An end-to-end resonant communication method for multi-unmanned system collaboration

Abstract

An end-to-end resonant communication method for multi-unmanned system collaboration includes the following steps: Set the number and positions of data forwarding points according to the distance between the source point and the destination point and the number of unmanned systems; The unmanned systems reach the preset initial positions and are divided into two types of moving nodes according to their numbers; Set the movement period and movement rhythm of the unmanned systems; The unmanned systems move according to the movement modes of the first rhythm and the second rhythm respectively; Determine whether all the data at the source point have reached the destination point. If so, the data forwarding process ends; If not, the unmanned systems re-forward according to the set movement rhythm. The present invention can, without the need for theoretical calculation of point layout and without manual intervention, according to the preset programs and rules, multiple unmanned systems (such as drones, unmanned vehicles, unmanned boats, unmanned submersibles, space flight devices, etc.) cooperate with each other to successively form a dynamic resonant communication link, thereby completing end-to-end data transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of relay communication of unmanned aerial vehicle systems, and particularly to the technical field of end-to-end resonant communication methods for multi-unmanned systems collaboration. Background Art

[0002] End-to-end data communication is one of the eternal themes of communication networks. Among them, the location of communication relays and the selection of forwarding points are important issues in end-to-end data communication. In conventional base station forwarding or radio communication relays, in order to select a suitable forwarding point, various methods such as pure theoretical calculation, actual measurement, and a combination of theoretical calculation and actual measurement are generally used. In the pure theoretical calculation method, the designer calculates the theoretical loss of the signal at a specific regional distance through the relative distance between maps, the relative height of the transceiver radios, the transmission power of the radios, and the antenna gain, etc., using known loss formulas. Then, according to the threshold requirements and the theoretical calculation values, a suitable location is selected as the forwarding point. Actual measurement refers to the road test personnel moving along the line connecting the source point and the destination point away from the signal source using a signal detection tool. After detecting that the signal drops to a specific threshold, this point is selected as the signal forwarding point. The method of combining theoretical calculation and actual measurement is to first roughly select the forwarding point using the theoretical calculation method; then, the road test personnel use a signal measuring instrument to detect the signal around this point; finally, the forwarding point is determined according to the threshold value required by the task.

[0003] In the communication relay scenario of unmanned systems, some existing patents also adopt the method of theoretical calculation. Specifically, first, the theoretical path loss value between any two points is calculated, and then a suitable relay position is selected according to the theoretical value to ensure the relay transceiver of data. For example, the invention patent "Method for Cooperative Control of UAV Swarms with Interleaved Tasks, Communications, and Topologies" (Patent Application No.: CN201310170260.9) applied by Dai Qionghai et al. from Tsinghua University proposes a method for cooperative control of UAV swarms with interleaved tasks, communications, and topologies, including the following steps: establishing the correlation function of the tasks, communications, and topologies of the UAVs; establishing the strategy sets of the number of interactive communications of the UAVs, the task information matrix strategy set, and the relative distance strategy set between the interactive communication UAVs, and determining the winning matrix and related constraints; obtaining the number of UAV interactive communications, the task information transmission volume, and the relative distance between the UAVs that meet the preset requirements in the strategy sets of the number of interactive communications of the UAVs, the task information matrix strategy set, and the relative distance strategy set between the interactive communication UAVs; and controlling the UAV swarm according to the number of UAV interactive communications, the task information transmission volume, and the relative distance between the UAVs that meet the preset requirements. This patent application constructs the communication capabilities between UAVs through theoretical calculation.

[0004] In fact, in a traditional wireless relay network, if the communication effect is not ideal after determining the relay point according to the theoretical model, the position of the relay point can be adjusted. Since the relay points are all on the ground, this adjustment may not be troublesome. However, in an aerial UAV relay network, especially in the case of multiple relays, the adjustment of one relay point may affect the relay topology of the entire network. For example, after a certain relay point closest to the source point is placed according to the theoretical calculation method, there is environmental interference around it, resulting in poor communication effect. At this time, the position of this relay point needs to be moved in a direction closer to the source point. However, after this point is moved, the distance between it and the next relay point will be lengthened, resulting in the deterioration of the second-hop relay. If the position of the second hop is adjusted continuously, it will affect the communication quality between the second hop and the third hop, and so on.

