Self-destruction control method and system for tethered airship

Abstract

The invention relates to a tethered airship self-destruction control method which specifically comprises an airborne control core and a self-destruction standby system so as to ensure that a self-destruction task can be effectively executed under different fault conditions. The airborne control core judges whether the airship exceeds a safety range or not through the GPS module, or receives a remote self-destruction instruction through the wireless communication module to trigger a self-destruction program. The self-destruction process comprises the steps that the valve push rod driving circuit rapidly deflates, the electric heating wire driving circuit burns through the ball body, the lithium battery burning explosion trigger circuit triggers battery burning explosion, and thorough damage is ensured. If the main system fails, the standby control module supplies power through a standby battery, takes over a self-destruction task, keeps communication with the ground, and triggers the parachute to release by utilizing a time delay mechanism or an air pressure sensor when the height sensor fails, so that the landing safety is guaranteed. And the main control program performs byte-by-byte deletion through a bootloader program in a self-destruction process, so that data leakage is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of airship control, and more particularly to a tethered airship self-destruction control method and system. Background Art

[0002] At present, in the field of aerostats, autonomous navigation flight control is widely and comprehensively applied in free-flying helium airships, and the development level is relatively deep. However, in hot air balloons and hot air airships, which rely on hot air to provide lift, the research and application of autonomous navigation flight control is still blank. At the same time, tethered helium airships, which are also tethered aircraft, can always maintain sufficient net lift. Except for manual control during the retraction and release stage, they do not need to control the flight during the airborne process. They only need to monitor the various states of the airship at all times, which is very different from tethered hot air airships. Existing tethered airship safety control technology has limitations, such as remote control relying on communication links, and airships are prone to lose control when communication is interrupted or interfered; GPS positioning and tracking cannot effectively prevent technology leakage and avoid interference with ground facilities when the airship is captured or communication is interrupted; physical recovery means are difficult to complete in a short time and there are safety risks. Summary of the invention

[0003] The purpose of the present invention is to provide a tethered airship self-destruction control method and system to solve the problems in the prior art that the tethered airship cannot be self-destructed quickly and reliably in an emergency situation, cannot prevent technology leakage, avoid threats to national security and military operations, and reduce the impact on ground personnel and facilities, and does not have multiple safety measures to ensure the effective execution of self-destruction operations in various emergency situations.

[0004] In order to solve the above problems, the tethered airship self-destruction control method involved in the present invention adopts the following technical solutions: A tethered airship self-destruction control method comprises the following steps: Self-destruction condition judgment step: compare the airship location information obtained in real time by the GPS module with the preset electronic fence. If it is detected that the airship exceeds the safety range, the self-destruction program is triggered and the self-destruction countdown is started; Self-destruction step: If the self-destruction program is triggered, the onboard computer will execute the self-destruction operation and delete the main control program; Backup system intervention steps: If a main lithium battery failure and / or onboard computer failure is detected, the backup lithium battery supplies power to the backup control module, and the backup control module takes over the self-destruction task; Landing steps: The backup control module detects the altitude of the airship in real time through the altitude sensor. If the airship descends to the preset altitude threshold, the parachute release drive circuit is triggered to automatically release the parachute.

[0005] Recovery and processing steps: If the landing is completed, the location information of the airship wreckage is obtained through the GPS communication module; if the location information is successfully obtained, the airship wreckage is searched and recovered.

[0006] Preferably, if a remote wireless self-destruction control command is received, the self-destruction program is also triggered; when an emergency stop signal sent by a ground control center is received, the self-destruction countdown is interrupted.

[0007] Preferably, the self-destruction operation includes: starting the valve push rod drive circuit, opening the valve, allowing the airship to deflate quickly, and then starting the heating wire drive circuit to burn through the airship sphere by heating the heating wire. After the heating wire is heated for a preset time, the onboard computer executes the main control program deletion operation and starts the lithium battery explosion trigger circuit to trigger the main lithium battery to explode by short-circuiting the output end of the main lithium battery.

[0008] Preferably, after the backup control module takes over the self-destruction task, it maintains wireless communication with the ground control center through the backup wireless communication module and sends a status report to the ground control center.

