A fault detection and recovery method in UAV networking

Abstract

The present invention discloses a method for fault detection and recovery in drone networking, and relates to the technical field of fault detection and recovery. It includes: connection determination: setting the working range of the drone based on the signal range of the drone in the drone networking, obtaining the working range item, and based on the search method, selecting at least two second target drones as connected drones, establishing a signal connection with the first target drone, obtaining a connection quantity set, and the first target drone is connected to at least two second target drones to ensure the stability of communication. The present invention obtains the fluctuation amplitude of the feedback signal between the networked drones, judges the fluctuation situation, and adjusts the position of the target drone according to the fluctuation situation, so as to ensure that the target drone simultaneously connects the maximum number of connected drones with the best quality signals as much as possible during the drone networking process.

Description

Technical Field

[0001] The present invention relates to the technical field of fault detection and recovery, and in particular to a fault detection and recovery method in unmanned aerial vehicle networking. Background Art

[0002] Drone networking refers to connecting multiple drones together through wireless communication technology to form a network system for collaborative work and information sharing, thereby improving the efficiency and flexibility of drones in performing tasks. Features include real-time information exchange between drones, including location, status, sensor data, etc., for collaborative work, and the network can adjust the connection and data transmission path in real time according to mission requirements and environmental changes to optimize resource utilization. Since drone networking may cause failures due to various situations during operation, fault detection and recovery in drone networking is the key to ensuring the stability and reliability of drone networks.

[0003] Patent publication number CN110705658A is a method for fault detection and recovery of UAV flight parameter data based on multivariate regression, which automatically extracts spatiotemporal features from flight data, makes more accurate estimates of monitoring parameters, and transforms the fault detection and recovery problem into a regression problem. Then, a filtering method is used to smooth the residuals between the actual flight data and the estimated values ​​of the monitored parameters. The impact of random noise on fault detection performance is reduced, which means that the fault detection model is less sensitive to noise and is more likely to detect minor faults. Finally, the smoothed residual is used to calculate the statistical detection threshold, and fault detection is achieved by detecting whether the smoothed residual exceeds the statistical threshold. Since the residual can be calculated in a streaming mode, this method can be applied online. When a fault is detected, the actual flight parameter data can be replaced by the estimated value of the regression model to achieve rapid recovery of the monitored parameters.

[0004] The above and similar technical solutions, when drone networking is used for crop monitoring and irrigation management, there are large areas of farmland mostly located in sparsely populated rural areas, and most of these places have poor signal problems. When drone networking works in such a network environment, it is easy for individual drones to fail to receive instructions from ground staff in a certain period of time due to network instability, or there will be delays in receiving instructions, thus delaying the normal work of the drone group. Summary of the invention

[0005] The purpose of the present invention is to provide a fault detection and recovery method in drone networking to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a method for fault detection and recovery in drone networking, comprising:

[0007] Connection determination: The working range of the drone is set based on the signal range of the drones in the drone network, and the working range item is obtained. Based on the search method, at least two second target drones are selected as connecting drones, and a signal connection with the first target drone is established to obtain a connection quantity set. The first target drone is connected to at least two second target drones to ensure the stability of communication;

[0008] Fault detection: Detect the network signal between the first target UAV and the second target UAV, obtain the detection result of the network signal, obtain the feedback signal item, set the fluctuation threshold, judge the fluctuation of the feedback signal item, obtain the feedback fluctuation item, sort the feedback fluctuation item, obtain the fluctuation sorting item, judge the signal state of the first target UAV based on the feedback signal item, adjust the position of the first target UAV through the adjustment method, and ensure the maximum number and the best quality signal connection between the first target UAV and the second target UAV based on the connection quantity set;

[0009] The adjustment methods include:

[0010] Position adjustment, based on the judgment result of the fluctuation sorting items, when there is no feedback fluctuation item exceeding the fluctuation threshold in the fluctuation sorting items, the connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the fluctuation sorting items is used as the target direction for the first position movement, when there is a feedback fluctuation item exceeding the fluctuation threshold in the fluctuation sorting items, the feedback fluctuation item exceeding the fluctuation threshold is used as an exclusion item to obtain a screening sorting item, and the corresponding connected UAV is used as an exclusion UAV, and the above steps are repeated, and the connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the screening sorting items is used as the target direction for the second position movement, while ensuring the maximum number and the best quality of signal connection between the first target UAV and the second target UAV, the number of connections is eliminated in exchange for the connection quality, so as to ensure the stability of the UAV networking and the timeliness of command reception.

