Long-term coverage adaptive network routing method and system for high-altitude platforms

Abstract

The invention relates to the technical field of unmanned aerial vehicle platforms, and discloses a long-term coverage adaptive network routing method and system for high-altitude platforms. The invention calculates and deploys multiple unmanned aerial vehicles to form a satellite relay network according to performance requirements and coverage areas, establishes a mesh network among the multiple unmanned aerial vehicles, and sends network signals to ground terminal equipment in a target coverage area through the mesh network. When the power of a unmanned aerial vehicle is insufficient, a reserve unmanned aerial vehicle is started to go near the unmanned aerial vehicle with insufficient power, and the signal power of the reserve unmanned aerial vehicle is enhanced and reduced until the number of connections is zero and the unmanned aerial vehicle returns to the original position for charging. At the same time, the reserve unmanned aerial vehicle flies to the original position. The replacement method ensures long-term stable coverage of the communication network of the high-altitude platform, avoids service interruption caused by insufficient power of the unmanned aerial vehicle and signal instability during the replacement process, and solves the problem in the prior art that direct replacement of the unmanned aerial vehicle will cause fluctuations in the communication signal and affect the quality of the satellite communication mission.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle platforms, and in particular to a long-term coverage adaptive network routing method and system for high-altitude platforms. Background Art

[0002] When using multiple drones to perform satellite communication tasks, multiple drones need to be in high-altitude flight for a long time. Multiple drones in high-altitude flight work together to achieve satellite communication functions for the target coverage area. Therefore, when a drone with low power appears, it is necessary to replace the drone with low power in time to ensure that the execution of satellite communication tasks meets the standards.

[0003] In the prior art, when replacing a low-power drone performing a satellite communication mission, the replacement method adopted is direct replacement, in which the new drone is connected to the communication network, and the low-power drone is directly disconnected from the communication network, and the new drone takes over the communication task of the low-power drone. This hands-off replacement process will cause fluctuations in the communication signal, affecting the quality of the satellite communication mission. Summary of the invention

[0004] The purpose of the present invention is to provide a long-term coverage adaptive network routing method and system for high-altitude platforms, aiming to solve the problem in the prior art that directly replacing drones will cause fluctuations in communication signals and affect the quality of satellite communication missions.

[0005] The present invention is implemented in this way. In a first aspect, the present invention provides a long-term coverage adaptive network routing method for a high-altitude platform, comprising:

[0006] Calculate the target performance requirements and target coverage area of ​​the satellite communication network to obtain the UAV deployment plan;

[0007] Deploy multiple drones according to the drone deployment plan, and control the multiple drones to establish communication links with communication satellites to obtain a satellite relay network;

[0008] Based on the satellite relay network, the plurality of drones are self-organized to obtain a mesh network among the plurality of drones;

[0009] Sending a network signal to a ground terminal device in the target coverage area through the mesh network between the multiple drones, so as to establish the satellite communication network that meets the target performance requirements in the target coverage area;

[0010] Performing real-time detection of the battery status of the plurality of drones, when a drone with insufficient battery is detected, starting a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient battery and to stand by, and controlling the standby standby drone to establish a communication link with a communication satellite and other drones to participate in the satellite relay network and the mesh network;

[0011] Control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increase the power of the prepared UAV to send the network signal, and control the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0;

[0012] The low-battery UAV is driven to return to the home for charging, and the standby UAV is driven to fly to the original position of the low-battery UAV.

[0013] In a second aspect, the present invention provides a long-term coverage adaptive network routing system for a high-altitude platform, which is used to implement a long-term coverage adaptive network routing method for a high-altitude platform as described in any one of the first aspects, including:

[0014] A method calculation module is used to calculate according to the target performance requirements and target coverage area of ​​the satellite communication network to obtain a UAV deployment plan;

[0015] A network connection module, used to deploy multiple drones according to the drone deployment plan, and control the multiple drones to establish communication links with communication satellites to obtain a satellite relay network;

[0016] A self-organizing network module, used for self-organizing the plurality of drones based on the satellite relay network to obtain a mesh network among the plurality of drones;

[0017] A signal sending module, used for sending network signals to ground terminal equipment in the target coverage area through the mesh network between the multiple drones, so as to establish the satellite communication network that meets the target performance requirements in the target coverage area;

[0018] The drone replacement module is used to perform real-time detection of the battery status of the plurality of drones, and when a drone with insufficient battery is detected, start a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient battery and stand by, and control the standby standby drone to establish a communication link with the communication satellite and the remaining drones to participate in the satellite relay network and the mesh network;

[0019] A signal alternation module is used to control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increase the power of the prepared UAV to send the network signal, and at the same time control the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0;

[0020] The position alternation module is used to drive the low-power UAV to return to charge, and drive the standby UAV to fly to the original position of the low-power UAV.

[0021] The present invention provides a long-term coverage adaptive network routing method for a high-altitude platform, which has the following beneficial effects:

[0022] The present invention calculates and deploys multiple drones to form a satellite relay network according to performance requirements and coverage areas, establishes a mesh network among the multiple drones, sends network signals to ground terminal equipment in the target coverage area through the mesh network, and when a drone is low on battery, starts a standby drone to go near the low-battery drone, enhances the signal power of the standby drone, and reduces the signal power of the low-battery drone until the number of connections is zero and then returns to charge. At the same time, the standby drone flies to the original position. This replacement method ensures long-term and stable coverage of the high-altitude platform communication network, avoids service interruption due to low battery of the drone and signal instability during the replacement process, and solves the problem in the prior art that directly replacing the drone will cause fluctuations in the communication signal and affect the quality of the satellite communication mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the steps of a long-term coverage adaptive network routing method for a high-altitude platform provided by an embodiment of the present invention;

[0024] Figure 2 It is a structural diagram of a long-term coverage adaptive network routing system for a high-altitude platform provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] The implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0027] Reference Figure 1 , Figure 2 As shown, a preferred embodiment of the present invention is provided.

