Multi-aerostat networking control method, data transmission method and multi-aerostat system

Abstract

The invention provides a multi-aerostat networking control method, a data transmission method and a multi-aerostat system, which can be applied to the technical field of communication. The method comprises the following steps: in response to a data transmission request, acquiring position information of a plurality of aerostat nodes by using a satellite in communication connection with the plurality of aerostat nodes; generating routing table information of I target aerostat nodes according to the position information of the plurality of aerostat nodes; generating (I-1) control instructions based on the routing table information, and sending the (i-1) th control instruction to the (i-1) th target aerostat node through the satellite to control the directional antenna of the (i-1) th target aerostat node to face the ith target aerostat node, and establishing a data transmission link based on the I target aerostat nodes, the routing table information comprises the node sequence information of the data transmission link, and the node sequence information is used for representing the node transmission sequence of the I target aerostat nodes.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a multi-aerostat networking control method, a data transmission method and a multi-aerostat system. Background Art

[0002] Space information network is a network system that uses space platforms, such as synchronous satellites or medium and low orbit satellites, near-space platforms and manned or unmanned aircraft as carriers to acquire, transmit and process space information in real time. With the continuous development of modern science and technology, space information network can play a greater role in serving ocean navigation, emergency rescue, navigation positioning, air transportation, aerospace measurement and control and other tasks. Multi-aerostat networking is the link in space information network.

[0003] In the process of realizing the concept of the present disclosure, the inventors found that the transmission distance of data transmission using multiple aerostats in the related art is short and the transmission efficiency is low. Summary of the invention

[0004] In view of the problem, the present disclosure provides a multi-aerostat networking control method, a data transmission method and a multi-aerostat system based on directional line-of-sight communication.

[0005] According to a first aspect of the present disclosure, a multi-aerostat networking control method based on directional line-of-sight communication is provided, comprising: in response to a data transmission request, using a satellite that is communicatively connected to the multiple aerostat nodes, collecting location information of the multiple aerostat nodes; generating routing table information of I target aerostat nodes according to the location information of the multiple aerostat nodes; generating I-1 control instructions based on the routing table information, and sending the i-1th control instruction to the i-1th target aerostat node via the satellite to control the directional antenna of the i-1th target aerostat node toward the i-th target aerostat node, establishing a data transmission link based on the I target aerostat nodes, thereby receiving load data from the aerostat networking via the data transmission link, wherein the routing table information includes node sequence information of the data transmission link, the node sequence information is used to characterize the node transmission sequence of the I target aerostat nodes, and I is a positive integer greater than or equal to 2. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0007] Figure 1 A schematic diagram showing an application scenario of a multi-aerostat networking control method based on directional line-of-sight communication according to an embodiment of the present disclosure;

[0008] Figure 2The flowchart of the multi-aerostat networking control method based on directional line-of-sight communication according to an embodiment of the present disclosure is schematically shown;

[0009] Figure 3 Schematically shows a flow chart of a control center node processing a data information packet according to an embodiment of the present disclosure;

[0010] Figure 4 A schematic diagram schematically shows a greedy forwarding mode according to an embodiment of the present disclosure;

[0011] Figure 5 A schematic diagram of a hole area in a peripheral forwarding mode according to an embodiment of the present disclosure is schematically shown;

[0012] Figure 6 A schematic diagram of a RNG according to an embodiment of the present disclosure is schematically shown;

[0013] Figure 7 Schematically shows a flow chart of a dual-stack DFS algorithm according to an embodiment of the present disclosure;

[0014] Figure 8 A flowchart of a multi-aerostat networking data transmission method based on directional line-of-sight communication according to an embodiment of the present disclosure is schematically shown;

[0015] Fig. 9 The schematic diagram shows an architecture diagram of a multi-aerostat system according to an embodiment of the present disclosure;

[0016] Fig.10 A schematic diagram of a data transmission link according to an embodiment of the present disclosure is schematically shown;

[0017] Fig.11 A schematic diagram of a directional antenna line-of-sight link according to an embodiment of the present disclosure is schematically shown;

[0018] Fig.12 The diagram schematically shows an antenna beam angle alignment diagram according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0020] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0021] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0022] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0023] In the process of realizing the present disclosure, it is found that near-space platforms represented mainly by high-altitude scientific balloons and stratospheric airships have great advantages in terms of flight altitude, airborne time, cost, etc., and can play a key role in connecting the space-based and ground-based networks, and complement and support each other with the traditional ground mobile communication network and the satellite-based space-based information network in related technologies. Therefore, the near-space platform of multi-aerostat networking is an indispensable link in the space information network.

[0024] In the related technology, in terms of near-space aerostat networking, high-altitude superpressure balloons can be used in the stratosphere to provide network access to remote areas and emergency communication services to disaster areas. Loon balloons can provide 4G LTE services in an area of ​​50,000 square kilometers through about 35 balloons. Using two Raven Aerostar lightning balloons equipped with lightweight MPU5 tactical networking equipment, the coverage of microwave relay mobile ad hoc networks can be extended by 200 miles. Using high-altitude platforms to help satellite networks unload computing, the computing tasks of satellite networks are offloaded to high-altitude platforms instead of to ground networks, which can reduce the corresponding delay.

[0025] Since the use of directional antennas can obtain higher gains than omnidirectional antennas, they are suitable for long-distance communication scenarios. In the field of networking based on directional antennas in the related art, directional antennas are used in combination with omnidirectional antennas, where directional antennas are used for data transmission and omnidirectional antennas are mainly used for broadcasting and neighbor discovery. In addition, for drone relay networks with linear topology, an adaptive direction-controlled full-duplex quasi-static routing based on multiple directional antennas is proposed. The antenna direction is adjusted by controlling the rotation of the drone itself, and higher drone relay network performance is achieved with lower computational overhead and control overhead. However, the transmission distance of data transmission using multiple airships in the related art is short, and the transmission efficiency is low.

[0026] In view of this, an embodiment of the present disclosure provides a multi-aerostat networking control method based on directional line-of-sight communication, comprising: in response to a data transmission request, using a satellite that is communicatively connected to the multiple aerostat nodes, collecting the location information of the multiple aerostat nodes; generating routing table information of I target aerostat nodes according to the location information of the multiple aerostat nodes; generating I-1 control instructions based on the routing table information, and sending the i-1 control instruction to the i-1 target aerostat node via the satellite to control the directional antenna of the i-1 target aerostat node toward the i-th target aerostat node, establishing a data transmission link based on the I target aerostat nodes, thereby receiving the load data from the aerostat networking via the data transmission link, wherein the routing table information includes node sequence information of the data transmission link, the node sequence information is used to characterize the node transmission sequence of the I target aerostat nodes, and I is a positive integer greater than or equal to 2.

[0027] Figure 1 The application scenario diagram of the multi-aerostat networking control method based on directional line-of-sight communication according to an embodiment of the present disclosure is schematically shown.

