A Drone-Based Ad Hoc Network Communication Method and System

Abstract

The present invention discloses a self-organizing network communication method and system based on drones. The method includes: receiving the transmission data transmitted by the transmitting drone through a first switch, and transmitting the transmission data to a first terminal station; performing signal modulation processing on the transmission data through the first terminal station to obtain a transmission signal corresponding to the transmission data, and transmitting the transmission signal to a relay station; transmitting the transmission signal to a second terminal station according to a regeneration switching method through the relay station; performing demodulation processing on the transmission signal through the second terminal station to obtain a target transmission signal, and transmitting the target transmission signal to a second switch; receiving the target transmission signal transmitted by the second terminal through the second switch, and transmitting the target transmission signal to the receiving drone, thereby realizing self-organizing network communication. Through the technical solution of the present invention, normal communication between drones can be realized when the communication distance in the drone network is large, thereby improving the communication efficiency between drones.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) communication technology, and in particular to a UAV-based self-organizing network communication method and system. Background Art

[0002] With the rapid development of drone communication technology, drones are gradually replacing manual inspections and being used for tasks such as inspections and construction planning. These drones are portable, flexible, and far less expensive than manned aircraft and manual inspections. They can adapt to complex terrain, produce high-precision models even in mountainous areas, and support real-time 3D reconstruction, facilitating effective on-site applications.

[0003] However, when the communication distance of drones is long, the existing communication methods such as the 4th Generation Communication System (4G), Wireless Fidelity (WiFi), Zigbee, Wireless LAN Authentication and Privacy Infrastructure (WAPI), Wireless Mesh Networks, or Long Range (Lora) usually result in poor communication effects and low communication efficiency. Therefore, how to ensure normal communication between drones in scenarios with a large communication range and improve communication efficiency between drones is an urgent problem to be solved. Summary of the Invention

[0004] The present invention provides a drone-based ad hoc network communication method and system, which can solve the problem that drones cannot communicate normally in scenarios with a large communication range.

[0005] According to one aspect of the present invention, a drone-based ad hoc network communication method is provided, which is applied to scenarios where the communication range of a drone ad hoc network is large. The method includes:

[0006] Receive the transmission data transmitted by the transmitting drone through the first switch, and forward the transmission data to the first terminal station;

[0007] receiving, through the first terminal station, the transmission data forwarded by the first switch, performing signal modulation processing on the transmission data to obtain a transmission signal corresponding to the transmission data, and transmitting the transmission signal to the relay station;

[0008] receiving the transmission signal through a relay station and transmitting the transmission signal to a second terminal station according to a regenerative switching method;

[0009] receiving, by the second terminal station, the transmission signal transmitted by the relay station, demodulating the transmission signal to obtain a target transmission signal, and transmitting the target transmission signal to the second switch;

[0010] The target sending signal transmitted by the second terminal is received by the second switch, and the target sending signal is transmitted to the receiving end drone to realize self-organizing network communication.

[0011] According to another aspect of the present invention, there is provided a drone-based ad hoc network communication system, characterized by comprising:

[0012] The first switch is configured to receive the transmission data transmitted by the transmitting drone, and forward the transmission data to the first terminal station;

[0013] The first terminal station is configured to receive the transmission data forwarded by the first switch, perform signal modulation processing on the transmission data to obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station;

[0014] A relay station, configured to receive the transmission signal and transmit the transmission signal to a second terminal station according to a regenerative switching mode;

[0015] a second terminal station, configured to receive the transmission signal transmitted by the relay station, demodulate the transmission signal to obtain a target transmission signal, and transmit the target transmission signal to a second switch;

[0016] The second switch is used to receive the target sending signal transmitted by the second terminal and transmit the target sending signal to the receiving end drone to realize self-organizing network communication.

[0017] The technical solution of the embodiment of the present invention is to receive the sending data transmitted by the sending-end drone through the first switch, and forward the sending data to the first terminal station; receive the sending data forwarded by the first switch through the first terminal station, perform signal modulation processing on the sending data, obtain the sending signal corresponding to the sending data, and transmit the sending signal to the relay station; receive the sending signal through the relay station, and transmit the sending signal to the second terminal station according to the regeneration switching method; receive the sending signal transmitted by the relay station through the second terminal station, demodulate the sending signal to obtain the target sending signal, and transmit the target sending signal to the second switch; receive the target sending signal transmitted by the second terminal through the second switch, and transmit the target sending signal to the receiving-end drone, thereby realizing self-organizing network communication, solving the problem that drones cannot communicate normally in scenarios with a large communication range, ensuring normal communication between drones in scenarios with a large communication range, and improving the communication efficiency between drones.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 1 is a flow chart of a self-organizing network communication method based on a drone according to the first embodiment of the present invention;

[0021] Figure 2 is a flow chart of a drone-based ad hoc network communication method provided in accordance with the second embodiment of the present invention;

[0022] Figure 3 This is a signal processing flow chart of a microwave transmitting device provided according to the second embodiment of the present invention;

