Unmanned aerial vehicle airborne emergency communication method and system

Abstract

The invention discloses an unmanned aerial vehicle airborne emergency communication method and system, and relates to the technical field of emergency communication. The method comprises the following steps: setting a disaster area, constructing an area coordinate map, and setting a hovering position of the mooring unmanned aerial vehicle; the number N of non-mooring unmanned aerial vehicles is obtained, and the disaster area is divided into N target areas; a non-mooring unmanned aerial vehicle is distributed to each target area; center point coordinates of each target area are obtained and sent to the corresponding non-mooring unmanned aerial vehicles; configuring network connection parameters for a base station on the mooring unmanned aerial vehicle and relay equipment of each non-mooring unmanned aerial vehicle; according to the center point coordinate and the hovering position of the mooring unmanned aerial vehicle, an unmanned aerial vehicle position map is formed, and a network topology relation between the base station and the relay equipment is designed; and establishing an emergency communication network according to the network topology relationship, and executing a preset emergency communication scheme. According to the invention, the emergency communication efficiency and effect of man-machine airborne emergency communication are improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent edge gateways, and in particular to an unmanned aerial vehicle airborne emergency communication method and system. Background Art

[0002] In rescue and emergency scenarios, disasters often cause communication interruptions in the affected areas. At present, due to the high power consumption of base stations, tethered drones are widely used as emergency communication base stations to restore communications. Tethered drones occupy an important position in the field of emergency communications. They can solve the communication problems in disaster-stricken areas to a certain extent and provide information guarantee for rescue and other work. However, there are obvious defects in the emergency communication method of tethered drones. Because tethered drones are limited by the length of cables, their range of activities is limited, and they have special requirements for the ground, such as the need for suitable anchor points and relatively flat ground conditions. These factors combined result in a small emergency communication range. In large-scale disaster-stricken areas, it is difficult to achieve comprehensive coverage of the entire disaster-stricken area by communication signals, and it cannot meet the needs of efficient and comprehensive communication recovery in large-scale disaster scenarios.

[0003] Therefore, this technology aims to propose an emergency communication method onboard a UAV. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned aerial vehicle airborne emergency communication method and system to solve the problems raised in the above background technology.

[0005] In the first aspect, the present application provides a method for emergency communication onboard a drone, which adopts the following technical solution:

[0006] Set the disaster-affected area, build a regional coordinate map based on the disaster-affected area, and set the hovering position of the tethered drone;

[0007] Obtain the number N of untethered drones, and divide the disaster-stricken area into N target areas according to the regional coordinate map;

[0008] Assign one untethered drone to each target area;

[0009] Get the center point coordinates of each target area and send them to the corresponding untethered drones;

[0010] Configure network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone;

[0011] According to the coordinates of the center point and the hovering position of the tethered drone, a drone location map is formed, and the network topology relationship between the base station and the relay device is designed according to the drone location map;

[0012] Establish an emergency communication network based on the network topology, and execute the preset emergency communication plan based on the emergency communication network and drone location map.

[0013] Preferably, the step of allocating an untethered drone to each target area is specifically as follows:

[0014] The untethered drones are numbered and one untethered drone is randomly matched to each target area.

[0015] Preferably, the step of obtaining the center point coordinates of each target area and sending the center point coordinates to the corresponding untethered drones is specifically as follows:

[0016] The drone configuration interface is displayed through the drone dispatch device to obtain the staff's operating instructions;

[0017] According to the operation instructions, the center point coordinates are sent to the corresponding untethered drone's built-in controller.

[0018] Preferably, the step of configuring network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone is specifically as follows:

[0019] The configuration interface of the base station and relay equipment is retrieved through the UAV dispatch device to determine whether the configuration instructions of the staff have been received;

[0020] If a configuration instruction is received from the staff, the network connection parameters are configured for the base station on the tethered drone and the relay devices of each untethered drone according to the configuration instruction of the staff;

[0021] If no configuration instruction is received, the historical configuration parameters are obtained, and the base station on the tethered drone and the relay devices of each untethered drone are automatically configured according to the historical configuration parameters to configure the network connection parameters respectively.