[0028] In a first aspect, the present invention provides a long-term coverage adaptive network routing method for a high-altitude platform, comprising:

[0029] S1: Calculate the target performance requirements and target coverage area of ​​the satellite communication network to obtain the UAV deployment plan;

[0030] S2: deploying multiple drones according to the drone deployment plan, and controlling the multiple drones to establish communication links with communication satellites to obtain a satellite relay network;

[0031] S3: self-organizing the plurality of drones based on the satellite relay network to obtain a mesh network among the plurality of drones;

[0032] S4: sending a network signal to a ground terminal device in the target coverage area through the mesh network between the multiple drones, so as to establish the satellite communication network that meets the target performance requirements in the target coverage area;

[0033] S5: Real-time detection of the power status of the plurality of drones is performed, and when a drone with insufficient power is detected, a standby drone is started to fly to a position that maintains a safety threshold with the drone with insufficient power and stands by, and the standby standby drone is controlled to establish a communication link with the communication satellite and the remaining drones to participate in the satellite relay network and the mesh network;

[0034] S6: Control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increase the power of the prepared UAV to send the network signal, and control the UAV with insufficient power to continuously reduce the power of sending the network signal, until the number of ground terminal devices connected to the UAV with insufficient power is 0;

[0035] S7: driving the low-power UAV to return to charge, and driving the standby UAV to fly to the original position of the low-power UAV

[0036] Specifically, in step S1 of the embodiment provided by the present invention, the target performance requirements of the satellite communication network are first clarified, including determining the network bandwidth requirements in the target area, such as the number of users, transmission rate, etc.; defining the network's delay requirements, especially the importance of real-time communication or low-latency applications; determining the geographical area that needs to be covered, and evaluating the impact of the geographical features of the area (such as mountains, oceans, cities, etc.) on signal propagation; and determining the minimum signal strength threshold to ensure communication quality.

[0037] More specifically, determine the communication capability of the drone, which includes the drone's flight altitude and communication range and the link capability between the drone and the satellite. The drone's flight altitude and communication range are to determine its communication coverage based on the drone's flight altitude, and evaluate its signal strength and interference level at different altitudes. The link capability between the drone and the satellite is to determine the communication capability between the drone and the satellite, including signal power, frequency band, data rate, etc.

[0038] More specifically, based on the size and shape of the target area, the flight position and coverage range of each drone are preliminarily determined to ensure continuity of coverage and no blind spots. Based on the coverage radius of each drone and the area of ​​the target area, the number of drones that need to be deployed is calculated to ensure even coverage distribution.

[0039] More specifically, a communication path loss model (such as a free space loss model) is used to simulate the signal strength of each drone at different altitudes and positions, simulate the interference between drones, avoid the impact of signal overlap and interference on communication performance, and adjust the position and number of drones based on the simulation results to ensure that interference is reduced and signal quality is improved while meeting the coverage range.

[0040] More specifically, the location of drone deployment can be further optimized based on actual factors such as terrain features and meteorological conditions. Taking into account that drone communications may be interrupted due to insufficient power or failure, a redundant deployment plan can be designed based on the above to ensure network reliability and stability.

[0041] More specifically, the deployment plan is tested in a simulation environment to verify whether it meets the target performance requirements, and some drones are deployed in a real environment for communication testing to check the coverage, signal strength and network stability.

[0042] It is understandable that through scientific calculations and deployment plans, it is possible to ensure seamless network coverage in the target area and avoid signal blind spots. By accurately calculating the flight position and coverage radius of the drone, the coverage efficiency can be improved and the number of drone deployments can be reduced. Through simulation calculations of signal strength and path loss, it is possible to ensure that the signal quality in the target area meets expectations and meets communication requirements such as bandwidth and latency.

[0043] Specifically, in step S2 of the embodiment provided by the present invention, multiple drones are deployed to predetermined locations according to the optimized drone deployment plan, ensuring that each drone is deployed according to the designed flight altitude and position to achieve the expected coverage range.

[0044] More specifically, each drone is initialized and set up, including flight parameters, communication protocol configuration, sensor calibration, etc., and the link parameters between each drone and the communication satellite are configured, including frequency band selection, power setting, modulation and demodulation methods, etc.

[0045] More specifically, the communication link between each drone and the satellite is gradually started, and then a link test is performed to ensure that each drone can establish a stable connection with the satellite. After a stable communication link is established between the drone and the satellite, the parameters of the satellite relay network are configured, including link management, data routing strategy, and network protocol. By adjusting the parameters and communication strategy of the satellite link, the bandwidth and delay performance of the network are optimized.

[0046] More specifically, the link test includes link quality test and data transmission test, verifying the communication stability and signal strength between each drone and the satellite, and verifying the transmission capacity and stability of the satellite relay network.

[0047] More specifically, it can also include real-time monitoring and dynamic optimization, monitoring the real-time status of each drone and satellite link, including signal strength, link quality, data transmission rate, etc., and making dynamic adjustments based on real-time monitoring data to optimize link performance and ensure network stability and coverage.

[0048] It can be understood that through scientific deployment and configuration, it is ensured that each drone can establish a stable link with the communication satellite, realize a highly reliable satellite relay network, ensure that the satellite relay network can cover the target area, and achieve the required communication performance and coverage. By adjusting the link parameters and configuration, the bandwidth of the satellite relay network is improved and the delay is reduced to meet the target performance requirements. Link testing and dynamic adjustment ensure the link quality of the network and reduce packet loss and delay in data transmission.

[0049] Specifically, in step S3 of the embodiment provided by the present invention, the topology of the mesh network is designed according to the distribution and coverage requirements of the drones, including the connection method and data transmission path between nodes, and a suitable ad hoc network routing protocol is selected, such as AODV (On-Demand Distance Protocol), OLSR (Optimized Link State Routing Protocol), etc., to support data routing and node management in dynamic networks.

[0050] More specifically, a unique network address (e.g., IP address) is assigned to each drone to ensure effective identification and communication in the ad hoc network. The drones are configured to perform node discovery to automatically identify and connect to adjacent drone nodes. The drones will detect and establish connections with each other through wireless communication. A wireless link is established between each drone to ensure that they can communicate with each other and form a network. Link parameters (e.g., power, frequency) are adjusted to optimize signal strength and communication quality.

[0051] More specifically, the link quality is monitored in real time, connection stability, signal strength, latency and other indicators are checked, link optimization is performed as needed, communication parameters are adjusted to improve network performance, routing tables in the network are dynamically updated using the selected routing protocol to ensure that data packets can be transmitted from the source node to the target node via the optimal path, data transmission tests are performed to ensure that data can be transmitted smoothly between drones, and the effectiveness and reliability of the network are verified.

[0052] More specifically, a network monitoring system is implemented to track the network status in real time, including the online status of nodes, link quality, data traffic, etc., to handle fault conditions in the network, such as node failure, link interruption, etc., to ensure the continuous and stable operation of the network, and to adjust network parameters to optimize performance according to the actual operation of the network, such as reconfiguring routing protocols, adjusting communication frequencies, etc.

