Encrypted unmanned aerial vehicle cluster networking data link system and data communication method thereof

Abstract

The invention provides an encrypted unmanned aerial vehicle cluster networking data link system and a communication method thereof. The encrypted unmanned aerial vehicle cluster networking data link system comprises a ground terminal and an airborne terminal, the ground terminal sends an encrypted data link networking request to the airborne terminal to form networking; the ground terminal is responsible for receiving an encrypted radio frequency signal sent by the airborne terminal and obtaining telemetry information, link telemetry information and image service data after internally demodulating and decrypting the encrypted radio frequency signal; the airborne terminal is responsible for receiving encrypted radio frequency signals sent by the ground terminal and other airborne terminals and obtaining remote control information from the ground terminal, telemetering information from other airborne terminals and image service data after internal demodulation and decryption. The encrypted unmanned aerial vehicle cluster networking data link system provided by the invention has a data link encryption function, and compared with an unencrypted data link, the security of telemetry information, link telemetry information and image service data of an airborne terminal and telemetry information of a ground terminal can be effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle communications, and in particular to an encrypted unmanned aerial vehicle cluster networking data link system and a data communication method thereof. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in various fields. However, existing drone communication systems have some limitations, especially when drone swarms are working together. How to achieve stable, efficient and secure data link communication has become a technical problem.

[0003] The first is the data security issue. In a drone cluster, data is exposed and easily intercepted and cracked, which directly affects the execution of the mission. Secondly, the data link relies on the central node. When the central node is offline or damaged, the entire data link will be paralyzed. In addition, due to the limitation of transmission bandwidth, the existing data link cannot achieve multi-hop relay when transmitting broadband data. Finally, the anti-interference ability is insufficient. In a complex electromagnetic environment, the drone communication system is easily affected by external interference, resulting in unstable communication links.

[0004] Patent search formula 1 (networking + drone + data link) found 85 patent contents after searching, and two patents related to the present invention were retrieved, including:

[0005] 1) Patent No. CN 117479528 A, a multi-band self-cooperative UAV cluster networking data link system, wherein the airborne C-band medium-long-distance data link subsystem and the ground C-band medium-long-distance data link subsystem are used as the main link to establish downlink broadband communication and uplink narrowband communication from the ground to any UAV in the UAV cluster, the airborne U-band narrowband networking data link subsystem and the ground U-band narrowband networking data link subsystem are used as the secondary link to establish narrowband uplink and downlink communication from the ground to all UAV cluster nodes, and the L-band inter-machine networking data link subsystem is used as an important link for inter-machine collaboration of the UAV cluster to establish networking communication of each node of the UAV cluster. The invention adopts a multi-band redundancy and wide-narrowband fusion design, which is different from the present invention in that the present invention is S-band communication, and the technical implementation method is completely different; secondly, the invention adopts a frequency division system, while the present invention adopts a time division system; in addition, the present invention has an encryption function to effectively ensure the data security of the communication link.

[0006] 2) Patent No. CN 118232987 A, a data link device and communication method for unmanned aerial vehicles, wherein the data link device includes a self-organizing network communication module, a wireless communication module, a baseband module and an interface module. The baseband module and the self-organizing network communication module are electrically interconnected to provide a self-organizing network communication link for the unmanned aerial vehicle. The baseband module and the narrowband cluster communication module are electrically interconnected to provide a narrowband cluster communication link for the unmanned aerial vehicle. The baseband module is electrically connected to the wireless communication module through an interface to provide a wireless communication link for the unmanned aerial vehicle. In the invention, the baseband and the self-organizing network communication module are not electrically interconnected through an interface, while in the present invention, the baseband module and the radio frequency module are independent of each other and are connected through an FPC interface and an FPC interface, which facilitates the switching of radio frequency modules of different frequency bands and greatly reduces costs. The specific schematic diagram is shown as follows Figure 3 As shown, the present invention also discloses a specific design method for the baseband module circuit. Summary of the invention

[0007] The purpose of the present invention is to provide an encrypted drone cluster networking data link system and a data communication method thereof, which adopts AES256 protocol encryption design, works in the S band, has a bandwidth of 100M, can transmit remote control information, telemetry information, image service data; supports working channel switching, has multi-node multi-hop relay communication capability, centerless networking mode, anti-interference ability, and takes into account the characteristics of low transmission delay and transmission bit error rate. At the same time, the baseband and radio frequency are separated in design, the baseband is compatible with the L / S band, and the frequency band can be switched by only replacing the radio frequency, which has high flexibility and low cost.