[0022] Preferably, the steps of establishing an emergency communication network according to the network topology relationship and executing a preset emergency communication solution according to the emergency communication network and the drone location map are specifically as follows:

[0023] Control the untethered drone to fly to the target area according to the assigned center point coordinates and hover at the center point coordinates;

[0024] The UAV dispatching device receives the remaining power information fed back by the untethered UAV that has reached the center point coordinates;

[0025] Determine whether the remaining power information reaches a preset power threshold. If so, dispatch a backup drone for replacement;

[0026] If the preset power threshold is not reached, the untethered drone is continuously used.

[0027] Preferably, the step of controlling the untethered drone to fly to the target area according to the assigned center point coordinates and hover at the center point coordinates is specifically:

[0028] The tension value on the tethered cable of the tethered drone is collected through a tension sensor and recorded as a real-time tension value;

[0029] Compare the real-time tension value with the preset standard tension value to determine whether the tethered drone deviates from the preset hovering position;

[0030] If the tethered drone deviates from the preset hovering position, a hovering deviation prompt will be issued to remind the staff to retract the tethered cable in time;

[0031] If the hovering position is corrected, the hovering deviation prompt ends;

[0032] If there is no hover deviation prompt, it means that the tethered drone has not deviated from the preset hovering position.

[0033] Preferably, the step of the drone dispatching device receiving the remaining power information fed back by the untethered drone that has reached the center point coordinates is specifically:

[0034] A power detection module is provided, and the power detection module is communicatively connected with the UAV dispatching device in the tethered controller;

[0035] The power detection module detects the remaining power information of the untethered drone and sends the remaining power information to the drone dispatching device.

[0036] Preferably, the step of determining whether the remaining power information reaches a preset power threshold, and if so, dispatching a standby drone for replacement, is specifically as follows:

[0037] Obtain the drone information of the backup drone, and add the backup drone to the emergency passage network according to the drone information;

[0038] Preset the replacement distance, obtain the hovering position of the untethered drone and combine it with the replacement distance to form a replacement range circle;

[0039] The hovering position of the untethered UAV is recorded as the replacement position, and the UAV dispatching device sends the replacement position to the standby UAV;

[0040] The backup drone flies to the replacement position, and when the backup drone enters the replacement range, it sends an arrival signal to the non-tethered drone;

[0041] After receiving the arrival signal, the untethered drone returns to the take-off position of the tethered drone.

[0042] In the second aspect, the present application provides an unmanned aerial vehicle airborne emergency communication system, which adopts the following technical solutions:

[0043] An unmanned aerial vehicle airborne emergency communication system, comprising:

[0044] The tethered hovering module sets the disaster-affected area, builds a regional coordinate map based on the disaster-affected area, and sets the hovering position of the tethered drone;

[0045] The target area module obtains the number N of untethered drones and divides the disaster area into N target areas according to the regional coordinate map;

[0046] The area allocation module allocates an untethered drone to each target area;

[0047] The coordinate sending module obtains the center point coordinates of each target area and sends the center point coordinates to the corresponding untethered drones;

[0048] The parameter configuration module configures network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone;

[0049] The network topology module forms a UAV location map based on the center point coordinates and the hovering position of the tethered UAV, and designs the network topology relationship between the base station and the relay device based on the UAV location map;

[0050] The emergency communication module establishes an emergency communication network based on the network topology relationship and executes the preset emergency communication plan based on the emergency communication network and the drone location map.

[0051] In summary, the present application includes at least one of the following beneficial technical effects:

[0052] 1. The tethered drone is equipped with a base station as the main base station, which can provide a stable signal source at a certain height. The ground tethered controller can accurately control its hovering position to ensure the signal coverage. The untethered drone is equipped with relay equipment and flies to the depth of the disaster area, wirelessly connecting with the base station to expand the signal propagation range. Based on this, multiple untethered drone relay equipment cooperates with the tethered drone base station to achieve full signal coverage of large disaster-stricken areas.

[0053] 2. The drone dispatch device can allocate resources reasonably. When some drones malfunction or run out of power, the backup relay drones can take over in time, thereby ensuring that emergency communication signals in the disaster-stricken area are uninterrupted and meeting the continuous communication needs of emergency rescue and other work. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of specific steps of an embodiment of an emergency communication method onboard a drone of the present invention.

