UAV Area Local Area Network Base Station Cooperative Communication System and Method

Abstract

The present invention relates to the field of UAV communication technology. Specifically, it relates to a UAV regional local area network base station collaborative communication system, which includes a UAV collaborative control module, a UAV communication module, a UAV signal analysis module, a communication signal adjustment module, and an interference elimination module. In this UAV regional local area network base station collaborative communication system and method, a UAV numbering unit numbers multiple UAVs. After numbering, a UAV connection unit establishes a communication channel through a regional local area network base station to connect to and control the UAVs. At this time, a UAV grouping unit connects the controlled UAVs to several communication UAVs to increase the range of communication signal transmission. Then, control instructions are output to the controlled UAV through the regional local area network base station. When the same instructions need to be sent to multiple communication UAVs, the controlled UAV is used to transmit signals, reducing communication repetition and delay, and improving communication efficiency and collaboration.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV communication, and more specifically, to a cooperative communication system and method for a UAV regional local area network base station. Background Art

[0002] Each UAV unit in a UAV swarm realizes the minimization of nodes; but when the UAV swarm is regarded as a whole, it can achieve the maximization of the network. This way can have extremely high flexibility as a whole. Through the way of decentralization and dynamic aggregation, while ensuring the survival ability, it also has strong penetration ability. Even if there is loss of individual UAV units, it will not have a great impact on the UAV swarm.

[0003] When controlling UAVs to collect information with the existing technology, a connection is usually established between a regional local area network base station and multiple UAVs, and then the regional local area network base station outputs different control signals to control the multiple UAVs, so as to collect information in the environment through the UAVs. When the UAV needs to fly to a position far from the regional local area network base station or there is signal interference in the established connection between the two, packet loss will occur when the UAV transmits signals to the regional local area network base station, resulting in unstable transmission of the collected information. At the same time, when interference occurs, the existing technology usually outputs anti-interference outputs to all the UAVs affected by the interference at the same time. Since multiple UAVs are distributed within the range of the interference source and the same interference value is output, the power consumption of the regional local area network base station is increased. In view of this, we propose a cooperative communication system and method for a UAV regional local area network base station. Summary of the Invention

[0004] The purpose of the present invention is to provide a cooperative communication system and method for a UAV regional local area network base station to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides a cooperative communication system for a UAV regional local area network base station, 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.

[0006] First, the UAV cooperative control module numbers the UAVs, and then the regional local area network base station selects a suitable communication channel and waits for several control UAVs to join. After the control UAV is connected to it, the control UAV broadcasts a grouping signal to the surrounding with a specific communication frequency band. After the communication UAVs with the current number receive the grouping signal, they are connected to the control UAV.

[0007] When the drone collects information, the drone communication module detects the communication signal strength of the drone, and then determines the value of the decrease in the drone signal strength. After that, the drone signal analysis module analyzes the reason for the decrease in the communication signal strength. When there is a problem with the communication signal transmission between the regional local area network base station and the controlled drone, the communication signal adjustment module adjusts the output signal strength of the regional local area network base station, where:

[0008] The interference elimination module includes an interference source coordinate determination module and an anti-interference signal output unit; if the decrease in the communication signal between the regional local area network 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 strengths 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 to several drones whose communication strength is reduced due to the interference source.

[0009] The drone cooperative control module includes a drone numbering unit, a drone connection unit, and a drone grouping unit;

[0010] The drone numbering unit is used to number multiple drones before they are used. Before numbering, the starting value of the numbering is determined, and then the subsequent drones are numbered sequentially based on the starting value. Finally, the numbered drones are divided into several drone groups according to the user's needs, and a controlled drone is selected from the drone group;

[0011] The drone connection unit is used to select a suitable communication channel through the regional local area network 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 several controlled drones. The terminal devices on several controlled drones scan the beacon frame output by the regional local area network base station. After scanning, they send a connection request to the base station. After receiving the connection request, the base station will assign several network addresses to the several controlled drones and add them to the network. At this time, there is two-way data transmission between the base station and the several controlled drones;

[0012] 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 a specific communication frequency band to broadcast a grouping signal around. The specific communication frequency band includes the number of the communication drone. After receiving the grouping signal, the communication drone analyzes the communication frequency band. If the communication drone is in this number, the communication drone outputs a response signal for identity verification and connection confirmation. After the connection is completed, the controlled drone forwards the task information and control instructions received from the base station to other drones in the group and coordinates the actions of the communication drones.