[0053] It can be understood that by means of self-organizing networks, a mesh network with redundant links is established to improve the reliability and fault tolerance of the network. The network can dynamically adapt to the movement and changes of drones, automatically adjust routes and links to maintain stable communications, optimize data transmission paths through dynamic routing protocols, improve data transmission efficiency, reduce latency, and achieve load balancing through the multi-path transmission characteristics of self-organizing networks, disperse network burdens, and improve overall network performance.

[0054] It should be noted that drones are used to relay satellite signals, allowing ground terminal equipment to be connected to the satellite communication link through the drone's relay. When multiple drones are self-organizing, there will be two situations for signal relay. For example, for the self-organizing network of drone A and drone B, the ground terminal connected to drone A can be connected to the satellite link through drone A or through drone B. This is the use of the jump and diversion of the self-organizing network between drones AB.

[0055] Specifically, in step S4 of the embodiment provided by the present invention, the network performance requirements of the target coverage area are determined, including bandwidth, delay, reliability, etc., and the ground terminal equipment in the target area is identified, including its location and network requirements.

[0056] More specifically, based on the topological structure of the mesh network and the location of the ground terminal equipment, the optimal data transmission path from the UAV to the ground terminal is planned, and the links between the UAVs are configured to ensure that the data can be smoothly transmitted to the ground terminal in the target area.

[0057] More specifically, the network signal is broadcast to the ground terminal devices in the target area through the drone network. The broadcast frequency and signal strength are configured according to the network requirements, and the drone forwards the data packet from the network to the ground terminal device. The routing protocol of the ad hoc network is used to ensure the effective transmission of the data packet, ensure that the ground terminal device can successfully connect to the network, perform link quality checks, and verify the coverage and strength of the signal.

[0058] More specifically, network performance tests are performed on ground terminal equipment, including speed, latency, and stability, to ensure that target performance requirements are met. The connection status and network performance of ground terminal equipment are monitored in real time to promptly identify and resolve any potential problems. Adjustments are made based on monitoring data to optimize signal strength and link configuration to ensure that network performance meets requirements. Any fault conditions in the network, such as signal loss or connection interruption, are handled to ensure the continued stable operation of the network.

[0059] It is understandable that through scientific deployment and optimization, it is ensured that the established satellite communication network can meet the performance requirements such as bandwidth, latency and reliability in the target area, and that the ground terminal devices in the target coverage area can obtain stable network signals and high-quality communication services. Through reasonable signal broadcasting and link configuration, the coverage and strength of the network signal can be improved to ensure good connection of the ground terminal devices.

[0060] Specifically, in step S5 of the embodiment provided by the present invention, a power monitoring system is installed on the drone to track the battery power of each drone in real time, configure a power threshold, and set a replacement mechanism to be triggered when the power is lower than the threshold.

[0061] More specifically, after the replacement mechanism is triggered, the flight path of the standby drone is configured to ensure that it can quickly reach the vicinity of the low-battery drone. When the low-battery drone is detected, the standby drone is automatically started and directed to fly to the vicinity of the low-battery drone. A safe distance is set between the standby drone and the low-battery drone to ensure that the standby drone does not get too close to the low-battery drone and cause an accident.

[0062] More specifically, monitor and adjust the flight path of the reserve drone to ensure it is on standby at the preset position, configure the reserve drone to establish a communication link with the communication satellite to ensure it can maintain connection with the satellite relay network, and configure the reserve drone to establish a mesh network link with the remaining drones to ensure it can be integrated into the existing drone network.

[0063] More specifically, the communication links of the reserve drones will be integrated into the satellite relay network and mesh network to ensure that they can effectively participate in network communications, and the communication stability and network performance of the reserve drones will be verified to ensure that they can seamlessly access and function.

[0064] It is understandable that the reliability of the drone network is improved through real-time detection and automatic replacement mechanisms, ensuring that the network is not interrupted when the drone is low on battery. The immediate intervention of the reserve drone enhances the stability and coverage of the network and ensures that the network performance will not be affected by the low battery of individual drones.

[0065] Specifically, in step S6 of the embodiment provided by the present invention, the initial transmission power of the prepared UAV is set, and a gradually enhanced strategy is formulated to cover the ground terminal equipment in the target area. According to the signal reception situation of the ground terminal equipment in the target area, the transmission power of the prepared UAV is increased in real time to ensure that the signal coverage and quality are gradually improved.

[0066] More specifically, the transmission power of the low-battery drone is gradually reduced to reduce energy consumption. The power reduction rate and target value are set to monitor the number of ground terminal devices connected to the low-battery drone in real time. According to the change in the number of connections, the power reduction rate is adjusted, and the signal coverage effect of the standby drone in the target area is continuously monitored to ensure that the signal enhancement can meet the connection requirements of the ground terminal devices. When the number of ground terminal devices connected to the low-battery drone drops to 0, it is confirmed that its signal is completely covered by the standby drone.

[0067] More specifically, ensure that all ground terminal devices originally connected to the low-battery drone have successfully switched to the network signal of the standby drone, adjust the signal transmission power of the standby drone and the power setting of the low-battery drone, and optimize network performance and resource usage.

[0068] It can be understood that by enhancing the signal power of the reserve UAV, it is ensured that the network coverage of the target area is not affected by the exhaustion of the power of the low-power UAV, a smooth transition from the low-power UAV to the reserve UAV is achieved, and the network connection of the ground terminal equipment is maintained.

[0069] Specifically, in step S7 of the embodiment provided by the present invention, the power status of the low-power drone continues to be monitored to ensure that after the network switching is completed, the return charging instruction is triggered, and the optimal return path is planned according to the current location of the drone and the location of the charging station or base to avoid obstacles and interference. The return instruction is sent to control the low-power drone to automatically return along the predetermined route to ensure safe return to the charging location.

[0070] More specifically, based on the original location of the low-battery drone, the flight path of the reserve drone is planned to ensure that it arrives at the location smoothly. After the low-battery drone returns, the flight mission of the reserve drone is started and it flies along the set route to the original location of the low-battery drone. When the reserve drone flies to the original location of the low-battery drone, it is ensured that it continues to provide stable network signal coverage to meet the communication needs of ground terminal equipment in the target area. The signal coverage and network stability of the reserve drone at the new location are monitored to ensure that it can completely replace the communication function of the original drone.