[0023] Figure 4 This is a flow chart of a regeneration switching method provided according to the second embodiment of the present invention;

[0024] Figure 5 This is a signal processing flow chart of a microwave receiving device provided according to the second embodiment of the present invention;

[0025] Figure 6 is a flowchart of an optional drone-based ad hoc network communication method provided according to embodiment 2 of the present invention;

[0026] Figure 7 3 is a schematic structural diagram of a drone-based ad hoc network communication system provided according to the third embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described are only 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 making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," "target," and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flow chart of a drone-based self-organizing network communication method provided in the first embodiment of the present invention. This embodiment is applicable to situations where drones communicate with each other when the communication distance is relatively large in a drone network. This method can be executed by a drone-based self-organizing network communication system, which can be implemented in the form of hardware and / or software. Figure 1 As shown, the method includes:

[0031] S110: Receive the sending data transmitted by the sending drone through the first switch, forward the sending data, and transmit it to the first terminal station.

[0032] The "sending drone" may refer to a drone that sends data in a drone ad hoc network. Transmitted data may refer to data sent by the sending drone. For example, this may be a location command or image data collected by the sending drone. The "first switch" may refer to a switch on the sending drone side, providing a dedicated electrical signal path between any two nodes in the drone network. For example, the first switch may be either an analog switch or a digital switch, which is not limited in this embodiment of the present invention.

[0033] S120: Receive, through the first terminal station, the transmission data forwarded by the first switch, perform signal modulation processing on the transmission data to obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station.

[0034] The first terminal station may refer to a terminal station on the transmitting drone side. The first terminal station may perform signal modulation processing on the transmitted data. Signal modulation processing may refer to frequency modulation processing on the signal of the transmitted data. The transmitted signal may refer to an analog signal corresponding to the transmitted data obtained after signal modulation processing.

[0035] In one optional embodiment, the transmitted signal is transmitted via an antenna or feeder. The antenna may refer to a converter that converts guided waves propagating along a transmission line into electromagnetic waves propagating in an unbounded medium, or vice versa. The feeder may refer to a cable that transmits signals received by the antenna.

[0036] S130: Receive the transmission signal through the relay station, and transmit the transmission signal to the second terminal station according to the regeneration switching mode.

[0037] A relay station refers to a device that relays electromagnetic waves. Since electromagnetic wave propagation is blocked by the ground when the communication distance exceeds a certain value, in order to extend the communication distance, it is necessary to set up several relay stations between two drones with a long communication distance to relay electromagnetic waves.

[0038] The regenerative switching method may refer to the method by which a relay station relays signals. Relay station relay methods are generally categorized into three types: direct relay (i.e., radio frequency switching), heterodyne relay (i.e., intermediate frequency switching), and baseband relay (i.e., regenerative switching). Because microwaves have the same propagation characteristics as light, they can only propagate in a straight line in free space, have very weak diffraction capabilities, and will produce refraction and reflection when encountering an inhomogeneous medium during propagation. Therefore, at a certain antenna height, in order to overcome the Earth's convexity and achieve long-distance communication, embodiments of the present invention preferably use a regenerative switching method as the relay station relay method.

[0039] S140: Receive the transmission signal transmitted by the relay station through the second terminal station, demodulate the transmission signal to obtain a target transmission signal, and transmit the target transmission signal to the second switch.

[0040] The second terminal station may refer to a terminal station on the receiving drone side. The second terminal station may perform demodulation processing on the transmitted signal. Demodulation processing may refer to restoring the processed transmitted signal. The target transmitted signal may refer to the processed transmitted signal, i.e., the transmitted signal ultimately received by the receiving drone.

[0041] S150: Receive the target transmission signal transmitted by the second terminal through the second switch, and transmit the target transmission signal to the receiving end drone to realize ad hoc network communication.

[0042] The receiving drone may refer to a drone in a drone ad hoc network that receives data. The second switch may refer to a switch on the receiving drone side. For example, the second switch may be an analog switch or a digital switch, which is not limited in this embodiment of the present invention.

[0043] The technical solution of the embodiment of the present invention is to receive the sending data transmitted by the sending-end drone through the first switch, and forward the sending data to the first terminal station; receive the sending data forwarded by the first switch through the first terminal station, perform signal modulation processing on the sending data, obtain the sending signal corresponding to the sending data, and transmit the sending signal to the relay station; receive the sending signal through the relay station, and transmit the sending signal to the second terminal station according to the regeneration switching method; receive the sending signal transmitted by the relay station through the second terminal station, demodulate the sending signal to obtain the target sending signal, and transmit the target sending signal to the second switch; receive the target sending signal transmitted by the second terminal through the second switch, and transmit the target sending signal to the receiving-end drone, thereby realizing self-organizing network communication, solving the problem that drones cannot communicate normally in scenarios with a large communication range, ensuring normal communication between drones in scenarios with a large communication range, and improving the communication efficiency between drones.