[0008] The technical solution of the present invention is to provide an encrypted UAV cluster networking data link system, including a ground terminal and an airborne terminal;

[0009] The ground terminal sends an encrypted data link networking request to the airborne terminal to form a network; the ground terminal is responsible for receiving the encrypted radio frequency signal sent by the airborne terminal and obtaining telemetry information, link telemetry information and image service data after internal demodulation and decryption; the airborne terminal is responsible for receiving the encrypted radio frequency signal sent by the ground terminal and other airborne terminals and obtaining remote control information from the ground terminal, telemetry information from other airborne terminals and image service data after internal demodulation and decryption; the encrypted UAV cluster networking data link system has working channel switching capability, multi-node multi-hop relay capability and centerless networking function.

[0010] Furthermore, the encryption and decryption of the radio frequency signal uses the AES256 protocol, the ground data terminal and the airborne terminal encrypt the data using the AES256 protocol and then send it out via radio frequency, and the received radio frequency signal is also decrypted using the AES256 protocol;

[0011] The ground terminal sends an S-band encrypted data link networking request, and the airborne terminal sends link telemetry information to the ground terminal after joining the network, wherein the link telemetry information includes the airborne terminal number and link signal strength;

[0012] The telemetry information and image service data of the airborne terminal are respectively obtained by connecting to the UAV through the asynchronous 422 serial port and the synchronous 422 serial port on the airborne terminal; the remote control information of the ground terminal is obtained by connecting to the ground equipment through the network port.

[0013] Furthermore, after the ground terminal issues a 1 to N channel switching instruction for the working channel switching, the airborne terminal switches to the corresponding channel according to the received instruction;

[0014] The multi-node multi-hop capability includes supporting 3-hop image service data relay transmission, and supporting 6-hop or more telemetry information and remote control information transmission;

[0015] The function of the centerless networking is: after N airborne terminals or ground terminals are networked, M terminals are disconnected, that is, any two or more terminals can be networked normally; wherein N≥2, 0≤M≤N-2.

[0016] Furthermore, the spectrum sensing anti-interference capability includes automatic frequency selection upon power-on and dynamic frequency selection; the automatic frequency selection upon power-on means that under co-channel interference, the working channels of the ground terminal and the airborne terminal are automatically switched to other undisturbed channels for networking after they are powered on; the dynamic frequency selection means that when the ground terminal and the airborne terminal are working normally, the working channels are switched to other undisturbed channels after the data link is subjected to co-channel interference.

[0017] Furthermore, the ground terminal and the airborne terminal both include three parts: baseband, radio frequency, and antenna; the baseband includes a power circuit, a clock circuit, a core processor, a memory, a radio frequency transceiver, and a radio frequency front-end interface; the radio frequency includes a radio frequency interface, an antenna interface, a receiving channel, and a transmitting channel; the antenna is an omnidirectional antenna;

[0018] The baseband power supply circuit includes a primary power supply and a secondary power supply. The primary power supply supports a wide voltage input of 5.5V to 36V and outputs 5V. The secondary power supply converts the 5V input voltage into 3.3V, 1.8V, 1.6V, and 1.0V. The clock circuit includes a crystal oscillator and a clock buffer. The clock buffer sends the clock output by the crystal oscillator to the core processor and the RF transceiver respectively. The core processor is packaged as FFG900 and can be replaced in situ with other processors of different performance according to the required resources. The memory includes a FLASH and a DDR. The RF transceiver supports L and S frequency bands.

