An unmanned aerial vehicle distributed communication transmission method, device, equipment and medium

Abstract

The application discloses a kind of unmanned aerial vehicle distributed communication transmission method, device, equipment and medium, comprising: S1, initialization each unmanned aerial vehicle;S2, each unmanned aerial vehicle is allocated task;S3, in the task execution process, if any unmanned aerial vehicle completes any node in its task or reaches the preset information transmission interval, then unmanned aerial vehicle determines the state information of itself and the data message received by each other unmanned aerial vehicle sent;S4, according to the preset information transmission protocol, the state information is obtained by decoding data message;S5, according to the state information of unmanned aerial vehicle itself and each other unmanned aerial vehicle, information sending list and information response list are respectively maintained and updated;S6, according to the information sending list and information response list after maintenance, data message is generated and sent to other unmanned aerial vehicle;S7, information transmission interval is zeroed, and return step S3, until each unmanned aerial vehicle completes task;The application can solve the technical problem that unmanned aerial vehicle group communication transmission efficiency and reliability are not high.

Description

Technical Field

[0001] This invention relates to a distributed communication transmission method, apparatus, device, and medium for unmanned aerial vehicles (UAVs), belonging to the field of heterogeneous UAV technology. Background Technology

[0002] Distributed autonomous collaborative combat of heterogeneous UAV swarms is the main mode of future UAV swarm warfare. The communication of operational information such as the status information, environmental information, and mission objective-related information of each UAV is the basis for autonomous collaborative decision-making of the UAV swarm and plays an important role in improving the combat effectiveness of UAV swarms.

[0003] Currently, members of heterogeneous drone swarms are often manufactured by different companies, and many drones do not yet use unified communication equipment and protocols, leading to difficulties in interoperability. In many cases, drone swarms still employ a centralized control structure, relying on information relay from central nodes such as ground stations, or using manual remote control. With the expansion of drone swarm size, the enlargement of mission areas, the increase in mission complexity, and the enhancement of real-time requirements, a distributed control structure based on ad hoc network devices and protocols for collaborative communication among heterogeneous drone swarms is a better solution.

[0004] Heterogeneous UAV swarm collaborative reconnaissance and strike is a typical mission in UAV swarm operations. During this process, to achieve distributed collaborative reconnaissance, strike, and assessment among heterogeneous UAVs, each UAV must understand the type and combat capabilities of other UAVs in the swarm, as well as their current operational position and carried resources, target location, attack requirements and threats, and the evaluation of the attack's effectiveness. The communication network is a decentralized, dynamic network with uncertain and unstable transmission frequencies and amounts of information, requiring high real-time performance. Therefore, simply constructing a self-organizing communication network linking each other, or automatically selecting different channels and routes for information forwarding and retransmission, is insufficient to meet the decision-making needs of distributed collaborative reconnaissance and strike operations by UAV swarms. Thus, it is necessary to research optimization methods to improve the reliability of distributed collaborative reconnaissance and strike communication among UAV swarms. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device, equipment and medium for distributed communication transmission of unmanned aerial vehicles (UAVs), thereby solving the technical problem of low communication transmission efficiency and reliability when heterogeneous UAV swarms are distributed, autonomous and collaborative for reconnaissance and strike.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides a distributed communication transmission method for unmanned aerial vehicles (UAVs), comprising:

[0008] S1. Initialize the encoding information, information transmission list, and information response list for each UAV;

[0009] S2. Assign tasks to each UAV based on the encoded information, and start each UAV to execute its respective task;

[0010] S3. During the execution of a task, if any UAV completes any node in its task or reaches a preset information transmission interval, the UAV determines its own status information and the data packets sent by other UAVs.

[0011] S4. Decode the received data packets from other drones according to the preset information transmission protocol to obtain the status information of each other drone.

[0012] S5. Maintain and update the information sending list and information response list according to the status information of the UAV itself and the status information of other UAVs received;

[0013] S6. Generate data messages based on the maintained information sending list and information response list and send them to other drones;

[0014] S7. Clear the information transmission interval to zero and return to step S3 until each drone completes its mission.