[0005] The invention patent "Method and System for Obtaining UAV Formation Communication Topology Based on Minimum Spanning Tree" (Patent Application No. CN201610384144.0) applied by Luo He et al. from Hefei University of Technology provides a method and system for obtaining UAV formation communication topology based on minimum spanning tree. The method includes: constructing a formation communication graph according to the formation of a preset formation; calculating the minimum spanning tree of the formation communication graph; judging whether the UAV to which the root node of the minimum spanning tree belongs can be used as the formation leader, and according to the judgment result, obtaining the optimal communication topology. This method constructs a formation communication graph according to the formation of a preset formation, calculates the minimum spanning tree of the formation communication graph, then judges whether the UAV to which the root node of the minimum spanning tree belongs can be used as the formation leader, and according to the judgment result, obtains the optimal communication topology, ensuring that the overall communication cost is minimized during the formation maintenance process. This method generates a spanning tree based on the formation. The formation is known and not specifically designed for communication relay topology.

[0006] The academic paper "Path Planning and Communication Optimization in UAV Cooperative Relay Process" (Systems Engineering and Electronics) by Fu Xiaowei et al. focuses on theoretical research and distributes points according to the theoretical communication distance of nodes; the academic paper "UAV Relay Layout Optimization Software Based on Google Earth" (Modern Electronics Technology) by Li Yanwen et al. also conducts theoretical modeling on UAV relay, deduces the coverage area of UAVs at a certain altitude, and thus designs a static optimized configuration of relay points.

[0007] The above-mentioned studies all involve deploying points using theoretical models, and it is difficult to determine the actual communication effects of the deployed UAVs. Moreover, there is a lack of specific methods for how multiple UAVs cooperate with each other to achieve relaying. During the process of UAV clusters achieving communication relaying, what kind of relationship should exist among multiple UAVs has not been mentioned in the existing solutions. The present invention proposes a resonant communication method for multi-unmanned systems to cooperate. The relay nodes move towards or away from each other at a specific rhythm, deliver data when moving towards each other until they are very close, and the nodes moving away from each other will not affect the nodes that are communicating, thereby improving the end-to-end data forwarding efficiency. Summary of the Invention

[0008] The end-to-end resonant communication method for multi-unmanned systems proposed by the present invention can, without the need for theoretical calculation of point layout and without manual intervention, according to the pre-set programs and rules, enable multiple unmanned systems (UAVs, unmanned vehicles, unmanned boats, unmanned submersibles, space flight devices, etc.) to cooperate with each other to successively form a dynamic resonant communication link, thereby completing end-to-end data transmission.

[0009] An end-to-end resonant communication method for multi-unmanned systems to cooperate includes the following steps:

[0010] S1: Set the number and positions of data forwarding points according to the distance between the source point and the destination point and the number of unmanned systems.

[0011] S2: The unmanned systems reach the preset initial positions and are divided into two types of moving nodes according to their numbers.

[0012] S3: Set the movement period and movement rhythm of the unmanned systems.

[0013] S4: The unmanned systems move according to the movement mode of the first rhythm respectively.

[0014] S5: The unmanned systems move according to the movement mode of the second rhythm respectively.

[0015] S6: Judge whether all the data at the source point have reached the destination point. If so, the data forwarding process ends; if not, the unmanned systems re-forward according to the set movement rhythm.

[0016] Preferably, each unmanned system of the present invention has a positioning system for determining its own position and has the ability to communicate with each other, and all nodes already know the source point S and the destination point D and the position information of the source point S and the destination point D.

[0017] Preferably, after multiple unmanned systems for achieving communication relaying take off, they all ascend to a fixed height H, and the height H should be greater than the highest height M of all obstacles between the source point S and the destination point D.

[0018] Preferably, the present invention sets k - 1 data forwarding points to equally divide the route between the source point S and the destination point D into k segments, and the k - 1 data forwarding points are respectively denoted as A1, A2, …, Ak - 1.

[0019] Preferably, all k unmanned systems for realizing communication relay in the present invention are powered on successively and kept synchronized, and after being powered on, they converge near the source point S, A2, A4, …, Ak - 1 / D respectively; if k - 1 is even, they converge to S, A2, A4, …, Ak - 1; if k - 1 is odd, they converge to S, A2, A4, …, Ak - 2, D; among them, there is one unmanned system near the source point S and the destination point D, and the remaining data forwarding points have two unmanned systems. The unmanned systems converging near each data forwarding point are numbered in sequence: U1, U2, …, Uk; after reaching the preset initial position, the rotary-wing unmanned aircraft hovers, and the fixed-wing unmanned aircraft orbits around a certain point.