[0028] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, and a server 105. The network 104 is used to provide a medium for a communication link between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0029] The user can use the first terminal device 101, the second terminal device 102, and the third terminal device 103 to interact with the server 105 through the network 104 to receive or send messages, etc. Various communication client applications can be installed on the first terminal device 101, the second terminal device 102, and the third terminal device 103.

[0030] The server 105 may be a server that provides various services.

[0031] It should be noted that the multi-aerostat networking control method based on directional line-of-sight communication provided in the embodiment of the present disclosure can generally be executed by the server 105. Accordingly, the multi-aerostat networking control device based on directional line-of-sight communication provided in the embodiment of the present disclosure can generally be set in the server 105. The multi-aerostat networking control method based on directional line-of-sight communication provided in the embodiment of the present disclosure can also be executed by a server or server cluster that is different from the server 105 and can communicate with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105. Correspondingly, the multi-aerostat networking control device based on directional line-of-sight communication provided in the embodiment of the present disclosure can also be set in a server or server cluster that is different from the server 105 and can communicate with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105.

[0032] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0033] The following will be based on Figure 1 The scene described by Figure 2 to Figure 12 A multi-aerostat networking control method based on directional line-of-sight communication in a disclosed embodiment is described in detail.

[0034] Figure 2 The flowchart of the multi-aerostat networking control method based on directional line-of-sight communication according to an embodiment of the present disclosure is schematically shown.

[0035] like Figure 2 As shown, the multi-aerostat networking control method 200 based on directional line-of-sight communication of this embodiment includes operations S210 to S230.

[0036] In operation S210, in response to a data transmission request, location information of a plurality of aerostat nodes is collected using a satellite communicatively connected to the plurality of aerostat nodes.

[0037] In operation S220, routing table information of I target aerostat nodes is generated according to the location information of the plurality of aerostat nodes.

[0038] In operation S230, I-1 control instructions are generated based on the routing table information, and the i-1 control instruction is sent to the i-1 target aerostat node via the satellite to control the directional antenna of the i-1 target aerostat node to face the i-th target aerostat node, and a data transmission link based on the I target aerostat nodes is established, thereby receiving the load data from the aerostat network via the data transmission link.

[0039] According to the embodiments of the present disclosure, an aerostat may represent an aircraft that relies on atmospheric buoyancy to rise into the air, mainly by filling the interior with a gas lighter than air (such as helium or hydrogen) to reduce the overall density of the aircraft, thereby achieving lift-off. An aerostat node may represent multiple aerostats in a multi-aerostat network. For example, an aerostat node may be a superpressure balloon, and the aerostat node is in a state of floating in the air with the wind, and its speed may be considered to be consistent with the wind field at the current location.

[0040] According to the embodiments of the present disclosure, multiple aerostats may be networked on a near-space platform, wherein the near-space platform may represent an airspace 20 to 100 kilometers from the ground.

[0041] According to an embodiment of the present disclosure, a satellite in communication connection with a plurality of aerostat nodes can locate the plurality of aerostat nodes, thereby collecting the location information of the plurality of aerostat nodes. The location information of the aerostat nodes may include the longitude information, latitude information and altitude information of the aerostat nodes. The BeiDou system can provide short message communication services using satellites.

[0042] According to an embodiment of the present disclosure, the routing table information can represent that the routing table information of I target aerostat nodes can be generated according to the location information of multiple aerostat nodes. The routing table information may include node sequence information of the data transmission link, and the node sequence information is used to represent the node transmission sequence of I target aerostat nodes, where I is a positive integer greater than or equal to 2.

[0043] According to an embodiment of the present disclosure, I-1 control instructions may be generated based on routing table information, and the i-1 control instruction may be sent to the i-1 target aerostat node via a satellite to control the directional antenna of the i-1 target aerostat node toward the i-th target aerostat node. For example, in the case where a multi-aerostat network includes three aerostat nodes, two control instructions may be generated based on routing table information, and the first control instruction may be sent to the first target aerostat node via a satellite to control the directional antenna of the first target aerostat node toward the second target aerostat node, and the second control instruction may be sent to the second target aerostat node via a satellite to control the directional antenna of the second target aerostat node toward the third target aerostat node.

[0044] According to an embodiment of the present disclosure, the payload data may include information such as payload data type, payload data size, and own status. The payload data types that an aerostat node may carry may include environmental detectors, radars, PTZ cameras, etc. When the antenna orientation of one target aerostat node is determined, a data transmission link based on one target aerostat node may be established, thereby receiving payload data from the aerostat network via the data transmission link.

[0045] According to the embodiments of the present disclosure, routing table information of I target aerostat nodes can be generated by collecting location information of multiple aerostat nodes, I-1 control instructions can be generated based on the routing table information, and the i-1 control instruction is sent to the i-1th target aerostat node via a satellite, so as to control the directional antenna of the i-1th target aerostat node to face the i-th target aerostat node. When the directions of the directional antennas of the I target aerostat nodes are determined, a data transmission link based on the I target aerostat nodes is established, and then the payload data from the aerostat network is received via the data transmission link, thereby improving the transmission distance and transmission efficiency of the payload data and alleviating the problems of tight satellite communication resources and low omnidirectional antenna gain.

[0046] According to an embodiment of the present disclosure, routing table information of I target aerostat nodes is generated according to location information of multiple aerostat nodes, including: determining the location information of I target aerostat nodes according to the location information of multiple aerostat nodes; determining at least one neighbor node of the i-th target aerostat node according to the location information of the i-th target aerostat node and the preset communication range of the i-th target aerostat node; determining the i+1-th target aerostat node from at least one neighbor node according to the preset communication range of the i-th target aerostat node and the location information of the i-th target aerostat node; and generating routing table information of the I target aerostat node according to the first target aerostat node, the i-th target aerostat node and the i-th target aerostat node when the i+1-th target aerostat node is the i-th target aerostat node.

[0047] According to an embodiment of the present disclosure, the position information of one target aerostat node can be determined from the position information of multiple aerostat nodes. For example, when the near-space platform includes 20 aerostat nodes, the position information of 8 target aerostat nodes can be determined from the position information of the 20 aerostat nodes.

[0048] According to an embodiment of the present disclosure, the preset communication range of the i-th target aerostat node can be determined according to the properties of the target aerostat node. For example, the preset communication range of the i-th target aerostat node can be 150km. At least one neighbor node of the i-th target aerostat node can be determined according to the location information of the i-th target aerostat node and the preset communication range of the i-th target aerostat node. For example, the three neighbor nodes of the first target aerostat node can be determined according to the location information of the first target aerostat node and the preset communication range of the first target aerostat node of 150km.

[0049] According to an embodiment of the present disclosure, the i+1th target aerostat node can be determined from at least one neighbor node according to the preset communication range of the ith target aerostat node and the location information of the ith target aerostat node. For example, in a case where a multi-aerostat network includes 8 target aerostat nodes and the first target aerostat node includes 3 neighbor nodes, the neighbor node closest to the eighth target aerostat node among the three neighbor nodes can be determined as the second target aerostat node according to the preset communication range of the first target aerostat node and the location information of the eighth target aerostat node. And so on, until eight target aerostat nodes are determined.

