A method for unmanned aerial vehicle ad hoc network communication

Abstract

The application discloses a kind of unmanned aerial vehicle ad hoc network communication methods, comprising: unmanned aerial vehicle ad hoc network is powered on initialization;Ground station sends the broadcast information of organizing primary network in ground station broadcast time slot in L0 frequency point;Large unmanned aerial vehicle searches broadcast information in L0 frequency point, and sends the broadcast information of joining primary network, telemetry information and inter-machine coordination information in own broadcast time slot;Ground station sends the remote control information including the network instruction of organizing secondary network to large unmanned aerial vehicle joining primary network;Large unmanned aerial vehicle sends the broadcast information of organizing secondary network in own broadcast time slot according to the superframe structure of L frequency point and the corresponding cluster in-network node number of support in network instruction specified;Small unmanned aerial vehicle searches broadcast information in L1~L4 frequency point, and sends the broadcast information of joining secondary network, telemetry information and inter-machine coordination information in own broadcast time slot.The scheme can simplify unmanned aerial vehicle ad hoc network communication process, improve the real-time performance and efficiency of data transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle communication technology, in particular to a kind of unmanned aerial vehicle ad hoc network communication method. BACKGROUND

[0002] Unmanned aerial vehicle swarm is a cluster composed of different types of unmanned aerial vehicles with partial autonomous ability, which can realize real-time data communication, multi-aircraft formation, cooperative combat and other designated tasks. Unmanned aerial vehicle swarm usually uses flight ad hoc network to realize wireless communication. Flight ad hoc network is the basis and premise of cooperative adjustment of unmanned aerial vehicle swarm, which not only has inherent characteristics such as multi-hop, self-organization and no center, but also can adapt to the rapid change of network topology caused by high-speed mobile nodes.

[0003] Flight ad hoc network (FANET) can be composed of control center, sensing system, satellite communication system and unmanned aerial vehicle swarm. The control center can be an air or ground command center, which sends control messages to the unmanned aerial vehicle swarm; the sensing system is mainly responsible for collecting state information from the ground or unmanned aerial vehicle. The control center uses mobile Ad-hoc interconnection network to issue instructions to the unmanned aerial vehicle swarm, and the unmanned aerial vehicle swarm feeds back the working status and motion information to the control center through the sensing system after completing the corresponding task. In this process, the satellite communication system provides position data for the unmanned aerial vehicle group and the task target. In order to make the unmanned aerial vehicle cluster run autonomously to complete the designated task, it is necessary to ensure the reliability of the communication link.

[0004] The data transmitted between unmanned aerial vehicles includes unmanned aerial vehicle position, link state, cooperation information, remote control information, telemetry information and task load information, etc. Inter-aircraft communication, telemetry and remote control have lower bandwidth requirements for the link (generally 1-10 kbps), while task load information transmission involving images or high-definition pictures has higher bandwidth requirements for the link (generally 500 Kbps-2 Mbps). In addition, inter-aircraft communication, telemetry and remote control need to cover all unmanned aerial vehicles at any time, while task load information only needs to be transmitted in the task area.

[0005] In the prior art, the measurement and control communication link and the inter-aircraft communication link usually work at the same frequency point, and inter-aircraft communication, telemetry, remote control and task load information are transmitted in combination to form a single-hop communication network. The ground station communicates directly with each unmanned aerial vehicle without any relay, and the communication delay is short, but this way has limited communication distance and is difficult to meet the actual combat requirements.

[0006] Therefore, there is a need for an unmanned aerial vehicle ad hoc network communication method that can simplify the communication process of unmanned aerial vehicle swarm and simultaneously realize real-time remote transmission of remote control, telemetry, task load information and video service information. SUMMARY

[0007] In view of the above problems, the present scheme provides a UAV ad hoc network communication method, which manages network communication frequency bands and information transmission time slots at ground terminals and airborne terminals respectively, and transmits broadcast information, telemetry, remote control information and inter-aircraft coordination information in broadcast time slots and transmits video or image services in special service time slots according to time slot settings, so as to improve the real-time performance of different types of data transmission. The ground station, large UAV and small UAV can adaptively search for broadcast information at a pre-set L frequency point, realize flexible networking and inter-aircraft coordination, and improve the adaptability of UAV swarm communication.

