Unmanned aerial vehicle regional local area network base station cooperative communication system and method

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle regional local area network base station cooperative communication system which comprises an unmanned aerial vehicle cooperative control module, an unmanned aerial vehicle communication module, an unmanned aerial vehicle signal analysis module, a communication signal adjustment module and an interference elimination module. The unmanned aerial vehicle numbering unit numbers a plurality of unmanned aerial vehicles, after numbering, the unmanned aerial vehicle connecting unit establishes a communication channel through the regional local area network base station to be connected with the control unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle marshalling unit connects the control unmanned aerial vehicle with a plurality of communication unmanned aerial vehicles, so that the communication signal transmission range is enlarged; and then a control instruction is output to the control unmanned aerial vehicle through the regional local area network base station, and when the same instruction needs to be sent to the plurality of communication unmanned aerial vehicles, the control unmanned aerial vehicle transmits a signal, so that the repetition and delay of communication are reduced, and the efficiency and collaboration of communication are improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle communication technology, and in particular to a cooperative communication system and method for a base station in a regional local area network of an unmanned aerial vehicle. Background Art

[0002] Each drone unit in the drone swarm achieves node minimization; but when the drone swarm is taken as a whole, the network can be maximized. This method can have extremely high flexibility as a whole. Through decentralization and dynamic aggregation, it can ensure survivability while also having strong penetration capabilities. Even if individual drone units are lost, it will not have a significant impact on the drone swarm. When the existing technology controls drones to collect information, it usually establishes a connection between a regional LAN base station and multiple drones, and then the regional LAN base station outputs different control signals to control the multiple drones, so that the drones collect information in the environment. When the drone needs to fly to a location far away from the regional LAN base station or there is signal interference between the connection established between the two, it will cause packet loss when the drone and the regional LAN base station transmit signals, resulting in the inability to stably transmit the collected information. At the same time, when interference occurs, the existing technology usually outputs the interfered drones to the simultaneous anti-interference output. Since multiple drones are distributed within the range of the interference source, they output the same interference value, which increases the power usage of the regional LAN base station. In view of this, we propose a drone regional LAN base station collaborative communication system and method. Summary of the invention

[0003] The purpose of the present invention is to provide a UAV regional local area network base station collaborative communication system and method to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned object, the present invention provides a UAV regional LAN base station cooperative communication system, including a UAV cooperative control module, a UAV communication module, a UAV signal analysis module, a communication signal adjustment module and an interference elimination module; First, the UAV cooperative control module numbers the UAVs, and then the regional LAN base station selects a suitable communication channel to wait for several control UAVs to join. After the control UAVs connect with it, the control UAVs broadcast a grouping signal to the surrounding area with a specific communication frequency band. After the communication UAV with the current number receives the grouping signal, it connects with the control UAV. When the drone collects information, the drone communication module detects the drone's communication signal strength, and then determines the value of the drone signal strength reduction. Thereafter, the drone signal analysis module analyzes the cause of the reduction in communication signal strength. If there is a problem with the communication signal transmission between the regional LAN base station and the control drone, the communication signal adjustment module adjusts the regional LAN base station output signal strength, where: The interference elimination module includes an interference source coordinate determination module and an anti-interference signal output unit; if the reduction in communication signal between the regional LAN base station and the controlled drone is caused by interference, the interference source coordinate determination module determines the interference source coordinates through the communication signal strength of several drones detected by the drone communication strength detection unit and the coordinates of several drones, and the anti-interference signal output unit outputs different anti-interference values ​​for several drones whose communication strength is reduced due to the interference source.

[0005] The UAV cooperative control module includes a UAV numbering unit, a UAV connection unit and a UAV grouping unit; The drone numbering unit is used to number multiple drones before the drones are used. Before numbering, the starting value of the numbering is determined, and then the subsequent drones are numbered according to the starting value. Finally, the numbered drones are divided into several drone groups according to user needs, and a control drone is selected from the drone groups; The drone connection unit is used to select a suitable communication channel through the regional LAN base station, and then send a beacon frame on the selected channel to announce the existence of the network and wait for several control drones to join. The terminal devices on the several control drones scan the beacon frame output by the regional LAN base station. After scanning, they send a connection request to the base station. After receiving the connection request, the base station will allocate several network addresses to the several control drones and add them to the network. At this time, the base station and the several controlled drones transmit data in both directions; The drone grouping unit is used to receive the numbering signal in the drone numbering unit and the connection signal in the drone connection unit. After the connection is completed, several controlled drones respectively output specific communication frequency bands to broadcast a grouping signal to the surrounding area. The specific communication frequency band includes the number of the communication drone. After receiving the grouping signal, the communication drone parses the communication frequency band. If the communication drone is in this number, the communication drone outputs a response signal to perform identity authentication and connection confirmation. After the connection is completed, the controlling drone forwards the mission information and control instructions received from the base station to other drones in the group, and coordinates the actions of the communication drones.

