A UAV communication system and communication method based on multi-network integration

Abstract

The present invention proposes a UAV communication system and communication method based on multi-network integration, which relates to the technical field of UAV communication of multi-network integration, obtains multiple UAV self-organizing networks, and establishes a long-distance UAV communication network; obtains a first transmission path and a transmission update path, and performs real-time data transmission, thereby obtaining first path transmission information and second path transmission information; calculates path transmission coefficients respectively, and performs transmission state determination according to the path transmission coefficients; obtains dynamic variables of the UAV self-organizing network, performs dynamic comparison, performs path change processing according to the dynamic comparison result, calculates the path transmission coefficient of the transmission change path, performs transmission change comparison, and thereby determines whether to change again. The present invention is based on a multi-UAV self-organizing network communication method that combines super nodes with satellite communication networks, and has significant advantages in solving the long-distance and high-reliability communication needs of UAVs.

Description

Technical Field

[0001] The present invention proposes a UAV communication system and a communication method based on multi-network integration, which relate to the field of UAV communication technology, and specifically to the field of UAV communication technology based on multi-network integration. Background Art

[0002] With the rapid development and widespread application of drone technology, UAV ad-hoc networks have gradually become a research hotspot in the field of drone communications. UAV ad-hoc networks use drones as network nodes and wireless communication technology to achieve autonomous networking, dynamic topology, multi-hop routing and other features, greatly expanding the communication range and application scenarios of drones. However, in complex and changing actual application environments, a single UAV ad-hoc network often cannot meet the needs of long-distance, high-reliability communications. Especially when performing large-scale, long-distance missions, the stability and efficiency of communications have become issues that need to be urgently addressed. Summary of the invention

[0003] The present invention provides a UAV communication system and communication method based on multi-network integration, which is used to solve the problem that a single UAV self-organizing network is often difficult to meet the long-distance and high-reliability communication requirements in a complex and changeable practical application environment, especially when performing large-scale and long-distance tasks, the communication stability and efficiency are low.

[0004] The present invention proposes a UAV communication system and a communication method based on multi-network integration, the method comprising:

[0005] S1. Acquire multiple drone self-organizing networks, each drone self-organizing network is connected to the satellite communication network through a super node to obtain a remote drone communication network;

[0006] S2. According to the internal and external positions of the transmission start node and the transmission end node in the UAV self-organizing network, the first transmission path and the transmission update path are obtained to perform real-time data transmission, thereby obtaining the first path transmission information and the second path transmission information;

[0007] S3, respectively calculating the path transmission coefficients of the first transmission path and the transmission update path, and determining the transmission states of the first transmission path and the transmission update path according to the path transmission coefficients to obtain a first transmission determination result and a second transmission determination result;

[0008] S4. Obtain the dynamic variables of the UAV self-organizing network, perform dynamic comparison, perform path change processing according to the dynamic comparison results, calculate the path transmission coefficient of the transmission change path, perform change transmission comparison, and then determine whether to make another change.

[0009] Furthermore, the S1 includes:

[0010] Obtain multiple drone clusters that need to communicate, each drone cluster is a drone self-organizing network;

[0011] Each drone in the drone self-organizing network is a drone node;

[0012] Acquire information of multiple relay nodes for transmitting data from multiple drone nodes, and acquire a relay node that performs the most data transmission tasks from the multiple relay node information as a super node;

[0013] The super node of each UAV self-organizing network is connected to the satellite communication network, and then each UAV self-organizing network is connected through the satellite communication network to obtain a long-range UAV communication network.

[0014] Further, the S2 includes:

[0015] Obtaining each data transmission task information, and determining the transmission starting node, transmission relay node and transmission final node according to the data transmission task information;

[0016] Generate a data transmission chain according to a transmission start node, a transmission relay node and a transmission end node;

[0017] When the transmission start node and the transmission end node are in a UAV self-organizing network, the data transmission link is a first transmission path, and data is transmitted in real time through the first transmission path to obtain the first path transmission information;

[0018] When the transmission start node and the transmission end node are not in the same UAV self-organizing network, the super node information in the UAV self-organizing network is obtained, the super node is used as one of the relay nodes of the data transmission chain, the data transmission chain is updated, and the transmission update path is obtained;

[0019] The data is transmitted in real time through the transmission update path to obtain the second path transmission information.

[0020] Further, the S3 includes:

[0021] Calculating a path transmission coefficient of a first transmission path by transmitting information along the first path to obtain a first transmission coefficient;

[0022] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a first transmission comparison result;

[0023] Performing transmission state determination on the first transmission path according to the first transmission comparison result to obtain a first transmission determination result;

[0024] Calculate the path transmission coefficient of the transmission update path by transmitting the information of the second path to obtain the second transmission coefficient;

[0025] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a second transmission comparison result;

[0026] A transmission state determination is performed on the transmission update path according to the second transmission comparison result to obtain a second transmission determination result.

[0027] Further, the S4 includes:

[0028] When the first transmission determination result or the second transmission determination result is transmission abnormality, a dynamic variable of each UAV self-organizing network is obtained, and the dynamic variable is compared with a preset dynamic threshold to obtain a dynamic comparison result;

[0029] According to the dynamic comparison result, the path change processing is started to obtain the transmission change path, and the data is transmitted in real time through the transmission change path to obtain the transmission information of the change path;

[0030] Calculate the path transmission coefficient of the transmission change path according to the change path transmission information to obtain the change transmission coefficient;

[0031] Compare the changed transmission coefficient with a preset transmission coefficient threshold to obtain a changed transmission comparison result;

[0032] It is determined whether to change the transmission path again according to the changed transmission comparison result, until the changed transmission coefficient is greater than the preset transmission coefficient threshold.

[0033] Furthermore, the system comprises:

[0034] A network integration building module is used to obtain multiple UAV self-organizing networks, each of which is connected to the satellite communication network through a super node to obtain a long-range UAV communication network;

[0035] The internal and external transmission information acquisition module is used to obtain the first transmission path and the transmission update path according to the internal and external positions of the transmission start node and the transmission end node in the UAV self-organizing network, perform real-time data transmission, and then obtain the first path transmission information and the second path transmission information;

[0036] An internal and external transmission determination module, used to calculate the path transmission coefficients of the first transmission path and the transmission update path respectively, perform transmission state determination on the first transmission path and the transmission update path according to the path transmission coefficients, and obtain a first transmission determination result and a second transmission determination result;

[0037] The dynamic path change module is used to obtain the dynamic variables of the UAV self-organizing network, perform dynamic comparison, perform path change processing according to the dynamic comparison results, calculate the path transmission coefficient of the transmission change path, perform change transmission comparison, and then determine whether to make another change.

[0038] Furthermore, the network comprehensive construction module includes:

[0039] The network self-organizing module is used to obtain multiple drone clusters that need to communicate, and each drone cluster is a drone self-organizing network;

[0040] Each drone in the drone self-organizing network is a drone node;

[0041] A super node setting module is used to obtain information of multiple relay nodes used for transmitting data from multiple drone nodes, and obtain the relay node that performs the most data transmission tasks from the multiple relay node information as a super node;

[0042] The network fusion module is used to connect the super node of each UAV self-organizing network with the satellite communication network, and then connect each UAV self-organizing network through the satellite communication network to obtain a long-range UAV communication network.