[0015] Optionally, the encoding information includes a drone number and a mission type number, wherein the drone number is a unique ID of the drone.

[0016] Optionally, the entries in the information sending list include: information ID, drone number, sending time, forwarding time, target number, target location, task type, task requirements, and whether the sending has been cancelled, with the default value being no; the entries in the information response list include: information ID and a list of drone numbers that have responded.

[0017] Optionally, generating data packets based on the maintained information sending list and information response list includes:

[0018] Retrieve the IDs of messages in the message sending list whose sending status is "no" and whether they have been cancelled.

[0019] Based on the information ID, generate the information to be sent by the corresponding drone number, sending time, target number, target location, task type, and task requirements, and add a sending identifier to the information to be sent.

[0020] Based on the information ID, generate the pending response information by including the corresponding drone number, sending time, target number, target location, task type, and the list number of drones that have responded, and add a response identifier to the pending response information;

[0021] Both the information to be sent and the information to be responded to are treated as information data, and the information data are arranged in ascending order according to the sending time to generate a sending queue;

[0022] Take n pieces of information data from the sending queue in sequence and concatenate them to generate a data message;

[0023] Where n satisfies the following conditions: the data volume of the data packet generated by splicing n data to be sent is less than or equal to the preset transmission load, and the data volume of the data packet generated by splicing n+1 data to be sent is greater than the preset transmission load.

[0024] Optionally, maintaining and updating the information sending list and the information response list based on the drone's own status information and the received status information of other drones includes:

[0025] Add the drone's own status information to the message sending list and message response list;

[0026] The status information of each other drone received is retrieved item by item from the information transmission list;

[0027] If none of the received status information items of other drones are retrieved, the sending time is extracted from them. If the sending time does not exceed the preset sending time limit, the received status information of other drones is added to the information sending list and the information response list.

[0028] If each item of the status information of other drones received is retrieved, the sending time is extracted from it. If the sending time does not exceed the preset sending time limit, the drone number is extracted from the status information of other drones received and added to the corresponding list of drone numbers that have responded in the information response list. If the sending time exceeds the preset sending time limit, the corresponding "cancel sending" status in the information sending list is changed to "yes".

[0029] If the list of responded drone numbers contains the drone numbers of all drones, then the corresponding "cancel send" status in the message sending list will be changed to "yes".

[0030] Optionally, the addition of status information to the information sending list and information response list includes:

[0031] Create a new message ID and add it to both the message sending list and the message response list.

[0032] Extract the UAV number, transmission time, target number, target location, mission type, and mission requirements from the status information and fill them into the information transmission list and the corresponding entry with the information ID;

[0033] The drone number is set as the number of the drone that has responded and entered into the information response list and the list of drone numbers that have responded corresponding to the information ID.

[0034] In a second aspect, the present invention provides a distributed communication transmission device for unmanned aerial vehicles (UAVs), the device comprising:

[0035] The initialization module is used to initialize the encoding information, information transmission list, and information response list of each UAV.

[0036] The task execution module is used to assign tasks to each UAV based on the encoded information and start each UAV to execute its respective task;

[0037] The data decoding module is used to determine the drone's own status information and the data packets sent by other drones when any drone completes any node in its task or reaches a preset information transmission interval during task execution.

[0038] The data decoding module is used to decode the data packets received from other drones according to a preset information transmission protocol, and to obtain the status information of other drones.

[0039] The maintenance and update module is used to maintain and update the information sending list and the information response list according to the status information of the UAV itself and the status information of other UAVs received.

[0040] The data transmission module is used to generate data messages based on the maintained information transmission list and information response list and send them to other drones;

[0041] The loop execution module is used to reset the information sending interval to zero and return to the data acquisition module until each drone completes its mission.

[0042] Thirdly, the present invention provides an electronic device, including a processor and a storage medium;

[0043] The storage medium is used to store instructions;

[0044] The processor is used to perform the steps of the above method according to the instructions.