[0050] According to an embodiment of the present disclosure, when the determined i+1th target aerostat node is the 1th target aerostat node, that is, the last target aerostat node is found, and therefore, all target aerostat nodes are determined, so that the routing table information of the 1st target aerostat node, the ith target aerostat node and the 1st target aerostat node can be generated. For example, when the target aerostat nodes include 3, the routing table information of the 3 target aerostat nodes can be generated by the 1st target aerostat node, the 2nd target aerostat node and the 3rd aerostat node. For another example, when the target aerostat nodes include 4, the routing table information of the 4 target aerostat nodes can be generated by the 1st target aerostat node, the 2nd target aerostat node, the 3rd target aerostat node and the 4th target aerostat node.

[0051] According to an embodiment of the present disclosure, the i+1th target aerostat node can be determined from at least one neighboring node based on the preset communication range of the i-th target aerostat node and the location information of the I-th target aerostat node. When the i+1th target aerostat node is the I-th target aerostat node, routing table information of I target aerostat nodes can be generated based on the I target aerostat nodes, thereby improving the accuracy of the routing table information of the I target aerostat nodes.

[0052] Figure 3The flowchart of the control center node processing data information packets according to the embodiment of the present disclosure is schematically shown.

[0053] According to the embodiments of the present disclosure, when the aerostat node needs to transmit payload data downward, a data information packet can be generated. The data information packet will be stored in a satellite short message sent every 60 seconds and sent to the ground command center node together with the information of each node.

[0054] like Figure 3 As shown, the process of the control center node processing the data information packet includes operations S310 to S360.

[0055] In operation S310, the charging central node receives a plurality of data packets and enters the queue.

[0056] In operation S320, after a plurality of data packets are queued, data packet 1, data packet 2, data packet 3, ..., data packet n are obtained.

[0057] In operation S330, it is determined that an appropriate data packet is dequeued.

[0058] In operation S340, a ground station node to which a data packet is to be transmitted is selected, and a routing algorithm is determined.

[0059] In operation S350, routing table information is determined according to the location information of each aerostat node.

[0060] In operation S360, a control instruction is generated according to the routing table information.

[0061] According to the embodiment of the present disclosure, the command center node will add the received data information packet to the network transmission queue. When the transmission queue is not empty, the command center node will select the appropriate data information packet for routing calculation according to the current queue situation, and send the control instruction through the satellite short message link. The target aerostat node changes the direction of the directional antenna it carries according to the corresponding relationship in the routing table, so that the transmitting antenna of the target aerostat node is aligned with the receiving antenna of the next target aerostat node, forming a data transmission link. When the data transmission required by this load is completed, the next load data to be transmitted is selected according to the current network transmission queue.

[0062] According to an embodiment of the present disclosure, based on the preset communication range of the ith target aerostat node and the location information of the ith target aerostat node, an i+1th target aerostat node is determined from at least one neighbor node, including: when the distance between the ith target aerostat node and at least one neighbor node is greater than the distance between the ith target aerostat node and the ith target aerostat node, determining a connection edge between the ith target aerostat node and the ith target aerostat node based on the ith target aerostat node and the ith target aerostat node; the connection edge rotates counterclockwise, and within the preset communication range of the ith target aerostat node, determines the first neighbor node passed by the connection edge as the i+1th target aerostat node.

[0063] According to an embodiment of the present disclosure, when the distances between the i-th target aerostat node and the neighboring nodes of the i-th target aerostat node are all greater than the distance between the i-th target aerostat node and the I-th target aerostat node, a connecting edge between the i-th target aerostat node and the I-th target aerostat node can be established based on the i-th target aerostat node and the I-th target aerostat node, and the connecting edge is a connecting line between the i-th target aerostat node and the I-th target aerostat node.

[0064] According to an embodiment of the present disclosure, by rotating the connection edge counterclockwise, the connection edge may pass through at least one neighbor node of the i-th target aerostat node, and the first neighbor node passed by the connection edge is determined as the i+1-th target aerostat node.

[0065] According to an embodiment of the present disclosure, Greedy Perimeter Stateless Routing (GPSR) is a wireless self-organizing network routing protocol that uses the location information of each node to distribute routes. The algorithm based on the GPSR protocol is the GPSR algorithm. The original GPSR protocol establishes a neighbor table by forwarding beacons between nodes. In the embodiment of the present disclosure, the location information of the aerostat node is transmitted by a satellite short message link, the beacon broadcast process is omitted, and only the greedy forwarding mode and the peripheral forwarding mode in the GPSR protocol are adopted. In the case that the distance between the i-th target aerostat node and at least one neighbor node is greater than the distance between the i-th target aerostat node and the I-th target aerostat node, the connection edge between the i-th target aerostat node and the I-th target aerostat node is determined according to the i-th target aerostat node and the I-th target aerostat node; the connection edge rotates counterclockwise, and within the preset communication range of the i-th target aerostat node, the first neighbor node passed by the connection edge is determined as the i+1-th target aerostat node. The process can be the greedy forwarding mode in the GPSR protocol.

[0066] According to an embodiment of the present disclosure, in the greedy forwarding mode, the GPSR will make a local optimal route selection based on the location information of each aerostat node. That is, the neighbor node that is geographically closest to the I target aerostat node will be selected based on the location information of the neighbor node and the location information of the I target aerostat node.

[0067] Figure 4 A schematic diagram of a greedy forwarding mode according to an embodiment of the present disclosure is schematically shown.

[0068] like Figure 4 As shown, when the target aerostat node A wants to send load data to the target aerostat node H, the preset communication range of the target aerostat node A is Figure 4 In the gray circle range in the figure, the target aerostat node A has neighbor nodes B, C and D. Then the target aerostat node A will forward the payload data to the neighbor node D that is closest to the target aerostat node H. When the neighbor node D receives the data packet forwarded by the target aerostat node A, it will repeat this operation until the payload data is finally forwarded to the target aerostat node H.

[0069] According to an embodiment of the present disclosure, the connection edge between the i-th target aerostat node and the I-th target aerostat node can be rotated counterclockwise, and the first neighbor node through which the connection edge passes is determined as the i+1-th target aerostat node, thereby avoiding the situation where the i+1-th target aerostat node cannot be determined when the distances between the i-th target aerostat node and the neighbor nodes of the i-th target aerostat node are all greater than the distance between the i-th target aerostat node and the I-th target aerostat node, thereby improving the efficiency of determining the I target aerostat nodes.

[0070] According to the embodiments of the present disclosure, the greedy mode can transmit the payload data to the last target aerostat node at a relatively fast speed, but when the distances of all neighboring nodes from the target aerostat node are greater than the two target aerostat nodes, the greedy mode will fail to forward, which can be called a hole. Therefore, when the distances of all neighboring nodes from the target aerostat node are greater than the two target aerostat nodes, the GPSR protocol's peripheral forwarding mode can be used to forward the payload data.