[0043] Furthermore, the internal and external transmission information acquisition module includes:

[0044] A data transmission chain establishment module is used to obtain each data transmission task information and determine the transmission start node, transmission relay node and transmission final node according to the data transmission task information;

[0045] Generate a data transmission chain according to a transmission start node, a transmission relay node and a transmission end node;

[0046] A first path information acquisition module is used for, when the transmission start node and the transmission end node are in a UAV self-organizing network, the data transmission link is the first transmission path, and real-time data transmission is performed through the first transmission path to obtain the first path transmission information;

[0047] An update path information acquisition module is used to obtain super node information in the UAV self-organizing network when the transmission start node and the transmission end node are not in the same UAV self-organizing network, and use the super node as one of the relay nodes of the data transmission chain to update the data transmission chain and obtain the transmission update path;

[0048] The data is transmitted in real time through the transmission update path to obtain the second path transmission information.

[0049] Furthermore, the internal and external transmission determination module includes:

[0050] A first transmission determination module, configured to calculate a path transmission coefficient of a first transmission path through first path transmission information to obtain a first transmission coefficient;

[0051] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a first transmission comparison result;

[0052] Performing transmission state determination on the first transmission path according to the first transmission comparison result to obtain a first transmission determination result;

[0053] A second transmission determination module, configured to calculate a path transmission coefficient of a transmission update path through second path transmission information to obtain a second transmission coefficient;

[0054] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a second transmission comparison result;

[0055] A transmission state determination is performed on the transmission update path according to the second transmission comparison result to obtain a second transmission determination result.

[0056] Furthermore, the dynamic path change module includes:

[0057] A dynamic comparison module, used for obtaining a dynamic variable of each UAV ad hoc network when the first transmission determination result or the second transmission determination result is a transmission abnormality, comparing the dynamic variable with a preset dynamic threshold value, and obtaining a dynamic comparison result;

[0058] The change information acquisition module is used to start the path change processing according to the dynamic comparison result, obtain the transmission change path, transmit data in real time through the transmission change path, and obtain the change path transmission information;

[0059] A change coefficient calculation module, used to calculate the path transmission coefficient of the transmission change path according to the change path transmission information, and obtain the change transmission coefficient;

[0060] Compare the changed transmission coefficient with a preset transmission coefficient threshold to obtain a changed transmission comparison result;

[0061] The re-change determination module is used to determine whether to change the transmission path again according to the change transmission comparison result, until the change transmission coefficient is greater than the preset transmission coefficient threshold.

[0062] Beneficial effects of the present invention: The multi-network fusion method combines the advantages of multiple communication networks and avoids the impact of a single network failure on communication. By connecting the super node to the satellite communication network, the construction of a remote UAV communication network is realized, and the reliability of communication is further improved. The system can select the optimal transmission path for data transmission by real-time calculation of the path transmission coefficient and the dynamic path adjustment mechanism, thereby improving the communication efficiency. At the same time, through the path transmission within the network and the path mechanism outside the group, the range scalability and flexibility of data transmission are ensured. This system can cope with the dynamic changes of the UAV self-organizing network, such as node movement, network congestion, etc. Through the dynamic path adjustment mechanism, the system can adjust the transmission path in real time to adapt to the changes in the network status and ensure smooth data transmission. The multi-network fusion method provides more options and possibilities for the UAV communication network. With the continuous development of communication technology, the system can easily integrate new communication networks and technologies to further improve communication performance and coverage. Through multi-network fusion and dynamic path adjustment mechanism, the system can more efficiently utilize communication resources and reduce communication costs. At the same time, because the system can cope with dynamic changes in the network, the communication interruption and reconnection costs caused by network failures are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of a UAV communication system and communication method based on multi-network integration;

[0064] Figure 2 This is a schematic diagram of a UAV communication system based on multi-network integration. DETAILED DESCRIPTION

[0065] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0066] In one embodiment of the present invention, a UAV communication system and a communication method based on multi-network integration are proposed by the present invention, and the method comprises:

[0067] S1. Acquire multiple drone self-organizing networks, each drone self-organizing network is connected to the satellite communication network through a super node to obtain a remote drone communication network;

[0068] S2. According to the internal and external positions of the transmission start node and the transmission end node in the UAV self-organizing network, the first transmission path and the transmission update path are obtained to perform real-time data transmission, thereby obtaining the first path transmission information and the second path transmission information;

[0069] S3, respectively calculating the path transmission coefficients of the first transmission path and the transmission update path, and determining the transmission states of the first transmission path and the transmission update path according to the path transmission coefficients to obtain a first transmission determination result and a second transmission determination result;

[0070] S4. Obtain the dynamic variables of the UAV self-organizing network, perform dynamic comparison, perform path change processing according to the dynamic comparison results, calculate the path transmission coefficient of the transmission change path, perform change transmission comparison, and then determine whether to make another change.

[0071] The working principle of the above technical solution is as follows: This method combines multiple drone self-organizing networks (such as Wi-Fi, Zigbee, etc.) with satellite communication networks through multi-network fusion technology to form a communication network with wide coverage and high reliability. Each drone self-organizing network transmits data through wireless communication technology, and the super node acts as a bridge to connect the drone self-organizing network with the satellite communication network to achieve remote communication. When data needs to be transmitted, the system first calculates two paths according to the positions of the transmission start node and the transmission end node in the drone self-organizing network: the first transmission path (inside the drone self-organizing network) and the transmission update path (outside the drone self-organizing network). These two paths are used to transmit data in real time, and generate the first path transmission information and the second path transmission information respectively. The system calculates the path transmission coefficients for these two paths, and the coefficients reflect the performance indicators of the path such as transmission efficiency and reliability. Based on these coefficients, the system determines the transmission status of the first transmission path and the transmission update path, and obtains the first transmission determination result and the second transmission determination result. The system continuously monitors the dynamic variables of the drone self-organizing network (such as node movement, network congestion, etc.) and makes dynamic comparisons. Once it is found that the network status change may cause the current transmission path to no longer be optimal, the system will change the path according to the dynamic comparison results. During the path change process, the system will recalculate the path transmission coefficient of the transmission change path and perform a change transmission comparison to determine whether it is necessary to change again to ensure the continuity and efficiency of data transmission. Through the above path selection and dynamic adjustment mechanism, the system can transmit data from the starting node to the final node in real time, while ensuring the reliability and efficiency of data transmission.

[0072] The technical effect of the above technical solution is: the multi-network fusion method combines the advantages of multiple communication networks and avoids the impact of a single network failure on communication. Through the connection of the super node and the satellite communication network, the construction of a remote UAV communication network is realized, and the reliability of communication is further improved. The system can select the optimal transmission path for data transmission by real-time calculation of the path transmission coefficient and the dynamic path adjustment mechanism, thereby improving the communication efficiency. At the same time, through the path transmission within the network and the path mechanism outside the group, the range scalability and flexibility of data transmission are ensured. This system can cope with the dynamic changes of the UAV self-organizing network, such as node movement, network congestion, etc. Through the dynamic path adjustment mechanism, the system can adjust the transmission path in real time to adapt to the changes in the network status and ensure smooth data transmission. The multi-network fusion method provides more options and possibilities for the UAV communication network. With the continuous development of communication technology, the system can easily integrate new communication networks and technologies to further improve communication performance and coverage. Through multi-network fusion and dynamic path adjustment mechanism, the system can use communication resources more efficiently and reduce communication costs. At the same time, because the system can cope with dynamic changes in the network, the communication interruption and reconnection costs caused by network failures are reduced.