[0009] Preferably, if the altitude sensor fails, the backup control module triggers the parachute release through a time delay mechanism.

[0010] Preferably, a dual positioning check is performed by combining a ground radar system with a GPS module to confirm whether the airship is beyond a safe range.

[0011] Preferably, in the self-destruction step, the operation of deleting the main control program includes: the onboard computer sets a deletion flag, marking the main control program as a state to be deleted, the onboard computer jumps to the bootloader program, the bootloader program detects the state of the deletion flag, and if the deletion flag is valid, executes a byte-by-byte deletion operation of the main control program.

[0012] The present invention also provides a tethered airship self-destruction control system, based on the above-mentioned tethered airship self-destruction control method, including an airborne control core and a self-destruction backup system isolated from each other, wherein the airborne control core includes: Main lithium battery: used to power the main system; Onboard computer: acts as the main control unit to execute the self-destruction steps, connecting the heating wire drive circuit, valve push rod drive circuit, lithium battery explosion trigger circuit, GPS module and wireless communication module; Heating wire driving circuit: including relay and heating wire. The onboard computer controls the relay switch to heat the heating wire quickly, thus achieving the burning through of the airship sphere. Valve push rod drive circuit: used to control the valve opening through the valve push rod drive circuit to achieve rapid deflation; Lithium battery explosion trigger circuit: electrically connected to the main lithium battery, used to short-circuit the output end of the main lithium battery; GPS module: used to obtain location information in real time and compare it with the electronic fence; Wireless communication module: used to receive remote control instructions from the ground control center.

[0013] Preferably, the self-destruct backup system includes: Backup lithium battery: Provides power to the backup control module when the main lithium battery fails; Backup control module: used to take over the self-destruction task, connecting the GPS communication module, the backup wireless communication module and the parachute release drive circuit; GPS communication module: used to provide the location information of airship wreckage; Wireless communication module: used to send status reports to the ground control center; Parachute release drive circuit: releases the parachute when approaching the ground to slow down the descent speed; Backup wireless communication module: used to send status reports to the ground control center after the backup control module takes over the self-destruction mission; Parachute release drive circuit: used to release the parachute when the airship descends to a preset altitude threshold.

[0014] Preferably, the lithium battery explosion trigger circuit directly short-circuits the lithium battery protection front end through a relay without passing through a battery protection board, so as to quickly induce a short-circuit reaction, achieve a rapid temperature increase, and trigger a battery explosion.

[0015] The beneficial effects of the present invention are as follows: through GPS positioning, electronic fence comparison and remote wireless control, it is possible to timely and accurately determine whether the airship is in a dangerous state and trigger the self-destruction program, effectively preventing the airship from losing control or being captured and posing a threat to national security, military operations and civilian facilities. For example, in a military reconnaissance mission, if the airship deviates from the predetermined area or is interfered with and captured by the enemy, it can quickly initiate self-destruction to avoid the leakage of confidential information and the obstruction of military operations.

[0016] Multiple physical destruction methods during the self-destruction process, such as deflation, burning through the sphere, and lithium battery explosion, ensure that the airship is quickly destroyed and landed, greatly reducing the potential harm to ground personnel and facilities. Compared with the long-term safety hazards that may be caused by physical recovery methods in the prior art, the present invention can eliminate the danger more quickly in an emergency.

[0017] The backup battery and backup communication system can seamlessly take over the self-destruction control task when the main system fails, ensuring the continuity of the self-destruction program and communication. For example, in the extreme case of a main power failure or a main communication link interruption, the backup system can still ensure that the self-destruction operation is carried out as planned, overcoming the problem of the existing technology that the self-destruction function fails when a single system fails.

