A communication method, device, equipment and system

Abstract

The embodiment of the present invention discloses a communication method, device, equipment and system. The method includes: after the server establishes a communication connection with the drone, determining the network address information of the drone; obtaining a request to send the drone's unique identifier; receiving the drone's unique identifier returned by the drone; binding the drone's network address information with the drone's unique identifier. With the present invention, after the server establishes a communication connection with the drone and before communicating business data messages, the server obtains the drone's unique identifier through a question-and-answer mechanism, and establishes a binding relationship between the drone's network address information and the drone's unique identifier, so that the server can identify the drone based on the drone's network address information at the data sending end, greatly expanding the number of connections between the server and the drone, and ensuring the accuracy of drone identification and the consistency of data interaction.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a communication method, device, equipment and system. Background Art

[0002] In recent years, drones have become more and more common and their scope of use has become increasingly wide. They not only include military reconnaissance and strike drones, but also play an important role in the civilian field, such as consumer drones for entertainment and leisure, police drones for search and rescue, industrial drones for inspection, agricultural drones for surveying and pesticide spraying, and so on.

[0003] MAVLINK is a very lightweight messaging protocol that is widely used for communication between ground stations and drones (and between onboard drone components). MAVLINK allows two-way communication between drones and ground stations, with the ground control station sending commands and control information to the drone, and the drone sending telemetry and other status information to the ground station.

[0004] In the prior art, when a drone communicates with a ground station based on the MAVLINK protocol, the ground station identifies the drone by the drone number transmitted in the MAVLINK protocol, and the field of the number is only 1 Byte, that is, the ground station can only communicate with a maximum of 256 drones at the same time, which greatly limits the number of connections between the ground station and the drone. Summary of the invention

[0005] The embodiments of the present invention aim to provide a communication method, apparatus, device and system to solve the problem of limited number of connections between a ground station and an unmanned aerial vehicle in the prior art.

[0006] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] According to one aspect of the present invention, there is provided a communication method, which is applied to a server, and the method comprises:

[0008] After establishing a communication connection with the drone, determining the network address information of the drone;

[0009] Sending an identification request message to the drone, requesting to send a unique identification of the drone;

[0010] Receive an identification response message returned by the drone, where the identification response message carries a unique identification of the drone;

[0011] The network address information of the drone is bound to the unique identifier of the drone, so that the service end associates the service data message transmitted by the drone based on the communication connection with the unique identifier of the drone.

[0012] Optionally, the method comprises:

[0013] After receiving the service data message transmitted by the drone, obtaining the network address information of the drone;

[0014] Determine the unique identifier of the drone according to the network address information;

[0015] The service data message is associated with the unique identifier of the drone.

[0016] Optionally, the network address information is an IP address, or an IP address+port number.

[0017] Optionally, the drone and the server transmit message data based on the MAVLINK protocol.

[0018] Optionally, the message data includes an identification response message and a business data message, wherein the MSG field in the MAVLINK data packet transmitting the identification response message is a preset first message number; the MSG field in the MAVLINK data packet transmitting the business data message is a preset second message number, and the first message number is different from the second message number.

[0019] Optionally, the method further comprises:

[0020] After receiving the MAVLINK data packet transmitted by the drone, obtain the network address information of the drone;

[0021] Parsing the MAVLINK data packet;

[0022] If the MSG field in the MAVLINK data packet is the first message number, the MAVLINK data packet carries the unique identifier of the drone, and the network address information of the drone is bound to the unique identifier of the drone;

[0023] If the MSG field in the MAVLINK data packet is the second message number, the MAVLINK data packet carries a business data message, and the unique identifier of the drone is determined according to the network address information of the drone, and the business data message is associated with the unique identifier of the drone.