[0071] More specifically, when a low-battery drone arrives at a charging station, the automatic charging program is started to ensure that the drone is ready to perform the mission again after being fully charged. The drone's charging status is continuously monitored to ensure that the charging process proceeds smoothly. After charging is completed, the system is notified to prepare to re-dispatch the drone, confirm that the reserve drone has stably taken over the task of the low-battery drone, optimize the drone's queue scheduling, and ensure that there are always enough reserve drones in the system for dispatch.

[0072] It is understandable that by timely launching the reserve drone to fill the position, network interruption caused by the return of the drone with insufficient power can be avoided, and the continuity of the communication mission can be ensured. Through the return and replacement mechanism, the flexible scheduling of drone tasks can be realized, and the task execution efficiency of the entire drone fleet can be improved. The drone return charging mechanism ensures that the drone with insufficient power is charged in time, extending the service life of the drone and ensuring that it is on standby at all times. By reasonably scheduling the reserve drones, the drone's mission load can be shared, the excessive use of individual drones can be avoided, and the overall reliability of the system can be improved.

[0073] The present invention provides a long-term coverage adaptive network routing method for a high-altitude platform, which has the following beneficial effects:

[0074] The present invention calculates and deploys multiple drones to form a satellite relay network according to performance requirements and coverage areas, establishes a mesh network among the multiple drones, sends network signals to ground terminal equipment in the target coverage area through the mesh network, and when a drone is low on battery, starts a standby drone to go near the low-battery drone, enhances the signal power of the standby drone, reduces the signal power of the low-battery drone until the number of connections is zero, drives the low-battery drone to return for charging, and at the same time, the standby drone flies to its original position. This replacement method ensures long-term and stable coverage of the high-altitude platform communication network, avoids service interruption due to low battery of the drone, ensures signal stability during the replacement process, and solves the problem in the prior art that directly replacing the drone will cause fluctuations in the communication signal and affect the quality of the satellite communication mission.

[0075] Preferably, the step of calculating according to the target performance requirements and target coverage area of ​​the satellite communication network to obtain the UAV deployment plan includes:

[0076] S11: Generate an initial UAV deployment map based on the target coverage area of ​​the satellite communication network;

[0077] S12: performing performance prediction processing on the initial UAV deployment diagram according to the orbit data of the communication satellite to obtain a performance prediction result of the initial UAV deployment diagram;

[0078] S13: Based on the difference analysis between the performance prediction result of the initial UAV deployment diagram and the target performance requirement of the satellite communication network, the initial UAV deployment diagram is optimized until an optimized UAV deployment diagram is obtained in which the performance prediction result meets the target performance requirement;

[0079] S14: Calculating the communication task allocation of the multiple drones according to the deployment positions of the multiple drones in the optimized drone deployment diagram; wherein the communication task allocation is used to describe the communication traffic transmission task between the drone and the communication satellite, and the network signal sending task of the drone to the target coverage area;

[0080] S15: The optimized UAV deployment diagram and the communication task allocation of the multiple UAVs are used together as the UAV deployment plan.

[0081] Specifically, based on the geographic information and requirements of the target coverage area, a preliminary UAV deployment map is developed and the initial UAV deployment locations are selected to cover the target area and meet basic network requirements.

[0082] More specifically, the orbital data of communication satellites is used to simulate the initial UAV deployment map and predict its performance in actual operation. The performance prediction results are used to evaluate the effectiveness of the initial deployment map in terms of coverage, signal strength, and network stability.

[0083] More specifically, the performance prediction results are compared with the target performance requirements of the satellite communication network, the differences and deficiencies are identified, the UAV deployment location and configuration are adjusted based on the difference analysis results, and the UAV deployment map is optimized until the target performance requirements are met.

[0084] More specifically, based on the optimized drone deployment diagram, the communication tasks of each drone are calculated, including the traffic transmission tasks between the communication satellite and the network signal sending tasks to the target coverage area. The specific mission roles and responsibilities of each drone are clarified to ensure reasonable and efficient task allocation.

[0085] More specifically, the optimized UAV deployment map and communication task allocation are integrated into a complete UAV deployment plan to verify the feasibility and effectiveness of the plan and ensure that it can meet the performance requirements of the satellite communication network and the coverage needs of the target area.

[0086] It can be understood that through precise deployment and task allocation, network coverage and signal quality can be improved to ensure that the target performance requirements are met, drone tasks can be reasonably allocated, resource utilization can be optimized, resource waste can be reduced, and through optimization processing, it can be ensured that the drone deployment plan can achieve the target performance requirements of the satellite communication network.

[0087] Preferably, the steps of deploying multiple drones according to the drone deployment plan and controlling the multiple drones to establish communication links with communication satellites to obtain a satellite relay network include:

[0088] S21: Calculating according to the deployment positions of the multiple drones in the drone deployment plan and the take-off positions of the multiple drones before take-off to obtain flight planning paths of the multiple drones, and driving the multiple drones to fly to designated positions respectively according to the flight planning paths of the multiple drones;

[0089] S22: activating satellite communication functions of the plurality of UAVs, attempting to establish communication links with the communication satellites, and obtaining a satellite relay network;

[0090] S23: calibrating and debugging the communication signals of the communication links between the plurality of UAVs and the communication satellite to optimize the signal quality of the satellite relay network;

[0091] S24: Adjust the hovering postures of the multiple UAVs in real time according to the moving path of the communication satellite, so as to maintain the optimal link angle between the multiple UAVs and the communication satellite to ensure the communication stability of the satellite relay network.

[0092] Specifically, according to the drone deployment plan, combined with the take-off positions and target positions of multiple drones, the flight path of each drone is calculated. Based on the calculated flight path, each drone is controlled to fly according to the plan to ensure that they arrive at the designated location accurately.

[0093] More specifically, start the satellite communication system of each drone, prepare to establish a communication link with the communication satellite, try to establish a stable communication link, connect the drone to the communication satellite, form a preliminary satellite relay network, and calibrate the signal strength and quality of the communication link between the drone and the communication satellite to optimize the overall signal performance of the satellite relay network. Based on the debugging results, make necessary adjustments to improve the stability and reliability of the communication link.

[0094] More specifically, the hovering posture of the UAV is adjusted in real time according to the moving path of the communication satellite to ensure that the optimal link angle is maintained between the UAV and the communication satellite to improve signal transmission efficiency and communication stability.