[0018] The physical isolation design protects the backup system from the impact of lithium battery explosion, further improving the stability and reliability of the entire self-destruction control system and ensuring the normal operation of the self-destruction function in various complex and harsh environments. The onboard computer deletes the main control program during self-destruction, eliminating the risk of technology leakage from the software level. Compared with the existing technology that lacks effective measures to prevent technology leakage, the present invention effectively protects the key technologies and intellectual property rights related to the tethered airship and prevents the technology from being obtained and used by the enemy. The explosion of lithium batteries destroys hardware equipment such as core circuit boards, completely destroying key components from the hardware aspect. Even if the wreckage of the airship is obtained, it is difficult to recover and use the technology therein, thus protecting technical secrets in all directions.

[0019] The parachute release mechanism automatically starts when approaching the ground and is precisely controlled according to real-time altitude information, effectively reducing the impact of the airship on the ground when landing, protecting the lives and property of people on the ground, and avoiding the pollution of the environment caused by the scattering of debris. Compared with the environmental problems that may be caused by recycling difficulties in the prior art, the present invention is more environmentally friendly. Remotely obtain the wreckage location information and recycle it, and manage the airship wreckage conveniently and quickly, which not only prevents the potential risks caused by the legacy of technical components, but also improves the efficiency of recycling and processing, reduces the waste of manpower and material resources, and reflects the convenience and efficiency of operation.

[0020] This self-destruction control method is suitable for tethered airship applications in various fields such as military reconnaissance, communication relay, and meteorological monitoring. It provides a unified and effective solution for the safety of tethered airships in different scenarios. It has strong versatility and adaptability, and will help promote the wider application of tethered airship technology in various fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment: Figure 1 is a flow chart of a tethered airship self-destruction control method according to a preferred embodiment of the present invention; Figure 2 It is a flow chart of the self-destruction steps of the tethered airship self-destruction control method of a preferred embodiment of the present invention; Figure 3 It is a flow chart of the main program deletion steps of the tethered airship self-destruction control method of the preferred embodiment of the present invention; Figure 4 It is an overall structural diagram of a tethered airship self-destruction control system according to a preferred embodiment of the present invention; Figure 5 It is a structural diagram of the electric heating wire driving circuit of the tethered airship self-destruction control system of the preferred embodiment of the present invention; Figure 6This is a structural diagram of a lithium battery explosion trigger circuit of a tethered airship self-destruction control system of a preferred embodiment of the present invention; Figure 7 It is a structural diagram of the valve push rod driving circuit of the tethered airship self-destruction control system of the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the technical purpose, technical solution and beneficial effects of the present invention clearer, the technical solution of the present invention is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0023] A tethered airship self-destruction control method according to a preferred embodiment of the present invention is as follows Figure 1 As shown, see Figure 2-3 , including the following steps: Self-destruction condition judgment step: compare the airship location information obtained in real time by the GPS module with the preset electronic fence. If it is detected that the airship exceeds the safety range, the self-destruction program is triggered and the self-destruction countdown is started; Self-destruction step: If the self-destruction program is triggered, the onboard computer will perform a self-destruction operation and delete the main control program; further, the main control program can be encrypted and stored. When an abnormal access or capture signal is detected, the program self-destructs the encryption key to make the program unreadable. Alternatively, the core program is stored in a physically isolated storage module with a self-destruct device. When a self-destruction signal is received, the storage module is physically destroyed (such as explosion, strong acid corrosion, etc.) to prevent technology leakage.

[0024] Backup system intervention steps: If a main lithium battery failure and / or onboard computer failure is detected, the backup lithium battery supplies power to the backup control module, and the backup control module takes over the self-destruction task; Landing steps: The standby control module detects the altitude of the airship in real time through the altitude sensor. If the airship descends to a preset altitude threshold (set to 500 meters in this embodiment), the parachute release drive circuit is triggered to automatically release the parachute.

[0025] Recovery and processing steps: If the landing is completed, the location information of the airship wreckage is obtained through the GPS communication module; if the location information is successfully obtained, the airship wreckage is searched and recovered.

[0026] like Figure 1As shown, in the self-destruction condition judgment step, if a remote wireless self-destruction control command is received, the self-destruction program is also triggered; when an emergency stop signal sent by the ground control center is received, the self-destruction countdown is interrupted. The present invention can use ground radar to monitor the position of the airship, and when the airship deviates from the predetermined route or enters a no-fly zone, a self-destruction signal is sent to the airship through the ground control center.

