Wireless communication method for multiple cooperative working aircrafts

Abstract

The invention relates to the field of communication of unmanned aerial vehicles, in particular to a wireless communication method for multiple cooperative working aircrafts. The method comprises the following steps: establishing at least one aircraft group; when the number of the aircraft groups is 2-N, grading the aircraft groups; grading M aircraft units in the aircraft group; establishing communication among different levels of aircraft units in the same aircraft group; establishing communication among the aircraft units in different aircraft groups; when all the aircraft units of the first level in each aircraft group are lost, damaged or invalid, the level of at least one aircraft unit in the aircraft group is automatically adjusted to be the first level, and replacement is completed. According to the invention, it is ensured that the whole aircraft group can have the maximum operation effectiveness; the operation cost of the whole aircraft is reduced; emergency processing modes can be established between the groups and in the groups; effective control on the low-priority aircraft is realized; and the power system cost is saved.

Description

Technical Field

[0001] The invention relates to the field of communication of unmanned aerial vehicles, and in particular to a method for wireless communication of multiple cooperatively working aerial vehicles. Background Art

[0002] The technical problem to be solved by the present invention is to establish a highly reliable aircraft coordination mechanism for multiple aircraft equipped with positioning systems, such as multi-axis drones, fixed-wing drones, and single-axis drones, so that each aircraft can communicate with each other and each aircraft can correct the flight status based on the shared status information. In addition, in the actual operation process, the aircraft is prone to failure due to factors such as the working environment and the reliability of its own mechanism, which may cause the entire coordination mechanism to collapse. In order to prevent this from happening, an effective replacement mechanism needs to be established.

[0003] In "CN202211671028.9", "A resource optimization method for drone-assisted communication based on user scheduling" is disclosed. The resource optimization scheduling of the aircraft is controlled by the communication base station, which leads to inevitable communication delays between ground communication and air communication. When the aircraft switches to different cells, the cell switching will further increase the delay. In "2023.DOI:10.19514 / j.cnki.cn32-1628 / tm.2022.18.010", "Analysis of long-distance communication support of drones in power systems" is disclosed. Increasing long-distance communication by strengthening the power system means increasing the cost of the aircraft and the cost of the power system. Summary of the invention

[0004] In order to overcome the problems of communication delay and cost increase in the ladder mechanism established in the prior art after a failure of an unmanned aerial vehicle, the present invention proposes a method for wireless communication of multiple cooperatively working aircraft.

[0005] To achieve the above object, the technical solution of the present invention is: a method for wireless communication of multiple cooperative aircraft, comprising the following steps:

[0006] Step 1: Create at least one aircraft group:

[0007] The aircraft group includes at least M aircraft units, where M is an integer greater than 1;

[0008] Step 2: When the aircraft group in step 1 is 2-N groups, the aircraft group is divided into levels, and the number of levels of the aircraft group is at least K, where K is an integer greater than 1;

[0009] Step 3: Classify the M aircraft units in the aircraft group into levels:

[0010] The number of levels of the aircraft unit is at least L levels, L is an integer greater than 0, and the first level is the highest level;

[0011] Step 4: Setting up communication between aircraft units of different levels in the same aircraft group; Setting up communication between aircraft units in different aircraft groups;

[0012] Step 5: When all the first-level aircraft units in each aircraft group are lost, damaged or invalid, the level of at least one aircraft unit in the second-first-level aircraft units in the aircraft group is automatically adjusted to the first level within the first timing information period, completing the replacement;

[0013] When all the aircraft units of the second first level in each aircraft group fail to establish communication with the aircraft units of the first level before the end of the first timing information period, the level of at least one aircraft unit in the second level in the aircraft group is automatically adjusted to the first level, and the succession is completed; and so on, until the level of at least one aircraft unit in the aircraft group is automatically adjusted to the first level, and the succession is completed.

[0014] Furthermore, in the above step 3, the principles of the M aircraft unit level configuration include at least one of the following:

[0015] Aircraft units with the same positioning capabilities are at the same level;

[0016] Aircraft units with the same launch sequence are of the same level;

[0017] Aircraft units with the same target area are of the same level;

[0018] High-level aircraft units have stronger positioning capabilities than low-level aircraft units.

[0019] Furthermore, the communication in the above step 4 includes at least one of unidirectional communication and bidirectional communication.

[0020] Furthermore, the one-way communication in the above step 4 includes one of the following: within the same aircraft group, only a higher-level aircraft unit is allowed to send the first information to a lower-level aircraft unit; within the same aircraft group, only a lower-level aircraft unit is allowed to send the second information to a higher-level aircraft unit; between different aircraft groups, only a higher-level aircraft unit is allowed to send the first information to a lower-level aircraft unit; between different aircraft groups, only a lower-level aircraft unit is allowed to send the second information to a higher-level aircraft unit.