[0008] The present scheme provides a UAV ad hoc network communication method, wherein the UAV ad hoc network comprises a ground station, a large UAV and a small UAV, and the method comprises:

[0009] powering on and initializing the UAV ad hoc network;

[0010] The ground station transmits broadcast information for forming a first-level network in a ground station broadcast time slot at an L0 frequency point.

[0011] The large UAV searches for broadcast information at the L0 frequency point and transmits broadcast information, telemetry information and inter-aircraft coordination information for joining the first-level network in a self broadcast time slot.

[0012] The ground station transmits remote control information to the large UAV for joining the first-level network, and the remote control information comprises a networking instruction for forming a second-level network; after receiving the networking instruction, the large UAV transmits broadcast information for forming the second-level network in the self broadcast time slot according to a superframe structure corresponding to an L frequency point specified in the networking instruction and a number of supported in-cluster nodes.

[0013] The small UAV searches for broadcast information at L1-L4 frequency points and transmits broadcast information, telemetry information and inter-aircraft coordination information for joining a second-level network with the large UAV or the ground station as a cluster head in a self broadcast time slot.

[0014] The L0-L4 frequency points are non-overlapping frequency division points from low to high in the L frequency band.

[0015] Optionally, in the above communication method, the ground terminal and each airborne terminal inject an algorithm matching file and a key into a password board through a key injection interface of the terminal; the ground terminal and each airborne terminal perform device self-checking and parameter configuration, and the parameter configuration comprises defining a node ID, a working frequency point of the node ID, a number of supported nodes of a cluster head ID, and whether the node ID has a specified target cluster head ID.

[0016] Optionally, in the above communication method, the ground station transmits broadcast information for forming a first-level network in a ground station broadcast time slot at an L0 frequency point according to a superframe structure corresponding to a number of supported nodes of the first-level network.

[0017] Optionally, in the above communication method, the large unmanned plane selects its broadcast time slot according to its node ID and pre-set time slot allocation priority; and sends broadcast information, telemetry information and inter-plane coordination information for joining the primary network in the broadcast time slot.

[0018] Optionally, in the above communication method, after receiving the broadcast information of the large unmanned plane, the ground station displays the node ID and network topology graph of the primary network on the ground terminal, and sends remote control information to the node ID of the large unmanned plane, wherein the remote control information includes network construction instruction for the secondary network, and the network construction instruction includes L frequency point designated in L1-L4 frequency points and the number of nodes supported in the cluster of the secondary network.

[0019] Optionally, in the above communication method, the small unmanned plane joins the secondary network with the ground station as the cluster head or the secondary network with the large unmanned plane as the cluster head according to the pre-set cluster head selection mode;

[0020] When the small unmanned plane joins the secondary network with the large unmanned plane as the cluster head, it sends broadcast information, telemetry information and inter-plane coordination information for joining the secondary network with the large unmanned plane as the cluster head in its broadcast time slot;

[0021] The large unmanned plane as the cluster head forwards the received telemetry information and node information of the small unmanned plane in the cluster to the ground station through its broadcast time slot in the primary network;

[0022] When the small unmanned plane joins the secondary network with the ground station as the cluster head, it sends broadcast information, telemetry information and inter-plane coordination information for joining the secondary network with the ground station as the cluster head in its broadcast time slot;

[0023] After receiving the broadcast information of the small unmanned plane for joining the secondary network, the ground station displays the node ID and network topology graph of the small unmanned plane on the ground terminal, and sends remote control information to the node ID of the small unmanned plane;

[0024] The node of the small unmanned plane receives the remote control information of the cluster head, and judges whether to execute the remote control information by analyzing the target ID of the remote control information.

[0025] Optionally, in the above communication method, when the service source node needs to initiate a video service, the ground station judges whether the service time slot in the superframe structure of the current primary network is allocable; if the service time slot is not allocable, the video service is rejected; if the service time slot is allocable, it is judged whether the service source node and the ground station are adjacent nodes;

[0026] If the service source node and the ground station are adjacent nodes, the ground station sends a video service instruction to the service source node through its broadcast time slot, wherein the video service instruction contains the service source node and the allocated service time slot number;

[0027] If the service source node is not an adjacent node with the ground station but a node in a cluster of large unmanned aerial vehicles, the ground station sends the video service instruction to the cluster head of the cluster where the service source node is located in the broadcast time slot of the ground station; the cluster head of the large unmanned aerial vehicles forwards the video service instruction to the nodes in the cluster in the broadcast time slot of the cluster head.