[0044] Example 2

[0045] Figure 2 The flowchart of a self-organizing network communication method based on a drone is provided in the second embodiment of the present invention. This embodiment is refined based on the above embodiment. In this embodiment, the operation of performing signal modulation processing on the transmission data through the first terminal station to obtain a transmission signal corresponding to the transmission data is specifically refined. Specifically, it may include: performing analog-to-digital conversion on the transmission data through the first digital terminal in the first terminal station to obtain a first digital signal corresponding to the transmission data, and transmitting the first digital signal to the modulator in the first terminal station; receiving the first digital signal through the modulator in the first terminal station, performing carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmitting the modulated signal to the microwave transmitting equipment in the first terminal station; receiving the modulated signal through the microwave transmitting equipment in the first terminal station, performing microwave modulation on the modulated signal to obtain a transmission signal corresponding to the transmission data. Figure 2 As shown, the method includes:

[0046] S210: Receive the sending data transmitted by the sending drone through the first switch, forward the sending data, and transmit it to the first terminal station.

[0047] S220: Perform analog-to-digital conversion on the transmission data through a first digital terminal in the first terminal station to obtain a first digital signal corresponding to the transmission data, and transmit the first digital signal to a modulator in the first terminal station.

[0048] The digital terminal may refer to a device that converts a received analog signal into a digital signal, or converts a received digital signal into an analog signal. The first digital terminal may refer to a digital terminal included in the first terminal station.

[0049] The analog-to-digital conversion may refer to an operation of converting an analog signal into a digital signal. The first digital signal may refer to a digital signal obtained by performing analog-to-digital conversion on the transmission data.

[0050] S230. Receive the first digital signal through a modulator in the first terminal station, perform carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmit the modulated signal to a microwave transmitting device in the first terminal station.

[0051] A modulator can refer to a device that modulates a digital signal onto an analog signal for transmission. Carrier frequency modulation can refer to the operation of applying a carrier frequency to a digital signal. A modulated signal can refer to the analog signal obtained by carrier frequency modulation of a digital signal.

[0052] In an optional embodiment, the first digital signal is carrier-frequency modulated by a modulator in the first terminal station to obtain a modulated signal, including: the first digital signal is modulated by a modulator in the first terminal station according to a preset carrier frequency mechanism to obtain a modulated signal.

[0053] The preset carrier frequency mechanism may refer to a pre-set mechanism for evaluating the frequency of carrier frequency modulation. For example, in an embodiment of the present invention, the preset carrier frequency mechanism may be set to an intermediate frequency carrier frequency, typically 70 MHz or 140 MHz. The resulting modulated signal is thus an intermediate frequency modulated signal.

[0054] S240. Receive the modulated signal through the microwave transmitting equipment in the first terminal station, perform microwave modulation on the modulated signal to obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station.

[0055] The microwave transmitting device may refer to a device used to transmit signals in a terminal station. In the embodiment of the present invention, an intermediate frequency modulation transmitter may be selected as the microwave transmitting device. Microwave modulation may refer to a modulation operation such as power amplification or filtering of a modulated signal.

[0056] In an optional embodiment, the modulated signal is microwave modulated by a microwave transmitting device in the first terminal station to obtain a transmission signal corresponding to the transmission data, including: performing power amplification processing on the modulated signal by an intermediate frequency amplifier in the microwave transmitting device to obtain a first intermediate frequency modulation signal; converting the first intermediate frequency modulation signal into a microwave modulation signal by an up-converter in the microwave transmitting device; performing power amplification on the microwave modulated signal by a microwave power amplifier in the microwave transmitting device to obtain a selected transmission signal; and filtering the selected transmission signal by a microwave filter in the microwave transmitting device to obtain a transmission signal corresponding to the transmission data.

[0057] An IF amplifier can refer to an amplifier with a resonant circuit as its load, i.e., an amplifier circuit with a capacitor and inductor as its load, where the gain and load impedance vary with frequency. The IF amplifier can amplify the power of the modulated signal. IF power amplification can refer to amplifying the modulated signal to the power level required by subsequent devices. The first IF modulated signal can refer to the modulated signal obtained after IF power amplification.

[0058] An upconverter may refer to a device that frequency-shifts the spectrum of the first intermediate frequency amplifier modulated signal to a desired higher carrier frequency. A microwave modulated signal may refer to a modulated signal processed by an upconverter. A microwave power amplifier may refer to a device that amplifies a small signal at the transmit frequency to a sufficiently high power level, thereby enabling long-distance transmission of the microwave signal. A selected transmit signal may refer to a microwave modulated signal after power amplification. A microwave filter may refer to a device that separates microwave signals of different frequencies, suppressing unwanted signals and allowing only the desired signals to pass.

[0059] like Figure 3 The figure shows a signal processing flow chart of a microwave transmitting device provided by an embodiment of the present invention. Specifically, after the modulated signal from the modulator enters the microwave transmitting device, it first passes through an intermediate frequency amplifier for power amplification processing to obtain a first intermediate frequency modulated signal, and then passes through an up-converter to convert it into a microwave modulated signal. The up-converter needs to cooperate with the varactor frequency modulation, the main oscillator and the isolation amplifier. The signal is then amplified by the isolation filter and the microwave power amplifier to obtain a selected transmission signal. Finally, the transmission signal is output through the microwave filter and fed to the antenna element, and the transmission antenna sends the transmission signal out.