[0020] Preferably, the present invention sets the motion period and motion beat of the unmanned system, and one motion period is equally divided into two motion beats; the time of one motion beat is set as

[0021] Preferably, the present invention sets the motion period and motion beat of the unmanned system, and the specific process is as follows:

[0022] The k unmanned systems reach the preset initial positions;

[0023] The first beat of the unmanned system is started. First, the U1 unmanned system obtains the message P1 to be delivered from the source point S.

[0024] The unmanned system U1 departs from near the source point S and flies along the S - A1 route towards the A1 point. In the first beat, a batch of unmanned system nodes U1, U3, U5, …, Uk move to the right within the first beat period, and another batch of unmanned system nodes U2, U4, …, Uk - 1 move to the left within the first beat period. When the two batches of unmanned system nodes reach the communication range, they communicate with each other.

[0025] In the second beat, a batch of unmanned system nodes U1, U3, U5, …, Uk move to the left within the second beat period, and another batch of unmanned system nodes U2, U4, …, Uk - 1 move to the right within the second beat period. When the two batches of unmanned system nodes reach the communication range, they communicate with each other; the one - cycle motion of one unmanned system is completed.

[0026] The second motion period of the unmanned system is started. The U1 unmanned system obtains the message P2 to be delivered from the source point S; the first beat and the second beat are repeated.

[0027] Start the third motion cycle of the unmanned system. The U1 unmanned system obtains the message P3 to be delivered from the source point S; repeat the first beat and the second beat;

[0028] The motion of the unmanned system runs repeatedly in two beats. Through this two-beat interactive transmission, the data from the source point S to the destination point D is resonantly forwarded multiple times, and the data is transmitted to the destination point D in the form of a stream.

[0029] The resonant communication method of the unmanned system proposed by the present invention can, without the need for theoretical calculation of node layout and without manual intervention, according to the pre-set programs and rules, multiple unmanned systems (such as drones, unmanned vehicles, unmanned boats, unmanned submersibles, space flight devices, etc.) cooperate with each other to form a dynamic resonant communication link successively, so as to complete end-to-end data transmission. This method has the following advantages: First, it solves the complex node layout problem. Its relay nodes do not need to be communicable with each other, so end-to-end data can be periodically delivered even when there are few relay unmanned system nodes. The node layout no longer needs to consider the communication effect in the actual environment and does not require road testing; Second, compared with conventional opportunistic communication, its motion is controlled, and both the communication delay and communication reliability are greatly improved; Third, the communication distance of the communication equipment it uses can be shortened to a very short distance, so as not to interfere with the communication between other nodes; Fourth, compared with end-to-end data-carrying transmission, its continuous data transmission ability is stronger, and the end-to-end data transmission delay is smaller; In addition, because the additional motion and energy consumption overhead are less, the overall working duration of the system is longer; Fifth, through resonant information transmission, the motion range of each node (or device) does not need to be too long, and effective information transmission over ultra-long distances can be achieved through the relay of multiple nodes. Sixth, for a network with multiple packets to be transmitted end-to-end, "resonant transmission" has a smaller end-to-end delay than "relay transmission", and is particularly suitable for end-to-end streaming information transmission. Description of the Drawings

[0030] Figure 1 It is a schematic diagram of the initial position of the resonant communication of the unmanned system of the present invention.

[0031] Figure 2 It is a schematic diagram of the motion within the first beat of the first cycle of the resonant communication of the unmanned system of the present invention.

[0032] Figure 3 It is a schematic diagram of the motion within the second beat of the first cycle of the resonant communication of the unmanned system of the present invention.

[0033] Figure 4 It is a schematic diagram of the motion within the first beat of the second cycle of the resonant communication of the unmanned system of the present invention.

[0034] Figure 5It is the schematic diagram of the movement within the second beat of the second cycle of the resonant communication of the unmanned system of the present invention.

[0035] Figure 6 It is the schematic diagram of the movement within the first beat of the third cycle of the resonant communication of the unmanned system of the present invention.

[0036] Figure 7 It is the schematic diagram of the movement within one cycle of the resonant communication of the unmanned aerial vehicle of the present invention.

[0037] Figure 8 It is the data forwarding flowchart of the end-to-end resonant communication method of the present invention. Detailed implementation manners

[0038] As Figure 8 shown, an end-to-end resonant communication method for multi-unmanned system collaboration includes the following steps:

[0039] S1: Set the number and positions of data forwarding points according to the distance between the source point and the destination point and the number of unmanned systems.

[0040] S2: The unmanned systems reach the preset initial positions and are divided into two types of motion nodes according to the numbers.