[0006] The drone communication module includes a drone communication strength detection unit and a detection signal sorting unit; The drone communication strength detection unit is used to detect the communication signal strength between the regional LAN base station and multiple control drones, and the communication signal strength between the control drone and multiple communication drones. During the detection process, the control drone and the communication drone first receive the mixed communication signal through the drone connection unit, and then separate the signal and noise according to the different frequency characteristics of the signal and noise, and then calculate the connection strength by measuring the power of the signal and noise; The detection signal sorting unit is used to receive the communication signal strength results detected by the drone communication strength detection unit, and compare the detection results to analyze the changes in the communication signal strength between the regional LAN base station and multiple control drones, and between the regional LAN base station and a certain control drone, and between a certain communication drone and the control drone at the same time. If the communication signal is lower than the set communication threshold at this time, it means that the communication signal has decreased. The communication threshold is eighty percent of the beacon frame strength output in the numbered drone connection unit.

[0007] The drone signal analysis module is used to receive the analysis results in the detection signal sorting unit and set a proportional threshold. When the communication signal strength between the regional LAN base station and the controlled drone is reduced, the number of drones with reduced communication signal strength is within the proportional threshold, and the communication signal strength between the regional LAN base station and the controlled drone outside the proportional threshold is normal, which means that there is interference between the regional LAN base station and the controlled drone. If the communication signal strength between the regional LAN base station and the controlled drone is reduced outside the proportional threshold, it means that there is a problem with the communication signal transmission between the regional LAN base station and the controlled drone. Similarly, the relationship between the communication drone and the controlled drone is the same.

[0008] The communication signal adjustment module is used to receive the result of a problem in the communication signal transmission between the regional LAN base station and the control drone in the drone signal analysis module, and then adjust the transmission communication signal power of the regional LAN base station to ensure the stability of the communication signal between the control drone and the regional LAN base station. The power adjustment ratio is calculated based on the difference between the normal communication signal strength between each control drone and the regional LAN base station and the communication signal when a problem occurs in the communication signal.

[0009] The interference source coordinate determination module is used to receive the interference results between the regional LAN base station and the control drone, and between the control drone and the communication drone in the drone signal analysis module, and then detect the change of the communication signal strength between the current control drone and the communication drone it controls, and the communication signal strength between the communication drones at different positions and the control communication drone will change through the drone communication strength detection unit. The distance between the interference source and several communication drones is determined by the change of the communication signal strength, and then the coordinates of the interference source are calculated; The anti-interference signal output unit is used to receive the coordinates of the interference source in the interference source coordinate determination module, and output a relative anti-interference value according to the different interference values ​​between the communication drone and the control drone. When the drone is connected to the regional LAN base station, due to the movement of the drone and changes in the environment, the characteristics of the connection channel between the two will continue to change. The adaptive equalizer adjusts its coefficients in real time according to the changes in the received signal to adapt to the changes in the channel, thereby eliminating interference.

[0010] The drone communication module also includes a drone detection unit; The drone detection unit is used to transmit electromagnetic waves to the sky through radar equipment when the drone signal analysis module analyzes that there is interference between the regional LAN base station and the control drone, or between the control drone and the communication drone. When the electromagnetic waves encounter a drone during propagation, the metal structure, plastic shell and other parts of the drone will reflect the electromagnetic waves. The radar antenna receives the reflected electromagnetic waves and transmits them to the receiver. The number of drones is determined by the receiver, and then the number of detected drones is compared with the number of drones connected by the drone connection unit to determine whether there is any loss.

[0011] The interference elimination module also includes a drone adjustment unit; The drone adjustment unit is used to adjust the position of the drone according to the change of the communication signal detected by the detection signal sorting unit, to ensure that the communication signals between the regional LAN base station and the control drone, and between the control drone and the communication drone in the drone grouping unit are the same.