[0073] In one embodiment of the present invention, the S1 includes:

[0074] Obtain multiple drone clusters that need to communicate, each drone cluster is a drone self-organizing network;

[0075] Each drone in the drone self-organizing network is a drone node;

[0076] Acquire information of multiple relay nodes for transmitting data from multiple drone nodes, and acquire a relay node that performs the most data transmission tasks from the multiple relay node information as a super node;

[0077] The super node of each UAV self-organizing network is connected to the satellite communication network, and then each UAV self-organizing network is connected through the satellite communication network to obtain a long-range UAV communication network.

[0078] The working principle of the above technical solution is as follows: the system identifies and obtains multiple drone clusters that need to communicate. Each drone cluster is interconnected through wireless communication technology to form an independent drone self-organizing network. These self-organizing networks can operate autonomously without fixed infrastructure to achieve information exchange and collaborative work between drones. In each drone self-organizing network, each drone is regarded as a drone node, which is not only responsible for its own task execution, but also participates in data transmission in the network. The system further identifies the nodes that can serve as relays among these drone nodes, that is, those drones that can forward data from other nodes. These relay nodes play an important role in the network, which can expand the coverage of the network and improve the reliability and efficiency of data transmission. The system collects and analyzes the information of multiple relay nodes in each drone self-organizing network, including the number of data transmission tasks involved, the success rate of data transmission, energy consumption and other indicators. Based on this information, the system selects the relay node that performs the most data transmission tasks as a super node. Super nodes have higher priority and more important responsibilities in drone self-organizing networks. They not only need to handle more data transmission tasks, but also need to connect to satellite communication networks to achieve remote communication. Once the supernode is elected, the system will connect the supernode of each drone self-organizing network to the satellite communication network. This connection can be direct (such as using a satellite communication module) or indirect (such as through other relay devices). Through the connection of the supernode to the satellite communication network, each drone self-organizing network can be connected to a wider communication network to achieve the construction of a long-range drone communication network. When all the supernodes of the drone self-organizing network are connected to the satellite communication network, these self-organizing networks can communicate with each other through the satellite communication network. In this way, the originally independent drone self-organizing networks are integrated into a unified long-range drone communication network. In this network, drones can share information, collaborate and conduct remote command operations across geographical restrictions.

[0079] The technical effect of the above technical solution is: by electing super nodes and connecting to the satellite communication network, the system can build an efficient and reliable long-range UAV communication network. As a key node in the network, the super node can optimize the data transmission path, reduce transmission delay and packet loss rate, thereby improving communication efficiency and reliability, and thus realizing flexible communication of remote UAVs. The system supports the access of multiple UAV clusters and ad hoc networks, and can flexibly expand the network scale. With the increase in the number of UAVs and the expansion of the distribution range, the system can maintain the stability and efficiency of the network by adding super nodes and satellite communication resources. The formation of a long-range UAV communication network enables UAVs to work collaboratively across geographical restrictions. UAVs can share information in real time, complete tasks collaboratively, support each other, etc., thereby improving the efficiency and success rate of task execution. By optimizing the data transmission path and reducing unnecessary transmission tasks, the system can reduce communication costs. The election of super nodes and the use of satellite communication networks enable communication resources to be more reasonably allocated and utilized, thereby improving resource utilization and reducing communication costs. The system has high flexibility and can adapt to communication requirements under different scenarios and needs. By adjusting parameters such as the super node election strategy and the allocation of satellite communication resources, the system can flexibly respond to various complex environments and emergencies to ensure the continuity and stability of communication.

[0080] In one embodiment of the present invention, S2 includes:

[0081] Obtaining each data transmission task information, and determining the transmission starting node, transmission relay node and transmission final node according to the data transmission task information;

[0082] Generate a data transmission chain according to a transmission start node, a transmission relay node and a transmission end node;

[0083] When the transmission start node and the transmission end node are in a UAV self-organizing network, the data transmission link is a first transmission path, and data is transmitted in real time through the first transmission path to obtain the first path transmission information;

[0084] When the transmission start node and the transmission end node are not in the same UAV self-organizing network, the super node information in the UAV self-organizing network is obtained, the super node is used as one of the relay nodes of the data transmission chain, the data transmission chain is updated, and the transmission update path is obtained;

[0085] The data is transmitted in real time through the transmission update path to obtain the second path transmission information.

[0086] The working principle of the above technical solution is as follows: the system first obtains the specific information of each data transmission task, including but not limited to the source, destination, size, priority, etc. of the data. Based on this information, the system can determine the transmission start node (i.e. the sender of the data), the transmission end node (i.e. the receiver of the data), and the possible transmission relay node (i.e. the drone node that helps forward the data). Once the transmission start node, transmission relay node, and transmission end node are determined, the system will generate one or more data transmission chains according to the location of these nodes and the network topology. The data transmission chain is an ordered sequence of nodes, indicating the path that the data passes from the start node to the end node. The system then determines whether the transmission start node and the transmission end node are located in the same drone self-organizing network. If so, the system selects the first transmission path within the network for real-time data transmission, and records the first path transmission information, including key indicators such as transmission time, transmission speed, and packet loss rate. If the transmission start node and the transmission end node are not in the same drone self-organizing network, the system needs to consider the problem of cross-network transmission. At this point, the system will query and obtain the information of the super nodes in the relevant drone self-organizing network, use the super nodes as one or more relay nodes in the data transmission chain, update the original data transmission chain, and form a transmission update path. Through this updated path, the system can ensure that data can be transmitted in real time across multiple self-organizing networks and record the transmission information of the second path. Whether through the first transmission path or the transmission update path, the system will transmit data in real time and record the corresponding transmission information.

[0087] The technical effect of the above technical solution is: by intelligently selecting the transmission path (including the first transmission path and the transmission update path), the system can ensure that the data is transmitted from the starting node to the final node at the fastest speed, thereby improving the efficiency of data transmission. When the transmission starting node and the transmission final node are not in the same UAV self-organizing network, the system introduces a super node as a relay node and uses the satellite communication network to achieve cross-network transmission, which greatly enhances the reliability of data transmission. Even if a UAV self-organizing network fails or is congested, the system can complete data transmission through other paths. When generating a data transmission chain, the system will comprehensively consider factors such as the location, load and energy state of each node to optimize the utilization of network resources. By reasonably allocating transmission tasks and relay nodes, the system can reduce unnecessary transmission delays and energy consumption. The system can adapt to UAV self-organizing networks of different sizes and structures and support a variety of data transmission scenarios and requirements. Whether it is a simple single-network transmission or a complex cross-network transmission, the system can ensure the smooth progress of data transmission through intelligent path selection and update mechanisms. The system will record detailed transmission information during the data transmission process. This information can be used to monitor network performance in real time and promptly discover and solve potential problems. At the same time, these data also provide important reference for subsequent network optimization and performance evaluation.