[0060] S250 , performing frequency mixing and regeneration processing on the transmission signal according to the receiver local oscillator signal by the receiver of the relay station to obtain a signal code pulse sequence corresponding to the transmission signal.

[0061] The term "receiver" refers to the device in a relay station that receives signals. The receiver local oscillator signal refers to the constant-amplitude carrier generated by the receiver itself. Mixer regeneration processing refers to the mixing and regeneration of transmitted signals. The signal pulse sequence refers to the organic combination of radio frequency pulses and gradient pulses arranged in a specific time sequence.

[0062] In an optional embodiment, the receiver of the relay station performs mixing and regeneration processing on the transmission signal according to the receiver local oscillator signal to obtain a signal code pulse sequence corresponding to the transmission signal, including: amplifying the transmission signal by a microwave low-noise amplifier in the receiver to obtain an amplified signal; mixing the amplified signal and the receiver local oscillator signal by a mixer in the receiver to obtain an intermediate frequency modulated signal; performing power amplification processing on the intermediate frequency modulated signal by the intermediate frequency amplifier in the receiver to obtain a second intermediate frequency modulated signal; demodulating the second intermediate frequency modulated signal by the demodulator in the receiver to obtain a first demodulated signal; and regenerating and restoring the first demodulated signal by the regeneration circuit in the receiver to obtain a signal code pulse sequence corresponding to the transmission signal.

[0063] A microwave low-noise amplifier may refer to a small-signal amplifier with excellent noise characteristics and high gain. An amplified signal may refer to a transmitted signal after signal amplification. A mixer may refer to a device that mixes the amplified signal with the receiver's local oscillator signal. An intermediate frequency modulated signal may refer to the signal after mixing. A second intermediate frequency amplifier modulated signal may refer to a modulated signal after power intermediate frequency amplifier processing. A demodulator may refer to a device that modulates a digital signal into an analog signal for transmission. A first demodulated signal may refer to a demodulated signal obtained by demodulating the second intermediate frequency amplifier modulated signal. A regenerative circuit may refer to a circuit that uses positive feedback to amplify the input signal.

[0064] S260 , performing frequency conversion processing on the signal code pulse sequence according to the transmitter local oscillator signal through the transmitter of the relay station to obtain a power-amplified transmission signal, and transmitting the transmission signal to the second terminal station.

[0065] The transmitter may refer to a device in a relay station that transmits signals, and the transmitter local oscillator signal may refer to a constant-amplitude carrier generated by the transmitter itself.

[0066] In an optional embodiment, the signal code pulse sequence is frequency-converted by the transmitter of the relay station according to the transmitter local oscillator signal to obtain a power-amplified transmission signal, including: demodulating the signal code pulse sequence by the demodulator in the transmitter to obtain a second demodulated signal; performing frequency conversion on the second demodulated signal according to the transmitter local oscillator signal by the frequency converter in the transmitter to obtain a frequency-converted signal; and power amplifying the frequency-converted signal by the microwave power amplifier in the transmitter to obtain a power-amplified transmission signal.

[0067] The second demodulated signal may refer to a demodulated signal obtained by demodulating the signal code pulse sequence, and the frequency conversion signal may refer to a signal obtained by frequency conversion of the transmitter local oscillator signal and the second demodulated signal.

[0068] like Figure 4The figure shows a flow chart of a regenerative switching method provided by an embodiment of the present invention. Specifically, a transmission signal with a carrier frequency of f1 is amplified by an antenna, a feeder, and a microwave low-noise amplifier, then mixed with the receiver's local oscillator signal to output an intermediate frequency modulated signal. This signal is then amplified by the intermediate frequency amplifier and sent to a demodulator. After obtaining the first demodulated signal, the signal pulse sequence is restored through a regeneration circuit. The demodulator in the transmitter demodulates the signal pulse sequence, which is then transmitted through a frequency converter and a microwave power amplifier via an antenna at a carrier frequency of f1'.

[0069] S270: Receive the transmission signal through a microwave receiving device in the second terminal station, perform intermediate frequency processing on the transmission signal, and obtain an intermediate frequency amplified signal corresponding to the transmission signal.

[0070] The intermediate frequency processing may refer to performing intermediate frequency amplification processing on the transmission signal, and the intermediate frequency amplified signal may refer to the signal obtained after the intermediate frequency processing.

[0071] Microwave receiving equipment refers to the equipment used to receive signals in a terminal station. Microwave receiving equipment typically consists of three major components: a radio frequency system, an intermediate frequency system, and a demodulation system, and utilizes a superheterodyne reception method.

