Reconfigurable antenna array based on combinable and separable unmanned aerial vehicle group

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a reconfigurable antenna array based on a combinable and separable unmanned aerial vehicle group, the antenna array is carried on the unmanned aerial vehicle group, and the unmanned aerial vehicle group comprises a plurality of carrying antenna transmitting systems, antenna receiving systems and a plurality of unmanned aerial vehicle units which do not contain antenna sub-arrays but carry other functions. Through three arrangement modes of the antenna array, multi-functionalization of the airborne antenna array of the unmanned aerial vehicle is realized, such as high-resolution two-dimensional imaging, high-resolution three-dimensional imaging, accurate positioning of a specified target, tracking of the specified target, monitoring of a specified airspace and the like. The first unmanned aerial vehicle group is linearly arranged in a single layer, and an antenna array forms a synthetic aperture radar antenna in the movement of the unmanned aerial vehicle group, so that a high-resolution two-dimensional imaging function can be realized; the second type of unmanned aerial vehicle group is arranged in a single-layer two-dimensional array, and the specified target can be accurately positioned when the unmanned aerial vehicle group hovers.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a reconfigurable antenna array based on a group of combinable and separable unmanned aerial vehicles. Background Art

[0002] At present, with the continuous development of antenna arrays and drone technology in the military field, the performance and functions of drone swarms equipped with antenna arrays have shown a trend of high precision and diversification, but the existing technology still has the following shortcomings: the antenna functions of traditional drones or drone swarms equipped with antennas are relatively single, and drones or drone swarms cannot flexibly change the antenna array arrangement mode during flight as the actual situation and needs change, so as to achieve different functions and adapt to the actual situation and needs. The positioning accuracy of the antenna onboard an independent drone is lower than the positioning accuracy achieved by a drone swarm equipped with multiple antennas; when the drones in the drone swarm fly independently, the random micro-vibrations of each drone caused by interference will cause relative movement between different drones, which will cause non-negligible errors in the various functions of the drone swarm. For multiple drones flying independently, the control difficulty and complexity increase with the increase in the number of drones.

[0003] Through the above analysis, the problems and defects of the prior art are as follows:

[0004] (1) The antenna functions of traditional drones or drone swarms equipped with antennas are relatively simple. During the flight, drones or drone swarms cannot flexibly change the antenna array arrangement as the actual situation and needs change, thereby achieving different functions and adapting to the actual situation and needs.

[0005] (2) The positioning accuracy of the antenna on a stand-alone UAV is lower than that achieved by a swarm of UAVs equipped with multiple antennas.

[0006] (3) When the drones in a swarm fly independently, the random tiny vibrations generated by each drone due to interference will cause relative movement between different drones, which will cause non-negligible errors in the various functions of the drone swarm.

[0007] (4) For multiple independently flying drones, the control difficulty and complexity increase with the number of drones. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention provides a reconfigurable antenna array based on a combinable and separable drone swarm.

[0009] The present invention is implemented in this way: a reconfigurable antenna array based on a combinable and separable drone group comprises:

[0010] It is composed of multiple antenna array sub-arrays;

[0011] The antenna array sub-array is divided into a transmitting antenna array and a receiving antenna array;

[0012] The antenna array is carried by a swarm of drones;

[0013] The antenna array is arranged in a manner of combining a group of drones; each drone is placed in a rigid cubic frame, and each drone is spliced ​​and combined with any other drone;

[0014] The drone swarm is connected together by a cubic frame when assembled.

[0015] Furthermore, each drone in the combinable and separable drone group includes but is not limited to carrying an antenna sub-array.

[0016] Furthermore, the antenna array is arranged in a single-layer linear sparse array, and a group of drones equipped with the antenna array fly in a horizontal plane of equal height to perform high-resolution two-dimensional imaging.

[0017] Furthermore, the antenna array is arranged in a single-layer two-dimensional sparse array, and when a group of drones equipped with the antenna array hovers in the air, it can accurately locate the designated target.

[0018] Furthermore, the antenna array is arranged in a single-layer two-dimensional sparse array, and when a group of drones equipped with the antenna array moves with a target object in the air, the function of tracking the designated target is performed.

[0019] Furthermore, the antenna array is arranged in a single-layer two-dimensional sparse array. When a group of drones equipped with the antenna array rotates at a fixed altitude in the air with themselves as the center, it is equivalent to the function of a mechanical scanning radar to monitor the designated airspace.