[0024] According to one aspect of the present invention, there is provided a communication device, which is applied to a server, and the device comprises:

[0025] An address determination module, used to determine the network address information of the drone after establishing a communication connection with the drone;

[0026] A message request module, used to send an identification request message to the drone, requesting to send a unique identification of the drone;

[0027] A message receiving module, used to receive an identification response message returned by the drone, wherein the identification response message carries a unique identification of the drone;

[0028] The identification binding module is used to bind the network address information of the drone with the unique identification of the drone, so that the service end associates the service data message transmitted by the drone based on the communication connection with the unique identification of the drone.

[0029] According to another aspect of the present invention, there is provided an electronic device, comprising a memory, a processor and a computer program stored and running on the memory, wherein the processor implements the steps of any one of the above-mentioned communication methods when executing the program.

[0030] According to another aspect of the present invention, a communication system is provided, comprising a plurality of drones and a server, wherein:

[0031] The drone is used to establish a communication connection with the server, return a unique identifier of the drone to the server based on an identifier request of the server, communicate business data with the server, and transmit business data messages to the server;

[0032] The server is used to execute the steps of any of the communication methods described above.

[0033] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes any one of the above communication methods.

[0034] The beneficial effects of the embodiments of the present invention are as follows: Different from the prior art, in the embodiments of the present invention, after the server establishes a communication connection with the drone, it determines the network address information of the drone; sends a unique identification of the drone to the drone in a request; receives the unique identification of the drone returned by the drone; and binds the network address information of the drone with the unique identification of the drone. With the present invention, after the server establishes a communication connection with the drone and before communicating business data messages, it obtains the unique identification of the drone through a question-and-answer mechanism, and establishes a binding relationship between the network address information of the drone and the unique identification of the drone, so that the server can identify the drone based on the network address information of the drone at the data sending end, and no longer relies on the drone number field in the protocol to identify the drone, which greatly expands the number of connections between the server and the drone, and ensures the accuracy of drone identification and the consistency of data interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0036] Figure 1 A structural diagram of a drone system provided by an embodiment of the present invention;

[0037] Figure 2 A flow chart of an optional communication method provided in Embodiment 1 of the present invention;

[0038] Figure 3 A message data packet structure diagram of the MAVLINK protocol provided in Embodiment 1 of the present invention;

[0039] Figure 4 A schematic diagram of the structure of an optional communication device provided in Embodiment 2 of the present invention;

[0040] Figure 5 A schematic diagram of the structure of an optional electronic device provided in Embodiment 3 of the present invention.

[0041] Figure 6 A schematic diagram of the structure of an optional communication system provided for Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] See also Figure 1 , Figure 1The figure shows a structural diagram of a UAV system provided by an embodiment of the present invention. The UAV system is mainly composed of three parts: UAV body, ground control station and communication link. The UAV usually refers to the UAV body part in the system, which is called "Unmanned Aerial Vehicle" (UAV) for short, and consists of a frame fuselage, a power system, a flight control system, a communication system, and an onboard external business system. The frame fuselage of the UAV refers to the load-bearing structure of the UAV, which is generally made of high-strength and lightweight materials, and all the equipment of the UAV is installed on the frame fuselage. The UAV power system is a component that provides flight power for the UAV, which is generally divided into oil-powered and electric. The flight control system is the flight control system of the UAV, and all flight states of the UAV need to be adjusted in real time by the flight control system. The flight control system is the control core of the entire UAV, mainly including flight control, accelerometer, barometer, sensor, gyroscope, magnetometer, positioning chip, main control chip and other components. In addition to flight navigation functions, high-level flight control systems also have functions such as safety redundancy, flight data recording, flight parameter adjustment and automatic flight optimization. The communication system is an indispensable unit on the UAV fuselage. It is responsible for data interaction with the ground control station and is usually composed of wireless data transmission, radio frequency communication modules, etc. The UAV onboard external business system is mainly composed of task unit equipment that completes the task of this type of UAV. For example, consumer-grade UAVs will have external gimbals, external light cameras and other payloads. The payload of military UAVs generally includes visible light / infrared, radar and other sensors, electronic reconnaissance, communication relay equipment, etc.; the payload of agricultural UAVs is equipped with atmospheric hydrological mapping instruments, pesticide sprayers, etc. according to actual needs.

