / Beidou geographical position information of the ground wireless base stations; dividing the airspace above each grid area into hierarchical three-dimensional virtual airspace according to different heights; defining a virtual air track ID based on the hierarchical height of the airspace and the GPS / Beidou position information of the ground wireless base stations, the virtual air track ID being used to identify the three-dimensional virtual airspace.

[0008] In some embodiments of the present disclosure, when a low-altitude aircraft accesses a corresponding ground wireless base station, the ground wireless base station registers in a distributed location resolution system using an aircraft ID and a virtual air track ID, comprising: calculating the height of the aircraft according to the GPS coordinates and barometer data of the low-altitude aircraft; when the low-altitude aircraft accesses the corresponding ground wireless base station according to its height and GPS positioning, completing the registration of the aircraft in the distributed location resolution system through the aircraft ID and the VATI; and after the ground flight path control center applies for network access and registers in the distributed location resolution system, sending an aircraft VATI information query request to obtain the VATI information of the low-altitude aircraft.

[0009] In some embodiments of the present disclosure, according to the aircraft ID and the virtual air track ID, an SDN path calculation unit is used to calculate an optimal routing path, and the optimal routing path is issued to a relay router to perform routing and forwarding of data flow, comprising: based on the VATI information of the low-altitude aircraft, using an SDN path calculation unit to calculate an optimal routing path with complete hop point information; issuing the calculated optimal routing path to a relay router to construct a corresponding IPv6 data packet; using an SRv6 protocol to hop-by-hop transmit the IPv6 data packet in the VATI network until the target base station is reached.

[0010] In some embodiments of the present disclosure, the optimal routing path is calculated by the SDN path calculation unit according to the aircraft ID and the virtual air track ID, and the optimal routing path is issued to the relay router to perform routing and forwarding of data flow, which further comprises: when the low-altitude aircraft enters a new virtual track orbit, the entry gateway router adjacent to the base station tracks the current position of the aircraft using the virtual air track ID, and coordinates the resource allocation between the target base station and the relay router; after the low-altitude aircraft accesses the new target base station, the target base station re-registers the low-altitude aircraft to the distributed location resolution system according to the geographical position and current track information of the low-altitude aircraft, and updates the path information through the SDN path calculation unit; when the relay router fails, the SDN path calculation unit re-calculates and selects an alternative path to bypass the failure point according to the preset failure protection strategy.

[0011] In some embodiments of the present disclosure, the SRv6 protocol is used to transmit IPv6 data packets hop by hop in the VATI network until the target base station, which comprises: the relay router digitally signs the path information embedded in the IPv6 data packet header; each hop device verifies the digital signature when receiving the data packet, and if the digital signature verification fails, the data packet is discarded or transferred to the isolation forwarding strategy.

[0012] According to a second aspect of the present disclosure, a low-altitude aircraft network based on virtual air track identification is provided, comprising: a low-altitude aircraft, a ground wireless base station, a relay router, a ground track control center, a distributed location resolution system and an SDN path calculation unit, the low-altitude aircraft is used to access the ground wireless base station through VATI, and send and receive data flow; the ground wireless base station is used to combine with the distributed location resolution system and the SDN path calculation unit, use VATI to identify the virtual track orbit controlled by it, and manage the access / leave and mobile switching of low-altitude aircraft in the corresponding airspace; the relay router cooperates with the ground wireless base station, the SDN path calculation unit and the ground track control center, and is used to perform routing and forwarding of data flow; the ground track control center is used to monitor the state of the aircraft in real time, simulate and predict the running state of the aircraft according to the collected real-time data and historical track data of the aircraft, and generate a digital twin model.

[0013] In an embodiment of the present disclosure, the distributed location resolution system is used to process the network access application of the aircraft, perform identity authentication and authorization, generate a data flow bearing path, and perform real-time service paging; the SDN path calculation unit is used to calculate the optimal path in real time based on the VATI information provided by the ground wireless base station, and issue the generated path to the related relay router.