[0095] It can be understood that through accurate flight path calculation and driving, it is ensured that multiple drones can be deployed to the target location as planned, the deployment efficiency is improved, the communication link between the drone and the communication satellite is successfully established, a reliable satellite relay network is formed, and the stability of communication is ensured. Through the calibration and debugging of communication signals, the signal quality of the satellite relay network is improved, communication interference is reduced, network performance is enhanced, and the hovering posture of the drone is adjusted in real time to ensure the best link angle with the mobile satellite, optimize communication stability and data transmission efficiency.

[0096] Preferably, the step of performing self-organizing networking for the plurality of drones based on the satellite relay network to obtain a mesh network among the plurality of drones comprises:

[0097] S31: starting the self-organizing network function of the multiple drones, so that the multiple drones enter a network discovery mode;

[0098] S32: Scanning the surrounding environment for drone signals by the multiple drones in the network discovery mode, so that the multiple drones respectively identify other drones in the surrounding environment, and establish a neighboring node list between the drones based on the identification results;

[0099] S33: Based on the neighboring node lists between each UAV, the node information of each UAV is exchanged to establish an initial network topology map;

[0100] S34: performing a self-organizing network effect simulation analysis according to the initial network topology diagram to obtain several kinds of preparatory self-organizing networks based on the initial network topology diagram and the self-organizing network effects corresponding to the several kinds of preparatory self-organizing networks;

[0101] S35: By comparing the self-organizing network effects of several prepared self-organizing networks, the plurality of drones are self-organized according to the prepared self-organizing network with the best self-organizing network effect to obtain a mesh network between the drones.

[0102] Specifically, the self-organizing network function of multiple drones is activated to put them into network discovery mode, ready to scan and identify the surrounding environment. Each drone scans the signals in the surrounding environment in network discovery mode and identifies the locations of other drones. Based on the scanning results, a list of neighboring nodes is established for each drone, recording their relative positions and connection information with surrounding drones.

[0103] More specifically, each drone exchanges its own node information, including the data of its identified neighboring nodes, to form detailed information of each node in the network. Based on the exchanged information, a preliminary network topology diagram is drawn to represent the connection relationship and network structure between drones.

[0104] More specifically, a simulation analysis of the self-organizing network effect is performed on the initial network topology diagram to evaluate the network coverage, data transmission efficiency and stability. Based on the simulation results, several preliminary self-organizing network schemes are generated, and the self-organizing network effects of these schemes are analyzed respectively.

[0105] More specifically, the effects of different preliminary self-organizing network schemes are compared, and the scheme with the best effect is selected. According to the selected best preliminary self-organizing network scheme, the network settings of the drones are configured and adjusted to complete the self-organizing network of multiple drones and form a final mesh network.

[0106] It can be understood that by starting the self-organizing network function and performing node identification, an efficient drone mesh network can be established, the network coverage and flexibility can be improved, and the network topology can be optimized through simulation analysis and comparison to ensure the best performance and stability of the network, select the best self-organizing network solution, improve the network's communication effect, and ensure the stability and reliability of data transmission.

[0107] Preferably, the step of sending a network signal to a ground terminal device in the target coverage area through the mesh network between the plurality of drones to establish the satellite communication network meeting the target performance requirements in the target coverage area includes:

[0108] S41: dividing the target coverage area into a plurality of subdivided areas according to the regional geographic information of the target coverage area, and allocating each of the subdivided areas to the plurality of drones for signal coverage according to the location information of the drones;

[0109] S42: Acquire the connection status of the plurality of drones and the ground terminal devices, and analyze the connection status of the plurality of drones and the ground terminal devices to obtain the distribution status of the ground terminals in the target coverage area;

[0110] S43: analyzing and processing the distribution of the ground terminals based on the plurality of subdivided areas divided into the target coverage area, so as to obtain a task allocation strategy for each of the drones;

[0111] S44: The signal transmission range and signal transmission power of the multiple drones are adjusted according to the task allocation strategy, so that the ground terminal equipment in the target coverage area can access the satellite communication network that adapts to the distribution of the ground terminals and achieves the target performance requirements. The ground terminal equipment connected to the satellite communication network establishes a signal connection with the mesh network between the multiple drones through the satellite communication network, and transmits signals with the communication satellite through the satellite signal relay function of the mesh network between the multiple drones.

[0112] Specifically, according to the geographic information of the target coverage area, the area is divided into several sub-areas, and according to the location information of each drone, each sub-area is assigned to a different drone to ensure that each drone is responsible for sending network signals covering a specific area.

[0113] More specifically, the connection status between multiple drones and ground terminal devices is monitored and obtained, the connection strength and signal quality of the ground terminal devices are recorded, and based on the connection status, the ground terminal devices in the target coverage area are analyzed to identify the geographical distribution of the devices and the signal coverage requirements.

[0114] More specifically, according to the subdivisions divided into target coverage areas, the distribution data of ground terminal devices is analyzed to understand the terminal density and communication requirements of each subdivision area. Based on the analysis results, a task allocation strategy for each drone is generated to clarify its signal coverage responsibility area and signal strength requirements.

[0115] More specifically, according to the task allocation strategy, the signal transmission range of each drone is adjusted to ensure full coverage of ground terminal equipment. According to the distribution of ground terminals, the signal transmission power of the drone is optimized to ensure uniform signal coverage, and it is flexibly adjusted according to regional needs to meet the target performance requirements.

[0116] More specifically, ground terminal equipment accesses the satellite communication network through the drone mesh network to achieve signal connection, transmits signals through the mesh network between multiple drones, relays signals from ground terminal equipment, and transmits data with communication satellites via satellite.

[0117] It is understandable that through regional division and drone task allocation, accurate signal coverage is ensured, the quality and uniformity of network coverage are improved, and the signal coverage range and transmission power are dynamically adjusted according to the actual distribution and needs of ground terminal equipment to ensure that the network adapts to the communication needs of different regions. According to the distribution of ground terminal equipment, the task allocation of drones is optimized so that they can more efficiently manage and cover terminal equipment in the target area. Through the self-organizing network function of the drone mesh network, it is ensured that the ground terminal equipment can establish a stable signal link with the communication satellite. According to the needs of the ground terminal equipment, the signal transmission power and coverage of the drone are adjusted in real time to improve the flexibility and stability of the network and ensure that the target performance requirements are met. Through the efficient relay function of the mesh network, the data transmission between the ground terminal equipment and the communication satellite is ensured to be stable and efficient, and the network performance is optimized.