[0045] A ground control station (GCS) is a device or station for commanding aircraft flight. Ground stations can be divided into single-point ground stations or multi-point ground stations. Most drones are single-point ground stations. A ground station is composed of remote control devices, displays, power systems, radio stations and other equipment. The ground station is equipped with software for controlling the aircraft. It plans the flight route of the aircraft through route planning tools, and sets the flight altitude, flight speed, flight location, flight mission, etc. The ground control station of commonly used civil drones is relatively simple, especially the control station of consumer-grade drones, which is actually mainly a control handle or a tablet or smartphone with supporting software installed.

[0046] The communication link is an important part of the UAV system. Its main task is to establish a two-way data transmission channel between the air and the ground, which is used to complete the remote control, telemetry and mission information transmission of the ground control station to the UAV. According to the range of action, it is divided into line-of-sight link (the distance between the UAV and the control station is within the radio "visual" distance) and beyond-line-of-sight link (relayed by satellite or aircraft). Figure 1 The communication link in the UAV belongs to the line-of-sight link, and the beyond-line-of-sight link is generally used in military UAVs. At present, there are three main physical layer transmission methods for the communication link of UAVs: radio, WiFi, and operator public network. The physical layer transmission of the communication link is mostly wireless channel mode, and the application layer protocols carried on it are mainly MAVLINK, UAVCan, UranusLink, and private protocols developed by various manufacturers. Among these protocols, the MAVLINK protocol is the most common and widely used communication protocol, which is supported by a large number of UAVs and ground control stations. MAVLINK allows two-way communication between UAVs and ground stations. The ground control station sends commands and control information to the UAV, and the UAV sends telemetry and other status information to the ground station.

[0047] Embodiment 1

[0048] According to an embodiment of the present invention, a communication method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0049] See also Figure 2 , Figure 2 The figure is a flow chart of an optional communication method provided in the first embodiment of the present invention, the method is applied to a server communicating with a drone, the server generally refers to a ground station, and may also include other mobile electronic devices or drones. The method includes:

[0050] Step S201, after establishing a communication connection with the drone, determine the network address information of the drone.

[0051] In one embodiment of the present invention, the drone establishes a communication connection with the server based on the operator's public network. After the drone is turned on, the operator's public network allocates an IP address + port number to the drone. The drone and the server establish a communication connection with the server based on the TCP three-way handshake protocol through the network address.

[0052] Step S202: Send an identification request message to the drone, requesting to send the unique identification of the drone.

[0053] After establishing a communication connection with the drone, the server immediately sends an identification request message to the drone, requesting the drone to send its unique identification.

[0054] Step S203: receiving an identification response message returned by the drone, wherein the identification response message carries a unique identification of the drone.

[0055] After receiving the request from the server, the drone obtains the drone's unique ID from the aircraft parameters, generates an ID response message and returns it to the server. The drone's unique ID is written into the drone's memory after the drone manufacturer encodes the entire product during the manufacturing process. It is unique and cannot be tampered with.

[0056] Step S204: Bind the network address information of the drone to the unique identifier of the drone, so that the server can associate the service data message transmitted by the drone based on the communication connection with the unique identifier of the drone.

[0057] When the drone and the server are directly connected (that is, the drone is directly connected to the server through its own IP), the drone's IP address is unique. The server binds the drone's IP address to the drone's unique identifier so that when the drone subsequently transmits business data messages based on the communication connection, the server can identify the drone based on its IP address and associate the transmitted business data messages with the drone's unique identifier.

[0058] When the drone and the server are forwarding connections (i.e., multiple drones are connected to the server through the IP forwarding of the same network device), the IP addresses of the multiple drones are all the IP addresses of the network device. In order to identify multiple drones in the intranet, different port numbers are assigned to different drones, so that the IP address + port number of the drone is unique. The server binds the IP address + port number of the drone to the unique identifier of the drone, so that when the drone subsequently transmits business data messages based on the communication connection, the server can identify the drone based on its IP address + port number and associate the transmitted business data message with the unique identifier of the drone.