[0041] S3: Set the motion cycle and motion beats of the unmanned systems.

[0042] S4: The unmanned systems move respectively according to the motion mode of the first beat.

[0043] S5: The unmanned systems move respectively according to the motion mode of the second beat.

[0044] S6: Judge whether all the data at the source point have reached the destination point. If so, the data forwarding process ends; if not, the unmanned systems re-forward according to the set motion beats.

[0045] The method involved in the present invention involves multiple unmanned systems to achieve relay forwarding on the premise that each unmanned system is equipped with a positioning system such as GPS, Beidou, etc. to determine its own position. At the same time, the unmanned systems also have the ability to communicate with each other, and all nodes have known the position information of the source point S and the destination point D and the positions of points S and D in advance. There is no end-to-end routing in the scenario involved in the present invention.

[0046] After taking off, the multiple unmanned systems involved in the present invention for realizing communication relay all ascend to a fixed height H. In order to ensure that the communication signals between nodes are not blocked by obstacles, the height H should be greater than the highest height M of all obstacles between the source point S and the destination point D.

[0047] First, set k - 1 data forwarding points to equally divide the route between the source point S and the destination point D into k segments. The k - 1 data forwarding points are respectively denoted as A1, A2, …, Ak - 1.

[0048] Then, all k unmanned systems that implement communication relay are powered on one after another and keep synchronized. After being powered on, they converge near the source point S, A2, A4, …, Ak - 1 / D respectively. If k - 1 is even, they converge to S, A2, A4, …, Ak - 1; if k - 1 is odd, they converge to S, A2, A4, …, Ak - 2, D. Among them, there is one unmanned system near the S and D points, and there are two unmanned systems at the remaining data forwarding points. The unmanned systems converging near each data forwarding point are numbered in sequence (U1, U2, …, Uk), as Figure 1 shown. After reaching the preset initial position, the rotor unmanned aircraft hovers, and the fixed - wing unmanned aircraft orbits around a certain point (corresponding anti - collision measures should be taken to avoid collisions).

[0049] Next, set the motion period and motion beat of the unmanned system. One motion period can be equally divided into two motion beats. Specifically, the time of one motion beat can be set to where the safety distance is set according to the anti - collision mechanism of the unmanned system. The specific periodic motion process of the unmanned system is as follows:

[0050] S31: k unmanned systems reach the preset initial position, as Figure 1 shown.

[0051] S32: Start the first beat of the unmanned system. First, the U1 unmanned system obtains the message P1 to be delivered from the source point S. All data forwarding involved in the present invention adopts the ACK mechanism to ensure the integrity of data transmission.

[0052] S33: The unmanned system U1 departs from near the source point S and flies along the S - A1 route towards the A1 point. Figure 2 In

[0053] S34: At the second beat (e.g., Figure 3 ), the black node starts moving to the left, and the white node starts moving to the right. Similarly, after flying a specific distance, both reach within the communication range and can communicate with each other. At this time, the unmanned system U2 (white) will quickly meet and interact with the unmanned system U3 (black). Until the two are at a safe distance and stop, at this time, the black node will transfer all the data (limited amount of data) to the white node. After receiving the data, the white node sends back an ACK. At this time, one cycle of movement (two movement beats) of an unmanned system is completed.

[0054] S35: Then, start the second movement cycle of the unmanned system. The U1 unmanned system obtains the message P2 to be delivered from the source point S. As Figure 4 shown, first perform the first movement beat, and the specific process is the same as step S3.

[0055] S36: Next, perform the second beat of the second movement cycle (as Figure 5 shown), and the specific process is as in step S4.

[0056] S37: Start the third movement cycle of the unmanned system. The U1 unmanned system obtains the message P3 to be delivered from the source point S. First perform the first movement beat, and the specific process is the same as step S3. As Figure 6 shown, taking 5 unmanned systems as an example, at this time the destination node receives the first message.

[0057] S38: The movement of the unmanned system runs repeatedly in 2 beats. Through this two-beat interactive transfer, the data from the source point S to the destination point D can be resonantly forwarded multiple times, and the data is transferred to the destination point D in the form of a stream.