[0012] A method for realizing cooperative communication between base stations in a local area network of unmanned aerial vehicles is provided. A cooperative communication system between base stations in a local area network of unmanned aerial vehicles is provided. The method comprises the following steps: Step 1: Select a suitable location to deploy the regional LAN base station to ensure that it can cover the drone activity area where collaborative communication is required; Step 2: The drone numbering unit uniquely numbers each drone participating in the collaborative communication, and then the drone connection unit establishes a communication channel through the regional LAN base station. At this time, the drone grouping unit connects the control drone with several communication drones to form a drone group. The control drone is responsible for coordinating and managing the communication and task execution of the entire group. Step 3: The drone communication strength detection unit detects the communication signal strength in real time, detects the connection strength of the drone during communication, and then the detection signal sorting unit determines whether the communication signal is reduced; Step 4: The drone signal analysis module analyzes the reasons for the reduction in communication signal strength. If the number of drones with reduced communication signal strength is within the ratio threshold, it means that there is interference between the drones. Otherwise, it means that there is a problem with the communication signal transmission between the regional LAN base station and the drone. Step 5: When there is a problem in the communication signal transmission between the regional LAN base station and the drone, the communication signal adjustment module adjusts the transmission communication signal power of the regional LAN base station; Step 6: When there is interference between drones, the interference elimination module first determines the coordinates of the interference source by detecting the change in communication signal strength detected by the signal sorting unit and the coordinates of the drones, and finally outputs different anti-interference signals to drones affected by different interferences.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. In the UAV regional LAN base station collaborative communication system and method, multiple UAVs are numbered by a UAV numbering unit. After numbering, the UAV connection unit establishes a communication channel through the regional LAN base station to connect with the control UAV. At this time, the UAV grouping unit connects the control UAV with several communication UAVs. In this process, the range of communication signal transmission is increased. Then the staff outputs control instructions to the control UAV through the regional LAN base station, and then the control UAV controls the communication UAV again according to the control instructions. When the same instruction needs to be sent to multiple communication UAVs, the signal is transmitted by the control UAV to reduce communication duplication and delay, and improve communication efficiency and coordination.

[0014] 2. In the drone regional LAN base station collaborative communication system and method, the drone communication strength detection unit detects the communication signal strength between the control drone and the regional LAN base station, and between the control drone and the communication drone, calculates the connection strength during communication, and determines whether there is a sudden signal drop when the drone is connected through the detection signal sorting unit. When the signal suddenly drops, the communication signal drop is analyzed based on the normal communication signal strength in the drone connection unit after the numbering to determine if there is a problem caused by interference or connection transmission.

[0015] 3. In the drone regional LAN base station collaborative communication system and method, when there is a problem in the connection transmission, the communication signal adjustment module adjusts the power of the communication signal output between drones to ensure the stability of the drone during operation. During the flight, the distance between the drone and other drones or the control center will change continuously. When the distance is far, the signal strength will weaken, resulting in communication interruption. By adjusting the communication signal power, stable communication can be ensured at different distances.

[0016] 4. In the drone regional LAN base station collaborative communication system and method, if the communication signal is reduced due to interference, the interference source is determined by the interference source coordinate determination module. When determining the interference source, the interference source coordinate determination module detects the change in the communication signal strength between the current control drone and the communication drone it controls through the drone communication strength detection unit. Because the communication drones are distributed in various positions in the air during operation, drones at different positions are subject to different interference. At this time, the coordinates of the communication drone are transmitted through the control drone, and the coordinates of the interference source are judged according to the interference situation of the communication drone and its coordinates; After the interference source is determined, the anti-interference signal output unit outputs different anti-interference values ​​according to the different interferences detected by the detection signal sorting unit to the UAV, so that the interference values ​​output by each UAV are different. Since different UAVs may face different degrees of interference in different locations and environments, by outputting different anti-interference values, adaptive adjustments are made to the specific situation of each UAV to ensure that each UAV can maintain relatively stable communication in its specific interference environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall module principle diagram of the present invention; Figure 2 This is a connection diagram of the regional LAN base station, control drone and communication drone of the present invention.

[0018] The meaning of each number in the figure is: 100. UAV collaborative control module; 110. UAV numbering unit; 120. UAV connection unit; 130. UAV grouping unit; 200. UAV communication module; 210. UAV communication strength detection unit; 220. Detection signal sorting unit; 230. UAV detection unit; 300. UAV signal analysis module; 400. Communication signal adjustment module; 500. Interference elimination module; 510. Interference source coordinate determination module; 520. Anti-interference signal output unit; 530. UAV adjustment unit. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in 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.