[0055] Figure 2 The present invention is a schematic diagram of module connection of an unmanned aerial vehicle airborne emergency communication system embodiment.

[0056] Figure 3 The invention discloses a connection diagram of a battery module of an emergency communication system for a drone.

[0057] Figure 4 The invention is a schematic diagram of the connection of a tension sensor of an emergency communication system onboard a drone according to an embodiment of the present invention.

[0058] Figure 5 It is a schematic diagram of the dispatching control of an embodiment of an emergency communication system onboard a drone of the present invention. DETAILED DESCRIPTION

[0059] Below is a combination of the embodiments and Figure 1-Figure 5 The present invention is further described in detail, but the embodiments of the present invention are not limited thereto.

[0060] The present invention discloses an unmanned aerial vehicle airborne emergency communication method, which specifically comprises the following steps:

[0061] Step S1, setting the disaster-affected area, constructing a regional coordinate map according to the disaster-affected area, and setting the hovering position of the tethered drone.

[0062] Step S2, obtaining the number N of untethered drones, and dividing the disaster-stricken area into N target areas according to the regional coordinate map.

[0063] Step S3, assigning an untethered drone to each target area.

[0064] Step S4, obtaining the center point coordinates of each target area, and sending the center point coordinates to the corresponding untethered drones respectively.

[0065] Step S5, configuring network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone.

[0066] Step S6, forming a drone position map according to the center point coordinates and the hovering position of the tethered drone, and designing the network topology relationship between the base station and the relay device according to the drone position map.

[0067] Step S7, establish an emergency communication network according to the network topology relationship, and execute a preset emergency communication plan according to the emergency communication network and the drone location map.

[0068] The scheme for establishing a wireless connection between a relay device and a base station or between two relay devices may be:

[0069] At the physical layer: modulation and demodulation technology can be used. Choose appropriate modulation and demodulation methods, such as QAM (quadrature amplitude modulation) and PSK (phase shift keying), and balance spectrum efficiency and anti-interference capabilities according to channel conditions and data transmission rate requirements to ensure efficient and reliable data transmission under limited spectrum resources. For example, when the channel quality is good, high-order modulation methods can be used to increase the data transmission rate; when the channel quality is poor, the modulation order can be reduced to enhance anti-interference capabilities.

[0070] At the data link layer: MAC protocol can be used. Use appropriate media access control protocols, such as TDMA (time division multiple access), FDMA (frequency division multiple access), CDMA (code division multiple access) and their combinations, to coordinate the access of base stations and relay devices to the wireless channel, avoid conflicts, and ensure orderly data transmission. For example, TDMA can divide time into multiple time slots, and base stations and relay devices send and receive data according to the predetermined time slot allocation.

[0071] At the network layer: Set up routing protocols. For multi-hop relay networks, select appropriate routing protocols, such as AODV (Adhoc On-demand Distance Vector) and DSDV (Destination-Sequenced Distance Vector), to determine the data transmission path between the base station and relay devices and between relay devices, to ensure that data can be forwarded along the optimal path, and to improve the transmission efficiency and reliability of the network. IP configuration and management. Configure the correct IP addresses for the base stations and relay devices, and perform effective IP address management to ensure that the devices in the network can correctly address and communicate, and to achieve routing and forwarding of data between different network segments.

[0072] At the transport layer: Select the appropriate transport layer protocol, such as TCP (Transmission Control Protocol) or UDP (User Datagram Protocol), according to the service type and requirements of data transmission. For services with high requirements for data reliability, such as file transfer and web browsing, TCP protocol can be selected; for services with high requirements for real-time performance but relatively low requirements for data reliability, such as video streaming and voice calls, UDP protocol can be selected, and combined with the error control and retransmission mechanism of the application layer to ensure data quality.

[0073] Based on this, through the clever control of tethered drones and untethered drones, an emergency communication network in this case can be established.

[0074] In actual use, the tethered drone is equipped with a base station as the main base station in the entire emergency communication plan. The ground tethered controller is used to control the retraction and release of the tethered cable of the tethered drone to control the hovering position of the system drone. The untethered drone is equipped with a relay device. When the untethered drone flies deep into the disaster area, the relay device on the untethered drone is wirelessly connected to the base station on the tethered drone to establish an emergency communication network.