[0058] Since the data from the source point S to the destination point D is transferred by one or more relay nodes through the left-right movement resonance method, this data transmission method is called "resonant communication", and its movement mode is similar to the charge propagation of electrons in a conductor. Each unmanned system node does not need to move a long distance, only needs to be able to reach the next hop. When there are few nodes, the resonance movement distance of the unmanned system is large, and when there are many nodes, the left-right resonance distance of the unmanned system is small. Therefore, the number of unmanned system nodes required for this data transmission method can be more or less, and the adaptability to scenarios is very strong. In "resonant communication", the data is continuously transferred from the source point to the destination point in the form of a stream, ensuring the freshness of the data. Since the energy consumption of the unmanned system mainly depends on the acceleration when flying, when the acceleration changes little, the additional energy consumption of the unmanned system can be ignored; on the other hand, since adjacent nodes can move very close to each other before communicating, "resonant communication" reduces the communication duration and energy consumption on the one hand, and reduces the interference to other non-adjacent nodes on the other hand.

[0059] If we place the UAVs at the middle position in equal proportion respectively, and each UAV is responsible for a section of transmission without considering the resonance action, it can be called "relay-type" UAV transmission. This multi-UAV relay transmission method is relatively intuitive. However, compared with "resonant communication", it lacks the pace consistency between nodes. It is very likely that when the black node reaches the "relay point" and is ready to deliver data to the white node, the white node is still transmitting the previous message and has not "returned" to the "relay point". At this time, the black node needs to wait. When the number of "relay points" is large and the distance is far, the resulting end-to-end delay will be much greater than that of "resonant communication".

[0060] This embodiment provides a schematic for constructing a relay topology of an unmanned system. Without loss of generality, in this schematic, the unmanned system is represented by UAVs. Please refer to Figure 7 。 Figure 7 In which S is the source point and D is the destination point. Assume that the obstacles between the source point S and the destination point D do not exceed M meters (assume M is 100 meters). At this time, the lift-off height of all UAVs can be set to M meters (100 meters). This can avoid the influence of all obstacles. Assume that there are k UAVs that can be used as relays between the source point S and the destination point D (assume there are 5 UAVs). First, set k - 1 data forwarding points to equally divide the route between the source point S and the destination point D into k segments. The k - 1 data forwarding points are respectively represented as A1, A2,..., Ak-1. Assume that the distance L between the source point S and the destination point D is 200 meters. The positions of the data forwarding points (A1, A2, A3, A4) are 40 meters, 80 meters, 120 meters, and 160 meters. After power-on, the UAVs respectively converge near the source point S, A2, A4,..., Ak-1 / D. If k - 1 is even, they converge to S, A2, A4,..., Ak-1; if k - 1 is odd, they converge to S, A2, A4,..., Ak-2, D. Among them, near the source point S and the destination point D is an unmanned system, and the remaining data forwarding points are two unmanned systems. The unmanned systems converging near each data forwarding point are numbered in sequence. Taking 5 UAVs as an example, UAV 1 is initially located at S; UAVs 2 and 3 are initially located at A2; UAVs 4 and 5 are initially located at A4.

[0061] Under optimal settings, the communication range of the UAV should be less than M meters (if the communication range exceeds M meters, multi-hop transmission can be achieved, but this will interfere with the transmissions of other nodes at this time). Here, it is assumed that the communication range of the UAV communication device we select is X meters (X should be less than M). Suppose M is 25 meters and X can be set to 10 meters. Then, the UAVs with odd numbers are black nodes, and the UAVs with even numbers are white nodes. For example, when there are 5 UAVs, UAVs numbered 1, 3, and 5 are black nodes; UAVs numbered 2 and 4 are white nodes. The source point S has data to send. Assume the flight speed of the UAV is V meters per second (assume V = 5 meters per second). First, node 1 obtains a packet P1 from the source point S. In the first time slot, black nodes 1 and 3 fly to the right, and white node 2 flies to the left. Since they are apart, UAVs 1 and 2 can meet. After seconds, the distance between UAVs 1 and 2 is less than X meters (10 meters). At this time, 1 can send data to 2. After that, the two stop flying at a safe distance Q (assume 1 meter) and continue to send data until the data is sent completely. 2 sends an ACK back to 1. After receiving the ACK, 1 stops sending; otherwise, it will retransmit due to timeout. Since the distance is close enough, the data sending time is short and the quality is high. At this time, it enters the second time slot. Nodes 1, 3, and 5 fly to the left, and nodes 2 and 4 fly to the right. And so on. Until the first time slot of the third cycle, node 5 meets the destination point D and sends data P1 until the data is sent completely. The destination point sends an ACK back to node 5. The whole process can be automatically completed by the UAV according to the pre-set program and process, without manual intervention.