[0014] According to a third aspect of the present disclosure, a computing device is provided, comprising: at least one processor; and a memory storing program instructions configured to be executed by the at least one processor, the program instructions comprising instructions for performing the method for network configuration of low-altitude aerial vehicles based on virtual air track identification according to the first aspect of the embodiments of the present disclosure.

[0015] According to a fourth aspect of the present disclosure, a storage medium storing program instructions is provided, which, when read and executed by a computing device, causes the computing device to perform the method for network configuration of low-altitude aerial vehicles based on virtual air track identification according to the first aspect of the embodiments of the present disclosure.

[0016] The low-altitude aerial vehicle network based on virtual air track identification and the network configuration method thereof provided by the embodiments of the present disclosure make the positioning and path management of the aerial vehicles more efficient by defining the virtual air track ID, reduce the conflict of airspace resources, and improve the safety of the low-altitude aerial vehicles and the availability of network access. By combining the distributed location resolution system, the SDN path calculation unit, and the SRv6 forwarding protocol, efficient, reliable, and secure communication between the low-altitude aerial vehicles and the ground track control center is achieved. From the design of the aerial vehicle network access to the fault recovery mechanism, the requirements of communication quality, safety, fault tolerance, and the like are fully considered, which provides a solid guarantee for the real-time communication of the low-altitude aerial vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be known that the drawings described below only relate to some embodiments of the present disclosure, rather than limiting the present disclosure, in which:

[0018] Figure 1 a structural diagram of a computing device 100 according to an embodiment of the present disclosure is shown;

[0019] Figure 2 a flowchart of a network configuration method of a low-altitude aerial vehicle network based on virtual air track identification according to an embodiment of the present disclosure is shown;

[0020] Figure 3 is a schematic diagram of a low-altitude aerial vehicle network architecture based on virtual air track identification according to an embodiment of the present disclosure;

[0021] Figure 4 is a schematic diagram of encoding mapping of 48-bit GPS coordinate VATI and IPv6 address;

[0022] Figure 5 is a schematic diagram of encoding mapping of 64-bit GPS coordinate VATI and IPv6 address.

[0023] It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0024] In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative effort also belong to the scope of protection of the present disclosure.

[0025] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this present subject matter belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Additionally, terms such as "first" and "second" are used merely to distinguish one component (or portion of a component) from another.

[0026] The embodiments of the present disclosure are directed to the flight path management and communication control of low-altitude aircraft, and propose a low-altitude aircraft network networking routing scheme based on virtual air track identification. By combining the GPS / Beidou geographic position information provided by the ground wireless base station and the airspace hierarchical height, a virtual air track identification (VATI) is constructed, which not only supports the accurate trajectory management of low-altitude aircraft, but also provides dynamic routing selection and traffic control to meet the needs of high-speed movement and efficient communication of low-altitude aircraft.

[0027] Figure 1 A structural diagram of a computing device 100 according to embodiments of the present disclosure is shown. As shown, the computing device 100 can include a memory 106 and a processor 104. A memory bus 108 can be used for communication between the processor 104 and the system memory 106. Figure 1

[0028] The memory 106 can include an operating system 120, applications 122, and program data 124. The applications 122 can be arranged to execute instructions on the operating system by one or more processors 104 with program data 124. The applications 122 include program instructions for implementing various user desired functions.

[0029] ​When the computing device 100 is in operation, the processor 104 is configured to read instructions from the memory 106 and execute these instructions to perform the operations for which the computing device 100 was designed. The applications 122 are

[0030] The computing device 100 is further comprised of storage devices 132 and output devices 142, which are connected to the storage interface bus 134 and the interface bus 140 that facilitates communication from various interface devices (e.g., the output devices 142, peripheral interfaces 144, and communication devices 146) to the bus / interface controller 130.

[0031] The peripheral interface 144 can include a serial interface controller 154 or a parallel interface controller 156, which can be configured to facilitate communication to / from external devices (e.g., input devices 148, output devices 142, peripheral devices, etc.) via one or more I / O ports 158. The communication device 146 can include a network controller 160, which can be arranged to facilitate communications with one or more other computing devices 162 over a network communication link via one or more communication ports 164. In the computing device 100 according to embodiments of the present disclosure, the applications 122 include instructions for performing the virtual air track identification based low altitude aerial vehicle network networking method 200 according to embodiments of the present disclosure.