[0075] The steps to assign an untethered drone to each target area are:

[0076] Step S31: number the untethered drones and randomly match one untethered drone to each target area.

[0077] In actual application,

[0078] The steps of obtaining the center point coordinates of each target area and sending the center point coordinates to the corresponding untethered drones are as follows:

[0079] Step S41, displaying the drone configuration interface through the drone dispatching device to obtain the staff's operating instructions.

[0080] Step S42, sending the center point coordinates to the corresponding untethered drone's built-in controller according to the operation instruction.

[0081] In actual application,

[0082] The steps to configure network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone are as follows:

[0083] Step S51, calling up the configuration interface of the base station and the relay device through the drone dispatching device to determine whether the configuration instruction of the staff has been received.

[0084] Step S52: If a configuration instruction from the staff is received, the network connection parameters are configured for the base station on the tethered drone and the relay devices of each untethered drone according to the configuration instruction from the staff.

[0085] Step S53: If no configuration instruction is received, historical configuration parameters are obtained, and network connection parameters are automatically configured for the base station on the tethered drone and the relay devices of each untethered drone according to the historical configuration parameters.

[0086] In actual application,

[0087] The steps of establishing an emergency communication network based on the network topology and executing the preset emergency communication plan based on the emergency communication network and the drone location map are as follows:

[0088] Step S71, controlling the untethered UAV to fly to the target area according to the assigned center point coordinates, and hovering at the center point coordinates.

[0089] Step S72: The drone dispatching device receives the remaining power information fed back by the untethered drone that has reached the center point coordinates.

[0090] Step S73, determining whether the remaining power information reaches a preset power threshold, and if so, dispatching a backup drone for replacement.

[0091] Step S74: If the preset power threshold is not reached, the untethered drone is continuously used.

[0092] In actual application,

[0093] The steps to control the untethered drone to fly to the target area according to the assigned center point coordinates and hover at the center point coordinates are as follows:

[0094] Step S711, collecting the tension value on the tethering cable of the tethered drone through the tension sensor and recording it as the real-time tension value.

[0095] Step S712, comparing the real-time tension value with the preset standard tension value to determine whether the tethered drone deviates from the preset hovering position.

[0096] Step S713: If the tethered drone deviates from the preset hovering position, a hovering deviation prompt is issued to prompt the staff to retract the tethered cable in time.

[0097] Step S714: If the hovering position is corrected, the hovering deviation prompt ends.

[0098] In step S715, if no hovering deviation prompt is issued, it means that the tethered drone has not deviated from the preset hovering position.

[0099] In actual application, a "hover position monitoring component" (a software program) is also designed in the ground tethered controller, and a "tension sensor" is added to the tethered cable of the tethered drone.

[0100] The tension sensor is connected to the ground tethered controller and transmits the real-time collected "tension value on the tethered cable" to the hovering position monitoring component in the ground tethered controller. The hovering position monitoring component determines whether the tethered drone deviates from the preset hovering position based on the received tension value. If it is determined to be, a hovering deviation prompt is issued.

[0101] This prompt can be used to remind the staff to retract or release the tethered cable in time until the hovering deviation prompts contact.

[0102] Based on this, the hovering deviation problem of the tethered drone can be discovered in time, and the hovering position of the tethered drone can be corrected in time to avoid the base station coverage range being offset due to the hovering deviation of the tethered drone, which in turn causes some relay equipment to lose its signal source, thereby ensuring the network signal stability of the emergency communication system in this case.

[0103] The steps of the drone dispatching device receiving the remaining power information fed back by the untethered drone that has reached the center point coordinates are specifically as follows:

[0104] Step S721, setting a power detection module, the power detection module is communicatively connected with the drone dispatching device in the tethered controller.

[0105] Step S722: The power detection module detects the remaining power information of the untethered drone and sends the remaining power information to the drone dispatching device.

[0106] In actual use, a "power detection module" (a software program) is added to the untethered drone. It is used to detect the remaining power information of the battery module on the untethered drone (the battery module is the original structure of the untethered drone). The power detection module is connected to the drone dispatching device in the ground tethered controller in this case, and the power detection module can send the detected remaining power information to the drone dispatching device.

[0107] The steps of determining whether the remaining power information reaches a preset power threshold, and if so, dispatching a backup drone for replacement are as follows:

[0108] Step S731, obtaining the drone information of the backup drone, and adding the backup drone to the emergency passage network according to the drone information.