[0013] The UAV communication module includes a UAV communication intensity detection unit and a detection signal sorting unit;

[0014] The UAV communication intensity detection unit is used to detect the communication signal intensity between the regional area network base station and multiple control UAVs, and the communication signal intensity between the control UAV and multiple communication UAVs. During the detection process, the control UAV and the communication UAV first receive the mixed communication signal through the UAV connection unit, 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;

[0015] The detection signal sorting unit is used to receive the communication signal intensity results detected by the UAV communication intensity detection unit, and compare the detection results to analyze the changes in the communication signal intensity between the regional area network base station and multiple control UAVs at the same time, between the regional area network base station and a certain control UAV, and between a certain communication UAV and the control UAV. 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 80% of the output beacon frame intensity in the UAV connection unit after numbering.

[0016] The UAV signal analysis module is used to receive the analysis results in the detection signal sorting unit and set a proportional threshold. When there is a decrease in the communication signal intensity between the regional area network base station and the control UAV, and the number of UAVs with decreased communication signal intensity is within the proportional threshold, and the communication signal intensity between the regional area network base station and the control UAV outside the proportional threshold is normal, it means that there is interference between this regional area network base station and the control UAV. If the communication signal intensity between the regional area network base station and the control UAV decreases outside the proportional threshold, it means that there is a problem with the communication signal transmission between the regional area network base station and the control UAV. Similarly, the relationship between the communication UAV and the control UAV is the same.

[0017] The communication signal adjustment module is used to receive the result that there is a problem with the communication signal transmission between the regional area network base station and the control UAV in the UAV signal analysis module, and then adjust the transmission communication signal power of the regional area network base station to ensure the stability of the communication signal between the control UAV and the regional area network base station. The adjustment ratio of the power is calculated according to the difference between the normal communication signal intensity and the communication signal intensity when the communication signal has a problem between each control UAV and the regional area network base station.

[0018] The interference source coordinate determination module is used to receive the result of interference between the regional area network base station and the control UAV, and between the control UAV and the communication UAV in the UAV signal analysis module. Then, through the UAV communication intensity detection unit, it detects the change in the communication signal intensity between the current control UAV and the communication UAV it controls, and the communication signal intensity between the communication UAVs at different positions and the control communication UAV will change. Through the change in the communication signal intensity, it determines the distances between the interference source and several communication UAVs, and then calculates the coordinates of the interference source;

[0019] 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 the corresponding anti-interference value according to different interference values between the communication UAV and the control UAV. When the UAV is connected to the regional area network base station, due to the movement of the UAV and the change of the environment, the characteristics of the connection channel between the two will change continuously. 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, so as to eliminate interference.

[0020] The UAV communication module further includes a UAV detection unit;

[0021] The UAV detection unit is used to emit electromagnetic waves to the sky through radar equipment when the UAV signal analysis module analyzes that there is interference between the regional area network base station and the control UAV, and between the control UAV and the communication UAV. When the electromagnetic waves encounter UAVs during propagation, parts such as the metal structure and plastic shell of the UAVs will reflect the electromagnetic waves. The antenna of the radar receives the reflected electromagnetic waves and transmits them to the receiver. The receiver determines the number of UAVs, and then compares the number of detected UAVs with the number of UAVs connected to the UAV connection unit to judge whether there is a loss.

[0022] The interference elimination module further includes a UAV adjustment unit;

[0023] The UAV adjustment unit is used to adjust the position of the UAV according to the change of the communication signal detected by the detection signal sorting unit to ensure that the communication signals between the regional area network base station and the control UAV, and between the control UAV and the communication UAV in the UAV grouping unit are the same.