[0011] Furthermore, the feedback signal item is obtained by:

[0012] Step 1: Signal sending: Based on the location information of the first target UAV and the location information of the connected UAV, the first target UAV sends a detection signal to the connected UAV;

[0013] Step 2: Feedback reception: the connected UAV that receives the detection signal sends a feedback signal to the first target UAV based on the original path, and the first target UAV receives the feedback signal;

[0014] Step 3: Signal combination, based on the connection quantity set, multiple groups of feedback signals are obtained to obtain a feedback signal set, and the feedback signal set includes at least two feedback signal items.

[0015] Furthermore, the method for obtaining the feedback signal item also includes: threshold setting, setting a detection threshold, obtaining a detection threshold item, and sending a detection signal from the first target UAV to the connected UAV based on the detection threshold item.

[0016] Furthermore, the feedback fluctuation term is obtained by:

[0017] S1: Standard setting, setting a standard detection environment, and obtaining the strength of the feedback signal received by the first target UAV under the standard detection environment to obtain a standard strength item;

[0018] S2: Information acquisition, obtaining the strength of the feedback signal items actually received by the first target UAV from different connected UAVs, and obtaining the real-time strength item;

[0019] S3: Fluctuation calculation, based on the ratio of the real-time intensity term to the standard intensity term, the real-time fluctuation ratio of different connected drones is obtained to obtain the feedback fluctuation term.

[0020] Furthermore, the standard detection environment is the network condition when all drones in the drone networking system are launched. At this time, all drones in the drone networking system remain in the air, and the network condition at this time is the standard detection environment.

[0021] Furthermore, the method for moving the first position includes:

[0022] M1: Move ratio setting, set the move ratio, and get the move value based on the work scope item and the move ratio;

[0023] M2: Direction determination, obtaining the position information of the first target UAV and the connected UAV corresponding to the feedback fluctuation item at the end of the fluctuation sorting item, obtaining the starting position item and the end position item, establishing a connection line between the starting position item and the end position item, and obtaining the moving path item;

[0024] M3: Movement determination, based on the movement value and the movement path item, the position of the first target UAV is moved.

[0025] Furthermore, the method for moving the second position includes:

[0026] M4: level setting, obtaining the quantity information in the filter sorting items, obtaining the filter quantity items, setting at least two levels, and determining the level of the filter quantity items obtained in real time to obtain the real-time level items;

[0027] M5: Moving value adjustment, setting adjustment items, the adjustment items correspond to the levels of the screening quantity items respectively, and obtaining the corresponding adjustment items based on the real-time level items, obtaining the target adjustment items, adjusting the moving value based on the target adjustment items, and obtaining the updated moving value;

[0028] M6: Update movement determination, repeat steps M2-M3, replace the movement value with the updated movement value, and move the position of the first target drone.

[0029] Furthermore, the search method includes:

[0030] Z1: Target selection: Based on the work scope item, obtain the second target UAV information in the work scope item to obtain the required UAV set, which includes at least two second target UAVs;

[0031] Z2: Target screening, obtain the number of connections of the second target UAV in the demand UAV set, set the connection number threshold, determine whether the number of connections of the second target UAV meets the connection number threshold, and select the second target UAV that meets the connection number threshold as the connecting UAV.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The fault detection and recovery method in the UAV networking obtains the fluctuation amplitude of the feedback signal between the networked UAVs, judges the fluctuation situation, sets the fluctuation threshold, and adjusts the position of the target UAV according to the fluctuation situation. The adjustment direction is the position of the connected UAV corresponding to the feedback fluctuation item ranked last in the feedback fluctuation item. In this way, during the operation of the UAV networking, it is possible to ensure that the target UAV can simultaneously connect the maximum number of signals of the connected UAVs with the best quality.