[0020] Furthermore, the antenna array is arranged in multiple layers, and the drone group equipped with the antenna array is divided into multiple layers in the height direction to form a tomographic synthetic aperture radar antenna system to perform high-resolution three-dimensional imaging function.

[0021] Furthermore, the arrangement order of the drones is determined by the number of drones equipped with transmitting antennas, drones equipped with receiving antennas and drones equipped with other functions, as well as the working mode of the antenna array.

[0022] Furthermore, the relative position between the UAV equipped with a transmitting antenna and the UAV equipped with a receiving antenna is further changed according to actual conditions: for airborne platforms that are interfered with by external conditions, the UAV equipped with a transmitting antenna is preferentially arranged in the middle of the array; for airborne platforms that are not interfered with by external conditions, the UAV equipped with a transmitting antenna is preferentially arranged on the periphery of the array.

[0023] Another object of the present invention is to provide a method for accurately positioning a target based on a drone swarm, comprising the following steps:

[0024] By arranging the drone swarm in a single-layer two-dimensional array and hovering in the air, each drone equipped with a transmitting antenna and a drone equipped with a receiving antenna form a set of transmitting and receiving pairs;

[0025] In a 4-transmitter 4-receiver system, 16 sets of transmitter-receiver pairs are formed to obtain 16 sets of relative coordinate information about the target to be measured;

[0026] Obtaining the absolute coordinate information of the UAV equipped with the antenna by using GPS satellite positioning;

[0027] The 16 sets of relative coordinate information are calculated together with the corresponding absolute coordinate information to obtain the precise absolute coordinates of the target, thus achieving precise positioning of the designated target.

[0028] Another object of the present invention is to provide a target tracking method based on a drone swarm, comprising the following steps:

[0029] The drone swarm is arranged in a single-layer two-dimensional array and hovers in the air, and the target object is tracked by step tracking;

[0030] When the target object moves, the drone group is rotated in the azimuth and elevation planes to compare the echo signal received by the receiving antenna, and gradually adjust the drone group to the target;

[0031] When the echo received by the receiving antenna reaches a predetermined value, a target tracking is completed;

[0032] Repeat the above steps to achieve continuous tracking of the target through continuous step tracking of the drone swarm.

[0033] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0034] First, in the present invention, the reconfigurable antenna array enables the drone swarm to combine or separate and arrange the three designed antenna arrays into corresponding forms according to different needs in actual work to achieve multiple functions.

[0035] In the present invention, the application of the multiple-transmit multiple-receive technology and the sparse processing of the antenna array can optimize the number of drones equipped with antennas while maintaining high resolution and high precision, thereby reducing the hardware cost to a great extent.

[0036] In the present invention, the application of multiple antennas on a combined drone can improve the imaging resolution and positioning accuracy compared to independent drone airborne antennas.

[0037] In the present invention, the application of a combined drone swarm can effectively reduce the relative movement of different drones due to interference, keep the relative positions between the drones unchanged, and thus reduce the impact on the functions of the drone swarm equipped with an antenna array; it can also reduce the control difficulty and system complexity.

[0038] Second, as auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in the following important aspects:

[0039] (1) The expected benefits and commercial value of the technical solution of the present invention after transformation are:

[0040] The present invention is to mount the existing antenna system on the existing single UAV, change the arrangement of the antenna array by changing the combination and separation of the UAV group, and realize the corresponding multiple functions. Since the transceiver antenna technology, single UAV technology, airborne synthetic aperture radar antenna imaging technology and combined UAV technology are relatively mature, the invention is highly operational and easy to implement; at the same time, the present invention can reconstruct the antenna array according to actual conditions and needs in a flight to realize different functions, which can greatly improve combat efficiency and reduce control difficulty and system complexity in military applications; in addition, the sparse transceiver antenna array can reduce the number of UAVs equipped with transceiver antennas while optimizing performance, and the remaining UAVs equipped with other functions can be used for charging, positioning, etc., which reduces hardware costs, improves flight efficiency and endurance, and is easy to promote and apply on a large scale.

[0041] (2) The technical solution of the present invention fills the technical gap in the industry at home and abroad:

[0042] At present, domestic and foreign drone swarms all adopt independent flight rather than combined flight when performing tasks, which requires extremely high collaborative operation capabilities between drones, requiring drones to be able to share flight status, environmental perception and other information in real time to achieve coordination in formation maintenance, path planning and other aspects; in addition, the relative movement between independently flying drones due to interference will bring errors to the results, and such errors are difficult to eliminate through compensation for independently flying drones. Therefore, the combinable technical solution of the present invention can directly solve the existing coordination problems of domestic and foreign drone swarm technologies, and at the same time eliminate the errors caused by the relative movement between different drones, thereby improving accuracy.