[0059] Different from the prior art, in the present invention, after the drone establishes a communication connection with the server, before the business data message communication, the server first obtains the drone's unique identifier through a question-and-answer mechanism, establishes a binding relationship between the drone's network address information and the drone's unique identifier, and then starts the business data message communication. Specifically, after the server binds the drone's network address information with the drone's unique identifier, it sends instructions or control information to the drone, monitors the corresponding port number at the same time, receives the telemetry, status information and other business data messages transmitted by the drone, and after receiving the business data message transmitted by the drone, obtains the drone's network address information; determines the drone's unique identifier based on the network address information; and associates the business data message with the drone's unique identifier.

[0060] In one embodiment, the UAV and the ground station transmit message data based on the MAVLINK protocol. MAVLINK is an open source communication protocol designed for micro air vehicles (MAVs). It is a commonly used protocol for communication between unmanned aerial vehicles and ground stations, and between unmanned aerial vehicles. When transmitting in MAVLINK, the basic unit is a message packet, and the data length is 8 to 263 bytes. The structure of the message data packet is as follows: Figure 3 The meaning of each field in the message packet is shown in Table 1 below:

[0061]

[0062]

[0063] Table 1

[0064] In one embodiment of the present invention, the message data transmitted by the drone to the server includes an identification response message and a business data message, wherein the MSG field in the MAVLINK data packet transmitting the identification response message is a preset first message number, and the MSG field in the MAVLINK data packet transmitting the business data message is a preset second message number, and the first message number is different from the second message number.

[0065] Specifically, after the server receives the MAVLINK data packet transmitted by the drone, it obtains the network address information of the drone; parses the MAVLINK data packet to obtain information in each field; if the MSG field is the first message number, the PAYLOAD field carries the unique identifier of the drone, and the network address information of the drone is bound to the unique identifier of the drone; if the MSG field is the second message number, the PAYLOAD field carries the business data message, determines the unique identifier of the drone based on the network address information of the drone, and associates the business data message with the unique identifier of the drone.

[0066] The communication method provided by the embodiment of the present invention is that after the server establishes a communication connection with the drone, it determines the network address information of the drone; requests the drone to send the unique identification of the drone; receives the unique identification of the drone returned by the drone; and binds the network address information of the drone with the unique identification of the drone. With the present invention, after the server establishes a communication connection with the drone and before communicating business data messages, it obtains the unique identification of the drone through a question-and-answer mechanism, and establishes a binding relationship between the network address information of the drone and the unique identification of the drone, so that the server can identify the drone based on the network address information of the drone at the data sending end, and no longer relies on the drone number field in the protocol to identify the drone, which greatly expands the number of connections between the server and the drone, and ensures the accuracy of drone identification and the consistency of data interaction.

[0067] Embodiment 2

[0068] According to an embodiment of the present invention, a communication device is provided, such as Figure 4 FIG. 4 is a schematic diagram of a structure of an optional communication device provided in Embodiment 2 of the present invention, wherein the communication device 400 includes:

[0069] An address determination module 402 is used to determine the network address information of the drone after establishing a communication connection with the drone;

[0070] A message request module 404 is used to send an identification request message to the drone, requesting to send a unique identification of the drone;

[0071] The message receiving module 406 is used to receive an identification response message returned by the drone, where the identification response message carries a unique identification of the drone;

[0072] The identification binding module 408 is used to bind the network address information of the drone with the unique identification of the drone, so that the server can associate the service data message transmitted by the drone based on the communication connection with the unique identification of the drone.

[0073] The above-mentioned device can execute the communication method described in any one of the embodiments in Example 1, and has the corresponding functional modules and beneficial effects of the method. For technical details not described in detail in this embodiment, please refer to the communication method provided in Example 1 of the present invention.