[0109] Step S732: preset a replacement distance, obtain the hovering position of the untethered drone and combine it with the replacement distance to form a replacement range circle.

[0110] Step S733: the hovering position of the untethered drone is recorded as the replacement position, and the drone scheduling device sends the replacement position to the standby drone.

[0111] Step S734, the backup drone flies to the replacement position, and sends an arrival signal to the non-tethered drone when the backup drone enters the replacement range circle.

[0112] Step S735, after receiving the arrival signal, the untethered drone returns to the take-off position of the tethered drone.

[0113] In actual application,

[0114] An unmanned aerial vehicle airborne emergency communication system, by applying the unmanned aerial vehicle airborne emergency communication method as described above, comprises:

[0115] The tethered hovering module sets the disaster-affected area, builds a regional coordinate map based on the disaster-affected area, and sets the hovering position of the tethered drone.

[0116] The target area module obtains the number N of untethered drones and divides the disaster area into N target areas according to the regional coordinate map.

[0117] The area allocation module allocates an untethered drone to each target area.

[0118] The coordinate sending module obtains the center point coordinates of each target area and sends the center point coordinates to the corresponding untethered drones.

[0119] The parameter configuration module configures the network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone.

[0120] The network topology module forms a drone location map based on the center point coordinates and the hovering position of the tethered drone, and designs the network topology relationship between the base station and the relay device based on the drone location map.

[0121] The emergency communication module establishes an emergency communication network based on the network topology relationship and executes the preset emergency communication plan based on the emergency communication network and the drone location map.

[0122] The implementation principle of this system is: the drone dispatching device divides the disaster area into 9 target areas by manually setting the signal coverage range of the disaster area and the untethered drones, and uses the center point coordinates of each target area as the target coordinates of the area. A target area is assigned to each of the untethered drones numbered 1-9. The drone dispatching device can provide an untethered drone configuration interface, in which the staff can configure the center point coordinates for drones No. 1-9 respectively and send them to the built-in controller on the drone. The staff can also directly operate the built-in controller on drones No. 1-9 and manually input the center point coordinates into the controller. The configuration method is not limited. Step 5 The drone dispatching device can also provide a configuration interface for the base station and relay device. The staff can configure the network parameters for the relay device and the base station respectively according to the network topology relationship automatically created in this case. After the configuration is completed, the emergency communication network required for this case can be automatically established between the relay device and the base station. Step 6 Based on GPS technology, control the untethered drones No. 1-9 to fly to the center point coordinates of the target area received by each of them, and hover at the corresponding coordinates. While providing emergency communication signals for the target area, untethered drones 1-9 send their remaining power to the drone dispatching device. The drone dispatching device determines whether to enable a backup drone based on the remaining power of untethered drones 1-9. If a backup drone needs to be enabled, the center point coordinates of the target area where the backup drone needs to be enabled are sent to one of the backup drones 10-18, and the network is configured for the selected backup drone to join the emergency communication network in this case. After the backup drone flies to the vicinity of the received center point coordinates of the target area, the untethered drones in the target area fly back to the take-off position and are used as backup drones after being charged at the take-off position.

[0123] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for emergency communication onboard a drone, characterized in that: The following steps are involved: Set the disaster-affected area, build a regional coordinate map based on the disaster-affected area, and set the hovering position of the tethered drone; Obtain the number N of untethered drones, and divide the disaster-stricken area into N target areas according to the regional coordinate map; Assign one untethered drone to each target area; Get the center point coordinates of each target area and send them to the corresponding untethered drones; Configure network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone; According to the coordinates of the center point and the hovering position of the tethered drone, a drone location map is formed, and the network topology relationship between the base station and the relay device is designed according to the drone location map; Establish an emergency communication network based on the network topology, and execute the preset emergency communication plan based on the emergency communication network and drone location map.

2. The method for emergency communication onboard a drone according to claim 1, characterized in that: The steps of allocating an untethered drone to each target area are as follows: The untethered drones are numbered and one untethered drone is randomly matched to each target area.