[0071] Figure 5 A schematic diagram of a hole area in a peripheral forwarding mode according to an embodiment of the present disclosure is schematically shown.

[0072] like Figure 5As shown in the figure, when the target aerostat node A sends the payload data to the target aerostat node H, since the distances of the neighbor nodes B, C, and D of the target aerostat node A from the target aerostat node H are all greater than the distance of the target aerostat node A from the target aerostat node H, the greedy forwarding mode fails at this time, and the GPSR protocol peripheral forwarding mode can be entered for forwarding. The purpose of the peripheral forwarding mode is to make the payload data leave the void area until the payload data is sent from the first target aerostat node to the first target aerostat node. The peripheral forwarding mode has two important tools, namely the right-hand rule and the construction of a plane topology diagram.

[0073] According to the embodiment of the present disclosure, the right-hand rule uses the line connecting the current target aerostat node and the last target aerostat node as the axis, and rotates counterclockwise with the current target aerostat node as the origin. The first neighbor node passed first is the next target aerostat node. Figure 4 As shown, line segment AH rotates counterclockwise around origin A and first passes through neighbor node B of target aerostat node A. Therefore, target aerostat node A will select neighbor node B as the next target aerostat node in the case of peripheral forwarding. When there are many network nodes and the topology is complex, in order to avoid excessive redundant forwarding, GPSR protocol proposes two methods to simplify the topology, namely relative neighbor graph (RNG) and Gabriel graph (GG). RNG is used as the optimization method of network topology.

[0074] According to an embodiment of the present disclosure, based on the preset communication range of the ith target aerostat node and the location information of the ith target aerostat node, the i+1th target aerostat node is determined from at least one neighboring node, and also includes: when the distance between the ith target aerostat node and at least one neighboring node is greater than the distance between the ith target aerostat node and the ith target aerostat node, determining the ith target aerostat node as the i+1th target aerostat node.

[0075] Figure 6 A schematic diagram of an RNG according to an embodiment of the present disclosure is schematically shown.

[0076] According to an embodiment of the present disclosure, in the process of RNG simplifying the topology graph, as Figure 6 As shown, if the distances between node u, node v, and any other node w are all greater than or equal to the distance between node u and node v , then there is an RNG edge between node u and node v , as follows formula (1):

[0077] (1)

[0078] According to the embodiment of the present disclosure, taking node u and node v as the circle points, is the radius. If there is no node in the overlapping area of ​​the two circles, then an edge is formed. .

[0079] According to an embodiment of the present disclosure, when the distance between the i-th target aerostat node and at least one neighboring node is greater than the distance between the i-th target aerostat node and the I-th target aerostat node, the I-th target aerostat node can be determined as the i+1-th target aerostat node, thereby simplifying the topological graph of the I target aerostat nodes and avoiding excessive redundant forwarding of load data.

[0080] According to an embodiment of the present disclosure, a depth-first search algorithm (DFS) is an algorithm for traversing a search tree or graph, which is essentially a blind exploration method that searches forward according to given conditions to achieve a goal. The DFS process is introduced according to the following embodiments.

[0081] According to an embodiment of the present disclosure, generating routing table information of I target aerostat nodes according to location information of a plurality of aerostat nodes also includes: determining a first target aerostat node and an I target aerostat node according to the location information of the plurality of aerostat nodes, and storing the first target aerostat node in a main stack, and storing at least one neighbor node of the first target aerostat node in a secondary stack, wherein the number of layers of the main stack and the secondary stack are both 1; when the top layer of the secondary stack is not empty, increasing the number of layers of the main stack and the secondary stack by one respectively; taking out the jth neighbor node of the first target aerostat node from the secondary stack and storing it in the top layer of the main stack, and storing the neighbor node of the jth neighbor node in the secondary stack in the top layer of the secondary stack; when the top layer of the main stack includes the I target aerostat node, recording the first routing table information, and performing stack pruning on the main stack and the secondary stack; when both the main stack and the secondary stack are empty, generating routing table information of I target aerostat nodes according to the first routing table information.

[0082] Figure 7 The flowchart of the dual-stack DFS algorithm according to an embodiment of the present disclosure is schematically shown.

[0083] like Figure 7 As shown, this embodiment includes operations S711 to S720.

[0084] In operation S711, a 1 st target aerostat node and an I th target aerostat node are input.

[0085] In operation S712, a primary stack and a secondary stack are established.

[0086] In operation S713 , it is determined whether the main stack is empty. If the main stack is empty, operation S720 is performed; if the main stack is not empty, operation S714 is performed.

[0087] In operation S714 , it is determined whether the top layer of the secondary stack is empty. If the top layer of the secondary stack is empty, operation S719 is performed; if the top layer of the secondary stack is not empty, operation S715 is performed.

[0088] In operation S715, the number of layers of the main stack and the secondary stack is increased by one.

[0089] In operation S716, whether the top layer of the main stack is the Ith target aerostat node, if yes, execute operation S717, if not, execute operation S714.

[0090] In operation S717, the first routing table information is recorded.

[0091] In operation S718, the main stack and the secondary stack are truncated.

[0092] In operation S719, the main stack and the secondary stack are truncated.

[0093] In operation S720, routing table information of I target aerostat nodes is generated.

[0094] According to an embodiment of the present disclosure, the first target aerostat and the first target aerostat node can be determined according to the position information of multiple aerostat nodes. A main stack and a secondary stack are established, wherein the number of layers of the main stack and the secondary stack are both 1, and at this time, the main stack with the number of layers 1 and the secondary stack with the number of layers 1 are empty stacks. The first target aerostat node is stored in the main stack, and at least one neighbor node of the first target aerostat node is stored in the secondary stack.

[0095] According to the embodiment of the present disclosure, it is judged whether the top layer of the secondary stack is empty. If the top layer of the secondary stack is not empty, the number of layers of the main stack and the secondary stack is increased by one, so that the main stack and the secondary stack with the number of layers are 2 respectively, and the stacking work of one step is completed. If the top layer of the secondary stack is empty, the top layer of the main stack is deleted and the top layer of the secondary stack is deleted at the same time, and the number of layers of the main stack and the secondary stack are reduced by one, so that the stacking work of one step is completed.

[0096] According to an embodiment of the present disclosure, the jth neighbor node of the first target aerostat node is taken out from the secondary stack and stored in the top layer of the main stack, and the neighbor node of the jth neighbor node in the secondary stack is stored in the top layer of the secondary stack.

[0097] According to an embodiment of the present disclosure, when the top layer of the main stack includes the Ith target airship node, the first routing table information is recorded, and it is considered that the top layer of the secondary stack is empty in the current situation, and the main stack and the secondary stack are stacked until both the main stack and the secondary stack are empty. Then, routing table information of I target airship nodes can be generated according to the first routing table information.

[0098] According to an embodiment of the present disclosure, data transmission based on the dual-stack DFS algorithm may include multiple data transmission links, and the path with the least number of target aerostat nodes among the multiple data transmission links is the shortest data transmission link.