[0118] Preferably, the steps of performing real-time detection of the power status of the plurality of drones, and when a drone with insufficient power is detected, starting a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient power and standing by, and controlling the standby standby drone to establish a communication link with a communication satellite and other drones to participate in the satellite relay network and the mesh network include:

[0119] S51: Continuously monitor the battery power status of the multiple drones, and upload the monitoring data to the network platform in real time;

[0120] S52: Performing an overall evaluation of the monitoring data of the plurality of drones through the network platform to determine whether the battery power status of the drones is in a low power state;

[0121] S53: when it is determined that there is a drone with low battery, the deployment position of the drone with low battery is used as a to-be-replaced position, and a standby position is generated near the to-be-replaced position according to a preset safety threshold;

[0122] S54: planning a flight path according to the standby position and the take-off position of the standby UAV, and driving the standby UAV to fly to the standby position according to the planned flight path;

[0123] S55: Control the prepared UAV to establish a communication link with the communication satellite to participate in the satellite relay network, and control the prepared UAV to establish a communication link with other UAVs to participate in the mesh network;

[0124] S56: Perform a communication quality test on the communication link between the prepared UAV and the communication satellite and the remaining multiple UAVs, and optimize the communication link between the prepared UAV and the communication satellite and the remaining multiple UAVs according to the result of the communication quality test to ensure communication stability.

[0125] Specifically, the battery power status of multiple drones is continuously monitored to ensure that the real-time power data of the drones can be accurately collected, and the monitored power status data is uploaded to the network platform in real time to ensure comprehensive monitoring of the drone power status.

[0126] More specifically, the power monitoring data of multiple drones are evaluated as a whole through the network platform to determine whether the drones are in a state of low power. When the battery power of a drone is lower than a preset threshold, the drone is determined to be low on power and its current deployment location is determined as the location to be replaced.

[0127] More specifically, based on the deployment location of the low-battery drone and a preset safety threshold, a standby position is generated near the location to ensure that the standby drone is ready to take over the mission within a safe distance; based on the standby position and the take-off position of the standby drone, the flight path of the standby drone is planned to ensure that the standby drone can fly to the standby position efficiently.

[0128] More specifically, the reserve UAV is driven to fly to the generated standby position according to the planned flight path, the reserve UAV is controlled to establish a communication link with the communication satellite so that it participates in the satellite relay network, and at the same time, the reserve UAV is controlled to establish a communication link with other deployed UAVs so that it participates in the mesh network between UAVs.

[0129] More specifically, the communication quality test is carried out on the communication links between the reserve UAV and the communication satellite and other UAVs to evaluate the stability of signal transmission and the link performance. Based on the results of the communication quality test, the communication links between the reserve UAV and the communication satellite and other UAVs are optimized to ensure that they can play a stabilizing role in the satellite relay network and mesh network, thereby ensuring the continuous stability of communications.

[0130] It is understandable that by real-time monitoring of the drone's battery status, it is ensured that when the drone's battery is low, the standby drone can quickly take over the task and ensure that network communications are not interrupted. The timely access of the standby drone and the optimization of the communication link ensure the continued stability of the satellite relay network and the mesh network. The standby position is generated according to the deployment position and safety threshold of the drone to be replaced, and efficient scheduling of the drone is achieved. By planning the optimal flight path, the standby drone can quickly reach the standby position, saving time and energy consumption, and improving the system response speed. Through communication quality testing and optimization, the signal transmission of the standby drone in the mesh network and satellite relay network is ensured to be stable, further improving the overall performance of the network. The real-time monitoring and standby drone replacement mechanism improves the reliability of the drone system and reduces the risk of communication interruption due to insufficient power.

[0131] Preferably, the steps of controlling the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increasing the power of the prepared UAV to send the network signal, and controlling the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0 include:

[0132] S61: Control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, so that the ground terminal device that originally received the network signal sent by the UAV with insufficient power will change to receive the network signal sent by the prepared UAV;

[0133] S62: Control the prepared UAV to continuously increase the power of sending network signals, and control the UAV with insufficient power to continuously reduce the power of sending network signals, so that the number of ground terminal devices connected to the prepared UAV in the target coverage area continues to increase, and the number of ground terminal devices connected to the UAV with insufficient power in the target coverage area continues to decrease;

[0134] S63: When the number of ground terminal devices connected to the low-power UAV is 0, the power of the network signal sent by the standby UAV is increased to the original level of the low-power UAV, and the communication link between the low-power UAV and the satellite relay network and the mesh network is disconnected.

[0135] Specifically, the preparation UAV is controlled to send network signals to the ground terminal equipment in the target coverage area, ensuring that the signal coverage area of ​​the preparation UAV is consistent with the coverage area of ​​the low-battery UAV, so that the ground terminal equipment can receive the new signal source, and instructing the ground terminal equipment to switch from receiving the network signal of the low-battery UAV to receiving the network signal of the preparation UAV, ensuring that the coverage quality and connection stability are not affected.

[0136] More specifically, the power of network signals sent by the reserve drones will be continuously enhanced to improve their coverage and signal strength, ensuring that more ground terminal devices can be stably connected. The network signal power of drones with insufficient power will be continuously reduced to gradually reduce their impact on ground terminal devices, so that the connection can be gradually transferred to the reserve drones.

[0137] More specifically, the changes in the number of connections between ground terminal equipment and the low-battery UAV and the standby UAV are monitored in real time. As the signal power of the standby UAV increases, the number of ground terminal equipment connections of the low-battery UAV should gradually decrease until the number of connections of the low-battery UAV drops to zero.

[0138] More specifically, when the number of ground terminal devices connected to the low-battery drone is zero, the power of the network signal sent by the standby drone will be increased to the original signal power level of the low-battery drone to maintain the network signal strength and coverage, and the communication link between the low-battery drone and the satellite relay network and mesh network will be disconnected to ensure that the network resources are effectively reallocated and optimized.

[0139] It is understandable that by transferring the signal transmission task to the reserve drone with sufficient power, it is ensured that the ground terminal equipment in the target coverage area can always receive the network signal stably, avoid service interruption caused by the weakening of the signal of the drone with insufficient power, enhance the signal power of the reserve drone, improve its coverage capability in the target area, and gradually reduce the signal power of the drone with insufficient power, which helps to maintain the stability and reliability of the network, realize the automation of power management and task switching, improve the resource utilization efficiency of the drone, and reduce the need for human intervention. Ensure that the drone with insufficient power can exit the signal transmission task in time, and the reserve drone can take over its task and maintain the continuity of network services.