[0032] Figure 2 A flowchart of a virtual air track identification based low altitude aerial vehicle network networking method according to embodiments of the present disclosure is shown. As shown in FIG. 2, the method 200 begins at step S202, in which the airspace is divided into virtual air track orbits based on the geographical position information of the ground wireless base stations and the airspace hierarchical height, and identified using virtual air track IDs. Figure 2

[0033] The virtual air track ID (VATI) is an air track identification generated in combination with the hierarchical height of the airspace and the GPS / Beidou position information of the ground wireless base stations. Specifically, the ground surface can be divided into a plurality of grid regions according to the GPS / Beidou geographical position information of the ground wireless base stations. The airspace above each grid region is divided into hierarchical three-dimensional virtual airspace according to different heights. The virtual air track ID is defined based on the hierarchical height of the airspace and the GPS / Beidou position information of the ground wireless base stations, and is used to identify the three-dimensional virtual airspace. ​

[0034] For example, each virtual airspace is identified as VATI(x, y, h), where x and y are geographical coordinates, and h is the altitude. VATI not only serves to distinguish different tracks, but also provides precise path information for the aircraft. The flight path of each low-altitude aircraft during flight can be represented as an ordered set of VATI, and the low-altitude aircraft enters multiple virtual airspaces (e.g. VATI-1, VATI-2… VATI-N) according to its flight path, forming a continuous active track.

[0035] Subsequently, in step S204, when the low-altitude aircraft accesses the corresponding ground wireless base station, the ground wireless base station registers in the distributed location resolution system using the aircraft ID and the virtual air track ID.

[0036] The ground access network of the low-altitude aircraft includes ground wireless base stations and relay routers connected thereto. The ground wireless base station manages and controls the virtual flight track within its coverage range through VATI, and each base station is responsible for managing the access, departure, path tracking, and mobile handover of aircraft within a certain airspace. The relay router uses its own GPS / Beidou coordinates for identification (GPS-ID), and can intelligently route according to the VATI and flight path of the aircraft. The relay router can also serve as an entry gateway, connecting external networks and managing data flow forwarding, especially supporting mobile handover across base stations. They serve as anchors for aircraft entering and leaving a certain airspace, ensuring seamless handover of the aircraft during flight.

[0037] First, the height of the low-altitude aircraft is calculated based on the GPS coordinates and barometer data of the aircraft. GPS provides the position of the aircraft in three-dimensional space, while the barometer measures atmospheric pressure, thereby calculating the height of the aircraft. This integrated measurement method ensures high accuracy and reliability of the height information, especially during the flight of the low-altitude aircraft, effectively avoiding errors caused by relying on a single measurement method.

[0038] The distributed location resolution system is the core system for managing network services such as low-altitude aircraft access, authentication, and authorization. When the low-altitude aircraft accesses the corresponding ground wireless base station according to its altitude and GPS positioning, the aircraft ID (such as URI or IP address) and VATI are used to complete aircraft registration in the distributed location resolution system, ensuring that the identity and trajectory information of the aircraft are correctly identified by the ground trajectory control center. In order to ensure the maintenance and synchronization of access information, the distributed location resolution system can achieve distributed storage and synchronization of data based on blockchain technology, thereby ensuring the security and data consistency of the network. After the ground trajectory control center applies for network access and registers in the distributed location resolution system, it can send a VATI information query request to obtain the VATI information of the low-altitude aircraft. The distributed location resolution system can provide data stream services for multiple terminals or multiple aircrafts simultaneously through multicast / groupcast services.

[0039] Next, in step S206, the optimal routing path is calculated using the SDN path computation unit based on the aircraft ID and the virtual air track ID, and the optimal routing path is issued to the relay router to perform routing and forwarding of data streams.