[0034] At the same time, when the feedback fluctuation item exceeds the fluctuation threshold, the connected UAV corresponding to the feedback fluctuation item exceeding the fluctuation threshold is used as an excluded UAV, and the connected UAV corresponding to the feedback fluctuation item at the end of the sorting is selected from the remaining screening sorting items as the target direction for the second position movement. While ensuring the maximum number and the best quality of signal connection between the first target UAV and the second target UAV, the number of connections is eliminated in exchange for the connection quality, thereby ensuring the stability of the UAV networking and the timeliness of command reception. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the relationship between connection determination and fault detection of the present invention;

[0036] Figure 2 It is a schematic diagram of the adjustment method flow of the present invention;

[0037] Figure 3 This is a schematic diagram of the first detection fluctuation of the present invention;

[0038] Figure 4 It is a schematic diagram of the first position movement of the present invention;

[0039] Figure 5This is a schematic diagram of a second detection fluctuation structure of the present invention;

[0040] Figure 6 It is a schematic diagram of the second position movement of the present invention;

[0041] Figure 7 It is a schematic diagram of the advanced screening quantity item of the present invention;

[0042] Figure 8 It is a schematic diagram of the low-level screening quantity items of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] When the network fluctuations cause delays in command reception during the operation of the drone network, some of the drones may fail to receive commands and return in time when a fault occurs and the fault is detected, or they may fail to receive commands from staff in time, which aggravates the degree of the drone failure and causes the drone to fall into the paddy field and cause irreparable damage to the drone. The technical solution provided by the present application enables the drone network to set the working range of the drone based on the signal range of the drone during operation, obtain the working range item, and search for at least two target drones as connected drones within the working range item based on the search method, set a detection threshold, obtain a detection threshold item, and send a network detection signal to the connected drone based on the detection threshold item. After receiving the detection signal, the connected drone outputs a feedback signal along the original path. Since the target drone obtains at least two sets of feedback signals based on the number of connected drones, By acquiring the fluctuation amplitude of the feedback signal, at least two groups of feedback fluctuation items are obtained. At this time, a fluctuation threshold is set and the fluctuation situation is judged. When the feedback fluctuation items do not exceed the fluctuation threshold, the sizes of the feedback fluctuation items are sorted. According to the sorting result, the position of the target UAV is adjusted. The adjustment direction is the connected UAV position corresponding to the feedback fluctuation item that is sorted last in the feedback fluctuation items. Therefore, in the process of UAV networking, it is possible to ensure that the target UAV simultaneously connects the maximum number of connected UAVs with the best quality signals. When the feedback fluctuation item exceeds the fluctuation threshold, the connected UAV corresponding to the feedback fluctuation item that exceeds the fluctuation threshold is used as an excluded UAV, and the above steps are repeated. The connected UAV position corresponding to the feedback fluctuation item that is sorted last from the remaining feedback fluctuation items is close, thereby achieving the effect of sacrificing the number of connections in exchange for the quality of connection, and ensuring the stability of the UAV networking and the timeliness of command reception.

[0045] like Figure 1-Figure 2As shown, the present invention provides a technical solution: a fault detection and recovery method in drone networking, comprising: connection determination: setting the working range of the drone based on the signal range of the drone in the drone networking, obtaining a working range item, and based on the search method, selecting at least two second target drones as connecting drones, establishing a signal connection with the first target drone, obtaining a connection quantity set, the first target drone is connected to at least two second target drones to ensure the stability of communication; fault detection: detecting the network signal between the first target drone and the second target drone, and obtaining the detection result of the network signal to obtain a feedback signal item, setting a fluctuation threshold, judging the fluctuation of the feedback signal item, obtaining a feedback fluctuation item, sorting the feedback fluctuation items, obtaining a fluctuation sorting item, judging the signal state of the first target drone based on the feedback signal item, adjusting the position of the first target drone by an adjustment method, and maintaining the stability of communication based on the connection quantity set. The method comprises: position adjustment, based on the judgment result of the fluctuation sorting items, when there is no feedback fluctuation item exceeding the fluctuation threshold in the fluctuation sorting items, the connected drone corresponding to the feedback fluctuation item at the end of the sorting in the fluctuation sorting items is used as the target direction for the first position movement, when there is a feedback fluctuation item exceeding the fluctuation threshold in the fluctuation sorting items, the feedback fluctuation item exceeding the fluctuation threshold is used as an exclusion item to obtain a screening sorting item, and the corresponding connected drone is used as an exclusion drone, and the above steps are repeated, and the connected drone corresponding to the feedback fluctuation item at the end of the sorting in the screening sorting items is used as the target direction for the second position movement, while ensuring the maximum number of signal connections with the second target drone and the best quality, the number of connections is eliminated in exchange for the connection quality, so as to ensure the stability of the drone networking and the timeliness of command reception.