[0072] The RF system can use either a microwave low-noise amplifier or a direct mixing method. The former offers higher receiver sensitivity, while the latter requires a simpler circuit. The intermediate frequency (IF) system handles the majority of the receiver's amplification and features automatic gain control to ensure a relatively stable signal level in the demodulation system. Furthermore, the IF system plays a decisive role in the passband and frequency response of the entire receiving channel. The demodulation system employs two methods: coherent demodulation and incoherent demodulation. Because coherent demodulation offers superior error tolerance, it is preferred in the embodiments of the present invention.

[0073] Specifically, the weak transmit signal from the antenna is mixed with the local oscillator signal through the feeder, microwave filter, microwave low-noise amplifier, and the local oscillator signal to generate an intermediate frequency signal. This signal is then amplified and filtered by the intermediate frequency amplifier before being sent to the demodulation unit for signal demodulation and regeneration. The microwave filter at the output of the antenna feeder selects the frequency of the operating channel and suppresses interference from adjacent channels.

[0074] like Figure 5The figure shows a signal processing flow chart for a microwave receiving device according to an embodiment of the present invention. Specifically, the transmitted signal from antenna 1 is filtered through a bandpass filter to select the required operating frequency signal and suppress interference from other channels. The useful signal is then sent to a low-noise amplifier (LNA). This LNA typically utilizes a microstrip hybrid integrated GaAs FET amplifier. Because the LNA has a wideband bandwidth, an image suppression filter is required to eliminate image noise. This filter can be either bandpass or bandstop, and should suppress image noise by 13-20 dB. The same process is applied to the transmitted signal from antenna 2. The above operations are repeated, allowing the signals from the two feeders and multipath interference signals to undergo two identical filtering, low-noise amplification, mixing, and pre-IF amplifiers before being combined in an adder. Finally, the signal is output through an IF filter and the main IF amplifier. The main IF amplifier provides high gain and an automatic gain control range of approximately 50 dB.

[0075] S280: Perform analog-to-digital conversion on the intermediate frequency amplified signal through a demodulator in the second terminal station to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and transmit the second digital signal to a second digital terminal in the second terminal station.

[0076] The second digital signal may refer to a digital signal obtained by performing analog-to-digital conversion on the intermediate frequency amplified signal.

[0077] S290: Process the second digital signal by inverse transformation through a second digital terminal in a second terminal station to obtain a target transmission signal, and transmit the target transmission signal to a second switch.

[0078] The inverse transform process may refer to an operation of converting a digital signal into an analog signal.

[0079] S2100: Receive a target transmission signal transmitted by a second terminal through a second switch, and transmit the target transmission signal to a receiving drone to realize ad hoc network communication.

[0080] The technical solution of the embodiment of the present invention is to receive the sending data transmitted by the sending end drone through the first switch, forward the sending data, and transmit it to the first terminal station, perform analog-to-digital conversion on the sending data through the first digital terminal in the first terminal station to obtain a first digital signal corresponding to the sending data, and transmit the first digital signal to the modulator in the first terminal station, receive the first digital signal through the modulator in the first terminal station, perform carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmit the modulated signal to the microwave transmitting equipment in the first terminal station, receive the modulated signal through the microwave transmitting equipment in the first terminal station, perform microwave modulation on the modulated signal to obtain a sending signal corresponding to the sending data, and transmit the sending signal to the relay station, perform mixing and regeneration processing on the sending signal according to the receiver local oscillator signal of the relay station by the receiver, and obtain a signal code pulse sequence corresponding to the sending signal, and perform signal code pulse sequence on the signal code pulse sequence according to the transmitter local oscillator signal of the relay station by the transmitter. Frequency conversion processing is performed to obtain a power-amplified transmission signal, and the transmission signal is transmitted to the second terminal station. The transmission signal is received by the microwave receiving equipment in the second terminal station, and intermediate frequency processing is performed on the transmission signal to obtain an intermediate frequency amplified signal corresponding to the transmission signal. The intermediate frequency amplified signal is analog-to-digital converted by the demodulator in the second terminal station to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and the second digital signal is transmitted to the second digital terminal in the second terminal station. The second digital terminal in the second terminal station performs inverse transformation processing on the second digital signal to obtain a target transmission signal, and the target transmission signal is transmitted to the second switch. The target transmission signal transmitted by the second terminal is received by the second switch, and the target transmission signal is transmitted to the receiving drone, realizing self-organizing network communication, solving the problem that drones cannot communicate normally in scenarios with a large communication range, ensuring normal communication between drones in scenarios with a large communication range, and improving the communication efficiency between drones.