[0045] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0046] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0047] This invention provides a method, apparatus, device, and medium for distributed communication transmission of unmanned aerial vehicles (UAVs). (1) A distributed self-organizing network of heterogeneous UAV clusters is constructed through self-organizing network equipment and self-organizing network protocol, realizing information sharing of heterogeneous UAV clusters; (2) A self-organizing communication protocol for data transmission radio in self-organizing network equipment is proposed, supporting the sending, forwarding, and response of information. Each UAV in the cluster has a communication relay function, improving the reliability of information transmission; (3) Based on the limited data payload of data transmission radio, a splicing and splitting method for data transmission is defined, which can realize the sending of more information in a limited channel and the splitting and transmission of complex information; (4) The information sending and response list maintained by the microcomputer system of self-organizing network radio can realize the automatic filtering of sent information, improving the efficiency of information transmission; (5) The proposed information encoding and self-organizing network communication protocol not only realize the transmission efficiency of transmitted data but also improve the security of data transmission. Attached Figure Description

[0048] Figure 1 This is a flowchart of a distributed communication transmission method for unmanned aerial vehicles provided in Embodiment 1 of the present invention;

[0049] Figure 2 This is a schematic diagram of the basic structure of a drone sending a single message provided in Embodiment 1 of the present invention. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0051] Example 1:

[0052] like Figure 1 As shown, the present invention provides a distributed communication transmission method for unmanned aerial vehicles (UAVs), comprising the following steps:

[0053] S1. Initialize the encoding information, information sending list, and information response list for each UAV.

[0054] The encoding information includes the UAV number and the mission type number. The UAV number is a unique ID for the UAV. For each UAV participating in the mission group, it can be simply encoded by serial number, such as naming the 26 UAVs participating in the mission as U0 to U25. Alternatively, a combined encoding method of UAV mission type and serial number can be used, such as naming the 10 reconnaissance UAVs participating in the mission as UR0 to UR9, and the 8 UAVs participating in the combat attack as UA0 to UA7, etc. The name of each UAV must be unique. To minimize information transmission, in this embodiment, the UAV number is a sequential number, consisting of 1 byte, which can represent up to 256 UAVs. The mission type number can be defined as one of five categories: target location, recognition, check, attack, and evaluation, respectively TL, TR, TC, TA, and TE.

[0055] The information sending list includes the following items: information ID, drone number, sending time, forwarding time, target number, target location, task type, task requirements, and whether the sending has been cancelled (the default is no). The information response list includes the following items: information ID and a list of drone numbers that have responded.

[0056] Regarding time and location, all participating drone swarms operate on a unified timing module, and their positioning accuracy meets mission requirements. Drone swarm operations typically last from tens of minutes to several hours, and the mission area is generally limited to a specific space. Time in a computer is essentially represented as a real number, while the target's location is generally represented by three-dimensional coordinates—latitude, longitude, and altitude—all real numbers. Therefore, during initialization, a reference time value can be provided to all participating drones, such as using a specific time of day as the time reference and the latitude and longitude of a certain area as the reference values ​​for the target's location. When transmitting information between drones, the time and positioning information must transmit the difference between the drone's own information and the reference information.

[0057] S2. Assign tasks to each UAV based on the encoded information, and start each UAV to execute its respective task.

[0058] S3. During the execution of a mission, if any UAV completes any node in its mission or reaches a preset information transmission interval, the UAV determines its own status information and the data packets sent by other UAVs.

[0059] S4. Decode the received data packets from other drones according to the preset information transmission protocol to obtain the status information of each other drone.