[0019] Furthermore, the RF receiving channel sends the RF signal received by the antenna to the baseband after filtering and low noise amplification processing; the RF transmitting channel sends the RF signal sent from the baseband to the antenna after power amplification and filtering processing.

[0020] Furthermore, the baseband and RF module are independent of each other. Under the premise that the baseband remains unchanged, the working band can be switched by simply replacing the L-band or S-band RF. The two transmit RF signals through the IPEX socket and connecting line; the baseband and RF module are powered by RF and controlled by RF switch through the FPC connector, and the core processor outputs high and low levels to control the RF switch, thereby opening or shutting down the RF receiving channel and the transmitting channel.

[0021] Another technical solution of the present invention provides a data communication method using the above-mentioned encrypted drone cluster networking data link system, comprising the following steps:

[0022] S1, the ground terminal sends an encrypted data link networking request data frame to the airborne terminal, and the airborne terminal receives the data frame, decrypts it, synchronizes, and networks;

[0023] S2. After networking is completed, the airborne terminal sends the encrypted link telemetry information to the ground terminal via radio frequency. After decryption and analysis, the ground terminal transmits the airborne terminal number and link signal strength to the ground control equipment through the network port;

[0024] S3. The ground terminal obtains the control command of the ground control device through the network port, encrypts it and sends it out via radio frequency. The airborne terminal receives the command, decrypts and analyzes it, and then responds accordingly.

[0025] S4, the airborne terminal obtains the UAV flight information through the asynchronous 422 serial port, obtains the UAV camera image data through the synchronous 422 serial port, encrypts the obtained data and sends it through radio frequency, and the ground terminal decrypts and analyzes it and transmits it to the ground control device through the network port;

[0026] The working channel switching is performed by the ground terminal sending a 1-N channel switching instruction, and the airborne terminal switches to the corresponding channel according to the received instruction.

[0027] The encrypted drone cluster networking data link system and data communication method provided by the present invention have the following beneficial effects:

[0028] 1) The encrypted UAV cluster networking data link system provided by the present invention has a data link encryption function. Compared with the unencrypted data link, it can effectively ensure the security of the telemetry information, link telemetry information, image service data of the airborne terminal and the telemetry information of the ground terminal.

[0029] 2) The encrypted drone cluster networking data link system provided by the present invention supports a decentralized networking mode, and any two or more terminals can be networked; it has multi-node multi-hop relay communication capabilities, which greatly improves the effective distance of system communication; it has broadband and narrowband anti-interference capabilities, and spectrum sensing anti-interference capabilities, and effectively guarantees the reliability and stability of the link when subjected to electromagnetic interference.

[0030] 3) The encrypted drone cluster networking data link device provided by the present invention has high-performance and reliable hardware, and the baseband and radio frequency modules are independent of each other, which improves convenience while reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The invention will be further described below in conjunction with the accompanying drawings:

[0032] Figure 1 Data link networking and data communication diagram;

[0033] Figure 2 Schematic diagram of multi-node and multi-hop;

[0034] Figure 3 Schematic diagram of digital baseband and frequency conversion circuit;

[0035] Figure 4 Schematic diagram of baseband and RF connection. DETAILED DESCRIPTION

[0036] The encrypted drone cluster networking data link system and its data communication method proposed by the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0037] The present invention provides an encrypted drone cluster networking data link system and device, which adopts AES256 protocol encryption design, works in S band, has a bandwidth of 100M, can transmit remote control information, telemetry information, image service data; supports working channel switching, has multi-node multi-hop relay communication capability, centerless networking mode, anti-interference ability, and takes into account the characteristics of low transmission delay and transmission bit error rate. At the same time, the baseband and radio frequency are separated, the baseband is compatible with L / S band, and the frequency band can be switched by only replacing the radio frequency, which has high flexibility and low cost.