[0020] The UAV regional LAN base station cooperative communication system includes a UAV cooperative control module 100, a UAV communication module 200, a UAV signal analysis module 300, a communication signal adjustment module 400 and an interference elimination module 500; The drone cooperative control module 100 includes a drone numbering unit 110 , a drone connection unit 120 , and a drone grouping unit 130 ; The drone numbering unit 110 is used to number multiple drones before the drones are used. Before numbering, the starting value of the numbering is determined, and then the subsequent drones are numbered according to the starting value. Finally, the numbered drones are divided into several drone groups according to user needs, and a control drone is selected from the drone groups; An example of numbering drones is as follows: For example, the first drone is numbered 1, the second is 2, and so on; The drone connection unit 120 is used to select a suitable communication channel through the regional LAN base station, and then send a beacon frame on the selected channel to announce the existence of the network and wait for several control drones to join. The terminal devices on the several control drones scan the beacon frame output by the regional LAN base station, and after scanning, send a connection request to the base station. After receiving the connection request, the base station will allocate several network addresses to the several control drones and add them to the network. At this time, the base station and the several controlled drones transmit data in both directions; The calculation formula for the communication signal strength received by the controlled drone and the base station is as follows:

[0021] in, is the received communication signal strength, is the transmitted communication signal strength, is the transmit antenna gain, is the receiving antenna gain, is the path loss; The path loss is calculated using the free space path loss formula:

[0022] in, is the communication frequency, is the transmission distance; The drone grouping unit 130 is used to receive the numbering signal in the drone numbering unit 110 and the connection signal in the drone connection unit 120. After the connection is completed, several controlled drones respectively output a specific communication frequency band to broadcast a grouping signal to the surrounding area. The specific communication frequency band includes the number of the communication drone. After receiving the grouping signal, the communication drone parses the communication frequency band. If the communication drone is in this number, the communication drone outputs a response signal to perform identity authentication and connection confirmation. After the connection is completed, the control drone forwards the mission information and control instructions received from the base station to other drones in the group, and coordinates the actions of the communication drones; The calculation formula for the connection reliability between the control drone and the communication drone is as follows:

[0023] in, is the number of successful connections, is the total number of connection attempts, For connection reliability.

[0024] The drone communication module 200 includes a drone communication strength detection unit 210 and a detection signal sorting unit 220; The drone communication strength detection unit 210 is used to detect the communication signal strength between the regional LAN base station and multiple control drones, and the communication signal strength between the control drone and multiple communication drones. During the detection process, the control drone and the communication drone first receive the mixed communication signal through the drone connection unit 120, and then separate the signal and noise according to their different frequency characteristics, and then calculate the connection strength by measuring the power of the signal and the noise; The calculation formula for separating the signal and noise based on their different frequency characteristics is as follows: Perform Fourier transform on the mixed signal: Assume that the mixed signal is , whose Fourier transform is ; Power spectral density calculation formula: ,in represents the power spectral density, is the frequency; Transfer function: ,in is the cutoff frequency; The filtered signal: ,in, represents inverse Fourier transform; Signal Power: Assume that the separated signal is , in the time interval The signal power is:

[0025] Noise power: Assume that the separated noise is , the noise power is:

[0026] The connection strength is:

[0027] in, is the noise power, is the signal power; The detection signal collating unit 220 is used to receive the communication signal strength results detected by the drone communication strength detection unit 210, and compare the detection results to analyze the changes in the communication signal strength between the regional LAN base station and multiple control drones, the communication signal between the regional LAN base station and a certain control drone, and the communication signal between a certain communication drone and the control drone at the same time. If the communication signal is lower than the set communication threshold at this time, it means that the communication signal is reduced. The communication threshold is 80% of the beacon frame strength output from the numbered drone connection unit 120; Communication signal strength change rate calculation: Assume that in the time window Within a communication link at time The communication signal strength is , at the time The communication signal strength is ;

[0028] The calculation formula for judging the sudden decrease of communication signal is: if Greater than the set threshold , it means that the communication signal suddenly decreases; The drone communication module 200 also includes a drone detection unit 230; The drone detection unit 230 is used to transmit electromagnetic waves to the sky through radar equipment when the drone signal analysis module 300 analyzes that there is interference between the local area network base station and the control drone, or between the control drone and the communication drone. When the electromagnetic waves encounter a drone during propagation, the metal structure, plastic shell and other parts of the drone will reflect the electromagnetic waves. The radar antenna receives the reflected electromagnetic waves and transmits them to the receiver. The number of drones is determined through the receiver, and then the number of detected drones is compared with the number of drones connected by the drone connection unit 120 to determine whether there is any loss.