[0060] To improve the reliability and efficiency of information transmission, the self-organizing network communication protocol of the data radio used in this embodiment fully utilizes the transmission capacity of the data radio, concatenating multiple messages before sending them. Therefore, after receiving the information, the UAV must decode it and then decide on the next step based on the received information. The data transmission load of the data radio varies, generally ranging from tens to hundreds of bytes. Assuming its effective transmission data load is n bytes, the basic data transmission protocol described in this invention is as follows:

[0061] In drone swarm operations, the information transmitted by each drone mainly falls into two categories: first, transmitting information about its own mission or forwarding mission-related information from other drones; and second, forwarding drone responses to specific messages. The basic structure of a single message transmitted by a drone is as follows: Figure 2 As shown, this information consists of four parts: fixed-size information, optional fixed-size information, and two optional non-fixed-size information parts. The fixed-size information is 6 bytes long and includes the drone number, transmission time, and transmit / respondence identifier. The optional fixed-size information is 15 bytes long and consists of the target number, target location, and mission type. The two optional non-fixed-size information parts are the mission requirements and a list of responding drones. Generally, if the transmit / respondence identifier indicates that information has been transmitted, then this information consists of... Figure 2 The text is composed of three parts: ①, ②, and ③. Otherwise, it indicates the response status of the information. Figure 2 It consists of three parts: ①, ②, and ④.

[0062] The specific representation of each part of the encoding is as follows: the drone number consists of 1 byte, supporting a maximum of 256 drones; the transmission time consists of 4 bytes; the send / responder consists of 1 byte, with values ​​of 0 and 1 indicating the sending or receiving status, respectively; the target number is represented by 1 byte, meaning each drone supports a maximum of 256 targets; the target location consists of 12 bytes, with 4 bytes each representing the target's longitude, latitude, and altitude; and the task type consists of a predefined 2 bytes.

[0063] The mission requirements primarily describe further mission needs for the target, such as target reconnaissance, attack, and evaluation, as well as further details regarding these requirements, such as suggested drone types and capabilities for the next mission, and the target's threat level. Mission requirements can be simple or complex, and may be too long to be sent entirely within a single message, thus requiring splitting. The header of the mission requirements contains four bytes. The first and fourth bytes are "*", indicating the start and end of the segment. The second and third bytes represent the current message and the total number of segments, respectively. For example, if the current message is split into four segments, and the current transmission is the second segment, its header four bytes will be "*24*".

[0064] The length of the drone's response list also changes depending on the number of drones responding to the message. When the message is sent for the first time, the response list only contains the drone's ID. In extreme cases, assuming the number of drones in the group is k, if only one drone fails to respond, the message must be retransmitted. In this case, the length of the drone response list becomes k-1. When k is comparable to or even larger than the data transmission payload n, the amount of information transmitted will inevitably be very large. To further reduce the amount of information transmitted, the response information can be transmitted in two ways: when the number of responding drones is small, transmit the list of responding drones; otherwise, when more than half of the drones have responded, transmit the list of unresponding drones. Therefore, the first four bytes of the response drone list are consistent with the task requirements. The last byte is 0 when transmitting the list of responding drones, and otherwise, the list of unresponding drones is transmitted.

[0065] S5. Maintain and update the information transmission list and information response list based on the drone's own status information and the status information received from other drones; including:

[0066] Add the drone's own status information to the message sending list and message response list;

[0067] The status information of each other drone received is retrieved item by item from the information transmission list;

[0068] If none of the received status information items of other drones are retrieved, the sending time is extracted from them. If the sending time does not exceed the preset sending time limit, the received status information of other drones is added to the information sending list and the information response list.

[0069] If each item of the received status information of other drones is retrieved, the sending time is extracted. If the sending time does not exceed the preset sending time limit, the drone number is extracted from the received status information of other drones and added to the corresponding list of drone numbers that have responded in the information response list. If the sending time exceeds the preset sending time limit, the corresponding "cancel sending" status in the information sending list is changed to "yes". If the drone numbers of all drones exist in the list of drone numbers that have responded, the corresponding "cancel sending" status in the information sending list is changed to "yes".

[0070] The status information added to the message sending list and message response list includes:

[0071] Create a new message ID and add it to both the message sending list and the message response list.

[0072] Extract the UAV number, transmission time, target number, target location, mission type, and mission requirements from the status information and fill them into the information transmission list and the corresponding entry with the information ID;

[0073] Enter the drone number as the number of the drone that has responded into the information response list and match it with the list of drone numbers that have responded to the information ID.