[0027] like Figure 2 As shown, in the self-destruction step, the self-destruction operation includes: starting the valve push rod drive circuit, opening the valve, allowing the airship to deflate quickly, and then starting the electric heating wire drive circuit, heating the airship sphere through the electric heating wire, and after the electric heating wire is heated for a preset time, the onboard computer executes the main control program deletion operation, and starts the lithium battery explosion trigger circuit, and triggers the main lithium battery to explode by short-circuiting the output end of the main lithium battery. When the main lithium battery explodes, the self-destruction program is executed. A chemical corrosive agent release device can also be used to replace the electric heating wire to burn through the sphere. When the self-destruction is started, the chemical corrosive agent is released to quickly corrode and damage the airship material. The valve push rod drive circuit can be replaced by another solution: by releasing a large amount of compressed gas to quickly discharge the gas in the airship to achieve rapid deflation, replacing the electric push rod control valve method.

[0028] like Figure 1 As shown, after the backup control module takes over the self-destruction task, it maintains wireless communication with the ground control center through the backup wireless communication module and sends a status report to the ground control center. The backup control module maintains real-time communication with the ground control center through the backup wireless communication module and continuously sends status reports. The status report includes but is not limited to: the current system voltage status, communication signal strength, GPS location information, parachute release status, and the execution progress of the self-destruction program. The module has an automatic retransmission mechanism to ensure that the ground control center can be reconnected when the communication is unstable or interrupted to avoid the loss of key data. In addition, the status report can also record historical data for playback analysis after the mission is completed. Through the real-time communication and status report transmission between the backup control module and the ground control center, the real-time status of the airship self-destruction mission can be transmitted to the ground in a timely manner, ensuring that ground operators can obtain key information, make effective decisions, and reduce the uncertainty that may occur in the mission. In addition, the automatic retransmission mechanism improves the stability and reliability of communication and reduces the risk of communication packet loss.

[0029] like Figure 1As shown in the figure, during the landing step, if the altitude sensor fails, the backup control module triggers the parachute release through a time delay mechanism. The air pressure sensor is also used instead of the altitude sensor to monitor the altitude of the airship, and a dangerous altitude threshold is set. When the airship is below the threshold (which may indicate dangerous situations such as uncontrolled falling), the self-destruction program is started. When the altitude sensor fails, additional triggering protection is provided to ensure that the parachute can be released on time to ensure the safety of people and property on the ground. In addition, through the monitoring of the air pressure sensor, the system can respond in time in emergency situations such as uncontrolled falling, reducing potential safety hazards.

[0030] like Figure 1 As shown in the figure, in the self-destruction condition judgment step, a dual positioning check is performed by combining the ground radar system and the GPS module to confirm whether the airship is beyond the safety range. At the same time, the system combines the ground radar system for auxiliary verification, and improves the accuracy and reliability of position judgment through dual positioning technology. The ground radar system can provide additional position information support in different environments (such as complex terrains such as mountainous areas and cities), and supplement the blind spots or errors that may exist in the GPS signal. In addition, the system performs redundant verification during the positioning process to ensure that the position judgment result has high accuracy and reduce the possibility of misjudgment.

[0031] like Figure 3 As shown, in the self-destruction step, the operation of deleting the main control program includes: the onboard computer sets the deletion flag, marks the main control program as a state to be deleted, the onboard computer jumps to the bootloader program, the bootloader program detects the deletion flag state, and if the deletion flag is valid, the byte-by-byte deletion operation of the main control program is executed. By setting the deletion flag, the safe takeover of the bootloader program, and the byte-by-byte deletion operation, the main control program is ensured to be completely deleted during the self-destruction process to prevent the core data from being leaked or reversely cracked. At the same time, the byte-by-byte deletion technology ensures that the data cannot be recovered, which improves the security and confidentiality of the system. In addition, the anti-interference mechanism further ensures the stability of the program deletion process and prevents external interference from affecting task execution.