[0099] According to an embodiment of the present disclosure, the first target airship node is stored in the main stack, at least one neighbor node of the first target airship node is stored in the secondary stack, and stack building or stack pruning is performed according to whether the top layer of the secondary stack is empty, until the top layer of the main stack includes the first target airship node, the first routing table information is recorded, and the main stack and the secondary stack are pruned until both the main stack and the secondary stack are empty, the routing table information of the first target airship nodes can be generated based on the first routing table information, thereby improving the accuracy of the generated routing table information.

[0100] According to an embodiment of the present disclosure, controlling the directional antenna of the i-1th target aerostat node toward the i-th target aerostat node includes: determining the azimuth and pitch angle of the i-1th target aerostat node based on the i-1th control instruction; and controlling the directional antenna of the i-1th target aerostat node toward the i-th target aerostat node according to the azimuth and pitch angle of the i-1th target aerostat node.

[0101] According to an embodiment of the present disclosure, a directional antenna may include an azimuth angle and an elevation angle. The azimuth angle of a directional antenna may characterize the angle of rotation from the north direction clockwise to the plane where the directional antenna is located. The elevation angle of a directional antenna may characterize the angle between the maximum radiation direction of the directional antenna in the vertical radiation pattern and the normal of the directional antenna. The azimuth angle and the elevation angle of the i-1th target aerostat node may be determined based on the i-1th control instruction. When the azimuth angle and the elevation angle of the i-1th target aerostat node are determined, the directional antenna of the i-1th target aerostat node may be controlled to face the i-th target aerostat node.

[0102] According to an embodiment of the present disclosure, the aerostat node can be a node that is movable in the air, and the ground station node can be a ground fixed node. The node regards other nodes within its maximum communication distance as neighbor nodes. Each aerostat node can use a Gaussian Markov motion model to simulate its motion trajectory. As the aerostat node moves, the neighbor nodes of each node are also constantly changing.

[0103] According to the embodiments of the present disclosure, each aerostat node can carry two sets of directional antennas, and a communication link can only be formed when the transmitting antenna is aligned with the receiving antenna. Therefore, when the network receives a transmission demand for load data, it first forms a transmission routing table information based on the location information of each node, and then adjusts the direction of the directional antenna on the target aerostat node involved according to the routing table information to form a complete data transmission link.

[0104] According to an embodiment of the present disclosure, the orientation information of the directional antenna of each node is established at the aerostat node and the ground station node, respectively, as shown in the following formula (2):

[0105] (2)

[0106] in, represents the set of transmitting antenna azimuths of the node, Indicates The transmitting antenna azimuth of each node, represents the set of the node’s transmitting antenna elevation angles, Indicates The transmitting antenna elevation angle of each node, represents the set of receiving antenna azimuths of the node, Indicates The receiving antenna azimuth of each node, represents the set of receiving antenna elevation angles of the node, Indicates The receiving antenna elevation angle of each node.

[0107] According to an embodiment of the present disclosure, when the azimuth and pitch angles of the i-1th target aerostat node are determined, the directional antenna of the i-1th target aerostat node can be controlled to face the i-th target aerostat node, thereby determining the direction of the directional antennas of the I target aerostat nodes, forming a complete data transmission link and improving the transmission efficiency of the payload data.

[0108] According to an embodiment of the present disclosure, a multi-aerostat networking control method based on directional line-of-sight communication also includes: determining the speed information of the i-th target aerostat node at the n-1th moment according to the speed information, average speed information, preset speed parameters and preset adjustment parameters of the i-th target aerostat node; determining the speed direction angle information of the i-th target aerostat node at the n-1th moment according to the speed direction angle information, average direction angle information, preset direction angle parameters and preset adjustment parameters of the i-th target aerostat node; determining the first direction speed information and the second direction speed information of the i-th target aerostat node based on the speed parameter of the i-th target aerostat node at the n-1th moment and the speed direction angle information of the i-th target aerostat node at the n-1th moment; determining the motion trajectory of the i-th target aerostat node according to the first direction speed information and the second direction speed information of the i-th target aerostat node.

[0109] According to an embodiment of the present disclosure, the motion state of an aerostat node (such as a high-altitude balloon) near a space platform in the stratosphere is to fly with the wind, and its flight speed is closely related to the wind field it is in. According to an embodiment of the present disclosure, the preset speed parameter can characterize a speed variable that follows a Gaussian random variable distribution.

[0110] According to an embodiment of the present disclosure, the speed information of the i-th target aerostat node at the n-1th moment may be determined based on the speed information of the i-th target aerostat node at the n-1th moment, the average speed information, the preset speed parameters and the preset adjustment parameters.

[0111] According to an embodiment of the present disclosure, the speed direction angle information of the i-th target aerostat node at the n-1th moment, the average direction angle information, the preset direction angle parameter and the preset adjustment parameter can be used to determine the speed direction angle information of the i-th target aerostat node at the n-1th moment, and the iteration of the Gauss-Markov motion model is as follows: Formula (3):

[0112] (3)

[0113] in, Indicates Speed ​​information at the moment, Indicates The speed and direction angle information at the moment, Indicates average speed information, represents the average direction angle information, Indicates the preset speed parameters, Indicates the preset direction angle parameter, Indicates preset adjustment parameters.

[0114] According to an embodiment of the present disclosure, the first direction speed information and the second direction speed information of the i-th target aerostat node may be determined based on the speed parameter of the i-th target aerostat node at the n-th moment and the speed direction angle information of the i-th target aerostat node at the n-th moment, as shown in the following formula (4):

[0115] (4)

[0116] in, Indicates time The velocity component in direction (longitude), Indicates time The component of velocity in direction (latitude).

[0117] According to an embodiment of the present disclosure, a motion trajectory of the i-th target aerostat node may be generated according to the first direction velocity information and the second direction velocity information of the i-th target aerostat node.

[0118] According to an embodiment of the present disclosure, a multi-aerostat networking control method based on directional line-of-sight communication also includes: determining the distance information of I target aerostat nodes according to the position information of I target aerostat nodes; determining the antenna rotation duration of I target aerostat nodes according to the azimuth and pitch angle of I target aerostat nodes; determining the data transmission duration of I target aerostat nodes according to the distance information and load data of I target aerostat nodes; determining the routing delay duration of I target aerostat nodes according to the antenna rotation duration of I target aerostat nodes and the data transmission duration of I target aerostat nodes.

[0119] According to an embodiment of the present disclosure, the distance information between I target aerostat nodes can be determined based on the position information of I target aerostat nodes using the Euclidean distance formula, such as the following formula (5).

[0120] (5)

[0121] According to an embodiment of the present disclosure, when the routing table information is determined, the antenna rotation time of I target aerostat nodes can be determined according to the azimuth angle and pitch angle of I target aerostat nodes, wherein the antenna rotation time of I target aerostat nodes can represent the slowest rotation time of the antenna of I target aerostat nodes after adjustment, as shown in the following formula (6):

[0122] (6)

[0123] in, represents the antenna rotation duration of I target aerostat node, Indicates the antenna rotation time of the first target aerostat node, represents the antenna rotation time of the second target aerostat node, ..., Indicates the antenna rotation duration of the Ith target aerostat node.