[0062] The UAVs used to implement communication relay can start from any point and follow a similar multiple time slot or a further refinement of the time slot described above. The final result is that the data of S regularly meets the intermediate nodes at a relatively short distance. After the data is exchanged, it moves to an appropriate distance and is delivered to the next hop until the data is delivered to the destination point D. The minimum distance between adjacent nodes can be not the safe distance, or other appropriate communication distances, or ensure that the amount of data forwarded does not exceed the time of moving towards each other in some way.

[0063] The movement synchronization among multiple UAVs can be achieved through the short messages of Beidou, or through a time-sharing agreement mechanism under a unified agreement or with the cooperation of other time-unified devices (such as built-in highly stable clocks such as rubidium clocks, etc.).

[0064] In addition to drones (rotary-wing, fixed-wing), other information transfer devices with relatively longer communication distances, such as unmanned boats, unmanned submersibles, and spacecraft in space, can adopt a similar resonant communication forwarding mechanism. While ensuring that other nodes do not interfere with the communication node, end-to-end periodic information transfer can be achieved through rhythmic repeated data interaction, and communication interference to other nodes can be reduced.

Claims

1. An end-to-end resonant communication method for multi-unmanned system collaboration, characterized in that It includes the following steps: S1: Set the number and positions of data forwarding points according to the distance between the source point and the destination point and the number of unmanned systems; S2: The unmanned systems reach the preset initial positions and are divided into two types of moving nodes according to their numbers; S3: Set the movement period and movement rhythm of the unmanned systems; S4: The unmanned systems move according to the movement mode of the first rhythm respectively; S5: The unmanned systems move according to the movement mode of the second rhythm respectively; S6: Judge whether all the data at the source point have reached the destination point. If so, the data forwarding process ends; if not, the unmanned systems re-forward according to the set movement rhythm; The specific process is as follows: Each unmanned system has a positioning system to determine its own position and the ability to communicate with each other, and all nodes already know the source point S and the destination point D and the position information of the source point S and the destination point D; After multiple unmanned systems for communication relay take off, they all ascend to a fixed height H, and the height H should be greater than the highest height M of all obstacles between the source point S and the destination point D; k - 1 data forwarding points divide the route between the source point S and the destination point D into k segments equally, and the k - 1 data forwarding points are respectively represented as A1, A2, …, Ak - 1; All k unmanned systems for communication relay are powered on successively and remain synchronized. After being powered on, they respectively converge near the source point S, A2, A4, …, Ak - 1 / D; if k - 1 is even, they converge to S, A2, A4, …, Ak - 1; if k - 1 is odd, they converge to S, A2, A4, …, Ak - 2, D; among them, there is one unmanned system near the source point S and the destination point D, and there are two unmanned systems at the other data forwarding points. The unmanned systems converging near each data forwarding point are numbered in sequence: U1, U2, …, Uk; after reaching the preset initial position, the rotary-wing unmanned aircraft hovers, and the fixed-wing unmanned aircraft orbits around a certain point; Set the motion period and motion beat of the unmanned system. One motion period is equally divided into two motion beats; the time of one motion beat is set to Set the movement period and movement rhythm of the unmanned systems. The specific process is as follows: k unmanned systems reach the preset initial positions; Start the first rhythm of the unmanned systems. First, the U1 unmanned system obtains the message P1 to be delivered from the source point S; The unmanned system U1 departs from near the source point S and flies along the S - A1 route towards the A1 point. In the first rhythm, a batch of unmanned system nodes U1, U3, U5, …, Uk move to the right within the first rhythm period, and another batch of unmanned system nodes U2, U4, …, Uk - 1 move to the left within the first rhythm period. When the two batches of unmanned system nodes reach the communication range, they communicate with each other; In the second rhythm, a batch of unmanned system nodes U1, U3, U5, …, Uk move to the left within the second rhythm period, and another batch of unmanned system nodes U2, U4, …, Uk - 1 move to the right within the second rhythm period. When the two batches of unmanned system nodes reach the communication range, they communicate with each other; complete one cycle of movement of one unmanned system; Start the second movement cycle of the unmanned systems. The U1 unmanned system obtains the message P2 to be delivered from the source point S; repeat the first rhythm and the second rhythm; Start the third motion cycle of the unmanned system. The U1 unmanned system obtains the message P3 to be delivered from the source point S; repeat the first beat and the second beat; The motion of the unmanned system runs repeatedly in two beats. Through this two-beat interactive transmission, the data from the source point S to the destination point D is resonantly forwarded multiple times, and the data is transmitted to the destination point D in the form of a stream.

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