[0029] The drone signal analysis module 300 is used to receive the analysis results in the detection signal sorting unit 220 and set a proportional threshold. When the communication signal strength between the regional LAN base station and the controlled drone is reduced, the number of drones with reduced communication signal strength is within the proportional threshold, and the communication signal strength between the regional LAN base station and the controlled drone outside the proportional threshold is normal, which means that there is interference between the regional LAN base station and the controlled drone. If the communication signal strength between the regional LAN base station and the controlled drone is reduced outside the proportional threshold, it means that there is a problem with the communication signal transmission between the regional LAN base station and the controlled drone, and the same is true for the relationship between the communication drone and the controlled drone. The calculation formula is as follows: Assume the total number of regional LAN base stations is , the number of LAN base stations in the area where the communication signal strength decreases is , set the ratio threshold to ; if , it means that there is interference between the regional LAN base station and the controlled drone; if , it means that there is a problem with the communication signal transmission between the regional LAN base station and the control drone.

[0030] The communication signal adjustment module 400 is used to receive the result of the problem of communication signal transmission between the regional LAN base station and the control drone in the drone signal analysis module 300, and then adjust the transmission communication signal power of the regional LAN base station to ensure the stability of the communication signal between the control drone and the regional LAN base station. The proportion of the power adjustment is calculated according to the difference between the normal communication signal strength between each control drone and the regional LAN base station and the communication signal when the communication signal has a problem; Under normal circumstances, the communication signal strength between the regional LAN base station and the control drone is , the communication signal strength when the communication signal has problems is

[0031] The relationship between communication signal strength and transmission power satisfies:

[0032] in, is the communication signal strength, is the transmit power, and It is a constant related to the communication environment, etc., and is provided by the staff; First, determine the proportionality constant according to the normal situation and back, When the communication signal strength is Assume that the transmission power is ,but ; The transmit power should be adjusted : Since the communication signal strength difference is ,from and We can get:

[0033] Also, ,thereby

[0034] Then the adjusted transmit power is obtained:

[0035] is the adjusted transmit power.

[0036] The interference source coordinate determination module 510 is used to receive the result of interference between the regional LAN base station and the control drone, and between the control drone and the communication drone in the drone signal analysis module 300, and then detect the change of the communication signal strength between the current control drone and the communication drone it controls, and the change of the communication signal strength between the communication drones at different positions and the control communication drone through the drone communication strength detection unit 210. The distance of the interference source from several communication drones is determined by the change of the communication signal strength, and then the coordinates of the interference source are calculated; The calculation formula for the distance between the interference source and the communication drone is as follows:

[0037] in, is the communication signal strength, is the proportional coefficient between the communication signal strength and the communication UAV distance, is the distance between the communication UAV and the interference source; The calculation formula of the interference source coordinates is as follows: and For three communication drones and The coordinates of , and are the distances between the communication UAV and the interference source; List the system of equations: ; ; ; Subtracting the above three equations from each other can eliminate the quadratic terms and obtain two linear equations: For example, subtracting the second equation from the first gives: = ; After expanding and simplifying, we get:

[0038] Similarly, subtracting the third equation from the first equation can also give another linear equation; The two linear equations obtained form a linear equation system, and then use the linear algebra method to solve the linear equation system. is the coordinates of the interference source; The anti-interference signal output unit 520 is used to receive the coordinates of the interference source in the interference source coordinate determination module 510, and output a relative anti-interference value according to the different interference values ​​between the communication drone and the control drone. When the drone is connected to the regional LAN base station, the characteristics of the connection channel between the two will continue to change due to the movement of the drone and the change of the environment. The adaptive equalizer adjusts its coefficients in real time according to the change of the received signal to adapt to the change of the channel, thereby eliminating interference; The calculation formula of the anti-interference value is as follows:

[0039] in, is the maximum anti-interference value of the output, is the normalized value of the interference value, It is an adjustment factor, set by staff; Normalized value of interference value:

[0040] in, is the interference value, is the maximum interference value that may be expected.