[0088] In one embodiment of the present invention, S3 includes:

[0089] Calculating a path transmission coefficient of a first transmission path by transmitting information along the first path to obtain a first transmission coefficient;

[0090] The calculation formula of the path transmission coefficient of the first transmission path is:

[0091]

[0092] in, is the path transmission coefficient of the first transmission path, The path usage frequency of the current data transmission task on the first transmission path, is the bandwidth of the first transmission path, is the data transmission distance from the transmission start node to the transmission end node of the first transmission path, is the number of relay nodes from the transmission start node to the transmission end node of the first transmission path, u is the total number of data transmission chains in the UAV ad hoc network, is the path usage frequency of the i-th data transmission link in the UAV ad hoc network, is the bandwidth of the i-th data transmission link in the UAV ad hoc network (the data transmission link is the transmission path), is the distance of the i-th data transmission link in the UAV ad hoc network, is the number of relay nodes of the ith data transmission chain in the UAV ad hoc network;

[0093] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a first transmission comparison result;

[0094] Performing transmission state determination on the first transmission path according to the first transmission comparison result to obtain a first transmission determination result;

[0095] When the path transmission coefficient is greater than a preset transmission coefficient threshold, the first transmission path is determined to be a qualified transmission path, otherwise it is determined to be an unqualified transmission path;

[0096] Calculate the path transmission coefficient of the transmission update path by transmitting the information of the second path to obtain the second transmission coefficient;

[0097] The calculation formula of the path transmission coefficient of the second transmission path is:

[0098]

[0099] in, is the path transmission coefficient of the second transmission path, The path usage frequency of the second transmission path for the current data transmission task, is the bandwidth of the second transmission path, is the data transmission distance from the transmission start node to the transmission end node of the second transmission path, is the number of relay nodes from the transmission start node to the transmission end node of the second transmission path, w is the total number of UAV ad hoc networks that the transmission update path passes through, is the sum of the path usage frequencies of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, is the sum of the bandwidths of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes (the data transmission link is the transmission path), is the sum of the distances of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, is the sum of the number of relay nodes of all data transmission chains of the a-th UAV ad hoc network through which the transmission update path passes;

[0100] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a second transmission comparison result;

[0101] When the path transmission coefficient is greater than a preset transmission coefficient threshold, the second transmission path is determined to be a qualified transmission path, otherwise it is an unqualified transmission path;

[0102] A transmission state determination is performed on the transmission update path according to the second transmission comparison result to obtain a second transmission determination result.

[0103] The working principle of the above technical solution is as follows: the system calculates the path transmission coefficient of the first transmission path according to the first path transmission information, that is, the first transmission coefficient. The system calculates the path transmission coefficient of the transmission update path according to the second path transmission information, that is, the second transmission coefficient. This coefficient is used to evaluate the performance of the cross-network transmission path. For both the first transmission path and the second transmission path, the system compares the calculated path transmission coefficient with the preset transmission coefficient threshold. This threshold is set by the system according to actual needs and network performance requirements, and is used to determine whether the path is qualified. If the path transmission coefficient is greater than the preset transmission coefficient threshold, the system determines that the path is a qualified transmission path and believes that it can meet the requirements of data transmission; conversely, if the path transmission coefficient is less than or equal to the preset transmission coefficient threshold, the system determines that the path is an unqualified transmission path, and it may be necessary to find other alternative paths or perform network optimization. According to the transmission status determination result, the system can make corresponding adjustments to the data transmission strategy. For example, if the first transmission path is determined to be qualified, the system can continue to use the path for data transmission; if the first transmission path is unqualified but the second transmission path is qualified, the system can switch to the second transmission path for data transmission; if both are unqualified, the system may need to start a troubleshooting program or seek other solutions.

[0104] The technical effect of the above technical solution is: by calculating the path transmission coefficient and determining the transmission status, the system can select a transmission path with better performance for data transmission, thereby improving the quality and efficiency of data transmission. The system can dynamically evaluate and adjust the transmission path according to changes in the network status, enhancing its adaptability to complex network environments. Even in poor network conditions, the system can ensure smooth data transmission by selecting other suitable paths. Through a reasonable path selection and determination mechanism, the system can avoid unnecessary waste of resources, such as reducing the amount of data transmission on paths with poor performance, thereby optimizing the overall resource utilization efficiency.

[0105] By real-time monitoring and evaluating the performance of the transmission path, the system can promptly identify and resolve potential problems and improve the reliability and stability of the system. Even if a path fails or performance degrades, the system can quickly switch to other paths to ensure the continuity of data transmission. The calculation of the path transmission coefficient and the determination of the transmission status provide important decision-making basis for the system. Based on this data, the system can make more intelligent and reasonable decisions, such as optimizing data transmission strategies, adjusting network configurations, etc., to further improve the overall performance of the system.

[0106] In one embodiment of the present invention, the S4 includes:

[0107] When the first transmission determination result or the second transmission determination result is a transmission abnormality, a dynamic variable of each drone self-organizing network is obtained, and the dynamic variable is compared with a preset dynamic threshold to obtain a dynamic comparison result; the dynamic variable includes the number of drones joining the drone self-organizing network and the number of drones leaving the drone self-organizing network, and the preset dynamic threshold is the number threshold of drones joining the drone self-organizing network and the number threshold of drones leaving the drone self-organizing network;

[0108] According to the dynamic comparison result, the path change processing is started to obtain the transmission change path, and the data is transmitted in real time through the transmission change path to obtain the transmission information of the change path;

[0109] When one of the dynamic variables is greater than the corresponding preset dynamic threshold, the path change process is started, otherwise the path change is not performed.

[0110] Calculate the path transmission coefficient of the transmission change path according to the change path transmission information to obtain the change transmission coefficient;

[0111] The path transmission coefficient of the transmission change path includes the path transmission coefficient of the first transmission change path and the path transmission coefficient of the transmission change path;

[0112] The path transmission coefficient of the first transmission change path is calculated by a calculation formula of the path transmission coefficient of the first transmission path, and is used to calculate the path transmission coefficient of the dynamic transmission change path in the UAV self-organizing network;

[0113] The path transmission coefficient of the transmission change path is used to calculate the path transmission coefficient of the dynamic transmission change path outside the UAV self-organizing network through the calculation formula of the path transmission coefficient of the second transmission path;

[0114] Compare the changed transmission coefficient with a preset transmission coefficient threshold to obtain a changed transmission comparison result;

[0115] It is determined whether to change the transmission path again according to the changed transmission comparison result, until the changed transmission coefficient is greater than the preset transmission coefficient threshold.

[0116] When the changed transmission coefficient is greater than the preset transmission coefficient threshold, no further change is performed, otherwise, another change is performed.

[0117] The working principle of the above technical solution is as follows: when the first transmission determination result or the second transmission determination result indicates a transmission anomaly, the system starts to monitor the dynamic variables of each drone ad hoc network. These dynamic variables include the number of drones joining and leaving the ad hoc network, reflecting the dynamic changes of the network. The system compares these dynamic variables with preset dynamic thresholds (such as the threshold of the number of drones joining and the threshold of the number of drones leaving) to evaluate the current stability and load of the network. If any dynamic variable exceeds its corresponding preset dynamic threshold, the system determines that the network has changed significantly, which may be one of the reasons for the transmission anomaly. Therefore, the system starts the path change process to find a transmission path that is more suitable for the current network conditions. The path change process may include reselecting the transmission start node, relay node or final node, or adjusting the routing strategy of the data transmission chain. Through these changes, the system generates a new transmission change path and transmits data in real time through the path. The system collects and records the transmission information of the change path, including transmission time, transmission speed, packet loss rate, etc., for calculating the path transmission coefficient (change transmission coefficient) of the change transmission path. The change transmission coefficient is compared with the preset transmission coefficient threshold to evaluate the performance of the change path. If the changed transmission coefficient is greater than the preset transmission coefficient threshold, it means that the performance of the changed path is good, and the system will not change the transmission path again. If the changed transmission coefficient is less than or equal to the preset transmission coefficient threshold, the system determines that there is still a problem with the changed path, and will start the transmission path change process again, repeating the above steps until a transmission path that meets the performance requirements is found.