[0124] According to the embodiments of the present disclosure, the data transmission duration of I target aerostat nodes can be determined based on the distance information and load data of I target aerostat nodes. Rotation time for the antenna servo Packet transmission time The sum of is as follows:

[0125] (7)

[0126] in, represents the routing delay, represents the rotation time of the antenna servo mechanism, Indicates the packet transmission time.

[0127] According to an embodiment of the present disclosure, the packet transmission time It can be composed of three parts: electromagnetic wave transmission time, data transmission time, and data transfer processing time, as shown in the following formula (8):

[0128] (8)

[0129] in, Indicates the distance information of the data transmission link. represents the speed of light, represents the amount of data transmitted, and V represents the transmission rate.

[0130] According to the embodiment of the present disclosure, based on the position information of I target aerostat nodes, the distance information of the data transmission link can be obtained using the above-mentioned Euclidean formula (5). The transmission speed of electromagnetic waves is expressed as the speed of light. To express it, the electromagnetic wave transmission time is expressed by the speed of light and the total distance of the link The data transmission time is calculated by the ratio of the amount of data transmitted. With transfer rate The data transfer processing time is the data processing time including satellite link delay, directional antenna transmission and reception delay, and command center routing calculation.

[0131] According to an embodiment of the present disclosure, the routing delay duration of I target aerostat nodes is determined according to the antenna rotation duration of I target aerostat nodes and the data transmission duration of I target aerostat nodes.

[0132] Figure 8A flowchart of a multi-aerostat networking data transmission method based on directional line-of-sight communication according to an embodiment of the present disclosure is schematically shown.

[0133] like Figure 8 As shown, a multi-aerostat networking data transmission method based on directional line-of-sight communication is applied to the i-th target aerostat node in the multi-aerostat networking. The method 800 of this embodiment includes S810 to operation S830.

[0134] In operation S810, a control instruction corresponding to routing table information is received from a satellite.

[0135] In operation S820, based on the control instruction, the direction of the directional antenna is changed so that the directional antenna of the i-th target aerostat node is directed toward the i+1-th target aerostat node in the data transmission link.

[0136] In operation S830, upon receiving the payload data from the (i-1)th target aerostat node, the payload data is transmitted to the (i+1)th target aerostat node using a directional antenna.

[0137] According to an embodiment of the present disclosure, the routing table information may include a data transmission link, and the routing table information may be generated based on the location information of I target aerostat nodes in the aerostat network. The satellite can not only receive the location information of the aerostat node, but also receive the control instruction corresponding to the routing table information, thereby controlling the direction of the directional antenna of the i-th target aerostat node based on the control instruction, so that the directional antenna of the i-th target aerostat node faces the i+1-th target aerostat node in the data transmission link, and when receiving the load data from the i-1-th target aerostat node, the directional antenna is used to send the load data to the i+1-th target aerostat node.

[0138] According to an embodiment of the present disclosure, when the directions of the directional antennas of I target aerostat nodes are adjusted, the payload data can be transmitted from the first target aerostat node to the Ith target aerostat node based on the data transmission link.

[0139] According to an embodiment of the present disclosure, the direction of the directional antenna of the target aerostat node can be adjusted based on the control instruction, so that the directional antenna of the i-th target aerostat node is directed toward the i+1-th target aerostat node in the data transmission link, and the directional antenna is used to send load data to the i+1-th target aerostat node, thereby realizing the transmission of load data from the 1st target aerostat node to the 1st target aerostat node, thereby expanding the transmission distance of the load data and improving the transmission efficiency of the load data.

[0140] Fig. 9 The schematic diagram shows an architecture diagram of a multi-aerostat system according to an embodiment of the present disclosure.

[0141] like Fig. 9 As shown, the multi-aerostat system may include a multi-aerostat network 910 , a ground station node 920 , and a command and control center node 930 .

[0142] According to an embodiment of the present disclosure, the multi-aerostat network 910 may further include a satellite 940. The multi-aerostat network 910 may include a plurality of aerostat nodes, for example, the plurality of aerostat nodes may be the first aerostat node 911, the second aerostat node 912, the third aerostat node 913, the fourth aerostat node 914, and the fifth aerostat node 915, the plurality of aerostat nodes transmit the position information corresponding to the plurality of aerostat nodes to the command and control center node 930, and transmit the load data transmitted through the plurality of target aerostat nodes to the ground station node 920, wherein the target aerostat node represents the node constituting the data transmission link. The position information corresponding to the plurality of aerostat nodes is collected and transmitted to the command and control center node 930 by the satellite 940, and the position information corresponding to the plurality of aerostat nodes may also be referred to as telemetry information.

[0143] According to an embodiment of the present disclosure, the target aerostat node may include multiple ones, and line-of-sight communication may be achieved between any two target aerostat nodes in the multi-aerostat network. Line-of-sight communication may or may not be achieved between multiple target aerostat nodes, thereby increasing the transmission distance of the payload data. When performing collaborative tasks, the multi-aerostat network can improve the transmission efficiency of the payload data.

[0144] According to an embodiment of the present disclosure, the ground station node 920 may include at least one. For example, the ground station node may be 2. For another example, the ground station node may be 1. In the case where the ground station node is 1, a single data transmission link may be formed. In the case where the ground station node is 2, a dual data transmission link may be formed. The ground station node 920 may be used to receive the payload data transmitted by multiple target aerostat nodes, and transmit the payload data to the command and control center node.

[0145] According to an embodiment of the present disclosure, the ground station node 920 and the command and control center node 930 can be fixed stations, and their positions do not change. The ground station node 920 and the command and control center node 930 can be connected using a ground network. The command and control center node 930 can be used to receive the load data transmitted by the ground station node 920 and the position information corresponding to each of the multiple aerostat nodes, and generate control instructions according to the position information corresponding to each of the multiple aerostat nodes, and the control instructions are used to control the orientation of the directional antennas of the multiple target aerostat nodes, so that the load data is transmitted based on the data transmission link. Among them, the control instructions can be transmitted to the multi-aerostat network 910 via the satellite 940, so as to generate control instructions, adjust the directional antennas of the multiple target aerostat nodes of the multi-aerostat network based on the control instructions, obtain the data transmission link, and transmit the load data based on the data transmission link. The control instructions can also be called remote control information.

[0146] According to an embodiment of the present disclosure, the multi-aerostat network 910 transmits telemetry information to the command and control center node 930 via a satellite 940 using a satellite short message link. The command and control center node 930 transmits remote control information to the multi-aerostat network 910 using a satellite short message link. Multiple aerostat nodes in the multi-aerostat network 910 transmit payload data using a directional antenna line-of-sight link, and transmit the payload data to the ground station node 920 using a directional antenna line-of-sight link. The ground station node 920 transmits the payload data to the command and control center 930 using a ground network.