[0021] Furthermore, the two-way communication in the above step 4 includes one of the following: within the same aircraft group, a higher-level aircraft unit sends a first message to a lower-level aircraft unit, and a lower-level aircraft unit sends a second message to a higher-level aircraft unit; between different aircraft groups, a higher-level aircraft unit is allowed to send a first message to a lower-level aircraft unit, and a lower-level aircraft unit is allowed to send a second message to a higher-level aircraft unit.

[0022] Furthermore, the first information includes at least one of the following:

[0023] Flight attitude control information;

[0024] Positioning control information; orbit control information; flight attitude data information; positioning data information; orbit data information; environmental data information.

[0025] Furthermore, the above-mentioned second information includes at least one of the following: flight attitude data information; positioning data information; orbit data information; environmental data information.

[0026] Furthermore, the lower-level aircraft unit directly uses the information sent by the higher-level aircraft unit to make flight control adjustments; the higher-level aircraft unit receives data from multiple lower-level aircraft units, and fits the multiple information into one information to make flight control adjustments.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Through the priority mechanism, the information sharing is standardized. The information of higher-level aircraft units can be directly used for lower-priority aircraft, and the information of lower-priority aircraft can be used as a reference for higher-level aircraft, so that the movement trajectory of each aircraft unit can be adjusted in time to ensure that the entire aircraft group can have the greatest operational utility; by grouping aircraft groups and establishing priorities between groups, the positioning data of higher-level aircraft units can be directly applied to lower-level aircraft units, and lower-level aircraft do not need to be equipped with high-precision positioning sensors, thereby reducing the overall aircraft operation cost;

[0029] 2. The present invention innovatively establishes a two-layer succession mechanism, one is the priority at the group level, and the other is the priority of the aircraft unit. By establishing a two-layer succession mechanism between aircraft groups and within a group, it can effectively prevent the overall coordination loss of the aircraft after a higher-level aircraft unit fails. Specifically, different aircraft groups are located in different airspaces. When the aircraft group in the front airspace is electromagnetically interfered with, and the aircraft group is at a high priority level, if there is at least one aircraft that is not interfered with, it can control other aircraft groups in the rear airspace to make flight adjustments. If all fail, after a certain period of time, the aircraft group in the rear airspace will automatically upgrade its priority and establish contact with the ground. For the aircraft group, the highest priority aircraft will perform the operation of controlling the contact with the ground. Through the above operations, emergency handling methods can be established between groups and within groups.

[0030] 3. The present invention directly communicates with low-priority aircraft through higher-level aircraft, and effectively controls low-priority aircraft with the help of the higher-level aircraft's stronger capabilities. In the present invention, the communication of the entire drone group can be guaranteed only by ensuring that the higher-level aircraft is in contact with the ground, because the low-priority aircraft must be within the coverage of the higher-level aircraft, and the low-priority aircraft only needs to meet the coverage requirement, saving the cost of the power system.

[0031] 4. Since the present invention involves multiple aircraft groups, the aircraft groups have different priorities and need to be launched in sequence. Therefore, the present invention is particularly suitable for scenarios where aircraft are ejected from a launch pad rather than actively taking off. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the grouping of aircraft of the present invention;

[0033] Figure 2 Schematic diagram of sending information from high-priority aircraft to low-priority aircraft in the group;

[0034] Figure 3 Schematic diagram of sending information from low priority aircraft within the group to higher level aircraft;

[0035] Figure 4 This is a schematic diagram of two-way communication between high-priority and low-priority aircraft in a group;

[0036] Figure 5 Schematic diagram of sending information from a high priority aircraft to a low priority aircraft among groups;

[0037] Figure 6 Schematic diagram of sending information from low priority to higher level aircraft between groups;

[0038] Figure 7 It is a schematic diagram of two-way communication between high-priority and low-priority aircraft in the group;

[0039] Figure 8 This is a priority conversion diagram. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is clearly and completely described below in conjunction with the embodiments of the present invention and the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0041] The present invention provides a method for wireless communication of multiple cooperatively working aircraft, the steps specifically comprising:

[0042] Step 1: Establish at least one aircraft group: the aircraft group includes at least M aircraft units, where M is an integer greater than 1;

[0043] Step 2: When the aircraft group in step 1 is 2-N groups, the order of levels of the aircraft group is pre-configured, and the number of levels of the aircraft group is at least K, where K is an integer greater than 1;

[0044] Step 3: Classify the M aircraft units in the aircraft group into levels: the number of levels of the aircraft units is at least L levels, L is an integer greater than 0, the first level is the highest level, and the order of levels is pre-configured.