[0041] The interference elimination module 500 also includes a drone adjustment unit 530; The drone adjustment unit 530 is used to adjust the position of the drone according to the change of the communication signal detected by the detection signal arrangement unit 220, so as to ensure that the communication signals between the regional LAN base station and the control drone, and between the control drone and the communication drone in the drone formation unit 130 are the same; The communication signal strength will weaken as the distance increases, and the expression is as follows:

[0042] in, is the received communication signal strength, is the transmitted communication signal strength, It's distance. is the path loss exponent, set by staff; Keep the communication signal the same, that is, the received communication signal strength is constant ,This is achieved by adjusting the distance when a signal change is detected; In the initial state, the distance between the drones is , the received communication signal strength is ; When the communication signal changes, the target distance is set to , so that the received communication signal strength is , the calculation formula is as follows:

[0043]

[0044] From the above two equations, we can deduce The expression is as follows:

[0045] Thus according to Adjust the position of the drone.

[0046] First, the UAV cooperative control module 100 numbers the UAVs, and then the regional LAN base station selects a suitable communication channel to wait for several control UAVs to join. After the control UAVs are connected to it, the control UAVs output a specific communication frequency band to broadcast a grouping signal to the surrounding area. After the communication UAV with the current number receives the grouping signal, it connects with the control UAV. When the drone collects information, the drone communication module 200 detects the communication signal strength of the drone, and then determines the value of the drone signal strength reduction. Thereafter, the drone signal analysis module 300 analyzes the cause of the reduction in communication signal strength. If there is a problem in the communication signal transmission between the regional LAN base station and the control drone, the communication signal adjustment module 400 adjusts the output signal strength of the regional LAN base station, wherein: The interference elimination module 500 includes an interference source coordinate determination module 510 and an anti-interference signal output unit 520; if the reduction in communication signal between the regional LAN base station and the controlled drone is caused by interference, the interference source coordinate determination module 510 determines the interference source coordinates through the communication signal strength of several drones detected by the drone communication strength detection unit 210 and the coordinates of several drones, and the anti-interference signal output unit 520 outputs different anti-interference values ​​for several drones whose communication strength is reduced due to the interference source. Example

[0047] A method for realizing cooperative communication between base stations in a regional LAN of unmanned aerial vehicles is proposed, which is applied to a cooperative communication system between base stations in a regional LAN of unmanned aerial vehicles, and includes the following steps: Step 1: Select a suitable location to deploy the regional LAN base station to ensure that it can cover the drone activity area where collaborative communication is required; Step 2: The drone numbering unit 110 uniquely numbers each drone participating in the collaborative communication, and then the drone connection unit 120 establishes a communication channel through the regional LAN base station. At this time, the drone grouping unit 130 connects the control drone with several communication drones to form a drone group. The control drone is responsible for coordinating and managing the communication and task execution of the entire group; Step 3: The drone communication strength detection unit 210 detects the communication signal strength in real time to detect the connection strength of the drone during communication, and then the detection signal sorting unit 220 determines whether the communication signal is reduced; Step 4: The drone signal analysis module 300 analyzes the reason for the reduction in communication signal strength. If the number of drones with reduced communication signal strength is within the ratio threshold, it means that there is interference between the drones. Otherwise, it means that there is a problem in the communication signal transmission between the regional LAN base station and the drone. Step 5: When there is a problem in the communication signal transmission between the regional LAN base station and the drone, the communication signal adjustment module 400 adjusts the transmission communication signal power of the regional LAN base station; Step 6: When there is interference between drones, the interference elimination module 500 first determines the coordinates of the interference source by detecting the change in communication signal strength detected by the signal sorting unit 220 and the coordinates of the drones, and finally outputs different anti-interference signals to drones affected by different interferences.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. UAV regional LAN base station collaborative communication system, characterized by: It comprises a drone cooperative control module (100), a drone communication module (200), a drone signal analysis module (300), a communication signal adjustment module (400) and an interference elimination module (500); The drones are numbered by the drone cooperative control module (100), a communication channel is selected and a plurality of control drones are waited for to join, the control drone scans the beacon frame output by the regional LAN base station to control the drone to establish a connection with the regional LAN base station, at which time the control drone outputs a specific communication frequency band to broadcast a grouping signal to the surrounding area, and the communication drone receives the grouping signal and connects to the control drone; The drone communication module (200) detects the communication signal strength of the drone and outputs a strength value. The drone signal analysis module (300) analyzes the reason for the reduction in communication signal strength. If a problem occurs in the communication signal transmission between the regional LAN base station and the drone control, the communication signal adjustment module (400) adjusts the output signal strength of the regional LAN base station, wherein: The interference elimination module (500) comprises an interference source coordinate determination module (510) and an anti-interference signal output unit (520); if the reduction in the communication signal between the regional LAN base station and the control drone is caused by interference, the interference source coordinate determination module (510) determines the interference source coordinates through the communication signal strengths of the plurality of drones and the coordinates of the plurality of drones, so that the anti-interference signal output unit (520) outputs different anti-interference values ​​for the plurality of drones whose communication strength is reduced due to the interference source.