[0074] Embodiment 3

[0075] According to an embodiment of the present invention, there is provided an electronic device, such as Figure 5 As shown, it is a schematic diagram of the structure of an optional electronic device provided in the third embodiment of the present invention, and the electronic device may include a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 complete mutual communication through the communication bus 504. The processor 501 may call the logic instructions in the memory 503 to execute the communication method, which includes: after establishing a communication connection with the drone, determining the network address information of the drone; sending an identification request message to the drone, requesting to send the unique identification of the drone; receiving an identification response message returned by the drone, the identification response message carrying the unique identification of the drone; binding the network address information of the drone with the unique identification of the drone, so that the service end associates the service data message transmitted by the drone based on the communication connection with the unique identification of the drone.

[0076] In addition, the logic instructions in the above-mentioned memory 503 can be implemented in the form of software functional units and can be stored in several computer-readable storage media when they are sold or used as independent products. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of any of the methods described in the first embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0077] The above-mentioned product can execute any communication method described in Example 1, and has the corresponding functional modules and beneficial effects of the method. For technical details not fully described in this embodiment, please refer to the communication method provided in Example 1 of the present invention.

[0078] Embodiment 4

[0079] According to an embodiment of the present invention, a communication system is provided. Figure 6 FIG. 6 is a schematic diagram of a structure of an optional communication system provided in Embodiment 4 of the present invention. The communication system 600 includes a plurality of drones 601 and a server 602, wherein:

[0080] The drone 601 is used to establish a communication connection with the server 602, return a unique identifier of the drone 601 to the server 602 based on an identifier request of the server 602, communicate business data with the server 602, and transmit business data messages to the server 602;

[0081] The server 602 is used to execute the steps of any communication method described in the first embodiment.

[0082] After the drone 601 is turned on, the public network of the operator allocates an IP address + port number to the drone. The drone 601 and the server 602 establish a communication connection with the server 602 through the network address based on the TCP three-way handshake protocol. The server 602 obtains the network address information of the drone 601 and sends an identification request message to the drone 601. The drone 601 returns the unique identification of the drone to the server 602 based on the identification request of the server 602. The server 602 binds the IP address + port number of the drone 601 with the unique identification of the drone. After the binding is completed, the drone 601 and the server 602 communicate business data. The server 602 sends instructions or control information to the drone 601, and monitors the corresponding port number at the same time to receive business data messages such as telemetry and status information transmitted by the drone 601. After receiving the business data message transmitted by the drone 601, the network address information of the drone 601 is obtained; the unique identification of the drone is determined according to the network address information; and the business data message is associated with the unique identification of the drone 601.

[0083] In the communication system provided by the embodiment of the present invention, after the server establishes a communication connection with the drone, it determines the network address information of the drone; requests the drone to send the unique identification of the drone; receives the unique identification of the drone returned by the drone; and binds the network address information of the drone with the unique identification of the drone. With the present invention, after the server establishes a communication connection with the drone and before communicating business data messages, it obtains the unique identification of the drone through a question-and-answer mechanism, and establishes a binding relationship between the network address information of the drone and the unique identification of the drone, so that the server can identify the drone based on the network address information of the drone at the data sending end, and no longer relies on the drone number field in the protocol to identify the drone, which greatly expands the number of connections between the server and the drone, and ensures the accuracy of drone identification and the consistency of data interaction.

[0084] Embodiment 5

[0085] According to an embodiment of the present invention, a computer-readable storage medium is provided, the type of which is as described in Example 3, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the communication method described in Example 1.

[0086] The above-mentioned product can execute the communication method described in any one of the embodiments in Example 1, and has the corresponding functional modules and beneficial effects of the method. For technical details not described in detail in this embodiment, please refer to the communication method provided in Example 1 of the present invention.