[0081] Figure 6This is a flowchart of an optional drone-based ad hoc network communication method provided according to the second embodiment of the present invention; specifically, if the drone terminal system at location A is a sending drone, the drone terminal system at location B is a receiving drone, and the communication distance between locations A and B is relatively far, when the sending drone sends data, the sending data transmitted by the sending drone is received by the first switch and transmitted to the first terminal station, the sending data is analog-to-digital converted by the first digital terminal in the first terminal station to obtain a first digital signal corresponding to the sending data, and the first digital signal is transmitted to the modulator in the first terminal station, the first digital signal is received by the modulator in the first terminal station, the first digital signal is carrier-frequency modulated to obtain a modulated signal, and the modulated signal is transmitted to the microwave transmitting device in the first terminal station, the modulated signal is received by the microwave transmitting device in the first terminal station, the modulated signal is microwave-modulated to obtain a sending signal corresponding to the sending data, and the sending signal is transmitted to the receiver of the relay station; The receiver of the relay station performs mixing and regeneration processing on the transmission signal according to the receiver local oscillator signal to obtain a signal code pulse sequence corresponding to the transmission signal, and the transmitter of the relay station performs frequency conversion processing on the signal code pulse sequence according to the transmitter local oscillator signal to obtain a power-amplified transmission signal, and the transmission signal is transmitted to the second terminal station; the transmission signal is received by the microwave receiving equipment in the second terminal station, and the transmission signal is processed at the intermediate frequency to obtain an intermediate frequency amplified signal corresponding to the transmission signal, and the intermediate frequency amplified signal is converted by the demodulator in the second terminal station to perform analog-to-digital conversion on the intermediate frequency amplified signal to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and the second digital signal is transmitted to the second digital terminal in the second terminal station, and the second digital terminal in the second terminal station performs inverse transformation processing on the second digital signal to obtain a target transmission signal, and the target transmission signal is transmitted to the second switch. Finally, the target transmission signal transmitted by the second terminal is received by the second switch, and the target transmission signal is transmitted to the receiving drone to realize self-organizing network communication. Continuing with the above example, if the communication distance between the drone terminal system in Location C and the drone terminal system in Location B is relatively close, and does not exceed the preset threshold distance, then a relay station can be omitted between Locations C and B. Similarly, when the drone terminal system in Location A communicates with the drone terminal system in Location C, data still needs to be transmitted through a relay station. The specific implementation method is the same as the above example and will not be repeated here.

[0082] It is worth noting that in the embodiments of the present invention, each UAV terminal system can function as either a transmitting or receiving UAV, with the specific use case determined based on the actual business application. Furthermore, each terminal station can include both microwave receiving and transmitting equipment, as well as both demodulation and modulation equipment, with the selection of these devices being based on the current signal transmission situation.

[0083] Example 3

[0084] Figure 7 This is a schematic diagram of the structure of a self-organizing network communication system based on drones provided in the third embodiment of the present invention. Figure 7 As shown, the system includes: a first switch 310, a first terminal station 320, a relay station 330, a second terminal station 340 and a second switch 350;

[0085] The first switch 310 is configured to receive the transmission data transmitted by the transmitting drone and forward the transmission data to the first terminal station 320.

[0086] The first terminal station 320 is configured to receive the transmission data forwarded by the first switch 310, perform signal modulation processing on the transmission data to obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station 330;

[0087] The relay station 330 is configured to receive the transmission signal and transmit the transmission signal to the second terminal station 340 according to a regeneration switching mode;

[0088] The second terminal station 340 is configured to receive the transmission signal transmitted by the relay station 330, demodulate the transmission signal to obtain a target transmission signal, and transmit the target transmission signal to the second switch 350;

[0089] The second switch 350 is used to receive the target transmission signal transmitted by the second terminal 340 and transmit the target transmission signal to the receiving end drone to realize ad hoc network communication.

[0090] The technical solution of the embodiment of the present invention is to receive the sending data transmitted by the sending-end drone through the first switch 310, and forward the sending data to the first terminal station 320; receive the sending data forwarded by the first switch 310 through the first terminal station 320, perform signal modulation processing on the sending data, obtain a sending signal corresponding to the sending data, and transmit the sending signal to the relay station 330; receive the sending signal through the relay station 330, and transmit the sending signal to the second terminal station 340 according to the regeneration switching method; receive the sending signal transmitted by the relay station 330 through the second terminal station 340, demodulate the sending signal to obtain the target sending signal, and transmit the target sending signal to the second switch 350; receive the target sending signal transmitted by the second terminal 340 through the second switch 350, and transmit the target sending signal to the receiving-end drone, thereby realizing self-organizing network communication, solving the problem that drones cannot communicate normally in scenarios with a large communication range, ensuring normal communication between drones in scenarios with a large communication range, and improving the communication efficiency between drones.

[0091] Optionally, the first terminal station 320 may specifically include: a first digital terminal, a modulator, and a microwave signaling device;

[0092] The first digital terminal in the first terminal station 320 is configured to perform analog-to-digital conversion on the transmission data to obtain a first digital signal corresponding to the transmission data, and transmit the first digital signal to the modulator in the first terminal station 320;

[0093] The modulator in the first terminal station 320 is configured to receive the first digital signal, perform carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmit the modulated signal to the microwave transmitting device in the first terminal station 320;

[0094] The microwave transmitting device in the first terminal station 320 is used to receive the modulated signal, perform microwave modulation on the modulated signal, and obtain a transmission signal corresponding to the transmission data.

[0095] Optionally, the modulator in the first terminal station 320 may be specifically configured to modulate the first digital signal according to a preset carrier frequency mechanism to obtain a modulated signal.