[0032] The present invention obtains location information in real time through the GPS module carried by the airship, and compares it with the preset electronic fence range. When the range is exceeded, the self-destruction countdown program is triggered. This mechanism combines positioning technology with area limitation to effectively determine whether the airship deviates from the safe area, overcoming the limitation of the existing technology that only relies on a single control method (such as remote control or GPS positioning tracking), and greatly improving the accuracy and timeliness of the self-destruction trigger.

[0033] Whether receiving a stop self-destruction command during the self-destruction countdown or directly receiving a remote self-destruction command and executing it immediately, this remote control method enhances the flexibility and controllability of the airship's self-destruction operation, and provides a more reliable remote intervention method compared to the remote control in the prior art that is susceptible to communication interruptions.

[0034] After the self-destruct program is triggered, the onboard computer immediately deletes the main control program to prevent the core control program from being leaked. This is a key measure to protect technology from being obtained by the enemy at the software level. Existing technologies lack such active and effective means to prevent technology leakage.

[0035] During the execution of the self-destruction program, an electric push rod is used to open the valve to release air to make the airship lose buoyancy, and an electric heating wire is used to burn through the airship sphere, thereby destroying the airship from a physical structure and accelerating its damaged landing. At the same time, the control circuit triggers the lithium battery to explode, further destroying the onboard computer circuit board and other core circuit boards. Multiple physical destruction methods ensure the complete destruction of the airship. Compared with existing physical recovery methods, it can more effectively prevent the airship from being used by the enemy and reduce the potential threat to the ground.

[0036] Self-destruction backup system: The backup battery and backup communication system are activated when the main system fails, ensuring the normal operation of the self-destruction program and communication, providing redundant backup for the self-destruction operation, greatly improving the reliability of the self-destruction function, and solving the problem that the existing technology cannot effectively perform the self-destruction operation when the main system fails.

[0037] Physical isolation: The backup battery and backup communication system are not in the same area as the onboard computer, which prevents them from being damaged by lithium battery explosion. This safety isolation design ensures that the backup system can still work normally under extreme circumstances, enhancing the stability and safety of the entire self-destruction control system.

[0038] The parachute release mechanism is activated when approaching the ground, automatically determining the distance from the ground and slowing down the airship's descent at the appropriate time, effectively preventing harm to the lives and property of people on the ground and overcoming the shortcomings of existing physical recovery methods in terms of safety.

[0039] Obtaining the GPS location information of the airship wreckage through the backup communication system and conducting remote operator positioning and recovery processing will not only help protect the environment, but also further prevent technology leakage and improve the subsequent links of the self-destruction operation. Existing technologies lack a systematic solution in this regard.

[0040] The present invention also includes a preferred embodiment of a tethered airship self-destruction control system, based on the previous embodiment, as Figure 4 Shown, including Figure 5-7, including an isolated airborne control core and a self-destruction backup system (it is also possible not to set up an independent backup battery and backup communication system, but to use multiple sets of redundant batteries and communication modules in the main system, and automatically switch to other normal components when some components fail.), where the airborne control core includes: Main lithium battery: used to power the main system; Onboard computer: acts as the main control unit to execute the self-destruction steps, connecting the heating wire drive circuit, valve push rod drive circuit, lithium battery explosion trigger circuit, GPS module and wireless communication module; Heating wire drive circuit Figure 5 As shown: It includes a relay and a heating wire. The onboard computer controls the relay switch to heat the heating wire quickly, so that the airship sphere burns through; Valve push rod drive circuit Figure 7 As shown: It is used to control the valve opening through the valve push rod driving circuit to achieve rapid deflation; Lithium battery explosion trigger circuit Figure 6 As shown: electrically connected to the main lithium battery, used to short-circuit the output end of the main lithium battery; GPS module: used to obtain location information in real time and compare it with the electronic fence; Wireless communication module: used to receive remote control instructions from the ground control center.

[0041] like Figure 4 As shown, the self-destruct backup system includes: Backup lithium battery: Provides power to the backup control module when the main lithium battery fails; solar panels can also be used as a backup power source to provide power support for the self-destruct system during the day.

