Multi-unmanned aerial vehicle networking remote conduction system and method

Abstract

The invention relates to the technical field of unmanned aerial vehicle platform networking application, and discloses a multi-unmanned aerial vehicle networking communication remote system and method.The system comprises an air information node, a user terminal and a transportation management center, and the air information node comprises an unmanned aerial vehicle platform and a communication remote integrated load; the user terminal comprises a vehicle-mounted CPE terminal, a shipborne CPE terminal, a vehicle-mounted base station, a shipborne base station and a handset, and the operation management center comprises a system operation and maintenance module and a planning and scheduling module. The invention also discloses a method based on the multi-unmanned aerial vehicle networking remote communication system. The method comprises the following steps: S1, constructing an area planning scene; s2, target planning and path planning; and S3, evaluating and adjusting. According to the invention, large-range and low-cost coverage of the marginal area can be realized, auxiliary enhancement is provided for the existing satellite communication remote system, the navigation positioning precision is improved, or when a navigation constellation is interfered / destroyed, navigation positioning coverage is provided, a high-precision remote sensing image is obtained, and continuous area monitoring is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle platform networking application, and in particular to a multi-unmanned aerial vehicle networking communication, navigation and remote control system and method. Background Art

[0002] With the development of economy and society, information plays an increasingly important role in economic life and production activities, and technologies such as 5G and the Internet of Things have played an important role as catalysts. However, due to geographical restrictions, communication infrastructure has not yet formed good coverage in mountainous areas, deserts, grasslands, deep seas and other areas. There are problems such as construction difficulties and high operating costs. Satellite communications have problems with high costs in terms of tariffs and terminals. In terms of remote sensing, there are generally problems with poor resolution and timeliness, and continuous monitoring of the area cannot be achieved; in terms of navigation, there are problems such as low navigation positioning accuracy and susceptibility to interference.

[0003] Near-space is located at the junction of aviation and aerospace. It is a new field that bridges aviation and aerospace, and is another strategic space after deep space, deep sea, polar regions and cyberspace. UAV platforms, as a large-payload flight platform that can achieve long-term regional residence in this space, can effectively make up for the deficiencies in spatial and temporal resolution of existing air-space-ground information systems through networking and collaborative operation. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-UAV networking communication, navigation and remote control system and method, which can reduce user usage costs, achieve large-scale, low-cost coverage of marginal areas, and provide auxiliary enhancement for existing satellite communication, navigation and remote control systems.

[0005] To achieve the above-mentioned purpose, the present invention proposes a multi-UAV networking communication, navigation and remote control system, including an aerial information node, a user terminal and an operation and management center, wherein the aerial information node includes an UAV platform and an integrated communication, navigation and remote control payload, the user terminal includes a vehicle-mounted CPE terminal, a ship-mounted CPE terminal, a vehicle-mounted base station, a ship-mounted base station and a handheld device, and the operation and management center includes a system operation and maintenance module and a planning and scheduling module;

[0006] The integrated communication, navigation and remote sensing payload includes a communication module, a navigation module and a remote sensing module. The communication module is a 5G integrated high-power base station; the navigation module is a signal-type navigation enhancement system for joint positioning with existing GNSS signals; the remote sensing module is used to collect high-precision remote sensing images of the coverage area and images or videos of the user's area of ​​interest;

[0007] The system operation and maintenance module is used to monitor and manage the operating status of the drone platform information nodes; the planning and scheduling module is used to plan the operating paths of multiple drones using a reinforcement learning algorithm to achieve continuous coverage or formation coverage of multiple drones in the target area.

[0008] Furthermore, the UAV platform uses a beyond-line-of-sight link as a measurement and control link to achieve communication between the operation and management center and the UAV platform.

[0009] Furthermore, the vehicle-mounted CPE terminal and the ship-mounted CPE terminal use a directional antenna with a dynamic servo mechanism to build an information link through an integrated communication, navigation and remote control payload to provide users with Wifi access services; the vehicle-mounted base station and the ship-mounted base station provide users with 5G signals.