[0024] To implement the UAV regional area network base station collaborative communication method, a UAV regional area network base station collaborative communication system is now proposed, including the following steps:

[0025] Step 1: Select a suitable location to deploy the regional area network base station to ensure that it can cover the UAV activity area where collaborative communication is required;

[0026] Step 2: Each UAV participating in collaborative communication is assigned a unique number by the UAV numbering unit. Then, the UAV connection unit establishes a communication channel through the regional local area network base station. At this time, the UAV grouping unit controls the UAV to connect with several communication UAVs to form a UAV group. The control UAV is responsible for coordinating and managing the communication and task execution of the entire group;

[0027] Step 3: The UAV communication intensity detection unit detects the communication signal intensity in real time, detects the connection intensity during UAV communication, and then the detection signal sorting unit determines whether there is a decrease in the communication signal;

[0028] Step 4: The UAV signal analysis module analyzes the reason for the decrease in communication signal intensity. If the number of UAVs with decreased communication signal intensity is within the proportional threshold, it indicates that there is interference between UAVs. Otherwise, it indicates that there is a problem with the communication signal transmission between the regional local area network base station and the UAV;

[0029] Step 5: When there is a problem with the communication signal transmission between the regional local area network base station and the UAV, the communication signal adjustment module adjusts the transmission power of the communication signal of the regional local area network base station;

[0030] Step 6: When there is interference between UAVs, first, the interference elimination module determines the coordinates of the interference source based on the change in the communication signal intensity detected by the detection signal sorting unit and the coordinates of the UAVs. Finally, different anti-interference signals are output to the UAVs affected by different interferences.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. In this UAV regional local area network base station collaborative communication system and method, multiple UAVs are numbered by the UAV numbering unit. After numbering, the UAV connection unit establishes a communication channel through the regional local area network base station to connect with the control UAV. At this time, the UAV grouping unit controls the control UAV to connect with several communication UAVs, increasing the range of communication signal transmission in this process. Then, the staff sends control instructions to the control UAV through the regional local area network base station, and then the control UAV controls the communication UAVs again according to the control instructions. When the same instruction needs to be sent to multiple communication UAVs, the control UAV is used to transmit the signal, reducing communication repetition and delay, and improving communication efficiency and coordination.

[0033] 2. In the UAV regional local area network base station collaborative communication system and method, the UAV communication intensity detection unit detects the communication signal intensities between the control UAV and the regional local area network base station, and between the control UAV and the communication UAVs, calculates the connection intensity during communication, and determines whether there is a sudden decrease in the signal when the UAV is connected through the detected signal sorting unit. When the signal suddenly decreases, the problem caused by interference or connection transmission in the communication signal decrease is analyzed based on the normal communication signal intensity in the UAV connection unit after numbering.

[0034] 3. In the UAV regional local area network 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 signals output between the UAVs to ensure the stability of the UAVs during operation. During the flight of the UAVs, the distance from other UAVs or the control center will constantly change. When the distance is far, the signal intensity will weaken, resulting in communication interruption. By adjusting the communication signal power, stable communication can be ensured at different distances.

[0035] 4. In the UAV regional local area network base station collaborative communication system and method, if the communication signal decrease is due to interference, the interference source coordinate determination module determines the interference source. When determining the interference source, the interference source coordinate determination module determines it by detecting the change in the communication signal intensity between the current control UAV and the communication UAVs it controls through the UAV communication intensity detection unit. Since the communication UAVs are distributed at various positions in the air during operation, the UAVs at different positions are affected by different interferences. At this time, the coordinates of the communication UAVs are transmitted through the control UAV, and the coordinates of the interference source are judged based on the interference situation of the communication UAVs and their coordinates;

[0036] 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 detected signal sorting unit for the UAVs, so that the interference values output by each UAV are different. Since different UAVs may face different degrees of interference in different positions and environments, by outputting different anti-interference values, adaptive adjustment is made for 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

[0037] Figure 1 is the overall module schematic diagram of the present invention;

[0038] Figure 2 is the connection schematic diagram of the regional local area network base station, control UAV and communication UAVs of the present invention.

[0039] The meanings of the various reference numerals in the figure are as follows:

[0040] 100, UAV Cooperative 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 Implementation Manner

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] The UAV regional local area network 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;

[0043] The UAV cooperative control module 100 includes a UAV numbering unit 110, a UAV connection unit 120, and a UAV grouping unit 130;

[0044] The UAV numbering unit 110 is used to number multiple UAVs before use. Before numbering, the starting value of the numbering is determined, and then the subsequent UAVs are numbered sequentially based on the starting value. Finally, the numbered UAVs are divided into several UAV groups according to the user's needs, and a control UAV is selected from the UAV group;

[0045] An example of numbering UAVs is as follows:

[0046] For example, the first UAV is numbered 1, the second is numbered 2, and so on;