[0040] In one embodiment of the present disclosure, based on the VATI information of the low-altitude aircraft, an optimal routing path with complete hop information can be calculated using the SDN path computation unit. Each communication data stream between the low-altitude aircraft and the ground airspace control center has a reachable path composed of GPS / Beidou position identifiers. The reachable path not only includes the VATI identifier, but also includes the related router GPS-ID. Since the VATI information also contains airspace altitude data, different orbits of the low-altitude aircraft correspond to different VATI identifiers, thereby forming multiple different reachable paths. The SDN path computation unit (Path Computation Element, PCE) can calculate the optimal path through GPS and network topology information, for example, input: VATI, output: path Path=[GPS-ID-1,...,GPS-ID-N,VAPI], and the QoS parameters (bandwidth, delay, etc.) can be considered for path optimization.

[0041] When the low-altitude aircraft enters a new virtual air track orbit, the entry gateway router adjacent to the base station tracks the current position of the aircraft using the virtual air track ID and coordinates the resource allocation between the target base station and the relay router. When the low-altitude aircraft accesses the new target base station, the target base station re-registers the low-altitude aircraft to the distributed location resolution system according to the geographical position and current orbit information of the low-altitude aircraft, and updates the path information through the SDN path computation unit. When the relay router fails, the SDN path computation unit recalculates and selects an alternative path to bypass the failure point according to the preset failure protection strategy.

[0042] The calculated optimal routing path is issued to the relay router, and the corresponding IPv6 data packet is constructed. Each data packet header carries the complete path. The SRv6 protocol is used to transmit the IPv6 data packet hop by hop in the VATI network until the target base station is reached. The relay router can use the source routing (e.g. SRv6) protocol to process the path information hop by hop without table lookup, and allocate different bandwidth resources according to different data flow requirements, thereby meeting the requirements of different services for latency and bandwidth and ensuring efficient transmission and load balancing.

[0043] To ensure network security, the path information can be signed and authenticated when forwarding hop by hop to prevent intermediate nodes from being attacked or tampered with. In an embodiment of the present disclosure, the relay router can digitally sign the path information embedded in the IPv6 data packet header. Each hop device verifies the digital signature when receiving the data packet, and if the digital signature verification fails, the data packet is discarded or transferred to an isolation forwarding strategy. Through these measures, the system can provide efficient network switching and path optimization while ensuring stable flight of the aircraft, and ensure the stability and security of the low-altitude aircraft network.

[0044] Finally, in step S208, the future trajectory of the aircraft is predicted based on the historical flight path data of the low-altitude aircraft and the real-time data collected by the ground flight path control center, and a digital twin image is generated.

[0045] The ground flight path control center, such as a cloud computing center, a handheld device, etc., can query the VATI of the aircraft through the DPRS, obtain the position information of the aircraft, and then submit the VATI to the SDN path computation element (PCE). The PCE calculates the optimal path according to the VATI information and issues it to the relay router through the SDN, ensuring smooth data flow between the aircraft and the ground flight path control center. According to the SDN forwarding strategy, the relay router can use the backup path to bypass the faulty node when a fault occurs, ensuring the reliability of data transmission.

[0046] The ground track management center collects historical track data of the aircraft through the VATI network, which includes past track information of the aircraft, covering timestamp, GPS coordinates (latitude and longitude), height, speed, acceleration and other dynamic data of the aircraft. The historical track data can reflect the flight mode, regular route, flight area and other characteristics of the aircraft. The trajectory features of the aircraft are extracted from the historical track data, a reinforcement learning model is used for dynamic trajectory prediction, and a digital twin image of the aircraft is generated for real-time tracking and analysis. The digital twin image is a virtual mirror of the aircraft and its environment, aiming to show the real-time state and future predicted trajectory of the aircraft. As the actual trajectory of the aircraft changes in the air, the digital twin image is updated in real time. For example, if the aircraft changes direction, the path and state of the aircraft in the image will be adjusted accordingly. Through continuous model training and data feedback, the digital twin image can be continuously optimized and adjusted to ensure that it is consistent with the actual situation of the aircraft.