[0140] Preferably, the steps of driving the low-power UAV to return for charging and driving the standby UAV to fly to the original position of the low-power UAV include:

[0141] S71: Calculating according to the original position of the low-power UAV and the position information of the charging station to obtain the optimal return route of the low-power UAV;

[0142] S72: driving the drone to return to the charging station according to the optimal return route;

[0143] S73: When the low-battery UAV flies away from the original position to a predetermined distance, the standby UAV is driven to fly to the original position of the low-battery UAV.

[0144] Specifically, the current original position of the low-battery drone and the location information of the charging station are collected, and the optimal return route is calculated using a path planning algorithm based on the current position of the low-battery drone and the location of the charging station, including considerations such as obstacles, flight restrictions, and weather conditions.

[0145] More specifically, based on the calculated optimal return route, the low-battery drone is driven to fly along the planned path and return to the charging station. The return process of the low-battery drone is monitored in real time to ensure that it arrives safely at the charging station according to the planned route, and adjustments are made when necessary.

[0146] More specifically, when the low-battery drone starts to return and flies a predetermined distance away from its original position, the flight program of the standby drone is started, and the standby drone is driven to fly to the original position of the low-battery drone, ensuring that the replacement process proceeds smoothly and maintaining network coverage in the target area.

[0147] It is understandable that through precise calculation and planning, it is ensured that drones with low battery can return to charge efficiently and safely, maximize the use of drone resources, and the reserve drone can arrive quickly after the low-battery drone leaves its original location, ensuring that the network signal coverage of the target area is not affected. The effective return of the low-battery drone and the timely arrival of the reserve drone reduce the risk of service interruption due to low battery of the drone.

[0148] Reference Figure 2 As shown, in a second aspect, the present invention provides a long-term coverage adaptive network routing system for a high-altitude platform, which is used to implement a long-term coverage adaptive network routing method for a high-altitude platform as described in any one of the first aspects, including:

[0149] A method calculation module is used to calculate according to the target performance requirements and target coverage area of ​​the satellite communication network to obtain a UAV deployment plan;

[0150] A network connection module, used to deploy multiple drones according to the drone deployment plan, and control the multiple drones to establish communication links with communication satellites to obtain a satellite relay network;

[0151] A self-organizing network module, used for self-organizing the plurality of drones based on the satellite relay network to obtain a mesh network among the plurality of drones;

[0152] A signal sending module, used for sending network signals to ground terminal equipment in the target coverage area through the mesh network between the multiple drones, so as to establish the satellite communication network that meets the target performance requirements in the target coverage area;

[0153] The drone replacement module is used to perform real-time detection of the battery status of the plurality of drones, and when a drone with insufficient battery is detected, start a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient battery and stand by, and control the standby standby drone to establish a communication link with the communication satellite and the remaining drones to participate in the satellite relay network and the mesh network;

[0154] A signal alternation module is used to control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increase the power of the prepared UAV to send the network signal, and at the same time control the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0;

[0155] The position alternation module is used to drive the low-power UAV to return to charge, and drive the standby UAV to fly to the original position of the low-power UAV.

[0156] In this embodiment, for the specific implementation of each module in the above system embodiment, please refer to the above method embodiment, which will not be repeated here.

[0157] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A long-term coverage adaptive network routing method for a high-altitude platform, characterized in that: include: Calculate the target performance requirements and target coverage area of ​​the satellite communication network to obtain the UAV deployment plan; Deploy multiple drones according to the drone deployment plan, and control the multiple drones to establish communication links with communication satellites to obtain a satellite relay network; Based on the satellite relay network, the plurality of drones are self-organized to obtain a mesh network among the plurality of drones; Sending a network signal to a ground terminal device in the target coverage area through the mesh network between the multiple drones, so as to establish the satellite communication network that meets the target performance requirements in the target coverage area; Performing real-time detection of the battery status of the plurality of drones, when a drone with insufficient battery is detected, starting a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient battery and to stand by, and controlling the standby standby drone to establish a communication link with a communication satellite and other drones to participate in the satellite relay network and the mesh network; Control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increase the power of the prepared UAV to send the network signal, and control the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0; Driving the low-power UAV to return to charge, and driving the standby UAV to fly to the original position of the low-power UAV; Among them, the steps of controlling the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, continuously increasing the power of the prepared UAV to send the network signal, and controlling the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0 include: Control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, so that the ground terminal device that originally received the network signal sent by the UAV with insufficient power will change to receive the network signal sent by the prepared UAV; Control the prepared UAV to continuously increase the power of sending network signals, and control the UAV with insufficient power to continuously reduce the power of sending network signals, so that the number of ground terminal devices connected to the prepared UAV in the target coverage area continues to increase, and the number of ground terminal devices connected to the UAV with insufficient power in the target coverage area continues to decrease; When the number of ground terminal devices connected to the low-power UAV is 0, the power of the network signal sent by the standby UAV is increased to the original level of the low-power UAV, and the communication link between the low-power UAV and the satellite relay network and the mesh network is disconnected.

2. The long-term coverage adaptive network routing method for a high-altitude platform according to claim 1, characterized in that: The steps to calculate the UAV deployment plan based on the target performance requirements and target coverage area of ​​the satellite communication network include: Generate an initial UAV deployment map based on the target coverage area of ​​the satellite communication network; Performing performance prediction processing on the initial UAV deployment diagram according to the orbital data of the communication satellite to obtain a performance prediction result of the initial UAV deployment diagram; Based on the difference analysis between the performance prediction result of the initial UAV deployment diagram and the target performance requirement of the satellite communication network, the initial UAV deployment diagram is optimized until an optimized UAV deployment diagram is obtained in which the performance prediction result meets the target performance requirement; Calculating the communication task allocation of the multiple drones according to the deployment positions of the multiple drones in the optimized drone deployment diagram; wherein the communication task allocation is used to describe the communication traffic transmission task between the drone and the communication satellite, and the network signal sending task of the drone to the target coverage area; The optimized UAV deployment diagram and the communication task allocation of the multiple UAVs are used together as the UAV deployment plan.