[0046] It should be noted that in the process of drone networking, each drone will be responsible for patrolling in different areas, and the size of the area is related to the signal range of the drone, that is, the signal range of the drone is the working range, and the working range item is obtained. Since there will be at least one drone connected to it within the working range of a single drone when the drone is networking, the drone within the working range of the first target drone is searched through a search method, and the drone is set to connect, and a signal connection is established with the first target drone, and the network signal between the first target drone and the second target drone is detected. Since in the process of detection, as the number of detections changes, the detection results will also fluctuate to a certain extent, the fluctuation threshold is set, the fluctuation threshold is 20%, and the fluctuation of the feedback signal is judged.

[0047] like Figure 3-4As shown in the figure, in the specific implementation process, a target UAV establishes a signal connection with three UAVs, which are A, B and C. At this time, the signal between the target UAV and the three UAVs is detected once, and three groups of feedback fluctuation items are obtained respectively. The detection results are: A detection fluctuation is 10%, B detection fluctuation is 8%, and C detection fluctuation is 15%. At this time, the fluctuation sorting results of the three groups ABC are B>A>C, but there is no fluctuation threshold of 20% in the three groups ABC. Therefore, at this time, the connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the fluctuation sorting item is selected as the target direction for the first position movement, that is, the target UAV is moved to the position of C.

[0048] like Figure 5-6 As shown in the figure, in the specific implementation process, a target UAV establishes a signal connection with three UAVs, namely D, E and F. At this time, the signals between the target UAV and the three UAVs are detected once, and three groups of feedback fluctuation items are obtained respectively. The detection results are: D detection fluctuation is 10%, E detection fluctuation is -8%, and F detection fluctuation is 25%. At this time, the fluctuation sorting results of the three groups ABC are E>D>F. At this time, among the three groups DEF, the fluctuation threshold exceeds 20%, that is, F UAV. Therefore, the feedback fluctuation item exceeding the fluctuation threshold is used as an exclusion item, and F UAV is used as an exclusion UAV. The connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the fluctuation sorting item is selected from E and D as the target direction for the second position movement, that is, the target UAV is moved to the position of E. While ensuring the maximum number and the best quality signal connection between the first target UAV and the second target UAV, the connection quantity is eliminated in exchange for the connection quality, so as to ensure the stability of the UAV networking and the timeliness of command reception.

[0049] The method for obtaining the feedback signal item includes: step 1: signal sending, based on the location information of the first target UAV and the location information of the connected UAV, the first target UAV sends a detection signal to the connected UAV; step 2: feedback reception, the connected UAV that receives the detection signal sends a feedback signal to the first target UAV based on the original path, and the first target UAV obtains the feedback signal; step 3: signal combination, based on the connection quantity set, multiple groups of feedback signals are obtained to obtain a feedback signal set, and the feedback signal set includes at least two feedback signal items

[0050] It should be noted that the first target UAV sends a series of detection signals to the connected UAV. After receiving the detection signals, the connected UAV sends a series of feedback signals to the first target UAV. The first target UAV measures and outputs the signal strength value in real time based on the receiving strength of the feedback signal, that is, through the built-in RSSI module, that is, the received signal strength indication function, and the value can be converted into dBm.

[0051] The method for obtaining the feedback signal item also includes: threshold setting, setting a detection threshold, obtaining a detection threshold item, and sending a detection signal from the first target UAV to the connected UAV based on the detection threshold item.

[0052] It should be noted that the detection threshold is set to 10s, that is, the first target UAV sends a detection signal to the connected UAV every 10s.

[0053] The method for obtaining the feedback fluctuation item includes: S1: standard setting, setting a standard detection environment, and obtaining the strength of the feedback signal received by the first target UAV under the standard detection environment to obtain the standard strength item; S2: information acquisition, obtaining the strength of the feedback signal items actually received by the first target UAV from different connected UAVs to obtain the real-time strength item; S3: fluctuation calculation, based on the ratio of the real-time strength item to the standard strength item, obtaining the real-time fluctuation ratio of different connected UAVs to obtain the feedback fluctuation item.

[0054] The standard testing environment is the network condition when all drones in the drone networking system are launched. At this time, all drones in the drone networking system remain in the air, and the network condition at this time is the standard testing environment.