[0096] Optionally, the microwave transmitting equipment in the first terminal station 320 may specifically include: an intermediate frequency amplifier, an up-converter, a microwave power amplifier, and a microwave filter;

[0097] The intermediate frequency amplifier in the microwave transmitting device is used to perform intermediate frequency amplification processing on the modulated signal to obtain a first intermediate frequency amplification modulated signal;

[0098] An up-converter in the microwave transmitting device, configured to convert the first intermediate frequency amplifier modulated signal into a microwave modulated signal;

[0099] The microwave power amplifier in the microwave transmitting device is used to amplify the power of the microwave modulated signal to obtain a signal to be transmitted;

[0100] The microwave filter in the microwave signal transmitting device is used to filter the selected transmission signal to obtain a transmission signal corresponding to the transmission data.

[0101] Optionally, the relay station 330 may specifically include: a receiver and a transmitter;

[0102] The receiver of the relay station 330 is configured to perform frequency mixing and regeneration processing on the transmission signal according to the receiver local oscillator signal to obtain a signal code pulse sequence corresponding to the transmission signal;

[0103] The transmitter of the relay station 330 is used to perform frequency conversion processing on the signal code pulse sequence according to the transmitter local oscillator signal to obtain a power-amplified transmission signal, and transmit the transmission signal to the second terminal station 340.

[0104] Optionally, the receiver of the relay station 330 may specifically include: a microwave low-noise amplifier, a mixer, an intermediate frequency amplifier, a demodulator, and a regeneration circuit;

[0105] The microwave low-noise amplifier in the receiver is used to amplify the transmitted signal to obtain an amplified signal;

[0106] The mixer in the receiver is used to mix the amplified signal with the receiver local oscillator signal to obtain the intermediate frequency modulated signal;

[0107] An intermediate frequency amplifier in the receiver is used to perform power amplification processing on the intermediate frequency modulated signal to obtain a second intermediate frequency modulated signal;

[0108] A demodulator in the receiver, configured to demodulate the second intermediate frequency modulated signal to obtain a first demodulated signal;

[0109] The regeneration circuit in the receiver is used to regenerate and restore the first demodulated signal to obtain a signal code pulse sequence corresponding to the transmitted signal.

[0110] Optionally, the transmitter of the relay station 330 may specifically include: a demodulator, a frequency converter, and a microwave power amplifier;

[0111] The demodulator in the transmitter is used to demodulate the signal code pulse sequence to obtain a second demodulated signal;

[0112] A frequency converter in the transmitter, configured to perform frequency conversion processing on the second demodulated signal according to a transmitter local oscillator signal to obtain a frequency-converted signal;

[0113] The microwave power amplifier in the transmitter is used to amplify the power of the frequency-converted signal to obtain a power-amplified transmission signal.

[0114] Optionally, the second terminal station 340 may specifically include: a microwave receiving device, a demodulator, and a second digital terminal;

[0115] The microwave receiving device in the second terminal station 340 is used to receive the transmission signal, perform intermediate frequency processing on the transmission signal, and obtain an intermediate frequency amplified signal corresponding to the transmission signal;

[0116] The demodulator in the second terminal station 340 is configured to perform analog-to-digital conversion on the amplified intermediate frequency signal to obtain a second digital signal corresponding to the amplified intermediate frequency signal, and transmit the second digital signal to a second digital terminal in the second terminal station 340;

[0117] The second digital terminal in the second terminal station 340 performs inverse transformation processing on the second digital signal to obtain a target transmission signal.

[0118] Optionally, the transmission signal is transmitted via an antenna or a feeder.

[0119] The drone-based ad hoc network communication system provided in the embodiment of the present invention can execute the drone-based ad hoc network communication method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0120] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0121] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A self-organizing network communication method based on drones, characterized in that: Applied to scenarios with large communication range in drone ad hoc networks, the method includes: The first switch receives the transmission data transmitted by the transmitting drone and forwards the transmission data to the first terminal station; wherein the switch is used to provide an exclusive electrical signal path between any two nodes in the drone network, and the first switch refers to the switch on the transmitting drone side; receiving, through the first terminal station, the transmission data forwarded by the first switch, performing signal modulation processing on the transmission data to obtain a transmission signal corresponding to the transmission data, and transmitting the transmission signal to the relay station; receiving the transmission signal through a relay station and transmitting the transmission signal to a second terminal station according to a regenerative switching method; receiving, by the second terminal station, the transmission signal transmitted by the relay station, demodulating the transmission signal to obtain a target transmission signal, and transmitting the target transmission signal to the second switch; The target transmission signal transmitted by the second terminal is received through the second switch, and the target transmission signal is transmitted to the receiving end drone to realize self-organizing network communication; wherein, the second switch refers to the switch on the receiving end drone side.