3. The long-term coverage adaptive network routing method for a high-altitude platform according to claim 1, characterized in that: The steps of deploying multiple drones according to the drone deployment plan and controlling the multiple drones to establish communication links with communication satellites to obtain a satellite relay network include: Calculating according to the deployment positions of the multiple drones in the drone deployment plan and the take-off positions of the multiple drones before take-off to obtain flight planning paths of the multiple drones, and driving the multiple drones to fly to designated positions respectively according to the flight planning paths of the multiple drones; activating satellite communication functions of the plurality of UAVs, attempting to establish communication links with the communication satellites, and obtaining a satellite relay network; Calibrate and debug the communication signals of the communication links between the plurality of UAVs and the communication satellite to optimize the signal quality of the satellite relay network; The hovering postures of the multiple UAVs are adjusted in real time according to the moving path of the communication satellite, so that the optimal link angle between the multiple UAVs and the communication satellite is maintained to ensure the communication stability of the satellite relay network.

4. The long-term coverage adaptive network routing method for a high-altitude platform according to claim 1, characterized in that: The step of performing self-organizing networking for the plurality of drones based on the satellite relay network to obtain a mesh network among the plurality of drones comprises: Activating a self-organizing network function of the multiple drones to enable the multiple drones to enter a network discovery mode; Scanning the surrounding environment for drone signals by using the multiple drones in the network discovery mode, allowing the multiple drones to respectively identify other drones in the surrounding environment, and establishing a neighboring node list between the drones based on the identification results; Based on the neighboring node lists between each drone, the drone exchanges its own node information to establish an initial network topology map; Performing a self-organizing network effect simulation analysis according to the initial network topology diagram to obtain several kinds of preparatory self-organizing networks based on the initial network topology diagram and the self-organizing network effects corresponding to the several kinds of preparatory self-organizing networks; By comparing the self-organizing network effects of several prepared self-organizing networks, the plurality of drones are self-organized according to the prepared self-organizing network with the best self-organizing network effect, so as to obtain a mesh network among the drones.

5. The long-term coverage adaptive network routing method for a high-altitude platform according to claim 1, characterized in that: The steps of sending a network signal to a ground terminal device in the target coverage area through the mesh network between the plurality of drones to establish the satellite communication network that meets the target performance requirements in the target coverage area include: According to the regional geographic information of the target coverage area, the target coverage area is divided into a plurality of subdivided areas, and each of the subdivided areas is allocated to the plurality of drones for signal coverage according to the location information of the drones; Acquire and analyze the connection status of the multiple drones and ground terminal devices to obtain the distribution status of ground terminals in the target coverage area; Analyzing and processing the distribution of the ground terminals based on a plurality of subdivided areas divided into the target coverage area to obtain a task allocation strategy for each of the drones; The signal transmission range and signal transmission power of the multiple drones are adjusted according to the task allocation strategy, so that the ground terminal equipment in the target coverage area can access the satellite communication network that adapts to the distribution of the ground terminals and achieves the target performance requirements. The ground terminal equipment accessed the satellite communication network establishes a signal connection with the mesh network between the multiple drones through the satellite communication network, and transmits signals with the communication satellite through the satellite signal relay function of the mesh network between the multiple drones.

6. The long-term coverage adaptive network routing method for a high-altitude platform according to claim 1, characterized in that: The steps of performing real-time detection of the power status of the plurality of drones, and when a drone with insufficient power is detected, starting a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient power and standing by, and controlling the standby standby drone to establish a communication link with a communication satellite and other drones to participate in the satellite relay network and the mesh network include: Continuously monitor the battery status of the multiple drones and upload the monitoring data to the network platform in real time; Performing an overall evaluation of the monitoring data of the plurality of drones through the network platform to determine whether the battery power status of the drones is in a low power state; When it is determined that there is a drone with low battery, the deployment position of the drone with low battery is used as a to-be-replaced position, and a standby position is generated near the to-be-replaced position according to a preset safety threshold; Planning a flight path according to the standby position and the take-off position of the standby UAV, and driving the standby UAV to fly to the standby position according to the planned flight path; Controlling the prepared UAV to establish a communication link with the communication satellite to participate in the satellite relay network, and controlling the prepared UAV to establish a communication link with the remaining UAVs to participate in the mesh network; A communication quality test is performed on the communication link between the prepared UAV and the communication satellite and the remaining multiple UAVs, and the communication link between the prepared UAV and the communication satellite and the remaining multiple UAVs is optimized according to the result of the communication quality test to ensure communication stability.

7. The long-term coverage adaptive network routing method for a high-altitude platform according to claim 1, characterized in that: The steps of driving the low-power UAV to return to charge, and driving the standby UAV to fly to the original position of the low-power UAV include: Calculate the optimal return route of the low-power UAV based on the original location of the low-power UAV and the location information of the charging station; Driving the drone to return to the charging station according to the optimal return route; When the low-battery UAV flies away from the original position to a predetermined distance, the standby UAV is driven to fly to the original position of the low-battery UAV.

8. A long-term coverage adaptive network routing system for high-altitude platforms, characterized in that: The method for implementing the long-term coverage adaptive network routing method for a high-altitude platform according to any one of claims 1 to 7 comprises: A method calculation module is used to calculate according to the target performance requirements and target coverage area of ​​the satellite communication network to obtain a UAV deployment plan; A network connection module, used to deploy multiple drones according to the drone deployment plan, and control the multiple drones to establish communication links with communication satellites to obtain a satellite relay network; A self-organizing network module, used for self-organizing the plurality of drones based on the satellite relay network to obtain a mesh network among the plurality of drones; A signal sending module, used for sending network signals to ground terminal equipment in the target coverage area through the mesh network between the multiple drones, so as to establish the satellite communication network that meets the target performance requirements in the target coverage area; The drone replacement module is used to perform real-time detection of the battery status of the plurality of drones, and when a drone with insufficient battery is detected, start a standby drone to fly to a position that maintains a safety threshold with the drone with insufficient battery and stand by, and control the standby standby drone to establish a communication link with the communication satellite and the remaining drones to participate in the satellite relay network and the mesh network; A signal alternation module is used to control the prepared UAV to send a network signal toward the ground terminal device in the target coverage area, and continuously increase the power of the prepared UAV to send the network signal, and at the same time control the UAV with insufficient power to continuously reduce the power of sending the network signal until the number of ground terminal devices connected to the UAV with insufficient power is 0; The position alternation module is used to drive the low-power UAV to return to charge, and drive the standby UAV to fly to the original position of the low-power UAV.

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