3. The method for emergency communication onboard a drone according to claim 1, characterized in that: The step of obtaining the center point coordinates of each target area and sending the center point coordinates to the corresponding untethered drones is specifically as follows: The drone configuration interface is displayed through the drone dispatch device to obtain the staff's operating instructions; According to the operation instructions, the center point coordinates are sent to the corresponding untethered drone's built-in controller.

4. The method for emergency communication onboard a drone according to claim 1, characterized in that: The steps of configuring network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone are specifically as follows: The configuration interface of the base station and relay equipment is retrieved through the UAV dispatch device to determine whether the configuration instructions of the staff have been received; If a configuration instruction is received from the staff, the network connection parameters are configured for the base station on the tethered drone and the relay devices of each untethered drone according to the configuration instruction of the staff; If no configuration instruction is received, the historical configuration parameters are obtained, and the base station on the tethered drone and the relay devices of each untethered drone are automatically configured according to the historical configuration parameters to configure the network connection parameters respectively.

5. The method for emergency communication onboard a drone according to claim 1, characterized in that: The steps of establishing an emergency communication network according to the network topology relationship and executing a preset emergency communication plan according to the emergency communication network and the drone location map are specifically as follows: Control the untethered drone to fly to the target area according to the assigned center point coordinates and hover at the center point coordinates; The UAV dispatching device receives the remaining power information fed back by the untethered UAV that has reached the center point coordinates; Determine whether the remaining power information reaches a preset power threshold. If so, dispatch a backup drone for replacement; If the preset power threshold is not reached, the untethered drone is continuously used.

6. The method for emergency communication onboard a drone according to claim 5, characterized in that: The steps of controlling the untethered drone to fly to the target area according to the assigned center point coordinates and hover at the center point coordinates are specifically as follows: The tension value on the tethered cable of the tethered drone is collected through a tension sensor and recorded as a real-time tension value; Compare the real-time tension value with the preset standard tension value to determine whether the tethered drone has deviated from the preset hovering position; If the tethered drone deviates from the preset hovering position, a hovering deviation prompt will be issued to remind the staff to retract the tethered cable in time; If the hovering position is corrected, the hovering deviation prompt ends; If there is no hover deviation prompt, it means that the tethered drone has not deviated from the preset hovering position.

7. The method for emergency communication onboard a drone according to claim 5, characterized in that: The step of the drone dispatching device receiving the remaining power information fed back by the untethered drone that has reached the center point coordinates is specifically: A power detection module is provided, and the power detection module is communicatively connected with the UAV dispatching device in the tethered controller; The power detection module detects the remaining power information of the untethered drone and sends the remaining power information to the drone dispatching device.

8. The method for emergency communication onboard a drone according to claim 7, characterized in that: The step of determining whether the remaining power information reaches a preset power threshold, and if so, dispatching a standby drone for replacement, is specifically as follows: Obtain the drone information of the backup drone, and add the backup drone to the emergency passage network according to the drone information; Preset the replacement distance, obtain the hovering position of the untethered drone and combine it with the replacement distance to form a replacement range circle; The hovering position of the untethered UAV is recorded as the replacement position, and the UAV dispatching device sends the replacement position to the standby UAV; The backup drone flies to the replacement position, and when the backup drone enters the replacement range, it sends an arrival signal to the non-tethered drone; After receiving the arrival signal, the untethered drone returns to the take-off position of the tethered drone.

9. An unmanned aerial vehicle airborne emergency communication system, characterized in that: By applying a drone airborne emergency communication method as described in any one of claims 1 to 8, comprising: The tethered hovering module sets the disaster-affected area, builds a regional coordinate map based on the disaster-affected area, and sets the hovering position of the tethered drone; The target area module obtains the number N of untethered drones and divides the disaster area into N target areas according to the regional coordinate map; The area allocation module allocates an untethered drone to each target area; The coordinate sending module obtains the center point coordinates of each target area and sends the center point coordinates to the corresponding untethered drones; The parameter configuration module configures network connection parameters for the base station on the tethered drone and the relay devices of each untethered drone; The network topology module forms a UAV location map based on the center point coordinates and the hovering position of the tethered UAV, and designs the network topology relationship between the base station and the relay device based on the UAV location map; The emergency communication module establishes an emergency communication network based on the network topology relationship and executes the preset emergency communication plan based on the emergency communication network and the drone location map.

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