2. The method according to claim 1, characterized in that The performing signal modulation processing on the transmission data by the first terminal station to obtain a transmission signal corresponding to the transmission data includes: performing analog-to-digital conversion on the transmission data by a first digital terminal in the first terminal station to obtain a first digital signal corresponding to the transmission data, and transmitting the first digital signal to a modulator in the first terminal station; receiving the first digital signal through a modulator in the first terminal station, performing carrier frequency modulation on the first digital signal to obtain a modulated signal, and transmitting the modulated signal to a microwave transmitting device in the first terminal station; The modulated signal is received by a microwave transmitting device in the first terminal station, and microwave modulation is performed on the modulated signal to obtain a transmission signal corresponding to the transmission data.

3. The method according to claim 2, characterized in that The method of performing carrier frequency modulation on the first digital signal by a modulator in the first terminal station to obtain a modulated signal includes: The first digital signal is modulated by a modulator in the first terminal station according to a preset carrier frequency mechanism to obtain a modulated signal.

4. The method according to claim 2, characterized in that The microwave modulating the modulated signal by the microwave transmitting device in the first terminal station to obtain a transmission signal corresponding to the transmission data includes: The modulated signal is subjected to intermediate frequency amplification by an intermediate frequency amplifier in a microwave transmitting device to obtain a first intermediate frequency amplified modulated signal; Converting the first intermediate frequency amplifier modulated signal into a microwave modulated signal through an up-converter in a microwave transmitting device; A microwave power amplifier in a microwave transmitting device amplifies the power of the microwave modulated signal to obtain a signal to be transmitted; The selected transmission signal is filtered by a microwave filter in a microwave signal transmitting device to obtain a transmission signal corresponding to the transmission data.

5. The method according to claim 1, wherein The transmitting the transmission signal to the second terminal station by the relay station according to the regeneration switching mode includes: The receiver of the relay station performs mixing and regeneration processing on the transmission signal according to the receiver local oscillator signal to obtain a signal code pulse sequence corresponding to the transmission signal; The transmitter of the relay station performs frequency conversion processing on the signal code pulse sequence according to the transmitter local oscillator signal to obtain a power-amplified transmission signal, and transmits the transmission signal to the second terminal station.

6. The method according to claim 5, characterized in that The receiver of the relay station performs mixing and regeneration processing on the transmission signal according to the receiver local oscillator signal to obtain a signal code pulse sequence corresponding to the transmission signal, including: amplifying the transmitted signal by a microwave low-noise amplifier in the receiver to obtain an amplified signal; The amplified signal is mixed with the receiver local oscillator signal by a mixer in the receiver to obtain an intermediate frequency modulated signal; Performing power amplification processing on the intermediate frequency modulated signal through an intermediate frequency amplifier in the receiver to obtain a second intermediate frequency modulated signal; Demodulating the second intermediate frequency modulated signal by a demodulator in the receiver to obtain a first demodulated signal; The first demodulated signal is regenerated and restored by a regeneration circuit in the receiver to obtain a signal code pulse sequence corresponding to the transmission signal.

7. The method according to claim 5, characterized in that The transmitter passing through the relay station performs frequency conversion processing on the signal code pulse sequence according to the transmitter local oscillator signal to obtain a power-amplified transmission signal, including: Demodulating the signal code pulse sequence by a demodulator in the transmitter to obtain a second demodulated signal; performing frequency conversion processing on the second demodulated signal according to the transmitter local oscillator signal by a frequency converter in the transmitter to obtain a frequency-converted signal; The frequency conversion signal is power amplified by a microwave power amplifier in the transmitter to obtain a power-amplified transmission signal.

8. The method according to claim 1, characterized in that The demodulating the transmission signal by the second terminal station to obtain a target transmission signal includes: receiving the transmission signal through a microwave receiving device in the second terminal station, performing intermediate frequency processing on the transmission signal, and obtaining an intermediate frequency amplified signal corresponding to the transmission signal; performing analog-to-digital conversion on the intermediate frequency amplified signal by a demodulator in the second terminal station to obtain a second digital signal corresponding to the intermediate frequency amplified signal, and transmitting the second digital signal to a second digital terminal in the second terminal station; The second digital signal is inversely transformed and processed by a second digital terminal in a second terminal station to obtain a target transmission signal.

9. The method according to claim 1, characterized in that The transmission signal is transmitted via an antenna or a feeder.

10. A self-organizing network communication system based on drones, characterized in that: include: A first switch, configured to receive data transmitted by a transmitting drone and forward the data to a first terminal station; wherein the switch is configured to provide an exclusive electrical signal path between any two nodes in the drone network, and the first switch refers to the switch on the transmitting drone side; The first terminal station is configured to receive the transmission data forwarded by the first switch, perform signal modulation processing on the transmission data to obtain a transmission signal corresponding to the transmission data, and transmit the transmission signal to the relay station; A relay station, configured to receive the transmission signal and transmit the transmission signal to a second terminal station according to a regenerative switching mode; a second terminal station, configured to receive the transmission signal transmitted by the relay station, demodulate the transmission signal to obtain a target transmission signal, and transmit the target transmission signal to a second switch; The second switch is used to receive the target transmission signal transmitted by the second terminal and transmit the target transmission signal to the receiving-end drone to realize ad hoc network communication; wherein the second switch refers to the switch on the receiving-end drone side.

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