[0047] The UAV connection unit 120 is used to select a suitable communication channel through the regional local area network 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 several control UAVs. The terminal devices on the several control UAVs scan the beacon frames output by the regional local area network base station. After scanning, a connection request is sent to the base station. After receiving the connection request, the base station will assign several network addresses to the several control UAVs and add them to the network. At this time, two-way data transmission between the base station and the several controlled UAVs;

[0048] The calculation formulas for the communication signal strengths received by the controlled UAV and the base station are as follows:

[0049]

[0050] Among them, is the received communication signal strength, is the transmitted communication signal strength, is the transmitting antenna gain, is the receiving antenna gain, is the path loss;

[0051] The path loss is calculated using the free space path loss formula:

[0052]

[0053] Among them, is the communication frequency, is the transmission distance;

[0054] The UAV grouping unit 130 is used to receive the number signal in the UAV numbering unit 110 and the connection signal in the UAV connection unit 120. After the connection is completed, several controlled UAVs respectively output a specific communication frequency band to broadcast a grouping signal around. The specific communication frequency band includes the number of the communication UAV. After the communication UAV receives the grouping signal, it analyzes the communication frequency band. If the communication UAV is in this number, the communication UAV outputs a response signal for identity verification and connection confirmation. After the connection is completed, the control UAV forwards the task information and control instructions received from the base station to other UAVs in the group and coordinates the actions of the communication UAVs;

[0055] The calculation formula for the connection reliability between the above control UAV and the communication UAV is as follows:

[0056]

[0057] Among them, is the number of successful connections, is the total number of attempted connections, is the connection reliability.

[0058] The UAV communication module 200 includes a UAV communication strength detection unit 210 and a detection signal sorting unit 220;

[0059] The UAV communication intensity detection unit 210 is used to detect the communication signal intensity between the regional area network base station and multiple control UAVs, and the communication signal intensity between the control UAV and multiple communication UAVs. During the detection process, the control UAV and the communication UAV first receive the mixed communication signal through the UAV connection unit 120, 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.

[0060] The calculation formula for separating the signal and noise according to the different frequency characteristics of the signal and noise is as follows:

[0061] Perform Fourier transform on the mixed signal: Assume the mixed signal is , and its Fourier transform is ;

[0062] Power spectral density calculation formula: , where represents the power spectral density, is the frequency;

[0063] Transfer function: , where is the cut-off frequency;

[0064] Filtered signal: , where, represents the inverse Fourier transform;

[0065] Signal power:

[0066] Assume the separated signal is , within the time interval , the signal power is:

[0067]

[0068] Noise power:

[0069] Assume the separated noise is , the noise power is:

[0070]

[0071] The connection strength is:

[0072]

[0073] Among them, is the noise power, is the signal power;

[0074] The detection signal sorting unit 220 is used to receive the communication signal strength results detected by the UAV communication strength detection unit 210, compare the detection results, and analyze the changes in the communication signal strength between the regional area network base station and multiple control UAVs, as well as between the regional area network base station and a certain control UAV, and between a certain communication UAV and the control UAV at the same time. If the communication signal is lower than the set communication threshold at this time, it indicates that the communication signal has decreased. The communication threshold is 80% of the beacon frame strength output in the UAV connection unit 120 after numbering;

[0075] Calculation of the communication signal strength change rate:

[0076] Suppose within the time window the communication signal strength of a certain communication link at time is and at time the communication signal strength is ;

[0077]

[0078] The calculation formula for judging a sudden decrease in the communication signal:

[0079] If is greater than the set threshold , it indicates that the communication signal has suddenly decreased;

[0080] The UAV communication module 200 further includes a UAV detection unit 230;

[0081] The UAV detection unit 230 is used when the UAV signal analysis module 300 analyzes that there is interference between the regional area network base station and the control UAV, and between the control UAV and the communication UAV. It emits electromagnetic waves into the sky through radar equipment. When the electromagnetic waves encounter UAVs during propagation, parts such as the metal structure and plastic shell of the UAVs will reflect the electromagnetic waves. The antenna of the radar receives the reflected electromagnetic waves and transmits them to the receiver. The receiver determines the number of UAVs, and then compares the number of detected UAVs with the number of UAVs connected to the UAV connection unit 120 to judge whether there is a loss situation.