[0047] Figure 3 is a schematic diagram of a low-altitude aircraft network architecture based on virtual air track identification according to an embodiment of the present disclosure. Referring to Figure 3 , the low-altitude aircraft network based on virtual air track identification (VATI network) includes low-altitude aircraft, ground wireless base station, relay router, ground track management center, distributed position resolution system (DPRS) and SDN path calculation unit. The low-altitude aircraft is used to access the ground wireless base station through VATI to send and receive data streams. The ground wireless base station is used in combination with the distributed position resolution system and the SDN path calculation unit to identify the virtual track it controls using VATI and manage the access / exit and mobile switching of low-altitude aircraft in the corresponding airspace. The distributed position resolution system is used to handle the network access application of the aircraft, perform identity authentication and authorization, generate data stream bearing path, and perform real-time service paging; the SDN path calculation unit is used to calculate the optimal path in real time based on the VATI information provided by the ground wireless base station, and the generated path is issued to the related relay router.

[0048] The relay router works with the ground wireless base station, SDN path calculation unit and ground track management center to perform routing and forwarding of data streams; the ground track management center is used to monitor the state of the aircraft in real time, simulate and predict the running state of the aircraft according to the collected real-time data and historical track data of the aircraft, generate a digital twin model, and cooperate with the distributed position resolution system, SDN routing calculation unit and other components according to the track management requirements to control and schedule the aircraft.

[0049] The following describes the workflow of the VATI network and the functions of each subsystem with an example:

[0050] When the low-altitude aircraft enters a certain airspace and accesses the corresponding ground wireless base station, it first registers with the DPRS based on its current location and trajectory information. The DPRS associates the aircraft's location and trajectory information with its aircraft ID and stores the information in the database. The ground trajectory control center registers its network identity with the DPRS system through network access and interacts with the DPRS system by sending query requests and obtaining the aircraft's VATI information. The PCE of the SDN uses the aircraft's VATI information to calculate the optimal network routing path between the aircraft and the trajectory control center, and transmits the path information to the ground trajectory control center and the entry gateway.

[0051] Then, after the gateway router receives the request data stream from the trajectory control center APP, it constructs an IPv6 data packet containing the calculated routing path information in the packet header and uses the SRv6 protocol for data forwarding. The SRv6 protocol allows path information to be specified in the IPv6 packet header, and routers forward data packets hop by hop based on this information. The data packet is forwarded hop by hop in the VATI network, and each hop is forwarded according to the path specified in the SRv6 protocol until it reaches the target ground wireless base station. The target ground wireless base station transmits the data packet to the aircraft based on the target information in the IPv6 packet header, and the aircraft's APP receives and processes the data packet.

[0052] The aircraft APP constructs data streams as needed and sends data back to the trajectory control center using the same routing process. At this time, the aircraft exchanges data with the trajectory control center again through the VATI network. When the aircraft enters a new orbit and performs base station switching, the anchor gateway router cooperates with the related base stations to adjust the forwarding of the data stream, ensuring uninterrupted communication and maintaining a low packet loss rate. After the mobile switching is completed, the aircraft accesses the new target base station, continues to enter the new orbit, and restarts the orbit network access process. If a relay node in the VATI network fails, the SDN PCE triggers a failure protection strategy, recalculates the network path, and issues it to the related routers through the control channel. The router modifies the path information in the IPv6 packet header to ensure that the data stream can bypass the faulty node and continue to be forwarded along the new path. To improve network security, the sender router adds a digital signature to the path table, such as using public key encryption technology, and the receiver router verifies the legality of the signature using the corresponding public key to ensure that the data has not been tampered with and prevent "man-in-the-middle attacks."

[0053] In addition, by combining VATI with relay satellites, seamless integration between space-based networks and ground-based networks can be achieved, providing a unified network protocol and address coding mechanism to support the development of low-altitude trajectory management systems in 6G network architecture.