[0028] The service source node judges whether to execute the video service instruction by analyzing the service source ID in the video service instruction.

[0029] Optionally, in the above communication method, when the service source node executes the video service instruction, the service source node sends the reply information in the broadcast time slot of the service source node and sends the video service information to the cluster head in the secondary network service time slot; after receiving the reply information, the cluster head forwards the reply information to the ground station in the broadcast time slot of the cluster head and forwards the video service information to the ground station in the primary network service time slot.

[0030] Optionally, in the above communication method, when the service source node needs to end the video service, the ground station judges whether the service source node and the ground station are adjacent nodes; if the service source node and the ground station are adjacent nodes, the ground station sends the end video service instruction to the service source node in the broadcast time slot of the ground station.

[0031] If the service source node is a node in a cluster of large unmanned aerial vehicles, the ground station sends the end video service instruction to the cluster head of the cluster where the service source node is located in the broadcast time slot of the ground station, and the cluster head forwards the end video service instruction in the broadcast time slot of the cluster head.

[0032] When the service source node executes the end video service instruction, the service source node sends the reply information in the broadcast time slot of the service source node; after receiving the reply information, the cluster head forwards the reply information to the ground station in the broadcast time slot of the cluster head and releases the service time slot.

[0033] According to the scheme of the application, the data transmission efficiency of the unmanned aerial vehicle swarm can be improved by managing the network frequency points and time frame structures, sending the broadcast information, telemetry information, remote control information and inter-aircraft coordination information with small information quantity in the broadcast time slots of the nodes, and sending the video service with large information quantity in the pre-allocated service time slots. The communication process of the unmanned aerial vehicle communication system can be simplified by adaptively receiving and sending information in the pre-set or specified L working frequency points.

[0034] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments with reference made to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to limit the present application thereto. Like reference numerals are used to refer to like elements throughout the several views of the drawings. In the drawings:

[0036] Figure 1 A structural schematic diagram of a UAV ad hoc network according to an embodiment of the present application is shown.

[0037] Figure 2 A flowchart of a UAV ad hoc network communication method 200 according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0038] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. This present disclosure may, however, be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art.

[0039] A UAV ad hoc network is a self-organizing network system with dynamic network topology composed of UAV nodes and ground stations. Different UAVs can carry different sensors, and the system can realize real-time data communication between UAVs, multi-UAV formation, and cooperative adjustment to complete designated tasks.

[0040] To enable autonomous operation of a UAV swarm, a good autonomous network communication process needs to be designed. To improve the information transmission efficiency of a UAV swarm communication network, the present application provides a UAV ad hoc network communication method that can simplify the communication process of a UAV swarm and meet the collaborative communication requirements of a large-scale UAV cluster under high dynamic conditions.

[0041] Figure 1 A structural schematic diagram of a UAV ad hoc network according to an embodiment of the present application is shown. As shown in Figure 1 The UAV ad hoc network includes a ground station, a large UAV, and a small UAV, and the aerial nodes can communicate with the ground station through a single-hop network or a multi-hop network.

[0042] Each node uses L-band (1-2 GHz) for communication, which has the characteristics of high frequency and wide frequency band, and can be used for uploading and downloading data or specifically for uploading data.

[0043] The ground station can work at L0-L4 frequency points. For example, the ground station forms a primary network with large unmanned aerial vehicles through the L0 frequency point, and small unmanned aerial vehicles form a secondary network with the large unmanned aerial vehicles as cluster heads or a secondary network with the ground station as a cluster head through the L1-L4 frequency points. Adjacent large unmanned aerial vehicles and adjacent small unmanned aerial vehicles can also interact with each other. The L0-L4 frequency points are L frequency points from low to high.