[0010] The present invention also proposes a multi-UAV networking communication and remote control method, comprising the following steps:

[0011] S1. Construction of regional planning scenarios, including:

[0012] S1.1. Construct a UAV platform digital model and a payload capacity model. The UAV platform digital model is used to describe the UAV platform's maneuverability and its energy supply capability for the payload. The payload capacity model is used to describe the operating capability of the UAV platform and the communication, navigation and remote sensing integrated payload under different power consumption conditions.

[0013] S1.2, constructing an environmental model, wherein the environmental model is used to integrate measured and predicted meteorological data to construct a large-area environmental model of near space as a simulation environment for the operation of the UAV platform;

[0014] S1.3. Construct a mission model, wherein the mission model includes multi-UAV continuous coverage, formation coverage and regional continuous coverage, wherein the multi-UAV continuous coverage completes the dynamic coverage task within the mission cycle with the optimal formation path, and generates a multi-UAV dynamic coverage decision flow chart and a multi-UAV dynamic coverage path planning result schematic diagram;

[0015] The formation coverage is divided into static coverage and dynamic coverage, and a feasible flight route or optimal position point is planned;

[0016] The continuous coverage of the area completes the continuous coverage task within the task area and cycle with the optimal path;

[0017] S2. Target planning and path planning, including:

[0018] The planning and scheduling module is constructed by using reinforcement learning technology. The planning and scheduling module is divided into a target planning layer and a path planning layer. The path planning layer provides the optimal path planning for a single UAV to reach the target point. The target planning layer comprehensively considers the overall mission requirements and the global environmental situation to allocate the best target point for a single UAV.

[0019] S3. Assessment and adjustment, including:

[0020] According to the schematic diagram of the path planning results of dynamic coverage of multiple UAVs, the judgment is made. If the target point is unreasonable, the target point is reselected or the point is manually selected to re-plan the path; if the path is unreasonable, the judgment is made again and a new path is selected.

[0021] Furthermore, in S2, the target planning layer uses deep reinforcement learning to select target points that are adapted to the capabilities of the UAV platform and meet user needs, and then reaches the target point through single UAV path planning, regularly monitors the status of each target point in the mission area, and finds the path information of the UAV platform formation that meets the mission requirements. During the flight, the UAV platform formation collaborates to complete the status information update of the unmonitored area and the area to be updated; the path planning layer takes the target point output by the target planning layer as the target, and plans the single UAV operation path in combination with the regional environmental situation.

[0022] The system or method of the present invention can solve the problem of low-cost communication coverage in remote areas, further improve the navigation positioning accuracy, or provide navigation positioning coverage to terminals within the coverage area of ​​the system when the navigation constellation is interfered / destroyed, and achieve continuous regional monitoring by acquiring high-precision remote sensing images. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an overall structural diagram of a multi-UAV networking communication, navigation and remote control system of the present invention;

[0024] Figure 2 This is a diagram of the single UAV networking architecture in the present invention;

[0025] Figure 3 This is a diagram of the multi-UAV networking architecture in the present invention;

[0026] Figure 4 This is a diagram showing the energy composition of the UAV platform in the present invention;

[0027] Figure 5 This is a decision flow chart for dynamic coverage of multiple UAVs in the present invention;

[0028] Figure 6 This is a schematic diagram of the dynamic coverage path planning results of multiple UAVs in the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0030] Figure 1The overall structure diagram of a multi-UAV networking communication, navigation and remote control system of the present invention includes an aerial information node, a user terminal and an operation and management center. The aerial information node includes a UAV platform and an integrated communication, navigation and remote control payload. The user terminal includes a vehicle-mounted CPE terminal, a ship-mounted CPE terminal, a vehicle-mounted base station, a ship-mounted base station and a handheld device. The operation and management center includes a system operation and maintenance module and a planning and scheduling module.

[0031] The drone platform uses the beyond-line-of-sight link as the measurement and control link to achieve communication between the operation and management center and the drone platform, such as drone platform status monitoring and flight mission planning.