[0045] The principles of the M aircraft unit level configurations include at least one of the following:

[0046] Aircraft units with the same positioning capabilities are at the same level;

[0047] Aircraft units with the same launch sequence are of the same level;

[0048] Aircraft units with the same target area are of the same level;

[0049] High-level aircraft units have stronger positioning capabilities than low-level aircraft units.

[0050] Step 4: Setting up communication between aircraft units of different levels in the same aircraft group; Setting up communication between aircraft units in different aircraft groups. The communication includes at least one of one-way communication and two-way communication;

[0051] The one-way communication includes one of the following: within the same aircraft group, only a higher-level aircraft unit is allowed to send a first message to a lower-level aircraft unit; within the same aircraft group, only a lower-level aircraft unit is allowed to send a second message to a higher-level aircraft unit; between different aircraft groups, only a higher-level aircraft unit is allowed to send a first message to a lower-level aircraft unit; between different aircraft groups, only a lower-level aircraft unit is allowed to send a second message to a higher-level aircraft unit;

[0052] The two-way communication includes one of the following: within the same aircraft group, a higher-level aircraft unit sends a first message to a lower-level aircraft unit, and a lower-level aircraft unit sends a second message to a higher-level aircraft unit; between different aircraft groups, a higher-level aircraft unit is allowed to send a first message to a lower-level aircraft unit, and a lower-level aircraft unit is allowed to send a second message to a higher-level aircraft unit.

[0053] The first information includes at least one of the following: flight attitude control information; positioning control information; orbit control information; flight attitude data information; positioning data information; orbit data information; and environmental data information. Among them: the flight attitude control information is used by a high-level aircraft unit to control the flight state of a low-level aircraft unit, including but not limited to speed, angle, direction, etc.; the positioning control information is used by a high-level aircraft unit to control the positioning of a low-level aircraft unit, including but not limited to target longitude information, target latitude information, target altitude information, etc.; the orbit control information is used by a high-level aircraft unit to control the moving orbit of a low-level aircraft unit, including but not limited to random orbit change indication information, orbit change indication information, etc.; the flight attitude control information is used by a high-level aircraft unit to share the flight state with a low-level aircraft unit, including but not limited to speed, angle, etc. degree, direction, etc.; the positioning control information is used for the shared positioning of the high-level aircraft unit to the low-level aircraft unit, including but not limited to the target longitude information, target dimension information, target altitude information, the longitude information of the current aircraft unit, the longitude information of the current aircraft unit, the dimension information of the current aircraft unit, the altitude information of the current aircraft unit, etc.; the orbit control information is used for the high-level aircraft unit to share the travel orbit information with the low-level aircraft unit, including but not limited to the orbit change information, etc.; the environmental data information is used for the high-level aircraft unit to share the travel environment data information with the low-level aircraft unit, including but not limited to the wind speed, wind direction, temperature, air pressure information, etc.

[0054] The second information includes at least one of the following: flight attitude data information; positioning data information; orbit data information; environmental data information. Among them: the flight attitude control information is used for the low-level aircraft unit to share the flight status with the high-level aircraft unit, including but not limited to speed, angle, direction, etc.; the positioning control information is used for the low-level aircraft unit to share the positioning with the high-level aircraft unit, including but not limited to target longitude information, target dimension information, target altitude information, the longitude information of the aircraft unit, the longitude information of the aircraft unit, the dimension information of the aircraft unit, the altitude information of the aircraft unit, etc.; the orbit control information is used for the low-level aircraft unit to share the travel orbit information with the high-level aircraft unit, including but not limited to the change of track information, etc.; the environmental data information is used for the low-level aircraft unit to share the travel environment data information with the high-level aircraft unit, including but not limited to wind speed, wind direction, temperature, air pressure information, etc.

[0055] Step 5: When all the first-level aircraft units in each aircraft group are lost, damaged or invalid, the level of at least one aircraft unit in the second-first-level aircraft units in the aircraft group is automatically adjusted to the first level within the first timing information period, and the first timing information period is the initial timing information, which is initially configured by the system or configured by a high-level aircraft unit to complete the replacement;

[0056] When all the aircraft units of the second first level in each aircraft group fail to establish communication with the aircraft units of the first level before the end of the first timing information period, the level of at least one aircraft unit in the second level in the aircraft group is automatically adjusted to the first level, completing the replacement;

[0057] This process is repeated in this way until the level of at least one aircraft unit in the aircraft group is automatically adjusted to the first level, thus completing the succession.

[0058] During this process, the lower-level aircraft unit directly uses the information sent by the higher-level aircraft unit to make flight control adjustments; the higher-level aircraft unit receives data from multiple lower-level aircraft units, and fits multiple information into one information for flight control adjustments, rather than directly using.