[0074] S6. Generate data messages based on the maintained information sending list and information response list and send them to other drones;

[0075] The generated data message includes:

[0076] Retrieve the IDs of messages in the message sending list whose sending status is "no" and whether they have been cancelled.

[0077] Based on the information ID, generate the information to be sent by the corresponding drone number, sending time, target number, target location, task type, and task requirements, and add a sending identifier to the information to be sent.

[0078] Based on the information ID, generate the pending response information by including the corresponding drone number, sending time, target number, target location, task type, and the list number of drones that have responded, and add a response identifier to the pending response information;

[0079] Both the information to be sent and the information to be responded to are treated as information data, and the information data are arranged in ascending order according to the sending time to generate a sending queue;

[0080] Take n pieces of information data from the sending queue in sequence and concatenate them to generate a data message;

[0081] Where n satisfies the following conditions: the data volume of the data packet generated by splicing n data to be sent is less than or equal to the preset transmission load, and the data volume of the data packet generated by splicing n+1 data to be sent is greater than the preset transmission load.

[0082] S7. Clear the information transmission interval to zero and return to step S3 until each drone completes its mission.

[0083] Example 2:

[0084] This invention provides a distributed communication transmission device for unmanned aerial vehicles (UAVs), the device comprising:

[0085] The initialization module is used to initialize the encoding information, information transmission list, and information response list of each UAV.

[0086] The task execution module is used to assign tasks to each UAV based on the encoded information and start each UAV to execute its respective task;

[0087] The data decoding module is used to determine the drone's own status information and the data packets sent by other drones when any drone completes any node in its task or reaches a preset information transmission interval during the task execution process.

[0088] The data decoding module is used to decode the data packets received from other drones according to a preset information transmission protocol, and to obtain the status information of other drones.

[0089] The maintenance and update module is used to maintain and update the information sending list and information response list based on the drone's own status information and the status information received from other drones.

[0090] The data transmission module is used to generate data messages based on the maintained information transmission list and information response list and send them to other drones;

[0091] The loop execution module is used to reset the information sending interval to zero and return to the data acquisition module until each drone completes its mission.

[0092] Example 3:

[0093] Based on Embodiment 1, this embodiment of the invention provides an electronic device, including a processor and a storage medium;

[0094] Storage media are used to store instructions;

[0095] The processor is used to perform the steps of the above method according to instructions.

[0096] Example 4:

[0097] Based on Embodiment 1, this embodiment of the invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0098] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0100] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0102] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A distributed communication transmission method for unmanned aerial vehicles (UAVs), characterized in that, include: S1. Initialize the encoding information, information transmission list, and information response list for each UAV; The encoded information includes the drone number and the task type number, where the drone number is the drone's unique ID; the entries in the information sending list include: information ID, drone number, sending time, forwarding time, target number, target location, task type, task requirements, and whether the sending has been cancelled, with the default value being no; the entries in the information response list include: information ID and a list of drone numbers that have responded. S2. Assign tasks to each drone and start each drone to perform its respective task; S3. During the execution of a task, if any UAV completes any node in its task or reaches a preset information transmission interval, the UAV determines its own status information and the data packets sent by other UAVs. S4. Decode the received data packets from other drones according to the preset information transmission protocol to obtain the status information of each other drone. S5. Maintain and update the information sending list and information response list according to the status information of the UAV itself and the status information of other UAVs received; S6. Generate data packets based on the maintained information sending list and information response list, and send them to other UAVs; the generation of data packets based on the maintained information sending list and information response list includes: Retrieve the IDs of messages in the message sending list whose sending status is "no" and whether they have been cancelled. Based on the information ID, generate the information to be sent by the corresponding drone number, sending time, target number, target location, task type, and task requirements, and add a sending identifier to the information to be sent. Based on the information ID, generate the pending response information by including the corresponding drone number, sending time, target number, target location, task type, and the list number of drones that have responded, and add a response identifier to the pending response information; Both the information to be sent and the information to be responded to are treated as information data, and the information data are arranged in ascending order according to the sending time to generate a sending queue; Take n pieces of information data from the sending queue in sequence and concatenate them to generate a data message; Where n satisfies the following conditions: the data volume of the data packet generated by splicing n data to be sent is less than or equal to the preset transmission load, and the data volume of the data packet generated by splicing n+1 data to be sent is greater than the preset transmission load. S7. Clear the information transmission interval to zero and return to step S3 until each drone completes its mission.