2. The UAV regional LAN base station collaborative communication system according to claim 1, characterized in that: The drone cooperative control module (100) comprises a drone numbering unit (110), a drone connection unit (120) and a drone grouping unit (130); The drone numbering unit (110) is used to determine the starting value of the numbering before numbering, and then to continue numbering the subsequent drones according to the starting value, and finally to divide the numbered drones into a number of drone groups according to user needs, and to select a control drone from the drone group; The drone connection unit (120) is used to select a communication channel through a regional LAN base station, and then send a beacon frame on the selected channel to announce the existence of the network and wait for the joining of a number of control drones. The terminal devices on the several control drones scan the beacon frame output by the regional LAN base station, and after scanning, send a connection request to the base station. After receiving the connection request, the base station allocates a number of network addresses to the several control drones and adds them to the network. At this time, the base station and the several controlled drones transmit data bidirectionally; The drone grouping unit (130) is used to receive the numbering signal in the drone numbering unit (110) and the connection signal in the drone connection unit (120). After the connection is completed, a number of controlled drones respectively output a specific communication frequency band to broadcast a grouping signal to the surrounding area. The specific communication frequency band includes the number of the communication drone. After receiving the grouping signal, the communication drone parses the communication frequency band. If the communication drone is in this number, the communication drone outputs a response signal to perform identity authentication and connection confirmation. After the connection is completed, the control drone forwards the mission information and control instructions received from the base station to other drones in the group and coordinates the actions of the communication drones.

3. The UAV regional LAN base station collaborative communication system according to claim 2, characterized in that: The drone communication module (200) comprises a drone communication strength detection unit (210) and a detection signal sorting unit (220); The drone communication strength detection unit (210) is used to detect the communication signal strength between the regional LAN base station and multiple control drones, and the communication signal strength between the control drone and multiple communication drones. During the detection process, the control drone and the communication drone first receive a mixed communication signal through the drone connection unit (120), and then separate the signal and noise according to their different frequency characteristics, and then calculate the connection strength by measuring the power of the signal and the noise; The detection signal collating unit (220) is used to receive the communication signal strength results detected by the drone communication strength detection unit (210), and compare the detection results to analyze the changes in the communication signal strength between the regional LAN base station and multiple control drones, the communication signal between the regional LAN base station and a certain control drone, and the communication signal between a certain communication drone and the control drone at the same time. If the communication signal is lower than a set communication threshold at this time, it means that the communication signal has decreased. The communication threshold is 80% of the beacon frame strength output from the numbered drone connection unit (120).

4. The UAV regional LAN base station collaborative communication system according to claim 3, characterized in that: The drone signal analysis module (300) is used to receive the analysis results in the detection signal sorting unit (220) and set a proportional threshold. When the communication signal strength between the regional LAN base station and the controlled drone decreases, the number of drones with reduced communication signal strength is within the proportional threshold, and the communication signal strength between the regional LAN base station and the controlled drone is normal outside the proportional threshold, indicating that there is interference between the regional LAN base station and the controlled drone. If the communication signal strength between the regional LAN base station and the controlled drone decreases outside the proportional threshold, it indicates that there is a problem with the communication signal transmission between the regional LAN base station and the controlled drone. Similarly, the relationship between the communication drone and the controlled drone is also the same.

5. The UAV regional LAN base station collaborative communication system according to claim 4, characterized in that: The communication signal adjustment module (400) is used to receive the result of a problem in the communication signal transmission between the regional local area network base station and the control drone in the drone signal analysis module (300), and then adjust the transmission communication signal power of the regional local area network base station to ensure the stability of the communication signal between the control drone and the regional local area network base station. The proportion of the adjusted power is calculated based on the difference between the normal communication signal strength between each control drone and the regional local area network base station and the communication signal when the communication signal has a problem.