[0038] In order to achieve the above object, the present invention adopts the following technical solutions:

[0039] An encrypted drone cluster networking data link system includes a ground terminal and an airborne terminal, characterized in that the ground terminal sends an encrypted data link networking request to the airborne terminal to form a network; the ground terminal is responsible for receiving the encrypted radio frequency signal sent by the airborne terminal and internally completes demodulation and decryption to obtain telemetry information, link telemetry information and image service data; the airborne terminal is responsible for receiving the encrypted radio frequency signal sent by the ground terminal and other airborne terminals and obtains the remote control information from the ground terminal, the telemetry information from other airborne terminals and image service data after internal demodulation and decryption; the system has the ability to switch working channels; the system has multi-node multi-hop relay capability; the system has a centerless networking function.

[0040] Furthermore, the encryption and decryption of the radio frequency signal uses the AES256 protocol. The ground data terminal and the airborne terminal encrypt the data using the AES256 protocol and then send it via radio frequency. The received radio frequency signal is also decrypted using the AES256 protocol.

[0041] Furthermore, the ground terminal sends an S-band encrypted data link networking request, and the airborne terminal sends link telemetry information to the ground terminal after joining the network. The link telemetry information includes the airborne terminal number and link signal strength.

[0042] Furthermore, the telemetry information and image service data of the airborne terminal are respectively obtained by connecting to the UAV through the asynchronous 422 serial port and the synchronous 422 serial port on the airborne terminal; the remote control information of the ground terminal is obtained by connecting to the ground equipment through the network port.

[0043] Furthermore, after the ground terminal issues a 1 to N channel switching instruction for the working channel switching, the airborne terminal switches to the corresponding channel according to the received instruction.

[0044] Furthermore, the multi-node multi-hop capability includes supporting 3-hop image service data relay transmission, and supporting 6-hop or more telemetry information and remote control information transmission.

[0045] Furthermore, in the decentralized networking, after N (N≥2) terminals (airborne terminals or ground terminals) are networked, M (0≤M≤N-2) terminals are disconnected, that is, any two or more terminals can be networked normally.

[0046] Furthermore, the anti-interference capability includes broadband, narrowband anti-interference capability, and spectrum sensing anti-interference capability.

[0047] Furthermore, the spectrum sensing anti-interference capability includes automatic frequency selection upon power-on and dynamic frequency selection; the automatic frequency selection upon power-on means that under co-channel interference, the working channels of the ground terminal and the airborne terminal are automatically switched to other undisturbed channels for networking after they are powered on; the dynamic frequency selection means that when the ground terminal and the airborne terminal are working normally, the working channels are switched to other undisturbed channels after the data link is subjected to co-channel interference.

[0048] Furthermore, both the ground terminal and the airborne terminal include three parts: baseband, radio frequency, and antenna; the baseband includes a power supply circuit, a clock circuit, a core processor, a memory, a radio frequency transceiver, and a radio frequency front-end interface; the radio frequency includes a radio frequency interface, an antenna interface, a receiving channel, and a transmitting channel; and the antenna is an omnidirectional antenna.

[0049] Furthermore, the baseband power supply circuit includes a primary power supply and a secondary power supply. The primary power supply supports a wide voltage input of 5.5V to 36V and outputs 5V. The secondary power supply converts the 5V input voltage into 3.3V, 1.8V, 1.6V, and 1.0V. The clock circuit includes a crystal oscillator and a clock buffer. The clock buffer sends the clock output by the crystal oscillator to the core processor and the RF transceiver respectively. The core processor is packaged as FFG900 and can be replaced in situ with other processors of different performance according to the required resources. The memory includes a FLASH and a DDR. The RF transceiver supports L and S frequency bands.

[0050] Furthermore, the RF receiving channel sends the RF signal received by the antenna to the baseband after filtering and low noise amplification processing; the RF transmitting channel sends the RF signal sent from the baseband to the antenna after power amplification and filtering processing.