[0044] The unmanned aerial vehicle swarm needs to transmit various types of information, including telemetry information transmitted by large unmanned aerial vehicles and small unmanned aerial vehicles to the ground station, remote control information transmitted by the ground station to the large unmanned aerial vehicles and the small unmanned aerial vehicles, shared information for coordination between the large unmanned aerial vehicles, shared information for coordination between the small unmanned aerial vehicles, broadcast information for networking by each node, video service information that needs to be transmitted in real time by the large unmanned aerial vehicles and the small unmanned aerial vehicles to the ground station, and the like.

[0045] In order to improve the real-time performance and anti-interference performance of information transmission, the present application provides an unmanned aerial vehicle ad hoc network communication method. Figure 2 A flowchart of an unmanned aerial vehicle ad hoc network communication method 200 according to an embodiment of the present application is shown. As shown in FIG. 2, the method 200 starts at step S210, and the unmanned aerial vehicle ad hoc network is powered on and initialized. Figure 2

[0046] The ground station is configured with a ground terminal, and the large unmanned aerial vehicles and the small unmanned aerial vehicles are configured with airborne terminals. The ground terminal and each airborne terminal can process network communication frequency points and information transmission time slots and the like to achieve tasks such as sharing of coordinated information between nodes, telemetry, and remote control.

[0047] When each of the ground terminal and each airborne terminal is powered on and works, the algorithm configuration file and the key injection can be injected into the password board connected to the password injector through the terminal key injection interface. The password board can realize the encryption and decryption functions of each service data to avoid data transmission being stolen by illegal equipment.

[0048] After the key verification is completed, the terminal and the antenna state are self-checked and parameter configured. The parameter configuration includes defining the node ID, the working frequency point of the node ID, the number of nodes supported by the cluster head ID, whether the node ID has a specified target cluster head ID, and the like.

[0049] Then, step S220 is performed, and the ground station sends the broadcast information for forming a primary network at the ground station broadcast time slot of the L0 frequency point.

[0050] Specifically, the ground station can send the broadcast information for forming a primary network at the ground station broadcast time slot of the L0 frequency point according to the superframe structure corresponding to the number of nodes supporting the primary network preset. Table 1 shows a default superframe structure of a primary network according to an embodiment of the present application:​

[0051]

[0052]

[0053] As shown in Table 1 above, each time frame is composed of 10 time slots, and 17 time frames form a super frame. The first time slot in each time frame is a broadcast time slot, and 17 broadcast time slots are respectively allocated to the ground station and other large unmanned aerial vehicle nodes for transmitting networking, remote control, telemetry and inter-aircraft coordination information.

[0054] Then, step S230 is performed, and the large unmanned aerial vehicle searches for the broadcast information at the L0 frequency point and transmits the broadcast information, telemetry information and inter-aircraft coordination information for joining the primary network at the broadcast time slot of itself.

[0055] After the large unmanned aerial vehicle is powered on, it first searches for the broadcast information of the ground station at the L0 frequency point. After the ground station broadcast information is demodulated, the broadcast time slot belonging to itself is selected according to the node ID of itself and the pre-defined time slot allocation priority, and the broadcast information, telemetry information and inter-aircraft coordination information of itself are transmitted at the time slot.

[0056] Then, step S240 is performed, and the ground station transmits remote control information to the large unmanned aerial vehicle for joining the primary network. The remote control information includes the networking instruction for establishing the secondary network.

[0057] Specifically, after the ground station receives the broadcast information of the large unmanned aerial vehicle for joining the primary network, the ground terminal displays the node ID for joining the primary network and the network topology diagram, and transmits the remote control information to the node ID of the large unmanned aerial vehicle.

[0058] After the large unmanned aerial vehicle joins the primary network, it waits for the remote control information transmitted by the ground station. The remote control information includes the networking instruction for establishing the secondary network, and the networking instruction contains the L frequency point specified in the L1-L4 frequency points and the number of nodes supported in the cluster of the secondary network.

[0059] Then, step S250 is performed, and after the large unmanned aerial vehicle receives the networking instruction, the broadcast information for establishing the secondary network is transmitted at the broadcast time slot of itself according to the super frame structure corresponding to the L frequency point and the number of nodes supported in the cluster specified in the networking instruction.