[0147] According to an embodiment of the present disclosure, a multi-aerostat system composed of a multi-aerostat network, a ground station node and a command and control center node may include multiple aerostat nodes, and the position information of each aerostat node is sent to the command and control center node. The command and control center node generates a control instruction. Based on the control instruction, the direction of the directional antenna of each target aerostat node can be adjusted, and the directional antenna is used to transmit the payload data, thereby realizing the transmission of the payload data in the multi-aerostat network, thereby improving the transmission distance and transmission efficiency of the payload data.

[0148] According to the embodiments of the present disclosure, the Beidou system can provide short message communication services to users using satellites. As a space-based communication method, Beidou short message communication has the advantages of all-weather satellite communication, full-area optical coverage, and high reliability. According to the Beidou-1 user data interface protocol (version 4.0) information transmission format, the maximum length of the user-available telegram in the communication information can be transmitted at a time of 1680 bits, which meets the transmission requirements of node information and control instructions. In this regard, the satellite communication link can use the Beidou short message communication method.

[0149] Fig.10 A schematic diagram of a data transmission link according to an embodiment of the present disclosure is schematically shown.

[0150] like Fig.10 As shown, the multi-aerostat network 1010 can use the satellite short message link 1020 to send the location information of the multi-aerostat nodes to the command center node 1040, and the command center node 1040 can use the satellite short message link 1020 to send the control command to the multi-aerostat network 2310. The multi-aerostat network 1010 can also use the directional antenna line-of-sight link 1030 to send the load data from a target aerostat node to other aerostat nodes in the multi-aerostat network 1010, and can also use the directional antenna line-of-sight link 1030 to send the load data to the ground station node 1050. The control command can also be called remote control information, and the location information can also be called telemetry information. The combination of the satellite short message link and the directional antenna line-of-sight link has the advantages of rationally utilizing communication resources and saving communication costs on the one hand; on the other hand, it simplifies the neighbor discovery process of the aerostat network and improves the environmental adaptability and scalability of the network.

[0151] Fig.11 A schematic diagram of a directional antenna line-of-sight link according to an embodiment of the present disclosure is schematically shown.

[0152] like Fig.11 As shown, each aerostat node may include two directional antennas, and the directional antenna 1 and directional antenna 2 of the aerostat node both have transceiver capabilities, and can establish communication with two surrounding aerostat nodes to form a floating network. Each aerostat node may also include a data processing module for processing payload data. In addition, each aerostat node is equipped with a Beidou module, which receives satellite data as a satellite communication device. One or more groups of ground receiving station nodes may be set, and the ground receiving station nodes use directional antennas to receive payload data transmitted downward by the aerostat nodes. Aerostat node 1 (not shown in the figure) may include Beidou module 1101, data processing module 1102, directional antenna 1 "1103" and directional antenna 2 "1104", aerostat node 2 (not shown in the figure) may include Beidou module 1105, data processing module 1106, directional antenna 1 "1107" and directional antenna 2 "1108", aerostat node 3 (not shown in the figure) may include Beidou module 1109, data processing module 1110, directional antenna 1 "1111" and directional antenna 2 "1112", air-to-air data wireless line-of-sight link may be used to transmit data between aerostat node 1 and aerostat node 2 or between aerostat node 2 and aerostat node 3, and air-to-ground wireless line-of-sight link may be used to transmit data between aerostat node 3 and ground station node 1113.

[0153] According to the embodiments of the present disclosure, since the amount of data generated by the target aerostat node is generally large, and the satellite link resources are limited, if broadband satellite communication means are used, the transmission cost will be greatly increased. In conventional single-point flight, the ball-borne antenna generally uses an omnidirectional antenna, and the omnidirectional antenna gain is limited (generally below 5dBi). The air-to-ground data wireless line-of-sight link can use a high-gain antenna on the ground side to meet the link requirements. However, in the case of networking flight, communication between air-to-air aerostat nodes is required. If both target aerostat nodes of the air-to-air data wireless line-of-sight link use omnidirectional antennas, the signal level of the air-to-air data wireless line-of-sight link is limited, and long-distance high-speed communication cannot be achieved. Therefore, a combination of satellite short message links and directional antenna line-of-sight links can be used for communication.

[0154] According to the embodiments of the present disclosure, in terms of data transmission link selection, mesh networking communication modules are used for the communication between aerostat nodes and between aerostat nodes and ground receiving station nodes. When the RF bandwidth is 3.5MH, the receiving sensitivity can reach -92dBm. The directional antenna can select an L-band flat directional antenna with an operating frequency of 1350-1530MHz. The specific working indicators are an operating frequency range of 1350 MHz ~1530MHz, circular polarization, impedance of 50 ohms, voltage standing wave ratio less than or equal to 2, frequency band gain greater than or equal to 10dB, RF output SMA-K, servo motion range including azimuth 0~360° continuous, pitch -20°~ +90°, main gain azimuth plane beam angle of approximately 48°, main gain pitch plane beam angle of approximately 42°

[0155] According to the embodiments of the present disclosure, when the maximum transmission distance is 150km, the transmission power of the ball-borne device is 5W, the antenna operating frequency is 1450MHz, the transmitting antenna gain is 10.5dBi, the air-to-air data wireless line-of-sight link receiving antenna gain is set to 10.5dBi, the air-to-ground data wireless line-of-sight link receiving antenna gain is set to 21dBi, the transmitting end line loss and the receiving end line loss are 3dB, and the receiving sensitivity is set to -92dBm, the free space loss is , as shown in formula (9).

[0156] (9)

[0157] in, represents the operating frequency of the directional antenna, Indicates the transmission distance.

[0158] According to the embodiments of the present disclosure, both the air-to-air link margin and the air-to-ground link margin meet the data transmission link requirements.

[0159] According to the embodiments of the present disclosure, since the directional antenna can only transmit data in the direction of its main gain beam, and the shortest interval for sending control instructions to the target aerostat node via satellite short messages is 60s, in order to ensure the normal communication link, it is necessary to calculate the minimum reliable communication distance after the communication link is established.

[0160] Fig.12 The diagram schematically shows an antenna beam angle alignment diagram according to an embodiment of the present disclosure.

[0161] like Fig.12 As shown, when the communication link is established, the two target aerostat nodes, target aerostat node 1 and target aerostat node 2, are both on the central axis of the other party's antenna beam angle, and the movement directions of target aerostat node 1 and target aerostat node 2 are opposite. The minimum reliable communication distance between the two target aerostat nodes is The calculation of is as follows formula (10).

[0162] (10)

[0163] in, represents the fastest speed of opposite motion, represents the main direction beam angle of the directional antenna, Indicates the communication time.

[0164] According to the embodiment of the present disclosure, the 3dB beam angle is about 48°. The aerostat node is flying in the air with the wind, and its movement speed is similar to the current height wind field. According to flight test experience, the wind speed at the selected level flight height is generally less than 20m / s. m / s flying speed towards each other, the main direction beam angle of the antenna =48°, communication time Take the satellite short message communication interval as 60s. According to formula (10), calculate its minimum reliable communication distance: =5.4km, therefore, as long as the distance between the two target aerostat nodes is above 5.4km, stable communication can be established between the two target aerostat nodes.