[0043] (3) Whether the technical solution of the present invention solves the technical problems that people have been eager to solve but have not been able to solve successfully:

[0044] At present, the research on drone swarms at home and abroad is developing towards the trend of "intelligence, efficiency and long-range". Among them, the core of intelligence is autonomous decision-making, that is, autonomous adjustment of functional strategies according to real-time environment and task requirements, and the present invention just solves this demand, and can judge the actual situation and demand to reconstruct the antenna array, and change the formation of the drone swarm by combining and separating the drone swarm, complete different functions, and improve the efficiency and accuracy of task execution; high efficiency is reflected in the present invention in that the combined drone method reduces the communication overhead between different drones, and the application of synthetic aperture radar antenna imaging technology meets the demand for real-time transmission of high-definition two-dimensional and three-dimensional images and other large data volumes; long-range is reflected in the present invention in that drone swarms equipped with other functions can carry batteries to charge the drones, so as to achieve long-range communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a top view schematic diagram of a single-layer linearly arranged antenna array provided in an embodiment of the present invention.

[0046] Figure 2 These are the arrangements of three reconfigurable antenna arrays and the conversion relationships between them provided by the embodiments of the present invention.

[0047] Figure 3 It is a flight schematic diagram of a drone swarm provided by an embodiment of the present invention working in a high-resolution two-dimensional imaging mode.

[0048] Figure 4 It is a top view schematic diagram of a single-layer two-dimensionally arranged antenna array provided in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the flight of a swarm of drones arranged in multiple layers provided by an embodiment of the present invention.

[0050] In the figure: 1. The transmitting antenna on the drone; 2. The receiving antenna on the drone; 3. Other functional modules on the drone that do not contain antenna subarrays; 4. The rigid cube frame used for combining different drones; 5. The flight baseline of the drone swarm; 6. Each single-layer drone swarm. DETAILED DESCRIPTION

[0051] 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 embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] A reconfigurable antenna array based on a combinable and separable drone swarm provided by an embodiment of the present invention includes:

[0053] It is composed of multiple antenna array sub-arrays;

[0054] The antenna array sub-array is divided into a transmitting antenna array and a receiving antenna array;

[0055] The antenna array is carried by a swarm of drones;

[0056] The antenna array is arranged in a manner of combining a group of drones; each drone is placed in a rigid cubic frame, and each drone is spliced ​​and combined with any other drone;

[0057] The drone swarm is connected together by a cubic frame when assembled.

[0058] Each drone in the combinable and detachable drone group provided by the embodiment of the present invention includes but is not limited to carrying an antenna sub-array.

[0059] The antenna array provided in the embodiment of the present invention is arranged in a single-layer linear sparse array, and a group of drones equipped with the antenna array fly in a horizontal plane of equal height to perform high-resolution two-dimensional imaging.

[0060] The antenna array provided in the embodiment of the present invention is arranged in a single-layer two-dimensional sparse array. When a group of drones equipped with the antenna array hovers in the air, it can accurately locate the designated target.

[0061] The antenna array provided in the embodiment of the present invention is arranged in a single-layer two-dimensional sparse array. When a group of drones equipped with the antenna array moves in the air with a target object, the function of tracking the designated target is performed.

[0062] The antenna array provided in the embodiment of the present invention is arranged in a single-layer two-dimensional sparse array. When a group of drones equipped with the antenna array rotates at a fixed height in the air with themselves as the center, it is equivalent to the function of a mechanical scanning radar to monitor the designated airspace.

[0063] The antenna array provided in the embodiment of the present invention is arranged in multiple layers, and the drone group equipped with the antenna array is divided into multiple layers in the height direction to form a tomographic synthetic aperture radar antenna system to perform high-resolution three-dimensional imaging function.

[0064] The arrangement order of the drones provided in the embodiment of the present invention is determined by the number of drones equipped with transmitting antennas, drones equipped with receiving antennas, and drones equipped with other functions, as well as the antenna array working mode.

[0065] The relative position between the UAV equipped with a transmitting antenna and the UAV equipped with a receiving antenna provided in the embodiment of the present invention is further changed according to actual conditions: for airborne platforms that are interfered with by external conditions, the UAV equipped with a transmitting antenna is preferentially arranged in the middle of the array; for airborne platforms that are not interfered with by external conditions, the UAV equipped with a transmitting antenna is preferentially arranged on the periphery of the array.