[0032] The integrated communication, navigation and remote sensing payload includes a communication module, a navigation module and a remote sensing module. The communication module is a 5G integrated high-power base station with an effective coverage range of 40km, providing 5G services to users within the coverage area. The navigation module is a signal-based navigation enhancement system, and performs joint positioning with existing GNSS signals to improve the reliability, continuity and availability of navigation services; the remote sensing module collects high-precision remote sensing images of the coverage area and images or videos of the areas of interest to users.

[0033] The vehicle-mounted CPE terminal and the ship-mounted CPE terminal use directional antennas with dynamic servo mechanisms to build information links through airborne integrated communication, navigation and remote sensing payloads to provide users with Wi-Fi access services; the vehicle-mounted / ship-mounted base stations provide users with 5G signals; in the area directly below the drone platform, users can directly access the multi-drone networking communication, navigation and remote sensing system through a handheld device to obtain communication, navigation and remote sensing services.

[0034] The system operation and maintenance module is used to monitor and manage the operating status of the drone platform information nodes; the planning and scheduling module is guided by user needs, constrained by the platform's energy and wind resistance capabilities, and uses a reinforcement learning algorithm to plan the operation paths of multiple drones in a continuously changing aerial environment to achieve continuous coverage or formation coverage of the target area.

[0035] Taking marine communications as an example, the implementation method of multi-UAV networking communication and remote control system is as follows:

[0036] 1. Single UAV system architecture

[0037] Figure 2 This is a diagram of the network architecture of a single drone.

[0038] By carrying a dedicated communication payload on the drone platform, a communication relay link is built between ordinary users at sea and the Internet, providing Internet communication services for ordinary users at sea within a radius of more than 200km.

[0039] Ordinary users at sea: mobile phones, PCs, etc.

[0040] Shipborne CPE terminal: provides 2.4G / 5G WIFI signals and exchanges data with the drone platform through directional antennas (communication in motion), with a working range of no less than 40km.

[0041] UAV platform: First, it is equipped with wide-area multi-user access equipment to meet the access needs of ship-borne WIFI base station equipment within the coverage area; second, it is equipped with aircraft-ground network interconnection equipment, and can be equipped with line-of-sight broadband communication terminals or high-throughput satellite communication terminals according to the application mode.

[0042] Wide-area multi-user access equipment: weight, power consumption, and size to be determined; the number of concurrent access terminals shall be no less than 200; the peak download rate shall be no less than 20Mbps; the upload rate shall be no less than 5Mbps; and the operating range shall be no less than 40km.

[0043] Line-of-sight broadband link: backhaul 5Mbps (received by the Internet end), upload 20Mbps (received by the airborne end), and the effective range is not less than 40km.

[0044] High-throughput satellite link: backhaul 5Mbps (Internet end reception), download (airborne end reception) 20Mbps

[0045] (II) Multi-UAV Network Architecture

[0046] Figure 3 This is a diagram of the multi-UAV networking architecture.

[0047] By carrying payloads such as regional communication coverage, inter-machine communication and machine-to-ground communication on the drone platform, a communication relay link is built between ordinary users at sea and the Internet. The coverage range of a single drone is 40km in diameter. Directional microwave communication is used for inter-machine communication to achieve high-speed communication of 20Mbps, and directional microwave communication of 20Mbps is used for the machine-to-ground link.

[0048] Some UAV platforms can be equipped with efficient core network equipment to achieve communication interconnection between users at sea. Each UAV is equipped with three sets of inter-machine communication equipment. The backbone UAV platform does not carry communication coverage equipment, which is replaced by the machine-to-ground link payload to achieve interaction with the ground station.

[0049] Shipborne CPE terminal: provides 2.4G / 5G WIFI signals and exchanges data with the drone platform through directional antennas (communication in motion), with a working range of no less than 40km.

[0050] Shipborne base station: provides 2.4G / 5G WIFI signal for common user access, uses mobile network (LTE, 5G) as UE to connect to airborne RRU unit, and exchanges data with UAV platform through directional antenna (communication in motion), with a working range of no less than 40km.