[0042] Backup control module: used to take over the self-destruction task, connecting the GPS communication module, the backup wireless communication module and the parachute release drive circuit; GPS communication module: used to provide the location information of airship wreckage; Wireless communication module: used to send status reports to the ground control center; Parachute release drive circuit: release the parachute when approaching the ground to slow down the descent speed; it is also possible to design a buffer air cushion structure at the bottom of the airship instead of using a parachute, and reduce the impact force by inflating it when approaching the ground.

[0043] Backup wireless communication module: used to send status reports to the ground control center after the backup control module takes over the self-destruction mission; Parachute release drive circuit: used to release the parachute when the airship descends to a preset altitude threshold.

[0044] like Figure 4As shown, the lithium battery explosion trigger circuit directly short-circuits the lithium battery protection front end through a relay without passing through the battery protection board, so as to quickly induce a short-circuit reaction, achieve a rapid temperature increase, and trigger the battery explosion.

[0045] Through GPS positioning, electronic fence comparison and remote wireless control, it is possible to timely and accurately determine whether the airship is in a dangerous state and trigger the self-destruction program, effectively preventing the airship from losing control or being captured and posing a threat to national security, military operations and civilian facilities. For example, in a military reconnaissance mission, if the airship deviates from the predetermined area or is interfered with and captured by the enemy, it can quickly initiate self-destruction to avoid the leakage of confidential information and the obstruction of military operations.

[0046] Multiple physical destruction methods during the self-destruction process, such as deflation, burning through the sphere, and lithium battery explosion, ensure that the airship is quickly destroyed and landed, greatly reducing the potential harm to ground personnel and facilities. Compared with the long-term safety hazards that may be caused by physical recovery methods in the prior art, the present invention can eliminate the danger more quickly in an emergency.

[0047] The backup battery and backup communication system can seamlessly take over the self-destruction control task when the main system fails, ensuring the continuity of the self-destruction program and communication. For example, in the extreme case of a main power failure or a main communication link interruption, the backup system can still ensure that the self-destruction operation is carried out as planned, overcoming the problem of the existing technology that the self-destruction function fails when a single system fails.

[0048] The physical isolation design protects the backup system from the impact of lithium battery explosion, further improving the stability and reliability of the entire self-destruction control system and ensuring the normal operation of the self-destruction function in various complex and harsh environments. The onboard computer deletes the main control program during self-destruction, eliminating the risk of technology leakage from the software level. Compared with the existing technology that lacks effective measures to prevent technology leakage, the present invention effectively protects the key technologies and intellectual property rights related to the tethered airship and prevents the technology from being obtained and used by the enemy. The explosion of lithium batteries destroys hardware equipment such as core circuit boards, completely destroying key components from the hardware aspect. Even if the wreckage of the airship is obtained, it is difficult to recover and use the technology therein, thus protecting technical secrets in all directions.

[0049] The parachute release mechanism automatically starts when approaching the ground and is precisely controlled according to real-time altitude information, effectively reducing the impact of the airship on the ground when landing, protecting the lives and property of people on the ground, and avoiding the pollution of the environment caused by the scattering of debris. Compared with the environmental problems that may be caused by recycling difficulties in the prior art, the present invention is more environmentally friendly. Remotely obtain the wreckage location information and recycle it, and manage the airship wreckage conveniently and quickly, which not only prevents the potential risks caused by the legacy of technical components, but also improves the efficiency of recycling and processing, reduces the waste of manpower and material resources, and reflects the convenience and efficiency of operation.

[0050] This self-destruction control method is suitable for tethered airship applications in various fields such as military reconnaissance, communication relay, and meteorological monitoring. It provides a unified and effective solution for the safety of tethered airships in different scenarios. It has strong versatility and adaptability, and will help promote the wider application of tethered airship technology in various fields.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate but not to limit the technical solutions of the present invention. Any equivalent substitutions of the present invention and any modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A tethered airship self-destruction control method, characterized in that: The following steps are involved: Self-destruction condition judgment step: compare the airship location information obtained in real time by the GPS module with the preset electronic fence. If it is detected that the airship exceeds the safety range, the self-destruction program is triggered and the self-destruction countdown is started; Self-destruction step: If the self-destruction program is triggered, the onboard computer will execute the self-destruction operation and delete the main control program; Backup system intervention steps: If a main lithium battery failure and / or onboard computer failure is detected, the backup lithium battery supplies power to the backup control module, and the backup control module takes over the self-destruction task; Landing steps: The standby control module detects the altitude of the airship in real time through the altitude sensor. If the airship descends to the preset altitude threshold, the parachute release drive circuit is triggered to automatically release the parachute; Recovery and processing steps: If the landing is completed, the location information of the airship wreckage is obtained through the GPS communication module; if the location information is successfully obtained, the airship wreckage is searched and recovered.