[0051] Furthermore, the baseband and RF module are independent of each other. Under the premise that the baseband remains unchanged, the working band can be switched by simply replacing the L-band or S-band RF. The two transmit RF signals through the IPEX socket and connecting line; the baseband and RF module are powered by RF and controlled by RF switch through the FPC connector, and the core processor outputs high and low levels to control the RF switch, thereby opening or shutting down the RF receiving channel and the transmitting channel.

[0052] The data link networking and data communication between the ground terminal and the data terminal of the present invention are as follows Figure 1 As shown, the specific steps include:

[0053] S1. The ground terminal sends an encrypted data link networking request data frame to the airborne terminal, and the airborne terminal receives the data frame, decrypts it, performs synchronization, and networks.

[0054] S2. After networking is completed, the airborne terminal sends the encrypted link telemetry information to the ground terminal via radio frequency. After decryption and analysis, the ground terminal transmits the airborne terminal number and link signal strength to the ground control equipment through the network port.

[0055] S3. The ground terminal obtains the control instructions of the ground control equipment through the network port, encrypts them and sends them out via radio frequency. The airborne terminal receives the instructions, decrypts and analyzes them, and then responds accordingly.

[0056] S4. The airborne terminal obtains the UAV flight information (altitude, longitude and latitude, distance, etc.) through the asynchronous 422 serial port, and obtains the UAV camera image data through the synchronous 422 serial port. The obtained data is encrypted and sent out via radio frequency. The ground terminal decrypts and parses the data and transmits it to the ground control device through the network port.

[0057] The working channel switching is performed by the ground terminal sending a 1-N channel switching instruction, and the airborne terminal switches to the corresponding channel according to the received instruction.

[0058] The multi-node multi-hop capability is as follows: Figure 2 As shown, it includes supporting 3-hop image service data relay transmission, supporting 6-hop and above remote control information and remote control information transmission, including the following steps:

[0059] S1. When the network connection between airborne terminal A and the ground terminal is interrupted, it searches for the nearest airborne terminal B and sends telemetry information to airborne terminal B. Airborne terminal B sends the information to airborne terminals C, D, E, and F in turn, and airborne terminal F sends the information to the ground terminal. Similarly, when the ground terminal controls airborne terminal A, it can first send the remote control command to airborne terminal F, and airborne terminal F sends the information to airborne terminals E, D, C, B, and A in turn.

[0060] S2. When the network connection between airborne terminal A and the ground terminal is interrupted, it searches for the nearest airborne terminal B and sends the image service data to airborne terminal B. Airborne terminal B then sends the information to airborne terminal C, which then sends the information to the ground terminal.

[0061] In the decentralized networking, after N (N≥2) terminals (airborne terminals or ground terminals) are networked, M (0≤M≤N-2) terminals are disconnected, that is, any two or more terminals can be networked normally.

[0062] The anti-interference capability includes broadband, narrowband anti-interference capability, and spectrum sensing anti-interference capability. The spectrum sensing anti-interference capability includes automatic frequency selection upon power-on and dynamic frequency selection; the automatic frequency selection upon power-on means that under co-channel interference, the ground terminal and the airborne terminal automatically switch their working channels to other undisturbed channels for networking after they are powered on; the dynamic frequency selection means that when the ground terminal and the airborne terminal are working normally, the working channels switch to other undisturbed channels after the data link is subjected to co-channel interference.

[0063] Both the ground terminal and the airborne terminal include three parts: baseband, radio frequency, and antenna; the baseband includes a power supply circuit, a clock circuit, a core processor, a memory, a radio frequency transceiver, and a radio frequency front-end interface; the radio frequency includes a radio frequency interface, an antenna interface, a receiving channel, and a transmitting channel; the antenna is an omnidirectional antenna, which is divided into a ground antenna and an airborne antenna.