[0066] The present invention is specifically implemented:

[0067] For ease of explanation, only 19 drones are selected here to illustrate the arrangement of the combinable and separable drone group, of which 4 are drones equipped with transmitting antennas, 4 are drones equipped with receiving antennas, and the remaining 11 are drones equipped with other functions. In the multi-layer arrangement, the number of layers should be greater than or equal to two layers, and 4 layers are selected here for illustration. In actual applications, the number of drones equipped with transmitting antennas, drones equipped with receiving antennas, and drones equipped with other functions, their positions in the array, and the number of layers in the multi-layer arrangement can be determined according to actual conditions and needs.

[0068] See also Figure 1-5 , the present invention provides three reconfigurable antenna arrays:

[0069] like Figure 2 As shown, a reconfigurable antenna array based on a combinable and separable drone swarm has three arrangements, namely, a single-layer linear arrangement, a single-layer two-dimensional array arrangement, and a multi-layer arrangement. The three arrangements are combined or separated by the same drone swarm in actual work according to actual conditions and needs to achieve corresponding functions.

[0070] like Figure 1 As shown, the first antenna array arrangement is a single-layer linear arrangement, and the antenna array forms a synthetic aperture radar antenna in the movement of the drone group, which can realize high-resolution two-dimensional imaging function. The number of drones can be calculated by the following formula, where M represents the number of transmitting antennas on the drone, N represents the number of receiving antennas on the drone, P represents the number of other functional modules on the drone that do not contain antenna subarrays, and S is the total number of drones:

[0071] S1=M+MN-1

[0072] P=SMN

[0073] P≥P

[0074] S=M+N+P

[0075] For ease of explanation, only the sparse arrangement of 4 receiving and 4 transmitting is described here. That is, M=N=4, S1=19 and P1=11 are calculated by the formula, P=P1=11, then S=S1=19, that is, the drone group includes 4 drones equipped with transmitting antennas 1, 4 drones equipped with receiving antennas 2, and 11 drones equipped with other functions 3, and different drones are connected by rigid cubic frames 4.

[0076] Further, if Figure 3As shown, the drone swarm flies along the flight baseline 5 in a single-layer linear arrangement in the xoy plane. During the movement of the drone swarm, the antenna array forms a synthetic aperture radar antenna, which can achieve high-resolution two-dimensional imaging.

[0077] like Figure 4 As shown in the figure, the second antenna array arrangement is a single-layer two-dimensional array arrangement. When the three functions of accurately locating a specified target, tracking a specified target, or monitoring a specified airspace need to be called, the following can be used: Figure 1 The single-layer linear arrangement shown or Figure 5 The multi-layer arrangement shown in the figure first separates the drone group and then combines it to form Figure 4 The single-layer two-dimensional array arrangement shown is also true vice versa.

[0078] When the drone swarm provided by the embodiment of the present invention is hovering in the air in a single-layer two-dimensional array arrangement, a group of transceiver pairs can be formed between each drone equipped with a transmitting antenna 1 and a drone equipped with a receiving antenna 2, and a total of 16 transceiver pairs can be formed by a 4-transmitter and 4-receiver system, thereby obtaining 16 groups of relative coordinate information about the target to be measured; the absolute coordinate information of the drone equipped with the antenna can be obtained through GPS satellite positioning, and after being combined with the obtained 16 groups of relative coordinate information, a precise absolute coordinate of the target can be calculated, thereby realizing the function of accurately positioning the specified target.

[0079] The drone swarm provided by the embodiment of the present invention can adopt a step tracking method when it moves in the air with the target object in a single-layer two-dimensional array arrangement. By rotating the drone swarm in the azimuth plane and the pitch plane, the echo size of the target is compared, so that the drone swarm is gradually aimed at the target until the echo received by the receiving antenna reaches a predetermined value, and then one tracking is completed. This cycle is repeated to achieve the function of tracking the designated target. Although the step tracking method is lower in speed than other tracking methods, its cost and system complexity are also lower than other methods, and the arrangement of the single-layer two-dimensional array improves its tracking accuracy.

[0080] The drone swarm provided in the embodiment of the present invention is arranged in a single-layer two-dimensional array with itself as the center. When it rotates at a fixed height in the air, the rotating drone swarm can be equivalent to a mechanical scanning radar to realize the function of monitoring a designated airspace; compared with a phased array radar, the scanning speed of the drone swarm is slower, but because it can omit the configuration of a phase shifter, the cost is greatly reduced.