[0118] The technical effect of the above technical solution is: by monitoring the dynamic variables of the UAV self-organizing network and performing path change processing according to its changes, the system can better adapt to the dynamic changes of the network environment and ensure the stability and reliability of data transmission. Path change processing can timely discover and solve the problems that cause transmission anomalies, and improve the efficiency of data transmission by selecting a transmission path that is more suitable for the current network conditions. Through intelligent path selection and change mechanisms, the system can avoid wasting resources on paths with poor performance and optimize the overall resource utilization efficiency. The continuous path evaluation and re-change process ensures that the system can continuously find and maintain the best transmission path, thereby enhancing the stability and reliability of the system. Based on the calculation and comparison of dynamic variables and path transmission coefficients, the system can make more intelligent and reasonable decisions, such as selecting the best transmission path, adjusting the network configuration, etc., to further improve the overall performance of the system.

[0119] In one embodiment of the present invention, the system comprises:

[0120] A network integration building module is used to obtain multiple UAV self-organizing networks, each of which is connected to the satellite communication network through a super node to obtain a long-range UAV communication network;

[0121] The internal and external transmission information acquisition module is used to obtain the first transmission path and the transmission update path according to the internal and external positions of the transmission start node and the transmission end node in the UAV self-organizing network, perform real-time data transmission, and then obtain the first path transmission information and the second path transmission information;

[0122] An internal and external transmission determination module, used to calculate the path transmission coefficients of the first transmission path and the transmission update path respectively, perform transmission state determination on the first transmission path and the transmission update path according to the path transmission coefficients, and obtain a first transmission determination result and a second transmission determination result;

[0123] The dynamic path change module is used to obtain the dynamic variables of the UAV self-organizing network, perform dynamic comparison, perform path change processing according to the dynamic comparison results, calculate the path transmission coefficient of the transmission change path, perform change transmission comparison, and then determine whether to make another change.

[0124] The working principle of the above technical solution is as follows: This method combines multiple drone self-organizing networks (such as Wi-Fi, Zigbee, etc.) with satellite communication networks through multi-network fusion technology to form a communication network with wide coverage and high reliability. Each drone self-organizing network transmits data through wireless communication technology, and the super node acts as a bridge to connect the drone self-organizing network with the satellite communication network to achieve remote communication. When data needs to be transmitted, the system first calculates two paths according to the positions of the transmission start node and the transmission end node in the drone self-organizing network: the first transmission path (inside the drone self-organizing network) and the transmission update path (outside the drone self-organizing network). These two paths are used to transmit data in real time, and generate the first path transmission information and the second path transmission information respectively. The system calculates the path transmission coefficients for these two paths, and the coefficients reflect the performance indicators of the path such as transmission efficiency and reliability. Based on these coefficients, the system determines the transmission status of the first transmission path and the transmission update path, and obtains the first transmission determination result and the second transmission determination result. The system continuously monitors the dynamic variables of the drone self-organizing network (such as node movement, network congestion, etc.) and makes dynamic comparisons. Once it is found that the network status change may cause the current transmission path to no longer be optimal, the system will change the path according to the dynamic comparison results. During the path change process, the system will recalculate the path transmission coefficient of the transmission change path and perform a change transmission comparison to determine whether it is necessary to change again to ensure the continuity and efficiency of data transmission. Through the above path selection and dynamic adjustment mechanism, the system can transmit data from the starting node to the final node in real time, while ensuring the reliability and efficiency of data transmission.

[0125] The technical effect of the above technical solution is: the multi-network fusion method combines the advantages of multiple communication networks and avoids the impact of a single network failure on communication. Through the connection of the super node and the satellite communication network, the construction of a remote UAV communication network is realized, and the reliability of communication is further improved. The system can select the optimal transmission path for data transmission by real-time calculation of the path transmission coefficient and the dynamic path adjustment mechanism, thereby improving the communication efficiency. At the same time, through the path transmission within the network and the path mechanism outside the group, the range scalability and flexibility of data transmission are ensured. This system can cope with the dynamic changes of the UAV self-organizing network, such as node movement, network congestion, etc. Through the dynamic path adjustment mechanism, the system can adjust the transmission path in real time to adapt to the changes in the network status and ensure smooth data transmission. The multi-network fusion method provides more options and possibilities for the UAV communication network. With the continuous development of communication technology, the system can easily integrate new communication networks and technologies to further improve communication performance and coverage. Through multi-network fusion and dynamic path adjustment mechanism, the system can use communication resources more efficiently and reduce communication costs. At the same time, because the system can cope with dynamic changes in the network, the communication interruption and reconnection costs caused by network failures are reduced.

[0126] In one embodiment of the present invention, the network comprehensive construction module includes:

[0127] The network self-organizing module is used to obtain multiple drone clusters that need to communicate, and each drone cluster is a drone self-organizing network;

[0128] Each drone in the drone self-organizing network is a drone node;

[0129] A super node setting module is used to obtain information of multiple relay nodes used for transmitting data from multiple drone nodes, and obtain the relay node that performs the most data transmission tasks from the multiple relay node information as a super node;

[0130] The network fusion module is used to connect the super node of each UAV self-organizing network with the satellite communication network, and then connect each UAV self-organizing network through the satellite communication network to obtain a long-range UAV communication network.

[0131] The working principle of the above technical solution is as follows: the system identifies and obtains multiple drone clusters that need to communicate. Each drone cluster is interconnected through wireless communication technology to form an independent drone self-organizing network. These self-organizing networks can operate autonomously without fixed infrastructure to achieve information exchange and collaborative work between drones. In each drone self-organizing network, each drone is regarded as a drone node, which is not only responsible for its own task execution, but also participates in data transmission in the network. The system further identifies the nodes that can serve as relays among these drone nodes, that is, those drones that can forward data from other nodes. These relay nodes play an important role in the network, which can expand the coverage of the network and improve the reliability and efficiency of data transmission. The system collects and analyzes the information of multiple relay nodes in each drone self-organizing network, including the number of data transmission tasks involved, the success rate of data transmission, energy consumption and other indicators. Based on this information, the system selects the relay node that performs the most data transmission tasks as a super node. Super nodes have higher priority and more important responsibilities in drone self-organizing networks. They not only need to handle more data transmission tasks, but also need to connect to satellite communication networks to achieve remote communication. Once the supernode is elected, the system will connect the supernode of each drone self-organizing network to the satellite communication network. This connection can be direct (such as using a satellite communication module) or indirect (such as through other relay devices). Through the connection of the supernode to the satellite communication network, each drone self-organizing network can be connected to a wider communication network to achieve the construction of a long-range drone communication network. When all the supernodes of the drone self-organizing network are connected to the satellite communication network, these self-organizing networks can communicate with each other through the satellite communication network. In this way, the originally independent drone self-organizing networks are integrated into a unified long-range drone communication network. In this network, drones can share information, collaborate and conduct remote command operations across geographical restrictions.

[0132] The technical effect of the above technical solution is: by electing super nodes and connecting to the satellite communication network, the system can build an efficient and reliable long-range UAV communication network. As a key node in the network, the super node can optimize the data transmission path, reduce transmission delay and packet loss rate, thereby improving communication efficiency and reliability, and thus realizing flexible communication of remote UAVs. The system supports the access of multiple UAV clusters and ad hoc networks, and can flexibly expand the network scale. With the increase in the number of UAVs and the expansion of the distribution range, the system can maintain the stability and efficiency of the network by adding super nodes and satellite communication resources. The formation of a long-range UAV communication network enables UAVs to work collaboratively across geographical restrictions. UAVs can share information in real time, complete tasks collaboratively, support each other, etc., thereby improving the efficiency and success rate of task execution. By optimizing the data transmission path and reducing unnecessary transmission tasks, the system can reduce communication costs. The election of super nodes and the use of satellite communication networks enable communication resources to be more reasonably allocated and utilized, thereby improving resource utilization and reducing communication costs. The system has high flexibility and can adapt to communication requirements under different scenarios and needs. By adjusting parameters such as the super node election strategy and the allocation of satellite communication resources, the system can flexibly respond to various complex environments and emergencies to ensure the continuity and stability of communication.