6. The UAV regional LAN base station collaborative communication system according to claim 4, characterized in that: The interference source coordinate determination module (510) is used to receive the result of interference between the regional LAN base station and the control drone, and between the control drone and the communication drone in the drone signal analysis module (300), and then detect the change of the communication signal strength between the current control drone and the communication drone it controls, and the change of the communication signal strength between the communication drones at different positions and the control communication drone through the drone communication strength detection unit (210), and determine the distance of the interference source from a plurality of communication drones through the change of the communication signal strength, and then calculate the coordinates of the interference source; By changing the communication signal strength, the distance between the interference source and several communication drones is determined, and then the coordinates of the interference source are calculated using the following formula: and For three communication drones and The coordinates of , and are the distances between the communication UAV and the interference source; List the system of equations: ； ； ； Subtracting the above three equations from each other can eliminate the quadratic terms and obtain two linear equations: Subtracting the second equation from the first gives: = ； After expanding and simplifying, we get: ； Similarly, subtracting the third equation from the first equation can also give another linear equation; The two linear equations obtained form a linear equation system, and then use the linear algebra method to solve the linear equation system. is the coordinates of the interference source; The anti-interference signal output unit (520) is used to receive the coordinates of the interference source in the interference source coordinate determination module (510), and output a relative anti-interference value according to different interference values ​​between the communication drone and the control drone. When the drone is connected to the regional LAN base station, due to the movement of the drone and changes in the environment, the characteristics of the connection channel between the two will continue to change. The adaptive equalizer adjusts its coefficients in real time according to the changes in the received signal to adapt to the changes in the channel, thereby eliminating interference; The calculation formula of the anti-interference value is as follows: ； in, is the maximum anti-interference value of the output, is the normalized value of the interference value, It is an adjustment factor set by staff.

7. The UAV regional LAN base station collaborative communication system according to claim 3, characterized in that: The drone communication module (200) further comprises a drone detection unit (230); The drone detection unit (230) is used to transmit electromagnetic waves to the sky through radar equipment when the drone signal analysis module (300) analyzes that there is interference between the regional LAN base station and the control drone, or between the control drone and the communication drone. When the electromagnetic waves encounter a drone during propagation, the metal structure, plastic shell and other parts of the drone will reflect the electromagnetic waves. The radar antenna receives the reflected electromagnetic waves and transmits them to the receiver. The number of drones is determined by the receiver, and then the number of detected drones is compared with the number of drones connected to the drone connection unit (120) to determine whether there is a loss.

8. The UAV regional LAN base station collaborative communication system according to claim 3, characterized in that: The interference elimination module (500) further includes a drone adjustment unit (530); The drone adjustment unit (530) is used to adjust the position of the drone according to changes in the communication signal detected by the detection signal arrangement unit (220), so as to ensure that the communication signals between the regional LAN base station and the control drone, and between the control drone and the communication drone in the drone formation unit (130) are the same.

9. A method for cooperative communication between base stations in a regional local area network of unmanned aerial vehicles, applied to the cooperative communication system between base stations in a regional local area network of unmanned aerial vehicles as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Select a suitable location to deploy the regional LAN base station to ensure that it can cover the drone activity area where collaborative communication is required; Step 2: The drone numbering unit (110) uniquely numbers each drone participating in the collaborative communication, and then the drone connection unit (120) establishes a communication channel through the regional LAN base station. At this time, the drone grouping unit (130) connects the control drone with several communication drones to form a drone group. The control drone is responsible for coordinating and managing the communication and task execution of the entire group. Step 3: The drone communication strength detection unit (210) detects the communication signal strength in real time to detect the connection strength of the drone during communication, and then the detection signal sorting unit (220) determines whether the communication signal is reduced; Step 4: The drone signal analysis module (300) analyzes the reason for the reduction in communication signal strength. If the number of drones with reduced communication signal strength is within a ratio threshold, it indicates that there is interference between the drones. Otherwise, it indicates that there is a problem with the communication signal transmission between the regional LAN base station and the drones. Step 5: When there is a problem in the communication signal transmission between the regional LAN base station and the UAV, the communication signal adjustment module (400) adjusts the transmission communication signal power of the regional LAN base station; Step 6: When interference exists between drones, the interference elimination module (500) first determines the coordinates of the interference source by detecting the change in the communication signal strength detected by the signal sorting unit (220) and the coordinates of the drones, and finally outputs different anti-interference signals to the drones affected by different interferences.

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