[0081] As attached Figure 5As shown, the third antenna array arrangement is a multi-layer arrangement. For ease of explanation, taking a four-layer arrangement as an example, the flight baselines 5 of each layer of drone swarm 6 are required to be parallel to each other, and at least one transmitting antenna is required to work, and at least one receiving antenna is required to work on each layer; the multi-layer arrangement can form a synthetic aperture in the height direction (z-axis direction), and the phase shift and height relationship of the registration image can be used to achieve height imaging, and then combined with the two-dimensional image formed by each layer of drone swarm 6 on the xoy plane, the function of high-resolution three-dimensional imaging can be achieved, and the more the number of transmitting antennas and receiving antennas working in each layer, the higher the accuracy obtained. In addition, the vertical distance between each layer in the multi-layer arrangement must meet both the minimum spacing requirements for safe flight of drones and the maximum error-free height requirements.

[0082] The reconfigurable antenna array based on a combinable and separable drone group provided by the embodiment of the present invention can be applied to complex military operations with high multi-task requirements. In practical applications, the arrangement of the antenna array can be reconstructed according to actual conditions and requirements, thereby changing the formation of the drone group and completing different functions. During the execution of a flight mission, when high-resolution two-dimensional imaging is required, the drone group can be separated and combined in a single-layer linear arrangement to form a synthetic aperture radar antenna in flight to complete the corresponding function; when high-resolution three-dimensional imaging is required, the drone group can be separated and combined from a single-layer pre-arrangement to a multi-layer arrangement, as long as the height between different layers meets the requirements, the corresponding function can be achieved; when a designated target needs to be accurately positioned, the drone group can be separated and combined in a single-layer two-dimensional array arrangement; when the target moves, the drone group follows the target movement in this arrangement to achieve the tracking function; when a designated airspace needs to be monitored, the drone group arranged in this single-layer two-dimensional array can be rotated at a fixed height with itself as the center, thereby achieving the function.

[0083] The following are two specific embodiments based on the present invention, which describe in detail the application of drone swarms in different scenarios:

[0084] Example 1: Precision Target Positioning System Based on Drone Swarm

[0085] During a rescue operation, the rescue team needed to quickly locate the signal source in the earthquake ruins in order to determine the specific location of the survivors. Traditional positioning methods are limited by complex terrain and signal interference, making it difficult to achieve accurate positioning. To this end, the rescue team adopted a precise target positioning system based on drone swarms.

[0086] 1) Drone swarm deployment:

[0087] The rescue team deployed a group of drones above the earthquake ruins. The drones hovered in the air in a single-layer two-dimensional array, and each drone carried a transmitting or receiving antenna.

[0088] In this 4-transmitter, 4-receiver system, a total of 16 transmit-receive pairs are formed, which can receive and transmit signals from different angles and obtain the relative coordinate information of the signal source in the ruins.

[0089] 2) Data acquisition and calculation:

[0090] Each drone uses its onboard GPS system to obtain its own absolute coordinate information.

[0091] Through the communication system between drones, the 16 sets of relative coordinate information are combined with the absolute coordinate information of the drones, and a special calculation algorithm is used to integrate these data to obtain the precise absolute coordinates of the signal source.

[0092] 3) Positioning results:

[0093] The system calculates the location of the target signal source and transmits the result to the rescue command center in real time. The command center quickly dispatches rescue personnel to the location point for rescue.

[0094] -Through the collaborative work and precise calculation of multiple groups of transmitters and receivers, drone swarms can achieve high-precision target positioning in complex environments, which is particularly suitable for scenarios that require rapid response, such as rescue.

[0095] Example 2: Aerial target tracking system based on drone swarm

[0096] In an aerial surveillance mission, the military needs to track a high-speed drone in real time to prevent it from entering sensitive airspace. Traditional radar systems cannot effectively track targets due to their slow response speed and limited detection accuracy. To this end, the military deployed a target tracking system based on drone swarms.

[0097] 1) Drone swarm deployment:

[0098] The military deployed a group of drones above the target drone's planned route. The drones were arranged in a single-layer two-dimensional array and hovered in the air.

[0099] Each drone is equipped with a high-sensitivity receiving antenna and forms multiple transmit-receive pairs to detect and track the movement trajectory of the target drone.

[0100] 2) Step tracking:

[0101] When the target drone enters the monitored airspace, the drone swarm gradually adjusts its angles in the azimuth and pitch planes by receiving the target's echo signal to maintain continuous lock on the target.