[0133] In one embodiment of the present invention, the internal and external transmission information acquisition module includes:

[0134] A data transmission chain establishment module is used to obtain each data transmission task information and determine the transmission start node, transmission relay node and transmission final node according to the data transmission task information;

[0135] Generate a data transmission chain according to a transmission start node, a transmission relay node and a transmission end node;

[0136] A first path information acquisition module is used for, when the transmission start node and the transmission end node are in a UAV self-organizing network, the data transmission link is the first transmission path, and real-time data transmission is performed through the first transmission path to obtain the first path transmission information;

[0137] An update path information acquisition module is used to obtain super node information in the UAV self-organizing network when the transmission start node and the transmission end node are not in the same UAV self-organizing network, and use the super node as one of the relay nodes of the data transmission chain to update the data transmission chain and obtain the transmission update path;

[0138] The data is transmitted in real time through the transmission update path to obtain the second path transmission information.

[0139] The working principle of the above technical solution is as follows: the system first obtains the specific information of each data transmission task, including but not limited to the source, destination, size, priority, etc. of the data. Based on this information, the system can determine the transmission start node (i.e. the sender of the data), the transmission end node (i.e. the receiver of the data), and the possible transmission relay node (i.e. the drone node that helps forward the data). Once the transmission start node, transmission relay node, and transmission end node are determined, the system will generate one or more data transmission chains according to the location of these nodes and the network topology. The data transmission chain is an ordered sequence of nodes, indicating the path that the data passes from the start node to the end node. The system then determines whether the transmission start node and the transmission end node are located in the same drone self-organizing network. If so, the system selects the first transmission path within the network for real-time data transmission, and records the first path transmission information, including key indicators such as transmission time, transmission speed, and packet loss rate. If the transmission start node and the transmission end node are not in the same drone self-organizing network, the system needs to consider the problem of cross-network transmission. At this point, the system will query and obtain the information of the super nodes in the relevant drone self-organizing network, use the super nodes as one or more relay nodes in the data transmission chain, update the original data transmission chain, and form a transmission update path. Through this updated path, the system can ensure that data can be transmitted in real time across multiple self-organizing networks and record the transmission information of the second path. Whether through the first transmission path or the transmission update path, the system will transmit data in real time and record the corresponding transmission information.

[0140] The technical effect of the above technical solution is: by intelligently selecting the transmission path (including the first transmission path and the transmission update path), the system can ensure that the data is transmitted from the starting node to the final node at the fastest speed, thereby improving the efficiency of data transmission. When the transmission starting node and the transmission final node are not in the same UAV self-organizing network, the system introduces a super node as a relay node and uses the satellite communication network to achieve cross-network transmission, which greatly enhances the reliability of data transmission. Even if a UAV self-organizing network fails or is congested, the system can complete data transmission through other paths. When generating a data transmission chain, the system will comprehensively consider factors such as the location, load and energy state of each node to optimize the utilization of network resources. By reasonably allocating transmission tasks and relay nodes, the system can reduce unnecessary transmission delays and energy consumption. The system can adapt to UAV self-organizing networks of different sizes and structures and support a variety of data transmission scenarios and requirements. Whether it is a simple single-network transmission or a complex cross-network transmission, the system can ensure the smooth progress of data transmission through intelligent path selection and update mechanisms. The system will record detailed transmission information during the data transmission process. This information can be used to monitor network performance in real time and promptly discover and solve potential problems. At the same time, these data also provide important reference for subsequent network optimization and performance evaluation.

[0141] In one embodiment of the present invention, the internal and external transmission determination module includes:

[0142] A first transmission determination module, configured to calculate a path transmission coefficient of a first transmission path through first path transmission information to obtain a first transmission coefficient;

[0143] The calculation formula of the path transmission coefficient of the first transmission path is:

[0144]

[0145] in, is the path transmission coefficient of the first transmission path, The path usage frequency of the current data transmission task on the first transmission path, is the bandwidth of the first transmission path, is the data transmission distance from the transmission start node to the transmission end node of the first transmission path, is the number of relay nodes from the transmission start node to the transmission end node of the first transmission path, u is the total number of data transmission chains in the UAV ad hoc network, is the path usage frequency of the i-th data transmission link in the UAV ad hoc network, is the bandwidth of the i-th data transmission link in the UAV ad hoc network (the data transmission link is the transmission path), is the distance of the i-th data transmission link in the UAV ad hoc network, is the number of relay nodes of the ith data transmission chain in the UAV ad hoc network;

[0146] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a first transmission comparison result;

[0147] Performing transmission state determination on the first transmission path according to the first transmission comparison result to obtain a first transmission determination result;

[0148] A second transmission determination module, configured to calculate a path transmission coefficient of a transmission update path through second path transmission information to obtain a second transmission coefficient;

[0149] The calculation formula of the path transmission coefficient of the second transmission path is:

[0150]

[0151] in, is the path transmission coefficient of the second transmission path, The path usage frequency of the second transmission path for the current data transmission task, is the bandwidth of the second transmission path, is the data transmission distance from the transmission start node to the transmission end node of the second transmission path, is the number of relay nodes from the transmission start node to the transmission end node of the second transmission path, w is the total number of UAV ad hoc networks that the transmission update path passes through, is the sum of the path usage frequencies of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, is the sum of the bandwidths of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes (the data transmission link is the transmission path), is the sum of the distances of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, is the sum of the number of relay nodes of all data transmission chains of the a-th UAV ad hoc network through which the transmission update path passes;

[0152] Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a second transmission comparison result;

[0153] A transmission state determination is performed on the transmission update path according to the second transmission comparison result to obtain a second transmission determination result.

[0154] The working principle of the above technical solution is as follows: the system calculates the path transmission coefficient of the first transmission path according to the first path transmission information, that is, the first transmission coefficient. The system calculates the path transmission coefficient of the transmission update path according to the second path transmission information, that is, the second transmission coefficient. This coefficient is used to evaluate the performance of the cross-network transmission path. For both the first transmission path and the second transmission path, the system compares the calculated path transmission coefficient with the preset transmission coefficient threshold. This threshold is set by the system according to actual needs and network performance requirements, and is used to determine whether the path is qualified. If the path transmission coefficient is greater than the preset transmission coefficient threshold, the system determines that the path is a qualified transmission path and believes that it can meet the requirements of data transmission; conversely, if the path transmission coefficient is less than or equal to the preset transmission coefficient threshold, the system determines that the path is an unqualified transmission path, and it may be necessary to find other alternative paths or perform network optimization. According to the transmission status determination result, the system can make corresponding adjustments to the data transmission strategy. For example, if the first transmission path is determined to be qualified, the system can continue to use the path for data transmission; if the first transmission path is unqualified but the second transmission path is qualified, the system can switch to the second transmission path for data transmission; if both are unqualified, the system may need to start a troubleshooting program or seek other solutions.

[0155] The technical effect of the above technical solution is: by calculating the path transmission coefficient and determining the transmission status, the system can select a transmission path with better performance for data transmission, thereby improving the quality and efficiency of data transmission. The system can dynamically evaluate and adjust the transmission path according to changes in the network status, enhancing its adaptability to complex network environments. Even in poor network conditions, the system can ensure smooth data transmission by selecting other suitable paths. Through a reasonable path selection and determination mechanism, the system can avoid unnecessary waste of resources, such as reducing the amount of data transmission on paths with poor performance, thereby optimizing the overall resource utilization efficiency.