[0087] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A communication method, applied to a server, characterized in that: The method comprises: When the drone and the server are directly connected, the server binds the drone's IP address to the drone's unique identifier, wherein the direct connection is that the drone is directly connected to the server through its own IP; When the drone and the server are in a forwarding connection, wherein the forwarding connection is that a plurality of drones are connected to the server via IP forwarding of the same network device, and the IP addresses of the plurality of drones are all the IP addresses of the network device, the method includes: After establishing a communication connection with the drone, determining the network address information of the drone; Sending an identification request message to the drone, requesting to send a unique identification of the drone; Receive an identification response message returned by the drone, where the identification response message carries a unique identification of the drone; Binding the network address information of the drone with the unique identifier of the drone, so that the service end associates the service data message transmitted by the drone based on the communication connection with the unique identifier of the drone; The drone and the server transmit message data based on the MAVLINK protocol; The message data includes an identification response message and a service data message, wherein the MSG field in the MAVLINK data packet transmitting the identification response message is a preset first message number; the MSG field in the MAVLINK data packet transmitting the service data message is a preset second message number, and the first message number is different from the second message number; The method comprises: After receiving the service data message transmitted by the drone, obtain the network address information of the drone, where the network address information is an IP address, or an IP address + a port number; Determine the unique identifier of the drone according to the network address information; Associating the service data message with the unique identifier of the drone; After receiving the MAVLINK data packet transmitted by the drone, obtain the network address information of the drone; Parse the MAVLINK data packet; If the MSG field in the MAVLINK data packet is the first message number, the MAVLINK data packet carries the unique identifier of the drone, and the network address information of the drone is bound to the unique identifier of the drone; If the MSG field in the MAVLINK data packet is the second message number, the MAVLINK data packet carries a business data message, and the unique identifier of the drone is determined according to the network address information of the drone, and the business data message is associated with the unique identifier of the drone.

2. A communication device, applied to a server, characterized in that: The device comprises: An address determination module, used for the server to bind the IP address of the drone to the unique identifier of the drone when the drone and the server are directly connected, wherein the direct connection is that the drone is directly connected to the server through its own IP; An address determination module is used when the drone and the server are in a forwarding connection, wherein the forwarding connection is that a plurality of drones are connected to the server through IP forwarding of the same network device, and the IP addresses of the plurality of drones are all the IP addresses of the network device; An address determination module is used to determine the network address information of the drone after establishing a communication connection with the drone, and the drone and the server transmit message data based on the MAVLINK protocol; the message data includes an identification response message and a service data message, wherein the MSG field in the MAVLINK data packet transmitting the identification response message is a preset first message number; the MSG field in the MAVLINK data packet transmitting the service data message is a preset second message number, and the first message number is different from the second message number; A message request module, used to send an identification request message to the drone, requesting to send a unique identification of the drone; A message receiving module is used to receive an identification response message returned by the drone, wherein the identification response message carries the unique identification of the drone; after receiving a service data message transmitted by the drone, obtain the network address information of the drone, wherein the network address information is an IP address, or an IP address + a port number; determine the unique identification of the drone according to the network address information; and associate the service data message with the unique identification of the drone; An identification binding module is used to bind the network address information of the drone with the unique identification of the drone, so that the server can associate the service data message transmitted by the drone based on the communication connection with the unique identification of the drone; after receiving the MAVLINK data packet transmitted by the drone, the network address information of the drone is obtained; the MAVLINK data packet is parsed; if the MSG field in the MAVLINK data packet is the first message number, the MAVLINK data packet carries the unique identification of the drone, and the network address information of the drone is bound to the unique identification of the drone; if the MSG field in the MAVLINK data packet is the second message number, the MAVLINK data packet carries the service data message, and the unique identification of the drone is determined according to the network address information of the drone, and the service data message is associated with the unique identification of the drone.

3. An electronic device comprising a memory, a processor and a computer program stored and running on the memory, characterized in that: When the processor executes the program, the steps of the communication method according to claim 1 are implemented.

4. A communication system, characterized in that: It includes several drones and servers, among which, The drone is used to establish a communication connection with the server, return a unique identifier of the drone to the server based on an identifier request of the server, communicate business data with the server, and transmit business data messages to the server; The server is used to execute the steps of the communication method described in claim 1.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the steps of the communication method according to claim 1.

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