2. The distributed communication transmission method for unmanned aerial vehicles according to claim 1, characterized in that, The step of maintaining and updating the information sending list and the information response list based on the drone's own status information and the status information received from other drones includes: Add the drone's own status information to the message sending list and message response list; The status information of each other drone received is retrieved item by item from the information transmission list; If none of the received status information items of other drones are retrieved, the sending time is extracted from them. If the sending time does not exceed the preset sending time limit, the received status information of other drones is added to the information sending list and the information response list. If each item of the status information of other drones received is retrieved, the sending time is extracted from it. If the sending time does not exceed the preset sending time limit, the drone number is extracted from the status information of other drones received and added to the corresponding list of drone numbers that have responded in the information response list. If the sending time exceeds the preset sending time limit, the corresponding "cancel sending" status in the information sending list is changed to "yes". If the list of responded drone numbers contains the drone numbers of all drones, then the corresponding "cancel send" status in the message sending list will be changed to "yes".

3. The distributed communication transmission method for unmanned aerial vehicles according to claim 2, characterized in that, The status information added to the information sending list and information response list includes: Create a new message ID and add it to both the message sending list and the message response list. Extract the UAV number, transmission time, target number, target location, mission type, and mission requirements from the status information and fill them into the information transmission list and the corresponding entry with the information ID; The drone number is set as the number of the drone that has responded and entered into the information response list and the list of drone numbers that have responded corresponding to the information ID.

4. A distributed communication transmission device for unmanned aerial vehicles (UAVs), characterized in that, The device includes: An initialization module is used to initialize the encoding information, information transmission list, and information response list for each UAV. The encoding information includes the UAV number and the task type number, where the UAV number is the unique ID of the UAV. The entries in the information transmission list include: information ID, UAV number, transmission time, forwarding time, target number, target location, task type, task requirements, and whether the transmission was canceled (the default value for the canceled transmission status is no). The entries in the information response list include: information ID and a list of UAV numbers that have responded. The task execution module is used to assign tasks to each drone and start each drone to execute its respective task; The data decoding module is used to determine the drone's own status information and the data packets sent by other drones when any drone completes any node in its task or reaches a preset information transmission interval during task execution. The data decoding module is used to decode the data packets received from other drones according to a preset information transmission protocol, and to obtain the status information of other drones. The maintenance and update module is used to maintain and update the information sending list and the information response list according to the status information of the UAV itself and the status information of other UAVs received. The data transmission module is used to generate data packets based on the maintained information transmission list and information response list and send them to other UAVs; the generation of data packets based on the maintained information transmission list and information response list includes: Retrieve the IDs of messages in the message sending list whose sending status is "no" and whether they have been cancelled. Based on the information ID, generate the information to be sent by the corresponding drone number, sending time, target number, target location, task type, and task requirements, and add a sending identifier to the information to be sent. Based on the information ID, generate the pending response information by including the corresponding drone number, sending time, target number, target location, task type, and the list number of drones that have responded, and add a response identifier to the pending response information; Both the information to be sent and the information to be responded to are treated as information data, and the information data are arranged in ascending order according to the sending time to generate a sending queue; Take n pieces of information data from the sending queue in sequence and concatenate them to generate a data message; Where n satisfies the following conditions: the data volume of the data packet generated by splicing n data to be sent is less than or equal to the preset transmission load, and the data volume of the data packet generated by splicing n+1 data to be sent is greater than the preset transmission load. The loop execution module is used to reset the information sending interval to zero and return to the data acquisition module until each drone completes its mission.

5. An electronic device, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-3.

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