[0156] By real-time monitoring and evaluating the performance of the transmission path, the system can promptly identify and resolve potential problems and improve the reliability and stability of the system. Even if a path fails or performance degrades, the system can quickly switch to other paths to ensure the continuity of data transmission. The calculation of the path transmission coefficient and the determination of the transmission status provide important decision-making basis for the system. Based on this data, the system can make more intelligent and reasonable decisions, such as optimizing data transmission strategies, adjusting network configurations, etc., to further improve the overall performance of the system.

[0157] In one embodiment of the present invention, the dynamic path change module includes:

[0158] A dynamic comparison module, used for obtaining a dynamic variable of each UAV ad hoc network when the first transmission determination result or the second transmission determination result is a transmission abnormality, comparing the dynamic variable with a preset dynamic threshold value, and obtaining a dynamic comparison result;

[0159] The change information acquisition module is used to start the path change processing according to the dynamic comparison result, obtain the transmission change path, transmit data in real time through the transmission change path, and obtain the change path transmission information;

[0160] A change coefficient calculation module, used to calculate the path transmission coefficient of the transmission change path according to the change path transmission information, and obtain the change transmission coefficient;

[0161] The path transmission coefficient of the transmission change path includes the path transmission coefficient of the first transmission change path and the path transmission coefficient of the transmission change path;

[0162] The path transmission coefficient of the first transmission change path is calculated by a calculation formula of the path transmission coefficient of the first transmission path, and is used to calculate the path transmission coefficient of the dynamic transmission change path in the UAV self-organizing network;

[0163] The path transmission coefficient of the transmission change path is used to calculate the path transmission coefficient of the dynamic transmission change path outside the UAV self-organizing network through the calculation formula of the path transmission coefficient of the second transmission path;

[0164] Compare the changed transmission coefficient with a preset transmission coefficient threshold to obtain a changed transmission comparison result;

[0165] The re-change determination module is used to determine whether to change the transmission path again according to the change transmission comparison result, until the change transmission coefficient is greater than the preset transmission coefficient threshold.

[0166] The working principle of the above technical solution is as follows: when the first transmission determination result or the second transmission determination result indicates a transmission anomaly, the system starts to monitor the dynamic variables of each drone ad hoc network. These dynamic variables include the number of drones joining and leaving the ad hoc network, reflecting the dynamic changes of the network. The system compares these dynamic variables with preset dynamic thresholds (such as the threshold of the number of drones joining and the threshold of the number of drones leaving) to evaluate the current stability and load of the network. If any dynamic variable exceeds its corresponding preset dynamic threshold, the system determines that the network has changed significantly, which may be one of the reasons for the transmission anomaly. Therefore, the system starts the path change process to find a transmission path that is more suitable for the current network conditions. The path change process may include reselecting the transmission start node, relay node or final node, or adjusting the routing strategy of the data transmission chain. Through these changes, the system generates a new transmission change path and transmits data in real time through the path. The system collects and records the transmission information of the change path, including transmission time, transmission speed, packet loss rate, etc., for calculating the path transmission coefficient (change transmission coefficient) of the change transmission path. The change transmission coefficient is compared with the preset transmission coefficient threshold to evaluate the performance of the change path. If the changed transmission coefficient is greater than the preset transmission coefficient threshold, it means that the performance of the changed path is good, and the system will not change the transmission path again. If the changed transmission coefficient is less than or equal to the preset transmission coefficient threshold, the system determines that there is still a problem with the changed path, and will start the transmission path change process again, repeating the above steps until a transmission path that meets the performance requirements is found.

[0167] The technical effect of the above technical solution is: by monitoring the dynamic variables of the UAV self-organizing network and performing path change processing according to its changes, the system can better adapt to the dynamic changes of the network environment and ensure the stability and reliability of data transmission. Path change processing can timely discover and solve the problems that cause transmission anomalies, and improve the efficiency of data transmission by selecting a transmission path that is more suitable for the current network conditions. Through intelligent path selection and change mechanisms, the system can avoid wasting resources on paths with poor performance and optimize the overall resource utilization efficiency. The continuous path evaluation and re-change process ensures that the system can continuously find and maintain the best transmission path, thereby enhancing the stability and reliability of the system. Based on the calculation and comparison of dynamic variables and path transmission coefficients, the system can make more intelligent and reasonable decisions, such as selecting the best transmission path, adjusting the network configuration, etc., to further improve the overall performance of the system.

[0168] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A UAV communication method based on multi-network integration, characterized in that: The method comprises: S1. Acquire multiple drone self-organizing networks, each drone self-organizing network is connected to the satellite communication network through a super node to obtain a remote drone communication network; Wherein, the S1 includes: Obtain multiple drone clusters that need to communicate, each drone cluster is a drone self-organizing network; Each drone in the drone self-organizing network is a drone node; Acquire information of multiple relay nodes for transmitting data from multiple drone nodes, and acquire a relay node that performs the most data transmission tasks from the multiple relay node information as a super node; Connect the super nodes of each UAV self-organizing network to the satellite communication network, and then connect each UAV self-organizing network through the satellite communication network to obtain a long-range UAV communication network; S2. According to the internal and external positions of the transmission start node and the transmission end node in the UAV self-organizing network, the first transmission path and the transmission update path are obtained to perform real-time data transmission, thereby obtaining the first path transmission information and the second path transmission information; Wherein, the S2 includes: Obtaining each data transmission task information, and determining the transmission starting node, transmission relay node and transmission final node according to the data transmission task information; Generate a data transmission chain according to a transmission start node, a transmission relay node and a transmission end node; When the transmission start node and the transmission end node are in a UAV self-organizing network, the data transmission link is a first transmission path, and data is transmitted in real time through the first transmission path to obtain the first path transmission information; When the transmission start node and the transmission end node are not in the same UAV self-organizing network, the super node information in the UAV self-organizing network is obtained, the super node is used as one of the relay nodes of the data transmission chain, the data transmission chain is updated, and the transmission update path is obtained; Real-time data transmission is performed through the transmission update path to obtain second path transmission information; S3, respectively calculating the path transmission coefficients of the first transmission path and the transmission update path, and determining the transmission states of the first transmission path and the transmission update path according to the path transmission coefficients to obtain a first transmission determination result and a second transmission determination result; Wherein, the S3 includes: Calculating a path transmission coefficient of a first transmission path by transmitting information along the first path to obtain a first transmission coefficient; The calculation formula of the path transmission coefficient of the first transmission path is: Among them, Y csx is the path transmission coefficient of the first transmission path, P d is the path usage frequency of the current data transmission task on the first transmission path, H d is the bandwidth of the first transmission path, L d is the data transmission distance from the transmission start node to the transmission end node of the first transmission path, Z g is the number of relay nodes from the transmission start node to the transmission end node of the first transmission path, u is the total number of data transmission chains in the UAV ad hoc network, (P z ) i is the path usage frequency of the i-th data transmission link in the UAV ad hoc network, (H p ) i is the bandwidth of the ith data transmission link in the UAV ad hoc network (the data transmission link is the transmission path), (L z ) i is the distance of the i-th data transmission link in the UAV ad hoc network, (Z z ) i is the number of relay nodes of the ith data transmission chain in the UAV ad hoc network; Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a first transmission comparison result; Performing transmission state determination on the first transmission path according to the first transmission comparison result to obtain a first transmission determination result; Calculate the path transmission coefficient of the transmission update path by transmitting the information of the second path to obtain the second transmission coefficient; The calculation formula of the path transmission coefficient of the second transmission path is: Among them, R csx is the path transmission coefficient of the second transmission path, P r is the path usage frequency of the current data transmission task on the second transmission path, H r is the bandwidth of the second transmission path, L r is the data transmission distance from the transmission start node to the transmission end node of the second transmission path, Z r is the number of relay nodes from the transmission start node to the transmission end node of the second transmission path, w is the total number of UAV ad hoc networks that the transmission update path passes through, (P z ) a is the sum of the path usage frequencies of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, (H p ) a is the sum of the bandwidths of all data transmission links of the a-th UAV ad hoc network that the transmission update path passes through (the data transmission link is the transmission path), (L z ) a is the sum of the distances of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, (Z z ) a is the sum of the number of relay nodes of all data transmission chains of the a-th UAV ad hoc network through which the transmission update path passes; Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a second transmission comparison result; Performing transmission state determination on the transmission update path according to the second transmission comparison result to obtain a second transmission determination result; S4, obtaining the dynamic variables of the UAV self-organizing network, performing dynamic comparison, performing path change processing according to the dynamic comparison results, calculating the path transmission coefficient of the transmission change path, performing change transmission comparison, and then determining whether to change again; Wherein, the S4 includes: When the first transmission determination result or the second transmission determination result is transmission abnormality, a dynamic variable of each UAV self-organizing network is obtained, and the dynamic variable is compared with a preset dynamic threshold to obtain a dynamic comparison result; According to the dynamic comparison result, the path change processing is started to obtain the transmission change path, and the data is transmitted in real time through the transmission change path to obtain the transmission information of the change path; Calculate the path transmission coefficient of the transmission change path according to the change path transmission information to obtain the change transmission coefficient; Compare the changed transmission coefficient with a preset transmission coefficient threshold to obtain a changed transmission comparison result; It is determined whether to change the transmission path again according to the changed transmission comparison result, until the changed transmission coefficient is greater than the preset transmission coefficient threshold.