[0082] The UAV signal analysis module 300 is used to receive the analysis results in the detection signal sorting unit 220 and set a proportional threshold. When there is a decrease in the communication signal strength between the regional local area network base station and the controlled UAV, and the number of UAVs with decreased communication signal strength is within the proportional threshold, and the communication signal strength between the regional local area network base station and the controlled UAV outside the proportional threshold is normal, it indicates that there is interference between this regional local area network base station and the controlled UAV. If the communication signal strength between the regional local area network base station and the controlled UAV decreases outside the proportional threshold, it indicates that there is a problem with the communication signal transmission between the regional local area network base station and the controlled UAV. Similarly, the relationship between the communication UAV and the controlled UAV is the same;

[0083] The calculation formula is as follows:

[0084] Let the total number of regional local area network base stations be , and the number of regional local area network base stations with decreased communication signal strength be , and the set proportional threshold be ;

[0085] If , it indicates that there is interference between the regional local area network base station and the controlled UAV;

[0086] If , it indicates that there is a problem with the communication signal transmission between the regional local area network base station and the controlled UAV.

[0087] The communication signal adjustment module 400 is used to receive the result of the problem with the communication signal transmission between the regional local area network base station and the controlled UAV in the UAV 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 controlled UAV and the regional local area network base station. The adjustment ratio of the power is calculated according to the difference between the normal communication signal strength and the communication signal strength when the communication signal problem occurs between each controlled UAV and the regional local area network base station;

[0088] Under normal circumstances, the communication signal strength between the regional local area network base station and the controlled UAV is , and the communication signal strength when the communication signal problem occurs is

[0089] The relationship between the communication signal strength and the transmission power satisfies:

[0090]

[0091] Among them, is the communication signal strength, is the transmission power, and are constants related to the communication environment, etc., provided by the staff;

[0092] First, determine the proportionality constant according to the normal situation and after

[0093] When the communication signal strength is assuming that the transmission power at this time is then ;

[0094] The transmission power to be adjusted :

[0095] Since the difference in communication signal strength is from and it can be obtained that:

[0096]

[0097] Also because thus

[0098]

[0099] Furthermore, the adjusted transmission power is obtained:

[0100]

[0101] is the adjusted transmission power.

[0102] The interference source coordinate determination module 510 is used to receive the result of interference between the regional local area network base station and the controlled UAV, and between the controlled UAV and the communication UAV in the UAV signal analysis module 300. Then, through the UAV communication intensity detection unit 210, it detects the change in the communication signal strength between the current controlled UAV and the communication UAV it controls, and the communication signal strength between the communication UAVs at different positions and the controlled communication UAV will change. Through the change in the communication signal strength, it determines the distance between the interference source and several communication UAVs, and then calculates the coordinates of the interference source;

[0103] The calculation formula for the distance between the interference source and the communication UAV is as follows:

[0104]

[0105] where is the communication signal strength, is the proportionality coefficient between the communication signal strength and the distance of the communication UAV, is the distance between the communication UAV and the interference source;

[0106] The calculation formula for the coordinates of the interference source is as follows:

[0107] and are the coordinates of three communication UAVs and are the coordinates, 、 and are the distances between the communication UAVs and the interference source respectively;

[0108] List the system of equations:

[0109] ;

[0110] ;

[0111] ;

[0112] Subtract the above three equations pairwise, the quadratic terms can be eliminated to obtain two linear equations:

[0113] For example, subtracting the second equation from the first equation gives:

[0114] = ;

[0115] After expanding and simplifying, we get:

[0116]

[0117] Similarly, subtracting the third equation from the first equation can also obtain another linear equation;

[0118] The two obtained linear equations form a system of linear equations, and then use the method of linear algebra to solve it. The solution obtained by solving the system of linear equations is the coordinate of the interference source;

[0119] 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 the corresponding anti-interference value according to the different interference values between the communication UAV and the control UAV. When the UAV is connected to the regional local area network base station, due to the movement of the UAV and the change of the environment, the characteristics of the connection channel between the two will change continuously. 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, so as to eliminate interference;

[0120] The calculation formula of the anti-interference value is as follows:

[0121]

[0122] Among them, is the maximum anti-interference value output, is the normalized value of the interference value, is an adjustment coefficient, set by the staff;

[0123] Normalized value of the interference value:

[0124]

[0125] Among them, is the interference value, is the maximum possible interference value that may occur.