[0051] Inter-machine communication: using directional microwave equipment (X, Ku, Ka, E and other bands), using narrowband communication equipment (U band) for real-time handshake, adjusting the directional antenna for aligned communication, the effective range is not less than 100km, and the communication rate is 20Mbps.

[0052] Machine-to-ground communication: Adopt directional microwave equipment (X, C and other bands), use narrowband communication equipment (U band) for real-time handshake, and then adjust the directional antenna for aligned communication. The effective distance is not less than 100km, and the communication rate is 100Mbps.

[0053] (III) Backbone network communication

[0054] 1. Airport-to-local broadband

[0055] The air-to-ground broadband communication link provides a highly reliable and low-cost channel for the landing of service data of the near-space backbone communication network. Taking into account the user's usage pattern, unlike the conventional line-of-sight broadband communication link, the upload rate of the air-to-ground broadband communication link is usually much higher than the download rate, meeting the high-speed communication needs of 100Mbps in both directions between the air-to-ground.

[0056] 2. Broadband networking between machines

[0057] Through the networking and collaborative operation of multiple drones, a near-space backbone communication network is built, which effectively improves the sea coverage of the drone platform networking communication system and forms the ability to guarantee deep-sea communications. The machine-to-machine broadband networking technology takes laser communication as the core, builds a machine-to-machine communication link with an information rate of no less than 100Mbps, and forms a communication network and access capability by carrying multiple groups of miniaturized laser communication terminals, ensuring high-speed and reliable transmission of business data between machines.

[0058] 3. Airborne broadband satellite communication terminal

[0059] Space-based communication is a backup channel for ground-to-air broadband communication. In the initial stage of the construction of the backbone communication network of the UAV platform, when the UAV platform is deployed in the deep sea, space-based communication is particularly needed to provide guarantee for the transmission of user business data. The airborne broadband satellite communication terminal is the key equipment for space-based communication.

[0060] (IV) Business network communications

[0061] 1. Narrowband mobile communication (LORA)

[0062] Equipped with narrowband mobile communication equipment, it can realize wide-area data collection and transmit information such as sea floats through drone platform cruising. It can adopt Internet of Things technology systems such as LORA.

[0063] 2. Broadband mobile communications (LTE, 5G, etc.)

[0064] RRU and BBU devices equipped with LTE or 5G can add UPF as the core network of the private network to achieve regional coverage and internal interconnection.

[0065] 3. Cluster communication

[0066] The drone platform is equipped with a cluster communication terminal, which uses the IPT cluster communication system to achieve regional cluster communication, and transmits it back to the core public network through a line-of-sight link to achieve interconnection with the Internet.

[0067] The multi-UAV networking communication and remote control method of the present invention mainly includes the following steps:

[0068] S1. Construction of regional planning scenarios

[0069] The construction of regional planning scenarios is divided into three aspects:

[0070] The first is the UAV platform digital model and payload capacity model. The UAV platform digital model mainly describes the UAV platform's maneuverability and its energy supply capability to the payload. The payload capacity model uses the platform's power supply to the payload as input to describe the operational capability of the communication, navigation and remote sensing integrated payload under different power consumption.

[0071] The second is the environmental model, which integrates measured and predicted meteorological data to build a large-area environmental model of near space as a simulation environment for the operation of the UAV platform;

[0072] The third is the mission model, including multi-UAV continuous coverage, formation coverage, and regional continuous coverage;

[0073] The multi-UAV continuous coverage completes the dynamic coverage task within the mission cycle with the optimal formation path. The path fully improves the coverage efficiency when the minimum energy limit is met. With the maximization of the covered area and the minimization of the update waiting period as the first goal, a path with a larger update area and a shorter interval at the same cost is selected, and a multi-UAV dynamic coverage decision flow chart and a multi-UAV dynamic coverage path planning result schematic diagram are generated.