[0102] The drone swarm gradually aligns with the target by comparing the echo signal strength of the receiving antenna until the echo signal reaches the predetermined value, completing a precise tracking.

[0103] 3) Target tracking and monitoring:

[0104] The drone swarm continuously tracks the target in steps at a lower tracking speed and constantly adjusts its position to adapt to the rapid movement of the target.

[0105] When the target drone attempts to change its flight path, the drone swarm adjusts in real time to ensure that the target is always within monitoring range.

[0106] 4) Monitoring and data transmission:

[0107] During the tracking process, the drone swarm transmits the target's location information and trajectory data to the ground control center in real time for the military to analyze and make decisions.

[0108] -Through the step tracking method, the drone swarm can achieve continuous tracking of high-speed aerial targets at a low cost, and the system complexity is relatively low, which is suitable for long-term monitoring tasks.

[0109] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A reconfigurable antenna array based on a combinable and separable drone swarm, characterized in that: include: It is composed of multiple antenna array sub-arrays; The antenna array sub-array is divided into a transmitting antenna array and a receiving antenna array; The antenna array is carried by a swarm of drones; The antenna array is arranged in a manner of combining a group of drones; each drone is placed in a rigid cubic frame, and each drone is spliced ​​and combined with any other drone; The drone swarm is connected together by a cubic frame when assembled.

2. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in claim 1, characterized in that: Each drone in the combinable and separable drone group includes but is not limited to an antenna sub-array.

3. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in claim 1, characterized in that: The antenna array is arranged in a single-layer linear sparse array, and a group of drones equipped with the antenna array fly in a horizontal plane of equal height to perform high-resolution two-dimensional imaging.

4. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in claim 1, characterized in that: The antenna array is arranged in a single-layer two-dimensional sparse array, and when a group of drones equipped with the antenna array hovers in the air, it can accurately locate the designated target.

5. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in claim 1, characterized in that: The antenna array is arranged in a single-layer two-dimensional sparse array. When a group of drones equipped with the antenna array moves with a target object in the air, the function of tracking the designated target is performed.

6. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in claim 1, characterized in that: The antenna array is arranged in a single-layer two-dimensional sparse array. When a group of drones equipped with the antenna array rotates at a fixed altitude in the air with themselves as the center, it is equivalent to the function of a mechanical scanning radar monitoring a designated airspace.

7. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in claim 1, characterized in that: The antenna array is arranged in multiple layers, and the drone group equipped with the antenna array is divided into multiple layers in the height direction to form a tomographic synthetic aperture radar antenna system to perform high-resolution three-dimensional imaging.

8. The reconfigurable antenna array based on a combinable and separable drone swarm as claimed in any one of claims 1 to 7, characterized in that: The arrangement order of the drones is determined by the number of drones equipped with transmitting antennas, drones equipped with receiving antennas, and drones equipped with other functions, as well as the antenna array working mode; The relative position between the UAV equipped with the transmitting antenna and the UAV equipped with the receiving antenna is further changed according to the actual situation: for the airborne platform affected by external conditions, the UAV equipped with the transmitting antenna is preferentially arranged in the middle of the array; for the airborne platform not affected by external conditions, the UAV equipped with the transmitting antenna is preferentially arranged on the periphery of the array.

9. A method for accurate target positioning based on drone swarms, characterized in that: The following steps are involved: By arranging the drone swarm in a single-layer two-dimensional array and hovering in the air, each drone equipped with a transmitting antenna and a drone equipped with a receiving antenna form a set of transmitting and receiving pairs; In a 4-transmitter 4-receiver system, 16 sets of transmitter-receiver pairs are formed to obtain 16 sets of relative coordinate information about the target to be measured; Obtaining the absolute coordinate information of the UAV equipped with the antenna by using GPS satellite positioning; The 16 sets of relative coordinate information are calculated together with the corresponding absolute coordinate information to obtain the precise absolute coordinates of the target, thus achieving precise positioning of the designated target.

10. A target tracking method based on drone swarm, characterized in that: The following steps are involved: The drone swarm is arranged in a single-layer two-dimensional array and hovers in the air, and the target object is tracked by step tracking; When the target object moves, the drone group is rotated in the azimuth and elevation planes to compare the echo signal received by the receiving antenna, and gradually adjust the drone group to the target; When the echo received by the receiving antenna reaches a predetermined value, a target tracking is completed; Repeat the above steps to achieve continuous tracking of the target through continuous step tracking of the drone swarm.

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