[0055] It should be noted that since the standard detection environment is the network condition when all drones in the drone networking system are launched, under normal circumstances, the signal strength between drones is -70dBm to obtain stable communication. At this time, -70dBm is used as the standard strength item, and the actual signal strength received by the first target drone from different connected drones is obtained, and the difference between the two is used as the feedback fluctuation.

[0056] During the specific implementation process, a target UAV established a signal connection with three UAVs, namely A, B and C. At this time, the signal between the target UAV and the three UAVs was detected once, and three groups of feedback fluctuation items were obtained. The detection results were: A detection wave intensity was -80dBm, B detection fluctuation intensity was -60dBm, C detection fluctuation intensity was -85dBm. At this time, the feedback fluctuation of group A was 14.28%, the feedback fluctuation of group B was -14.28%, and the feedback fluctuation of group C was 21.42%.

[0057] The method for moving the first position includes: M1: moving ratio setting, setting the moving ratio, and obtaining the moving value based on the working range item and the moving ratio; M2: direction determination, obtaining the position information of the first target UAV and the connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the fluctuation sorting item, obtaining the starting position item and the end position item, establishing a connection between the starting position item and the end position item, and obtaining the moving path item; M3: moving determination, moving the position of the first target UAV based on the moving value and the moving path item.

[0058] It should be noted that the set movement ratio is 10%. Based on the working range item and the movement ratio, the movement value is obtained, and the first target UAV is moved based on the movement value and the position information of the UAV.

[0059] It should be noted that the signal range of a certain drone is 10km, and the movement value of the drone is 1km. When it is determined that the drone needs to be moved, it moves based on the movement value of 1km.

[0060] The method for moving the second position includes: M4: level setting, obtaining quantity information in the filtering and sorting items, obtaining the filtering quantity items, setting at least two levels, and determining the levels of the filtering quantity items obtained in real time to obtain real-time level items; M5: moving value adjustment, setting adjustment items, the adjustment items respectively correspond to the levels of the filtering quantity items, and obtaining corresponding adjustment items based on the real-time level items to obtain target adjustment items, adjusting the moving value based on the target adjustment items to obtain an updated moving value; M6: updating moving determination, repeating steps M2-M3 to replace the moving value with the updated moving value to move the position of the first target UAV.

[0061] like Figure 7-8 As shown, it should be noted that there are two levels of the set screening quantity items, namely high level and low level, where the high level corresponds to a screening quantity item ≥3, and the low level corresponds to a screening quantity item less than 3. The set adjustment items correspond to the levels of the screening quantity items, also two, namely 1 and 2, corresponding to the high level and low level respectively.

[0062] In the specific implementation process, the signal range of a certain drone is 10km, and the mobile value of the drone is 1km. After detection, it is found that the number of drones connected to the drone by signal is 2, that is, the screening quantity item is 2, so the level is low. At this time, the adjustment item is 2, which means the mobile value is 2km, so the updated mobile value is 2km.

[0063] The search methods include: Z1: target selection, based on the work scope item, obtaining the second target UAV information in the work scope item, and obtaining the required UAV set, the required UAV set includes at least two second target UAVs; Z2: target screening, obtaining the number of connections of the second target UAVs in the required UAV set, setting a connection number threshold, judging whether the number of connections of the second target UAV meets the connection number threshold, and selecting the second target UAV that meets the connection number threshold as the connection UAV.