[0060] The large unmanned aerial vehicle transmits the broadcast information containing the instruction for establishing the secondary network at the broadcast time slot of itself according to the super frame structure corresponding to the number of nodes supported in the cluster at the L frequency point (L1-L4 frequency points) specified in the networking instruction. Table 2 shows the default super frame structure of the secondary network according to an embodiment of the present application:

[0061]

[0062] As shown in Table 2 above, each time frame is composed of 10 time slots, and 5 time frames constitute a super frame. The first time slot in each time frame is a broadcast time slot, and 5 broadcast time slots are respectively allocated to the ground station and other small unmanned aerial vehicle nodes for transmitting networking, remote control, telemetry and inter-aircraft coordination information.

[0063] Finally, step S260 is performed, the small unmanned aerial vehicle searches for broadcast information at L1-L4 frequency points, and sends broadcast information, telemetry information and inter-aircraft coordination information for joining the secondary network with the large unmanned aerial vehicle or the ground station as the cluster head in the broadcast time slot of itself.

[0064] After the small unmanned aerial vehicle is powered on and completes the initialization setting, the small unmanned aerial vehicle first searches for possible broadcast information at L1-L4 frequency points of the L frequency band, and joins a certain cluster according to a pre-set cluster head selection mode, for example, according to a signal strength priority or directly pre-specifies a target cluster head to join a certain cluster.

[0065] After the small unmanned aerial vehicle joins the secondary network with the large unmanned aerial vehicle as the cluster head, the small unmanned aerial vehicle sends broadcast information, telemetry information and inter-aircraft coordination information for joining the secondary network with the large unmanned aerial vehicle as the cluster head in the broadcast time slot of itself; the large unmanned aerial vehicle as the cluster head forwards the received telemetry information and intra-cluster node information of the small unmanned aerial vehicle in the cluster to the ground station through the broadcast time slot of itself in the primary network.

[0066] After the small unmanned aerial vehicle joins the secondary network with the ground station as the cluster head, the small unmanned aerial vehicle sends broadcast information, telemetry information and inter-aircraft coordination information for joining the secondary network with the ground station as the cluster head in the broadcast time slot of itself; after the ground station receives the broadcast information of the small unmanned aerial vehicle for joining the secondary network, the ground terminal displays the small unmanned aerial vehicle node ID and the network topology map, and sends remote control information to the small unmanned aerial vehicle node ID. The small unmanned aerial vehicle node receives the remote control information of the cluster head, and judges whether to execute the remote control information by analyzing the target ID of the remote control information.

[0067] Since two service time slots are required for each video service, when the service source node needs to initiate a video service, the ground station first judges whether the service time slot in the super frame structure of the current primary network is allocable; if the service time slot is not allocable, the video service is rejected, and if the service time slot is allocable, it is judged whether the service source node and the ground station are adjacent nodes.

[0068] If the service source node and the ground station are adjacent nodes, the ground station sends a video service instruction to the service source node through the broadcast time slot of itself, and if the service source node is an intra-cluster node of the large unmanned aerial vehicle, the ground station sends a video service instruction to the cluster head of the cluster where the service source node is located through the broadcast time slot of itself.

[0069] If the service source node is not an adjacent node of the ground station but a node in a cluster of large unmanned aerial vehicles, the ground station sends a video service instruction to a cluster head of a cluster to which the service source node belongs in a broadcast time slot of the ground station, and the cluster head forwards the video service instruction in a broadcast time slot of the cluster head;

[0070] The service source node judges whether to execute the video service instruction by analyzing the service source ID in the video service instruction.

[0071] When the service source node executes the video service instruction, the service source node sends reply information in a broadcast time slot of the service source node and sends video service information to the cluster head in a secondary network service time slot; after receiving the reply information, the cluster head forwards the reply information to the ground station in a broadcast time slot of the cluster head and forwards the video service information to the ground station in a primary network service time slot.

[0072] Similarly, when the service source node needs to end the video service, the ground station judges whether the service source node is an adjacent node of the ground station; if the service source node is an adjacent node of the ground station, the ground station sends an end video service instruction to the service source node in a broadcast time slot of the ground station.