[0074] Formation coverage is divided into static coverage and dynamic coverage. Static coverage means that the relative and absolute positions of the formation members remain basically unchanged, so the result of the algorithm is to output the optimal position point of each aircraft; dynamic coverage means that each aircraft maintains a basically unchanged relative position while maintaining continuous mobile flight due to the influence of subjective and objective factors; formation coverage requires planning a feasible flight route or optimal position point that not only meets the aircraft dynamics requirements but also maintains the relative stability of the formation;

[0075] Regional continuous coverage completes the continuous coverage task within the mission area and cycle with the optimal path; the path, based on meeting the minimum energy limit and aircraft dynamic characteristics requirements, aims to maximize the coverage area and coverage time of multiple UAVs in the mission area and give a reasonable movement path.

[0076] Figure 4 This is a diagram of the energy composition of the drone platform. The current coordinates of the drone platform are used as the initial point, the current time is used as the initial time, and the current energy is used as the initial energy. Both target planning and path planning are based on this.

[0077] S2. Target planning and path planning:

[0078] Reinforcement learning technology is used to construct the planning and scheduling module, which is divided into a target planning layer and a path planning layer. The path planning layer provides the optimal path planning for a single UAV to reach the target point. Taking the target point output by the target planning layer as the target, the operation path of the single UAV is planned as the basis for the flight control of the single UAV.

[0079] The target planning layer comprehensively considers the overall mission requirements and the global environmental situation, allocates the best target point for a single UAV, and is guided by user needs. It comprehensively considers the near-space environment and accessibility, selects a suitable area that meets the mission objectives, and realizes dynamic coverage or formation coverage of multiple UAVs in the target area to meet user needs in the fields of communication, navigation, remote sensing, etc.

[0080] The target planning layer uses deep reinforcement learning to select target points that are suitable for the UAV platform capabilities and meet user needs, and then reaches the target point through single UAV path planning. It regularly (such as 0.5 hours) monitors the status of each target point in the mission area and finds the path information of the UAV platform formation that meets the mission requirements. During the flight, the UAV platform formation collaborates to complete the status information update of the unmonitored area and the area to be updated;

[0081] The path planning layer takes the target point output by the target planning layer as the target and plans the operation path of a single UAV based on the regional environmental situation.

[0082] Multi-UAV dynamic coverage is to continuously cover the target area, continuously update the mapping target status in the area, and realize real-time monitoring of the area; Figure 5 Decision flow chart for dynamic coverage of multiple UAVs. Figure 6 This is a schematic diagram of the dynamic coverage path planning results of multiple UAVs (the five-pointed star is the starting point, the solid circle is the target point, and the outer circle is the boundary of the dynamic coverage mission area).

[0083] S3. Assessment and Adjustment:

[0084] Personnel involved in the flight control of the UAV platform can make rational judgments based on the result graph generated by the path planning. If the target point is unreasonable, the target point can be re-selected or the point can be manually selected to re-plan the path. If the path is unreasonable, it can be re-judged and a new path can be selected.

[0085] Therefore, the present invention adopts the above-mentioned multi-UAV networking communication navigation and remote sensing system and method to solve the problem of low-cost communication coverage in remote areas; further improve the navigation and positioning accuracy, or provide navigation and positioning coverage to terminals within the coverage area of ​​the system when the navigation constellation is interfered / destroyed; and achieve continuous regional monitoring by acquiring high-precision remote sensing images.

[0086] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0087] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the main idea or essential features of the present invention. Therefore, from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0088] In addition, it should be understood that although this specification is described according to the implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art. These other implementation modes are also covered within the protection scope of the present invention.

[0089] It should also be understood that the specific embodiments described above are only used to explain the present invention, and the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, which should be covered by the protection scope of the present invention / invention.