2. A UAV communication system based on multi-network integration, characterized in that: The system comprises: A network integration building module is used to obtain multiple UAV self-organizing networks, each of which is connected to the satellite communication network through a super node to obtain a long-range UAV communication network; Wherein, the network comprehensive construction module includes: The network self-organizing module is used to obtain multiple drone clusters that need to communicate, and each drone cluster is a drone self-organizing network; Each drone in the drone self-organizing network is a drone node; A super node setting module is used to obtain information of multiple relay nodes used for transmitting data from multiple drone nodes, and obtain the relay node that performs the most data transmission tasks from the multiple relay node information as a super node; The network fusion module is used to connect the super node of each UAV self-organizing network with the satellite communication network, and then connect each UAV self-organizing network through the satellite communication network to obtain a long-range UAV communication network; The internal and external transmission information acquisition module is used to obtain the first transmission path and the transmission update path according to the internal and external positions of the transmission start node and the transmission end node in the UAV self-organizing network, perform real-time data transmission, and then obtain the first path transmission information and the second path transmission information; Wherein, the internal and external transmission information acquisition module includes: A data transmission chain establishment module is used to obtain each data transmission task information and determine the transmission start node, transmission relay node and transmission final node according to the data transmission task information; Generate a data transmission chain according to a transmission start node, a transmission relay node and a transmission end node; A first path information acquisition module is used for, when the transmission start node and the transmission end node are in a UAV self-organizing network, the data transmission link is the first transmission path, and real-time data transmission is performed through the first transmission path to obtain the first path transmission information; An update path information acquisition module is used to obtain super node information in the UAV self-organizing network when the transmission start node and the transmission end node are not in the same UAV self-organizing network, and use the super node as one of the relay nodes of the data transmission chain to update the data transmission chain and obtain the transmission update path; Real-time data transmission is performed through the transmission update path to obtain second path transmission information; An internal and external transmission determination module, used to calculate the path transmission coefficients of the first transmission path and the transmission update path respectively, perform transmission state determination on the first transmission path and the transmission update path according to the path transmission coefficients, and obtain a first transmission determination result and a second transmission determination result; Wherein, the internal and external transmission determination module includes: A first transmission determination module, configured to calculate a path transmission coefficient of a first transmission path through first path transmission information to obtain a first transmission coefficient; The calculation formula of the path transmission coefficient of the first transmission path is: Among them, Y csx is the path transmission coefficient of the first transmission path, P d is the path usage frequency of the current data transmission task on the first transmission path, H d is the bandwidth of the first transmission path, L d is the data transmission distance from the transmission start node to the transmission end node of the first transmission path, Z g is the number of relay nodes from the transmission start node to the transmission end node of the first transmission path, u is the total number of data transmission chains in the UAV ad hoc network, (P z ) i is the path usage frequency of the i-th data transmission link in the UAV ad hoc network, (H p ) i is the bandwidth of the ith data transmission link in the UAV ad hoc network (the data transmission link is the transmission path), (L z ) i is the distance of the i-th data transmission link in the UAV ad hoc network, (Z z ) i is the number of relay nodes of the ith data transmission chain in the UAV ad hoc network; Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a first transmission comparison result; Performing transmission state determination on the first transmission path according to the first transmission comparison result to obtain a first transmission determination result; A second transmission determination module, configured to calculate a path transmission coefficient of a transmission update path through second path transmission information to obtain a second transmission coefficient; The calculation formula of the path transmission coefficient of the second transmission path is: Among them, R csx is the path transmission coefficient of the second transmission path, P r is the path usage frequency of the current data transmission task on the second transmission path, H r is the bandwidth of the second transmission path, L r is the data transmission distance from the transmission start node to the transmission end node of the second transmission path, Z r is the number of relay nodes from the transmission start node to the transmission end node of the second transmission path, w is the total number of UAV ad hoc networks that the transmission update path passes through, (P z ) a is the sum of the path usage frequencies of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, (H p ) a is the sum of the bandwidths of all data transmission links of the a-th UAV ad hoc network that the transmission update path passes through (the data transmission link is the transmission path), (L z ) a is the sum of the distances of all data transmission links of the a-th UAV ad hoc network through which the transmission update path passes, (Z z ) a is the sum of the number of relay nodes of all data transmission chains of the a-th UAV ad hoc network through which the transmission update path passes; Comparing the path transmission coefficient with a preset transmission coefficient threshold to obtain a second transmission comparison result; Performing transmission state determination on the transmission update path according to the second transmission comparison result to obtain a second transmission determination result; The dynamic path change module is used to obtain the dynamic variables of the UAV self-organizing network, perform dynamic comparison, perform path change processing according to the dynamic comparison results, calculate the path transmission coefficient of the transmission change path, perform change transmission comparison, and then determine whether to change again; Wherein, the dynamic path change module includes: A dynamic comparison module, used for obtaining a dynamic variable of each UAV ad hoc network when the first transmission determination result or the second transmission determination result is a transmission abnormality, comparing the dynamic variable with a preset dynamic threshold value, and obtaining a dynamic comparison result; The change information acquisition module is used to start the path change processing according to the dynamic comparison result, obtain the transmission change path, transmit data in real time through the transmission change path, and obtain the change path transmission information; A change coefficient calculation module, used to calculate the path transmission coefficient of the transmission change path according to the change path transmission information, and obtain the change transmission coefficient; Compare the changed transmission coefficient with a preset transmission coefficient threshold to obtain a changed transmission comparison result; The re-change determination module is used to determine whether to change the transmission path again according to the change transmission comparison result, until the change transmission coefficient is greater than the preset transmission coefficient threshold.

Images