[0073] If the service source node is a node in a cluster of large unmanned aerial vehicles, the ground station sends an end video service instruction to a cluster head of a cluster to which the service source node belongs in a broadcast time slot of the ground station, and the cluster head forwards the end video service instruction in a broadcast time slot of the cluster head; when the service source node executes the end video service instruction, the service source node sends reply information in a broadcast time slot of the service source node, and after receiving the reply information, the cluster head forwards the reply information to the ground station in a broadcast time slot of the cluster head and releases a service time slot.

[0074] By using the unmanned aerial vehicle ad hoc network communication method provided in the scheme, the unmanned aerial vehicle ad hoc network can achieve the following communication indexes:

[0075] The maximum number of nodes contained in the unmanned aerial vehicle swarm is 81 nodes (including 64 small unmanned aerial vehicles, 16 large unmanned aerial vehicles, and 1 ground station);

[0076] Network delay: ≤ 150 ms; anti-interference capability: ≥ 30 dB (narrowband interference) and ≥ 20 dB (wideband interference);

[0077] Communication distance: not less than 30 km between a ground node and a small unmanned aerial vehicle node and not less than 110 km between a ground node and a large unmanned aerial vehicle node; inter-aircraft communication distance is not less than 5 kilometers;

[0078] The frame length of the telemetry information of the small unmanned aerial vehicle and the large unmanned aerial vehicle is about 128 Bytes, and the frame frequency is about 20 Hz, so the telemetry information rate of a single unmanned aerial vehicle is about 128 x 8 x 20 = 20.48 kbps;

[0079] The remote control information frame length of the small unmanned aerial vehicle and the large unmanned aerial vehicle is about 64 Bytes, and the frame frequency is about 20Hz, so the remote control information rate of a single unmanned aerial vehicle is about 64*8*20=10.24kbps.

[0080] The inter-machine shared information frame length of the small unmanned aerial vehicle and the large unmanned aerial vehicle is about 32 Bytes, and the frame frequency is about 50Hz, so the inter-machine information rate of a single unmanned aerial vehicle is about 32*8*50=12.8kbps.

[0081] According to the unmanned aerial vehicle ad hoc network communication method provided by the application, the network frequency point and the time frame structure are managed, the broadcast information, the telemetry information, the remote control information and the inter-machine cooperative information with small information amount are sent in the broadcast time slot of each node, and the video service with large information amount is sent in the pre-allocated service time slot, so that the data transmission efficiency of the unmanned aerial vehicle swarm can be improved. The adaptive information receiving and sending are performed on the pre-set or specified L working frequency points, so that the communication process of the unmanned aerial vehicle communication system can be simplified.

[0082] In the description provided herein, a large number of specific details are illustrated. However, it can be understood that the embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

[0083] Similarly, it is to be understood that the various features of the disclosure sometimes are grouped together in a single embodiment, figure or description of the application for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various aspects of the application. It is not therefore intended that the method of the disclosure be construed as requiring all of the features described herein in all combinations. Rather, the various aspects of the application are meant to be accrued by whatever combination of features is described in any of the claims below. Therefore, the claims that follow this detailed description are hereby expressly incorporated into this detailed description, with each claim acting as a separate embodiment of the application.

[0084] Those skilled in the art will understand that the modules or units or components of the devices in the examples disclosed herein can be arranged in the devices as described in the examples, or alternatively can be located in one or more devices different from the devices in the examples. The modules in the foregoing examples can be combined into one module or can be further divided into multiple sub-modules.

[0085] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be split into multiple sub-modules or sub-units or sub-components. Any combination of all the features disclosed in the specification (including the accompanying claims, abstract and drawings), and any method or process or steps of an embodiment so disclosed, can be made unless it is explicitly stated otherwise. Each feature disclosed in the description (including the accompanying claims, abstract and drawings) can be replaced by alternative features serving the same, equivalent or similar purpose unless expressly stated otherwise.

[0086] Furthermore, those skilled in the art will appreciate that the features of the different embodiments can be combined in any combination with one another, as the scope of the present application is not limited by the features of the embodiments described herein. For example, in the following claims, any of the embodiments claimed can be used in any combination.