[0126] The interference cancellation module 500 further includes a drone adjustment unit 530;

[0127] 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 sorting unit 220, so as to ensure that the communication signals between the regional local area network base station and the control drone, and between the control drone and the communication drone in the drone grouping unit 130 are the same;

[0128] The communication signal strength will weaken with the increase of the distance, and the expression is as follows:

[0129]

[0130] Among them, is the received communication signal strength, is the transmitted communication signal strength, is the distance, is the path loss exponent, set by the staff;

[0131] Keeping the communication signals the same means that the received communication signal strength is constant at , and when a signal change is detected, it is achieved by adjusting the distance;

[0132] In the initial state, the distance between the drones is set to , and the received communication signal strength is ;

[0133] After the communication signal changes, the target distance is set to , and to make the received communication signal strength , the calculation formula is as follows:

[0134]

[0135]

[0136] Derived from the above two equations The expression is as follows:

[0137]

[0138] Thus, according to Adjust the position of the drone.

[0139] First, the drone collaborative control module 100 numbers the drones. Then, the regional local area network base station selects a suitable communication channel and waits for several controlled drones to join. After the controlled drones are connected to it, the controlled drones broadcast a grouping signal to the surrounding with a specific communication frequency band. After the communication drones with the current number receive the grouping signal, they connect to the controlled drones.

[0140] When the drones collect information, the drone communication module 200 detects the communication signal strength of the drones, and then determines the value of the reduction in the drone signal strength. Thereafter, the drone signal analysis module 300 analyzes the reason for the reduction in the communication signal strength. If there is a problem with the communication signal transmission between the regional local area network base station and the controlled drones, the communication signal adjustment module 400 adjusts the output signal strength of the regional local area network base station, where:

[0141] The interference cancellation module 500 includes 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 local area network base station and the controlled drones is caused by interference, the interference source coordinate determination module 510 determines the interference source coordinates through the communication signal strengths 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 to several drones with reduced communication strength caused by the interference source. Embodiment

[0142] Now, a method for realizing collaborative communication between a drone regional local area network base station is proposed, which is applied to a drone regional local area network base station collaborative communication system, and includes the following steps:

[0143] Step 1: Select a suitable location to deploy the regional local area network base station to ensure that it can cover the drone activity area where collaborative communication is required.

[0144] Step 2: Uniquely number each drone participating in collaborative communication through the drone numbering unit 110. Then, the drone connection unit 120 establishes a communication channel through the regional local area network base station. At this time, the drone grouping unit 130 connects the controlled drone with several communication drones to form a drone group. The controlled drone is responsible for coordinating and managing the communication and task execution of the entire group.

[0145] Step 3: The drone communication strength detection unit 210 detects the communication signal strength in real time, detects the connection strength during drone communication, and then the detection signal sorting unit 220 determines whether there is a reduction in the communication signal.

[0146] Step 4: The UAV signal analysis module 300 analyzes the reason for the decrease in the communication signal strength. If the number of UAVs with a decrease in communication signal strength is within the proportional threshold, it indicates that there is interference between UAVs. Otherwise, it indicates that there is a problem with the communication signal transmission between the regional local area network base station and the UAVs;

[0147] Step 5: When there is a problem with the communication signal transmission between the regional local area network base station and the UAVs, the communication signal adjustment module 400 adjusts the transmission communication signal power of the regional local area network base station;

[0148] Step 6: When there is interference between UAVs, first, the interference elimination module 500 determines the coordinates of the interference source through the change in the communication signal strength detected by the signal detection and sorting unit 220 and the coordinates of the UAVs, and finally outputs different anti-interference signals to the UAVs affected by different interferences.

[0149] 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 the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended 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 control drone, the communication signal adjustment module (400) adjusts the output signal strength of 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 the communication signal has a problem, 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 strength of a plurality of drones and the coordinates of a plurality of drones, so that the anti-interference signal output unit (520) adaptively outputs different anti-interference values ​​to adapt to changes in the channel for a 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 result in the communication signal strength comparison (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, which indicates 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 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.

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; 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, 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.

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 a UAV regional LAN base station, applied to a UAV regional LAN base station cooperative communication system 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 detection signal sorting unit (210) performs real-time detection on the communication signal strength 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 (210) and the coordinates of the drones, and finally outputs different anti-interference signals to the drones affected by different interferences.

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