[0064] The baseband circuit is as follows Figure 3 As shown. It includes a primary power supply and a secondary power supply. The primary power supply supports a wide voltage input of 5.5V to 36V and outputs 5V. The secondary power supply converts the 5V input voltage into 3.3V, 1.8V, 1.6V, and 1.0V. The clock circuit includes a crystal oscillator and a clock buffer. The crystal oscillator is specifically 40MHz with a frequency accuracy of 20ppm. The clock buffer sends the clock output by the crystal oscillator to the core processor and the RF transceiver respectively. The core processor is XC7Z100, packaged as FFG900, and can be replaced in situ with other processors with different performances according to the required resources, such as XC7Z035 or XC7Z045. The memory includes a FLASH, DDR, and E2PROM chip. The RF transceiver is a highly integrated AD9361 that supports L and S bands and is sent to the RF after passing through a balun.

[0065] The RF receiving channel sends the RF signal received by the antenna to the baseband after filtering and low noise amplification processing; the RF transmitting channel sends the RF signal sent from the baseband to the antenna after power amplification and filtering processing.

[0066] The baseband and RF module are independent of each other. Under the premise of the baseband being unchanged, the working band can be switched by simply replacing the L-band or S-band RF. The two transmit RF signals through the IPEX socket and connecting wire. The baseband and RF module are connected through the FPC connector to realize RF power supply and RF switch control. The core processor outputs high and low levels to control the RF switch, realizing the opening or closing of the RF receiving channel and the transmitting channel. Figure 4 shown.

[0067] The encrypted drone cluster networking data link device, excluding the antenna, has an airborne terminal with a size of 130mm*63mm*16mm and a weight of 108g, and a ground terminal with a size of 135mm*63mm*12mm and a weight of 104g, and a heat dissipation tooth on the top of the structure. The baseband and radio frequency dimensions of the airborne terminal and the ground terminal are the same, with the length, width and height of the baseband being 85mm*60mm*10.2mm respectively, and the length, width and height of the radio frequency being 30mm*60mm*9mm. The airborne omnidirectional antenna body is 97mm long, with a body diameter of 4mm, and the radio frequency connector is an elbow SSMB-KW; the ground omnidirectional antenna has a diameter of 10mm, a length of 375mm, and a radio frequency connector is SMA-J.

[0068] The encrypted drone cluster networking data link system and device, thanks to the high-performance hardware platform and software, has a 4Mbps downlink transmission capacity and a 25.5Kbps uplink transmission capacity, with a bit error rate of only 10-6, which can effectively ensure the accuracy of data transmission.

[0069] The contents not described in detail in this specification belong to the prior art known to those skilled in the art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention.

Claims

1. An encrypted drone cluster networking data link system, characterized in that: Including ground terminals and airborne terminals; The ground terminal sends an encrypted data link networking request to the airborne terminal to form a network; the ground terminal is responsible for receiving the encrypted radio frequency signal sent by the airborne terminal and obtaining telemetry information, link telemetry information and image service data after internal demodulation and decryption; the airborne terminal is responsible for receiving the encrypted radio frequency signal sent by the ground terminal and other airborne terminals and obtaining remote control information from the ground terminal, telemetry information from other airborne terminals and image service data after internal demodulation and decryption; the encrypted UAV cluster networking data link system has working channel switching capability, multi-node multi-hop relay capability and centerless networking function.

2. The encrypted drone cluster networking data link system according to claim 1, characterized in that: The encryption and decryption radio frequency signal uses the AES256 protocol. The ground data terminal and the airborne terminal encrypt the data using the AES256 protocol and then send it out via radio frequency. The received radio frequency signal is also decrypted using the AES256 protocol. The ground terminal sends an S-band encrypted data link networking request, and the airborne terminal sends link telemetry information to the ground terminal after joining the network, wherein the link telemetry information includes the airborne terminal number and link signal strength; The telemetry information and image service data of the airborne terminal are respectively obtained by connecting to the UAV through the asynchronous 422 serial port and the synchronous 422 serial port on the airborne terminal; the remote control information of the ground terminal is obtained by connecting to the ground equipment through the network port.