[0087] Furthermore, some of the embodiments described herein are of apparatuses and methods involving information transfer in which the apparatuses perform processes involving data being sent and received, wherein the data is in the form of signals and other physical phenomena. It is to be understood that the apparatuses can be configured to perform such processes by way of other physical phenomena such as mechanical, electrical, magnetic, optical, and the like.

[0088] As used herein, unless otherwise indicated, the use of the ordinal adjectives "first", "second", "third", etc., merely to distinguish different instances of an object to which the adjective refers, and are not intended to denote a given sequence or order of such objects. Thus, a "first" object stirred with a "second" object does not imply that the "first" object was stirred before the "second" object or that the "second" object was stirred before the "first" object, unless otherwise indicated.

[0089] While the application has been described in terms of several embodiments, those skilled in the art will appreciate that other embodiments can be practiced under the claims, with the scope of the application being limited by the claims. It is to be understood that the application is not limited to the details of the above-described embodiments, but can be practiced with modifications and alterations within the scope and spirit of the claims. It is to be understood that the application is not limited to the details of the above-described embodiments, but can be practiced with modifications and alterations within the scope and spirit of the claims.

Claims

1.A method of unmanned aerial vehicle ad hoc network communication, the unmanned aerial vehicle ad hoc network including a ground station, a large unmanned aerial vehicle, and a small unmanned aerial vehicle, the method comprising: The method comprises: powering on and initializing the unmanned aerial vehicle ad hoc network; a ground station transmits broadcast information of a first-level network in a ground station broadcast time slot of an L0 frequency point; a large unmanned aerial vehicle searches for the broadcast information in the L0 frequency point and transmits broadcast information of joining the first-level network, telemetry information and inter-aircraft coordination information in a self broadcast time slot; the ground station transmits remote control information to the large unmanned aerial vehicle joining the first-level network, the remote control information comprising network formation instructions of a second-level network; after receiving the network formation instructions, the large unmanned aerial vehicle transmits broadcast information of forming the second-level network in the self broadcast time slot according to a superframe structure corresponding to an L frequency point specified in the network formation instructions and a supported number of nodes in a cluster; a small unmanned aerial vehicle searches for the broadcast information in L1 to L4 frequency points and transmits broadcast information of joining the second-level network with the large unmanned aerial vehicle or the ground station as a cluster head, telemetry information and inter-aircraft coordination information in a self broadcast time slot. 2.The UAV ad hoc network communication method of claim 1, wherein, The L0 to L4 frequency points are frequency division points from low to high in the L frequency band without overlapping. 3.The UAV ad hoc network communication method of claim 1, wherein, The powering on and initializing the unmanned aerial vehicle ad hoc network comprises: the ground terminal and each airborne terminal are powered on, and an algorithm matching file and a key are injected into a cryptographic board through a key injection interface of the terminal; the ground terminal and each airborne terminal perform device self-checking and parameter configuration, the parameter configuration comprising defining a node ID, a working frequency point of the node ID, a number of nodes supported by a cluster head ID, and whether the node ID has a specified target cluster head ID. 4.The UAV ad hoc network communication method of claim 3, wherein, The ground station transmits the broadcast information of forming the first-level network in the ground station broadcast time slot of the L0 frequency point comprises: the ground station transmits the broadcast information of forming the first-level network in the ground station broadcast time slot of the L0 frequency point according to a superframe structure corresponding to a number of nodes supported by the first-level network. 5.The UAV ad hoc network communication method of claim 3, wherein, The large unmanned aerial vehicle searches for the broadcast information in the L0 frequency point and transmits the broadcast information of joining the first-level network, the telemetry information and the inter-aircraft coordination information in the self broadcast time slot comprises: the large unmanned aerial vehicle selects the self broadcast time slot according to a node ID of the large unmanned aerial vehicle and a pre-set time slot allocation priority; the large unmanned aerial vehicle transmits the broadcast information of joining the first-level network, the telemetry information and the inter-aircraft coordination information in the self broadcast time slot. 6.The UAV ad hoc network communication method of claim 5, wherein, The ground station transmits the remote control information to the large unmanned aerial vehicle joining the first-level network, the remote control information comprising the network formation instructions of the second-level network comprises: after receiving the broadcast information of the large unmanned aerial vehicle, the ground station displays a node ID and a network topology graph of joining the first-level network on the ground terminal and transmits the remote control information to the node ID of the large unmanned aerial vehicle, the remote control information comprising the network formation instructions of the second-level network, the network formation instructions comprising an L frequency point specified in the L1 to L4 frequency points and a number of nodes in a cluster supported by the second-level network. 