2. The tethered airship self-destruction control method according to claim 1, characterized in that: In the self-destruction condition judgment step, if a remote wireless self-destruction control command is received, the self-destruction program is also triggered; when an emergency stop signal sent by the ground control center is received, the self-destruction countdown is interrupted.

3. The tethered airship self-destruction control method according to claim 1, characterized in that: In the self-destruction step, the self-destruction operation includes: starting the valve push rod drive circuit, opening the valve, allowing the airship to deflate quickly, and then starting the heating wire drive circuit to burn through the airship sphere through heating by the heating wire. After the heating wire is heated for a preset time, the onboard computer executes the main control program deletion operation and starts the lithium battery explosion trigger circuit, which triggers the main lithium battery to explode by short-circuiting the output end of the main lithium battery.

4. The tethered airship self-destruction control method according to claim 1, characterized in that: After the backup control module takes over the self-destruction mission, it maintains wireless communication with the ground control center through the backup wireless communication module and sends a status report to the ground control center.

5. The tethered airship self-destruction control method according to claim 1, characterized in that: During the landing step, if the altitude sensor fails, the backup control module triggers the parachute release through a time delay mechanism.

6. The tethered airship self-destruction control method according to claim 1, characterized in that: In the self-destruction condition judgment step, dual positioning verification is performed by combining the ground radar system and the GPS module to confirm whether the airship is beyond the safe range.

7. The tethered airship self-destruction control method according to claim 1, characterized in that: In the self-destruction step, the operation of deleting the main control program includes: the onboard computer sets a deletion flag, marks the main control program as a state to be deleted, the onboard computer jumps to the bootloader program, the bootloader program detects the state of the deletion flag, and if the deletion flag is valid, executes the byte-by-byte deletion operation of the main control program.

8. A tethered airship self-destruction control system, based on the tethered airship self-destruction control method according to any one of claims 1 to 7, characterized in that: It includes an isolated airborne control core and a self-destruction backup system, wherein the airborne control core includes: Main lithium battery: used to power the main system; Onboard computer: acts as the main control unit to execute the self-destruction steps, connecting the heating wire drive circuit, valve push rod drive circuit, lithium battery explosion trigger circuit, GPS module and wireless communication module; Heating wire driving circuit: including relay and heating wire. The onboard computer controls the relay switch to heat the heating wire quickly, thus achieving the burning through of the airship sphere. Valve push rod drive circuit: used to control the valve opening through the valve push rod drive circuit to achieve rapid deflation; Lithium battery explosion trigger circuit: electrically connected to the main lithium battery, used to short-circuit the output end of the main lithium battery; GPS module: used to obtain location information in real time and compare it with the electronic fence; Wireless communication module: used to receive remote control instructions from the ground control center.

9. The tethered airship self-destruction control system according to claim 8, characterized in that: The self-destruct backup system includes: Backup lithium battery: Provides power to the backup control module when the main lithium battery fails; Backup control module: used to take over the self-destruction task, connecting the GPS communication module, the backup wireless communication module and the parachute release drive circuit; GPS communication module: used to provide the location information of airship wreckage; Wireless communication module: used to send status reports to the ground control center; Parachute release drive circuit: releases the parachute when approaching the ground to slow down the descent speed; Backup wireless communication module: used to send status reports to the ground control center after the backup control module takes over the self-destruction mission; Parachute release drive circuit: used to release the parachute when the airship descends to a preset altitude threshold.

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