[0090] Technologies, methods, and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0091] The disclosed contents of the prior art documents cited in the present specification are incorporated into the present invention by reference in their entirety and are therefore part of the disclosure of the present invention.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-UAV networking communication and remote control system, characterized by: It includes an aerial information node, a user terminal and an operation and management center. The aerial information node includes an unmanned aerial vehicle platform and an integrated communication, navigation and remote control payload. The user terminal includes a vehicle-mounted CPE terminal, a ship-mounted CPE terminal, a vehicle-mounted base station, a ship-mounted base station and a handheld device. The operation and management center includes a system operation and maintenance module and a planning and scheduling module. The integrated communication, navigation and remote sensing payload includes a communication module, a navigation module and a remote sensing module. The communication module is a 5G integrated high-power base station; the navigation module is a signal-type navigation enhancement system for joint positioning with existing GNSS signals; the remote sensing module is used to collect high-precision remote sensing images of the coverage area and images or videos of the user's area of ​​interest; The system operation and maintenance module is used to monitor and manage the operating status of the drone platform information nodes; the planning and scheduling module is used to plan the operating paths of multiple drones using a reinforcement learning algorithm to achieve continuous coverage or formation coverage of multiple drones in the target area.

2. A multi-UAV network communication and remote control system according to claim 1, characterized in that: The UAV platform uses a beyond-line-of-sight link as a measurement and control link to achieve communication between the operation and management center and the UAV platform.

3. The multi-UAV network communication and remote control system according to claim 1, characterized in that: The vehicle-mounted CPE terminal and the ship-mounted CPE terminal use a directional antenna with a dynamic servo mechanism and an integrated communication, navigation and remote control payload to build an information link to provide users with Wifi access services; the vehicle-mounted base station and the ship-mounted base station provide users with 5G signals.

4. A multi-UAV networking communication, navigation and remote control method, based on the multi-UAV networking communication, navigation and remote control system according to any one of claims 1 to 3, characterized in that: The following steps are involved: S1. Construction of regional planning scenarios, including: S1.

1. Construct a UAV platform digital model and a payload capacity model. The UAV platform digital model is used to describe the UAV platform's maneuverability and its energy supply capability for the payload. The payload capacity model is used to describe the operating capability of the UAV platform and the communication, navigation and remote sensing integrated payload under different power consumption conditions. S1.2, constructing an environmental model, wherein the environmental model is used to integrate measured and predicted meteorological data to construct a large-area environmental model of near space as a simulation environment for the operation of the UAV platform; S1.

3. Construct a mission model, wherein the mission model includes multi-UAV continuous coverage, formation coverage and regional continuous coverage, wherein the multi-UAV continuous coverage completes the dynamic coverage task within the mission cycle with the optimal formation path, and generates a multi-UAV dynamic coverage decision flow chart and a multi-UAV dynamic coverage path planning result schematic diagram; The formation coverage is divided into static coverage and dynamic coverage, and a feasible flight route or optimal position point is planned; The continuous coverage of the area completes the continuous coverage task within the task area and cycle with the optimal path; S2. Target planning and path planning, including: The planning and scheduling module is constructed by using reinforcement learning technology. The planning and scheduling module is divided into a target planning layer and a path planning layer. The path planning layer provides the optimal path planning for a single UAV to reach the target point. The target planning layer comprehensively considers the overall mission requirements and the global environmental situation to allocate the best target point for a single UAV. S3. Assessment and adjustment, including: According to the schematic diagram of the path planning results of dynamic coverage of multiple UAVs, the judgment is made. If the target point is unreasonable, the target point is reselected or the point is manually selected to re-plan the path; if the path is unreasonable, the judgment is made again and a new path is selected.

5. A multi-UAV networking communication and remote control method according to claim 4, characterized in that: In S2, the target planning layer uses deep reinforcement learning to select target points that are adapted to the capabilities of the UAV platform and meet user needs, and then reaches the target point through single UAV path planning, regularly monitors the status of each target point in the mission area, and finds the path information of the UAV platform formation that meets the mission requirements. During the flight, the UAV platform formation collaborates to complete the status information update of the unmonitored area and the area to be updated; the path planning layer takes the target point output by the target planning layer as the target, and plans the single UAV operation path in combination with the regional environmental situation.

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