3. The encrypted drone cluster networking data link system as claimed in claim 2, characterized in that: The working channel switching is performed by the ground terminal sending a 1 to N channel switching instruction, and the airborne terminal switches to the corresponding channel according to the received instruction; The multi-node multi-hop capability includes supporting 3-hop image service data relay transmission, and supporting 6-hop or more telemetry information and remote control information transmission; The function of the centerless networking is: after N airborne terminals or ground terminals are networked, M terminals are disconnected, that is, any two or more terminals can be networked normally; wherein N≥2, 0≤M≤N-2.

4. The encrypted drone cluster networking data link system as claimed in claim 2, characterized in that: The spectrum sensing anti-interference capability includes automatic frequency selection upon power-on and dynamic frequency selection; the automatic frequency selection upon power-on means that under co-channel interference, the working channels of the ground terminal and the airborne terminal are automatically switched to other undisturbed channels for networking after they are powered on; the dynamic frequency selection means that when the ground terminal and the airborne terminal are working normally, the working channels are switched to other undisturbed channels after the data link is subject to co-channel interference.

5. The encrypted drone cluster networking data link system as claimed in claim 1, characterized in that: The ground terminal and the airborne terminal both include three parts: baseband, radio frequency, and antenna; the baseband includes a power circuit, a clock circuit, a core processor, a memory, a radio frequency transceiver, and a radio frequency front-end interface; the radio frequency includes a radio frequency interface, an antenna interface, a receiving channel, and a transmitting channel; the antenna is an omnidirectional antenna; The baseband power supply circuit includes a primary power supply and a secondary power supply. The primary power supply supports a wide voltage input of 5.5V to 36V and outputs 5V. The secondary power supply converts the 5V input voltage into 3.3V, 1.8V, 1.6V, and 1.0V. The clock circuit includes a crystal oscillator and a clock buffer. The clock buffer sends the clock output by the crystal oscillator to the core processor and the RF transceiver respectively. The core processor is packaged as FFG900 and can be replaced in situ with other processors with different performances according to the required resources. The memory includes a FLASH and a DDR. The RF transceiver supports L and S frequency bands.

6. The encrypted drone cluster networking data link system as claimed in claim 5, characterized in that: The RF receiving channel sends the RF signal received by the antenna to the baseband after filtering and low noise amplification processing; the RF transmitting channel sends the RF signal sent from the baseband to the antenna after power amplification and filtering processing.

7. The encrypted drone cluster networking data link system as claimed in claim 5, characterized in that: The baseband and RF module are independent of each other. Under the premise that the baseband remains unchanged, the working band can be switched by simply replacing the L-band or S-band RF. The two transmit RF signals through the IPEX socket and connecting wire. The baseband and RF module are powered by RF and controlled by RF switch through the FPC connector. The core processor outputs high and low levels to control the RF switch, thereby opening or closing the RF receiving channel and the transmitting channel.

8. A data communication method using the encrypted drone cluster networking data link system as claimed in any one of claims 1 to 7, characterized in that: The steps include: S1, the ground terminal sends an encrypted data link networking request data frame to the airborne terminal, and the airborne terminal receives the data frame, decrypts it, synchronizes, and networks; S2. After networking is completed, the airborne terminal sends the encrypted link telemetry information to the ground terminal via radio frequency. After decryption and analysis, the ground terminal transmits the airborne terminal number and link signal strength to the ground control equipment through the network port; S3. The ground terminal obtains the control command of the ground control device through the network port, encrypts it and sends it out via radio frequency. The airborne terminal receives the command, decrypts and analyzes it, and then responds accordingly. S4, the airborne terminal obtains the UAV flight information through the asynchronous 422 serial port, obtains the UAV camera image data through the synchronous 422 serial port, encrypts the obtained data and sends it through radio frequency, and the ground terminal decrypts and analyzes it and transmits it to the ground control device through the network port; The working channel switching is performed by the ground terminal sending a 1-N channel switching instruction, and the airborne terminal switches to the corresponding channel according to the received instruction.

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