7.The UAV ad hoc network communication method of claim 1, wherein, The small unmanned aerial vehicle searches for the broadcast information in the L1 to L4 frequency points and transmits the broadcast information of joining the second-level network with the large unmanned aerial vehicle or the ground station as the cluster head, the telemetry information and the inter-aircraft coordination information in the self broadcast time slot comprises: the small unmanned aerial vehicle joins the second-level subnetwork with the ground station as the cluster head or the second-level subnetwork with the large unmanned aerial vehicle as the cluster head according to a pre-set cluster head selection mode; When the small unmanned aerial vehicle joins the secondary network with the large unmanned aerial vehicle as the cluster head, the small unmanned aerial vehicle sends the broadcast information, telemetry information and inter-aircraft coordination information of the secondary network with the large unmanned aerial vehicle as the cluster head in the broadcast time slot of the small unmanned aerial vehicle; The large unmanned aerial vehicle as the cluster head forwards the received telemetry information and node information of the small unmanned aerial vehicle in the cluster to the ground station through the broadcast time slot of the large unmanned aerial vehicle in the primary network; When the small unmanned aerial vehicle joins the secondary network with the ground station as the cluster head, the small unmanned aerial vehicle sends the broadcast information, telemetry information and inter-aircraft coordination information of the secondary network with the ground station as the cluster head in the broadcast time slot of the small unmanned aerial vehicle; After the ground station receives the broadcast information of the small unmanned aerial vehicle joining the secondary network, the ground station displays the node ID and network topology of the small unmanned aerial vehicle on the ground terminal and sends remote control information to the node ID of the small unmanned aerial vehicle; The small unmanned aerial vehicle node receives the remote control information of the cluster head and judges whether to execute the remote control information by analyzing the target ID of the remote control information. 8.The UAV ad hoc network communication method of claim 1, wherein, The method comprises: When a service source node needs to initiate a video service, the ground station judges whether a service time slot in the superframe structure of the current primary network is allocable; If the service time slot is not allocable, the video service is rejected; if the service time slot is allocable, it is judged whether the service source node and the ground station are adjacent nodes; If the service source node and the ground station are adjacent nodes, the ground station sends a video service instruction to the service source node through the broadcast time slot of the ground station, wherein the video service instruction contains the service source node and the allocated service time slot number; If the service source node and the ground station are not adjacent nodes but are nodes in the cluster of the large unmanned aerial vehicle, the ground station sends a video service instruction to the cluster head of the cluster where the service source node is located through the broadcast time slot of the ground station; The cluster head forwards the video service instruction to the nodes in the cluster through the broadcast time slot of the cluster head; The service source node judges whether to execute the video service instruction by analyzing the service source ID in the video service instruction. 9.The UAV ad hoc network communication method of claim 8, wherein, The method comprises: When the service source node executes the video service instruction, the service source node sends reply information through the broadcast time slot of the service source node and sends video service information to the cluster head through the service time slot of the secondary network; After the cluster head receives the reply information, the cluster head forwards the reply information to the ground station through the broadcast time slot of the cluster head and forwards the video service information to the ground station through the service time slot of the primary network. 10.The UAV ad hoc network communication method of claim 8, wherein, The method comprises: When the service source node needs to end the video service, the ground station judges whether the service source node and the ground station are adjacent nodes; If the service source node and the ground station are adjacent nodes, the ground station sends an end video service instruction to the service source node through the broadcast time slot of the ground station; If the service source node is a node in the cluster of the large unmanned aerial vehicle, the ground station sends an end video service instruction to the cluster head of the cluster where the service source node is located through the broadcast time slot of the ground station, and the cluster head forwards the end video service instruction through the broadcast time slot of the cluster head; When the service source node executes the end video service instruction, the service source node sends reply information through the broadcast time slot of the service source node, and the cluster head forwards the reply information to the ground station through the broadcast time slot of the cluster head and releases the service time slot.

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