[0064] It should be noted that the connection number threshold is set to 3. When it is detected that the connection number of the second target UAV is greater than the connection number threshold, in order to ensure the quality of the connection, the second target UAV is set not to meet the connection number threshold, and therefore the second target UAV is not selected.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. A method for fault detection and recovery in drone networking, characterized in that: include: Connection determination: The working range of the drone is set based on the signal range of the drones in the drone network, and the working range item is obtained. Based on the search method, at least two second target drones are selected as connecting drones, and a signal connection with the first target drone is established to obtain a connection quantity set. The first target drone is connected to at least two second target drones to ensure the stability of communication; Fault detection: Detect the network signal between the first target UAV and the second target UAV, obtain the detection result of the network signal, obtain the feedback signal item, set the fluctuation threshold, judge the fluctuation of the feedback signal item, obtain the feedback fluctuation item, sort the feedback fluctuation item, obtain the fluctuation sorting item, judge the signal state of the first target UAV based on the feedback signal item, adjust the position of the first target UAV through the adjustment method, and ensure the maximum number and the best quality signal connection between the first target UAV and the second target UAV based on the connection quantity set; The adjustment methods include: N1: Position adjustment, based on the judgment result of the fluctuation sorting items, when there is no feedback fluctuation item exceeding the fluctuation threshold in the fluctuation sorting items, the connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the fluctuation sorting items is used as the target direction for the first position movement, when there is a feedback fluctuation item exceeding the fluctuation threshold in the fluctuation sorting items, the feedback fluctuation item exceeding the fluctuation threshold is used as an exclusion item to obtain a screening sorting item, and the corresponding connected UAV is used as an exclusion UAV, and the N1 step is repeated, and the connected UAV corresponding to the feedback fluctuation item at the end of the sorting in the screening sorting items is used as the target direction for the second position movement, while ensuring the maximum number and the best quality of signal connection between the first target UAV and the second target UAV, the number of connections is eliminated in exchange for the connection quality, so as to ensure the stability of the UAV networking and the timeliness of command reception; The method for moving the first position includes: M1: Move ratio setting, set the move ratio, and get the move value based on the work scope item and the move ratio; M2: Direction determination, obtaining the position information of the first target UAV and the connected UAV corresponding to the feedback fluctuation item at the end of the fluctuation sorting item, obtaining the starting position item and the end position item, establishing a connection line between the starting position item and the end position item, and obtaining the moving path item; M3: Movement determination, based on the movement value and the movement path item, the position of the first target UAV is moved; The method for moving the second position comprises: M4: level setting, obtaining the quantity information in the filter sorting items, obtaining the filter quantity items, setting at least two levels, and determining the level of the filter quantity items obtained in real time to obtain the real-time level items; M5: Moving value adjustment, setting adjustment items, the adjustment items correspond to the levels of the screening quantity items respectively, and obtaining the corresponding adjustment items based on the real-time level items, obtaining the target adjustment items, adjusting the moving value based on the target adjustment items, and obtaining the updated moving value; M6: Update movement determination, repeat steps M2-M3, replace the movement value with the updated movement value, and move the position of the first target drone.

2. The method for fault detection and recovery in a UAV network according to claim 1, characterized in that: The method for obtaining the feedback signal item includes: Step 1: Signal sending: Based on the location information of the first target UAV and the location information of the connected UAV, the first target UAV sends a detection signal to the connected UAV; Step 2: Feedback reception: the connected UAV that receives the detection signal sends a feedback signal to the first target UAV based on the original path, and the first target UAV receives the feedback signal; Step 3: Signal combination, based on the connection quantity set, multiple groups of feedback signals are obtained to obtain a feedback signal set, and the feedback signal set includes at least two feedback signal items.

3. The method for fault detection and recovery in a UAV network according to claim 2, characterized in that: The method for obtaining the feedback signal item also includes: threshold setting, setting a detection threshold, obtaining a detection threshold item, and sending a detection signal from the first target UAV to the connected UAV based on the detection threshold item.

4. The method for fault detection and recovery in a drone network according to claim 1, characterized in that: The method for obtaining the feedback fluctuation item includes: S1: Standard setting, setting a standard detection environment, and obtaining the strength of the feedback signal received by the first target UAV under the standard detection environment to obtain a standard strength item; S2: Information acquisition, obtaining the strength of the feedback signal items actually received by the first target UAV from different connected UAVs, and obtaining the real-time strength item; S3: Fluctuation calculation, based on the ratio of the real-time intensity term to the standard intensity term, the real-time fluctuation ratio of different connected drones is obtained to obtain the feedback fluctuation term.

5. The method for fault detection and recovery in a UAV network according to claim 4, characterized in that: The standard detection environment is the network condition when all drones in the drone networking system are launched. At this time, all drones in the drone networking system remain in the air, and the network condition at this time is the standard detection environment.

6. The method for fault detection and recovery in a drone network according to claim 1, characterized in that: The search methods include: Z1: Target selection: Based on the work scope item, obtain the second target UAV information in the work scope item to obtain the required UAV set, which includes at least two second target UAVs; Z2: Target screening, obtain the number of connections of the second target UAV in the demand UAV set, set the connection number threshold, determine whether the number of connections of the second target UAV meets the connection number threshold, and select the second target UAV that meets the connection number threshold as the connecting UAV.

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