[0165] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0166] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0167] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A multi-aerostat networking control method based on directional line-of-sight communication, characterized in that: include: In response to the data transmission request, collecting position information of the plurality of aerostat nodes using a satellite in communication connection with the plurality of aerostat nodes; Generate routing table information of one target aerostat node according to the location information of the plurality of aerostat nodes; Generate I-1 control instructions based on the routing table information, and send the i-1 control instruction to the i-1 target aerostat node via the satellite to control the directional antenna of the i-1 target aerostat node to face the i-th target aerostat node, establish a data transmission link based on the I target aerostat nodes, and receive the load data from the aerostat network via the data transmission link, wherein the routing table information includes node sequence information of the data transmission link, and the node sequence information is used to characterize the node transmission sequence of the I target aerostat nodes, and I is a positive integer greater than or equal to 2.

2. The method according to claim 1, characterized in that The step of generating routing table information of one target aerostat node according to the location information of the plurality of aerostat nodes comprises: Determine the location information of the target aerostat node according to the location information of the plurality of aerostat nodes; Determine at least one neighbor node of the i-th target aerostat node according to the location information of the i-th target aerostat node and the preset communication range of the i-th target aerostat node; Determine an (i+1)th target aerostat node from the at least one neighboring node according to a preset communication range of the (i)th target aerostat node and the location information of the (i)th target aerostat node; In the case where the i+1th target aerostat node is the Ith target aerostat node, routing table information of I target aerostat nodes is generated according to the first target aerostat node, the ith target aerostat node and the Ith target aerostat node.

3. The method according to claim 2, characterized in that The step of determining the (i+1)th target aerostat node from the at least one neighboring node according to the preset communication range of the (i)th target aerostat node and the location information of the (i)th target aerostat node comprises: In the case where the distance between the i-th target aerostat node and the at least one neighbor node is greater than the distance between the i-th target aerostat node and the I-th target aerostat node, determining a connection edge between the i-th target aerostat node and the I-th target aerostat node according to the i-th target aerostat node and the I-th target aerostat node; The connection edge rotates counterclockwise, and within the preset communication range of the i-th target aerostat node, the first neighbor node passed by the connection edge is determined as the i+1-th target aerostat node.

4. The method according to claim 3, characterized in that: The method of determining the (i+1)th target aerostat node from the at least one neighboring node according to the preset communication range of the (i)th target aerostat node and the location information of the (i)th target aerostat node, further comprises: When the distance between the i-th target aerostat node and the at least one neighbor node is greater than the distance between the i-th target aerostat node and the i-th target aerostat node, the i-th target aerostat node is determined to be the i+1-th target aerostat node.

5. The method according to claim 1, characterized in that The method of generating routing table information of one target aerostat node according to the location information of the plurality of aerostat nodes further comprises: Determine a first target aerostat node and a first target aerostat node according to the location information of the plurality of aerostat nodes, and store the first target aerostat node in a main stack, and store at least one neighbor node of the first target aerostat node in a secondary stack, wherein the number of layers of the main stack and the secondary stack are both 1; When the top layer of the secondary stack is not empty, the number of layers of the main stack and the secondary stack is increased by one respectively; Taking out the j-th neighbor node of the first target aerostat node from the secondary stack and storing it in the top layer of the main stack, and storing the neighbor node of the j-th neighbor node in the secondary stack in the top layer of the secondary stack; In the case where the top layer of the main stack includes the first target aerostat node, recording the first routing table information, and performing stack pruning processing on the main stack and the secondary stack; When both the main stack and the secondary stack are empty, routing table information of I target aerostat nodes is generated according to the first routing table information.

6. The method according to claim 4 or 5, characterized in that: The directional antenna includes an azimuth angle and an elevation angle, and the directional antenna of the i-1th target aerostat node is controlled to face the i-th target aerostat node, comprising: Based on the i-1th control instruction, determining the azimuth and pitch angle of the i-1th target aerostat node; According to the azimuth angle and the pitch angle of the i-1th target aerostat node, the directional antenna of the i-1th target aerostat node is controlled to face toward the i-th target aerostat node.

7. The method according to claim 6, characterized in that The method further comprises: Determine the speed information of the i-th target aerostat node at the n-1th moment according to the speed information, average speed information, preset speed parameter and preset adjustment parameter of the i-th target aerostat node at the n-1th moment; Determine the speed direction angle information of the i-th target aerostat node at the n-1th moment according to the speed direction angle information, average direction angle information, preset direction angle parameter and preset adjustment parameter of the i-th target aerostat node; Determine first direction speed information and second direction speed information of the i-th target aerostat node based on the speed parameter of the i-th target aerostat node at the n-th moment and the speed direction angle information of the i-th target aerostat node at the n-th moment; The motion trajectory of the i-th target aerostat node is determined according to the first direction speed information and the second direction speed information of the i-th target aerostat node.

8. The method according to claim 7, characterized in that The method further comprises: Determining distance information of the I target aerostat nodes according to the position information of the I target aerostat nodes; Determining the antenna rotation duration of the I target aerostat node according to the azimuth and pitch angle of the I target aerostat node; Determining a data transmission duration of the I target aerostat node according to the distance information of the I target aerostat node and the load data; The routing delay duration of the I target aerostat nodes is determined according to the antenna rotation duration of the I target aerostat nodes and the data transmission duration of the I target aerostat nodes.

9. A multi-aerostat networking data transmission method based on directional line-of-sight communication, applied to the i-th target aerostat node in the multi-aerostat networking, comprising: receiving a control instruction corresponding to routing table information from a satellite, the routing table information including a data transmission link, the routing table information being generated based on location information of a target aerostat node in the aerostat network; Based on the control instruction, changing the direction of the directional antenna so that the directional antenna of the i-th target aerostat node faces the i+1-th target aerostat node in the data transmission link; When receiving the load data from the (i-1)th target aerostat node, the load data is sent to the (i+1)th target aerostat node using the directional antenna.

10. A multi-aerostat system comprising: Multi-aerostat network, ground station node and command and control center node, among which, The multi-aerostat network includes a plurality of aerostat nodes, wherein the plurality of aerostat nodes transmit position information corresponding to each of the plurality of aerostat nodes to the command and control center node, and transmit load data transmitted through a plurality of target aerostat nodes to the ground station node, wherein the target aerostat nodes represent nodes constituting a data transmission link; The ground station node is used to receive the payload data transmitted via the multiple target aerostat nodes, and transmit the payload data to the command and control center node; The command and control center node is used to receive the load data transmitted by the ground station node and the position information corresponding to each of the multiple aerostat nodes, and generate control instructions based on the position information corresponding to each of the multiple aerostat nodes, wherein the control instructions are used to control the direction of the directional antennas of the multiple target aerostat nodes.

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