[0054] IPv6 provides a larger address space, which can support a large number of aircraft and device access and management. GPS has different precision geographic coordinate identifiers, 48-bit or 64-bit. Figure 4 is a schematic diagram of the encoding mapping of 48-bit GPS coordinate VATI and IPv6 address. Figure 5 is a schematic diagram of the encoding mapping of 64-bit GPS coordinate VATI and IPv6 address. IPv6 address is 128 bits long, as shown in Figure 4 , the address bit allocation (0-127 bits) is as follows:

[0055]

[0056] Referring to Figure 5 , the address bit allocation (0-127 bits) is as follows:

[0057]

[0058]

[0059] By mapping VATI to IPv6 address, it is possible to manage space-based and ground-based communication flexibly in 6G network through existing network infrastructure.

[0060] In summary, according to the low-altitude aircraft network based on virtual air track identification and the networking method thereof provided by the embodiments of the present disclosure, by defining the virtual air track ID, the positioning and path management of the aircraft are more efficient, the conflict of airspace resources is reduced, and the safety of the low-altitude aircraft and the availability of network access are improved. By combining the distributed location resolution system, the SDN path calculation unit and the SRv6 forwarding protocol, efficient, reliable and secure communication between the low-altitude aircraft and the ground track control center is realized. From the design of aircraft access network to the fault recovery mechanism, the requirements of communication quality, safety, fault tolerance and other aspects are fully considered, which provides a solid guarantee for real-time communication of low-altitude aircraft.

[0061] The diagrams in the accompanying drawings are directed to possible architectural, functional and operational aspects of apparatus and methods in accordance with various embodiments of the present disclosure. In this regard, each block in the flowcharts and / or diagrams can represent a module, a segment, or a portion of code that comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or acts or combinations thereof, or can be implemented by a combination of dedicated hardware and computer instructions.

[0062] As used in the description herein and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. Thus, when referring to a singular noun, plural instances of the corresponding noun are generally encompassed. Similarly, the terms "comprises", "comprising", "includes", "including" and the like can be used herein and are understood by persons of ordinary skill in the art to mean including but not limited to. Likewise, the term "comprising" is considered synonymous with the terms "includes" or "including", unless the context clearly dictates otherwise. Where the term "example" is used in the following description and not followed by the term "of the invention" or "disclosed herein", the term "example" is merely an example and does not in itself constitute an exclusive or exhaustive list of elements.

[0063] Further aspects and scope of adaptation will become apparent from the description provided herein. It should be understood that various aspects of the application can be practiced alone or in combination with one or more other aspects. It should also be understood that the description and specific examples herein are intended to be illustrative only and are not intended to limit the scope of the present application.

[0064] The foregoing detailed description of the application has been presented for purposes of clarity and description. It is apparent to those skilled in the art that many modifications and variations could be made to the embodiments of the present application without deviating from the spirit and scope of the present application. The present application is defined by the following claims.

Claims

1. A method for network formation of low altitude aerial vehicle based on virtual air track identification, characterized in that, The method comprises: based on the geographical position information of the ground wireless base station and the hierarchical height of the airspace, the airspace is divided into virtual flight track orbits and identified using virtual air track ID; when the low-altitude aircraft accesses the corresponding ground wireless base station, the ground wireless base station registers in the distributed location resolution system using the aircraft ID and the virtual air track ID; according to the aircraft ID and the virtual air track ID, the SDN path calculation unit is used to calculate the optimal routing path, and the optimal routing path is issued to the relay router to perform routing and forwarding of data flow; and based on the historical flight track data of the low-altitude aircraft and the real-time data collected by the ground flight track control center, the future trajectory of the aircraft is predicted, and a digital twin image is generated. 2.The virtual sky rail identification based low altitude aircraft network networking method according to claim 1, characterized in that, The method comprises: According to the GPS / Beidou geographical position information of the ground wireless base station, the ground is divided into a plurality of grid areas; The airspace above each grid area is divided into hierarchical three-dimensional virtual airspace according to different heights; and Based on the hierarchical height of the airspace and the GPS / Beidou position information of the ground wireless base station, the virtual air track ID is defined, which is used to identify the three-dimensional virtual airspace. 3.The virtual sky rail identification based low altitude aircraft network networking method according to claim 1, characterized in that, When the low-altitude aircraft accesses the corresponding ground wireless base station, the ground wireless base station registers in the distributed location resolution system using the aircraft ID and the virtual air track ID. According to the GPS coordinates and barometer data of the low-altitude aircraft, the height of the aircraft is calculated; When the low-altitude aircraft accesses the corresponding ground wireless base station according to its height and GPS positioning, the aircraft registration is completed in the distributed location resolution system through the aircraft ID and VATI; and When the ground flight track control center applies for network access and registers in the distributed location resolution system, send aircraft VATI information query request to obtain the VATI information of the low-altitude aircraft. 4.The virtual sky rail identification based low altitude aircraft network networking method according to claim 3, characterized in that, According to the aircraft ID and virtual air track ID, the SDN path calculation unit is used to calculate the optimal routing path, and the optimal routing path is issued to the relay router to perform routing and forwarding of data flow; and Based on the VATI information of the low-altitude aircraft, the SDN path calculation unit is used to calculate an optimal routing path with complete hop information; The calculated optimal routing path is issued to the relay router to construct the corresponding IPv6 data packet; and The IPv6 data packet is transmitted hop by hop in the VATI network using the SRv6 protocol until it reaches the target base station. 5.The virtual sky rail identification based low altitude aircraft network networking method according to claim 4, characterized in that, According to the aircraft ID and virtual air track ID, the SDN path calculation unit is used to calculate the optimal routing path, and the optimal routing path is issued to the relay router to perform routing and forwarding of data flow; and When the low-altitude aircraft enters a new virtual flight track orbit, the entry gateway router adjacent to the base station tracks the current position of the aircraft using the virtual air track ID, and coordinates the resource allocation between the target base station and the relay router; When the low-altitude aircraft accesses a new target base station, the target base station re-registers the low-altitude aircraft to the distributed location resolution system according to the geographical position and current orbit information of the low-altitude aircraft, and updates the path information through the SDN path calculation unit; and When the relay router fails, the SDN path calculation unit re-calculates and selects an alternative path to bypass the failure point according to a preset failure protection strategy. 6.The virtual sky rail identification based low altitude aircraft network networking method according to claim 4, characterized in that, The use of the SRv6 protocol to transmit the IPv6 data packet hop by hop in the VATI network until the target base station includes: The relay router digitally signs the path information embedded in the IPv6 data packet header; Each hop device verifies the digital signature when receiving the data packet, and discards the data packet or enters an isolated forwarding strategy if the digital signature verification fails.

7. A low altitude vehicle network based on virtual skyway identification, characterized by, It includes: The low-altitude aircraft, the ground wireless base station, the relay router, the ground track control center, the distributed location resolution system and the SDN path calculation unit, the low-altitude aircraft is used to access the ground wireless base station through VATI, and transmit and receive data flow; the ground wireless base station is used in combination with the distributed location resolution system and the SDN path calculation unit, and utilizes VATI to identify the virtual track orbit controlled thereby and manage the access / exit and mobile switching of the low-altitude aircraft in the corresponding airspace; the relay router cooperates with the ground wireless base station, the SDN path calculation unit and the ground track control center, and is used to perform routing and forwarding of data flow; the ground track control center is used to monitor the state of the aircraft in real time, simulate and predict the running state of the aircraft according to the collected real-time data and historical track data of the aircraft, and generate a digital twin model.

8. The virtual sky rail identification based low altitude aircraft network of claim 7, wherein, The distributed location resolution system is used to process the network access application of the aircraft, perform identity authentication and authorization, generate a data flow bearing path, and perform real-time service paging; the SDN path calculation unit is used to calculate an optimal path based on the VATI information provided by the ground wireless base station, and to issue the generated path to the relevant relay router.

9. A computing device comprising: At least one processor and a memory having program instructions stored therein, wherein the program instructions are configured to be adapted for execution by the at least one processor, and the program instructions include instructions for performing the virtual air track identification based low-altitude aircraft network networking method according to any one of claims 1-6.

10. A storage medium having program instructions stored therein, when the program instructions are read and executed by a computing device, causing the computing device to perform the virtual air track identification based low-altitude aircraft network networking method according to any one of claims 1-6.

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