[0059] Example 1

[0060] In this embodiment, the aircraft unit is a drone, which is launched by ejecting from a launch pad. Figure 1 As shown, there are 8 drones, which are divided into two aircraft groups (N=2), each aircraft group contains 4 drones (M=4), and each group contains one L1 drone and 3 L2 drones. The L1 priority is higher than the L2 priority. Figure 1 The priority of the aircraft group in the left figure is set in advance to the K1 group, denoted as group 1. Figure 1 The priority of the aircraft group in the right figure is set to K2 in advance, and is recorded as K2 group. The priority of K1 group is higher than that of K2 group. Furthermore, the communication between drones is one-way communication.

[0061] In one implementation, within the same aircraft group, only higher-level aircraft units are allowed to send first information to lower-level aircraft units. Figure 2 As shown, the L1 drone can only send the first information to the L2 drone in one direction.

[0062] In one implementation, within the same aircraft group, only lower-level aircraft units are allowed to send the second information to higher-level aircraft units. Figure 3 As shown, the L2 drone can only send the second information to the L1 drone in one direction.

[0063] In one implementation, for different aircraft groups, only aircraft units at a higher group level are allowed to send first information to aircraft units at a lower group level. Figure 5 As shown, the drones in group K1 can only send the first information to the drones in group K2 in one direction.

[0064] In one implementation, different aircraft groups only allow aircraft units at a lower group level to send second information to aircraft units at a higher group level. Figure 6 As shown, the drones in group K2 can only send the second information to the drones in group K1 in one direction.

[0065] In this embodiment, the first information includes at least one of the following: flight attitude control information; flight attitude data information; environmental data information. The flight attitude control information is used by the high-level aircraft unit to control the flight state of the low-level aircraft unit, including speed, angle, direction, etc.; the flight attitude control information is used by the high-level aircraft unit to share the flight state with the low-level aircraft unit, including speed, angle, direction, etc.; the environmental data information is used by the high-level aircraft unit to share the travel environment data information with the low-level aircraft unit, including wind speed, wind direction, temperature, air pressure information, etc.

[0066] In this embodiment, the second information includes at least one of the following: positioning data information; orbital data information. Further, the second information is described. The flight attitude control information is used for the low-level aircraft unit to share the flight status with the high-level aircraft unit, including but not limited to speed, angle, direction, etc.; the positioning control information is used for the low-level aircraft unit to share the positioning with the high-level aircraft unit, including but not limited to target longitude information, target dimension information, target altitude information, the longitude information of the aircraft unit, the longitude information of the aircraft unit, the dimension information of the aircraft unit, the altitude information of the aircraft unit, etc.; the orbital control information is used for the low-level aircraft unit to share the travel orbit information with the high-level aircraft unit, including but not limited to the change of track information, etc.; the environmental data information is used for the low-level aircraft unit to share the travel environment data information with the high-level aircraft unit, including but not limited to wind speed, wind direction, temperature, air pressure information, etc.

[0067] Example 2

[0068] In this embodiment, the aircraft unit is a drone, which is launched by ejecting from a launch pad. Figure 1 As shown, there are 8 drones, which are divided into two aircraft groups (N=2), each aircraft group contains 4 drones (M=4), and each group contains one L1 drone and 3 L2 drones. The L1 priority is higher than the L2 priority. Figure 1 The priority of the aircraft group in the left figure is set in advance to the K1 group, denoted as group 1. Figure 1 The priority of the aircraft group in the right figure is set to K2 group in advance, recorded as group 2. The priority of K1 group is higher than that of K2 group. Furthermore, the communication between drones is two-way communication.

[0069] In one implementation, within the same aircraft group, a higher-level aircraft unit is allowed to send first information to a lower-level aircraft unit, and a lower-level aircraft unit is also allowed to send second information to a higher-level aircraft unit. Figure 3 As shown, the L1 drone sends the first information to the L2 drone, and the L2 drone can send the second information to the L1 drone.

[0070] In one implementation, different aircraft groups allow aircraft units at a higher group level to send first information to aircraft units at a lower group level, and allow aircraft units at a lower group level to send second information to aircraft units at a higher group level. Figure 7 As shown, the drones in group K1 send first information to the drones in group K2, and the drones in group K2 send second information to the drones in group K1.

[0071] In this embodiment, the first information includes at least one of the following: positioning control information; positioning data information; orbital data information. Further, the first information is elaborated. The positioning control information is used for the high-level aircraft unit to control the positioning of the low-level aircraft unit, including target longitude information, target dimension information, target altitude information, etc.; the positioning control information is used for the high-level aircraft unit to share positioning with the low-level aircraft unit, including target longitude information, target dimension information, target altitude information, the longitude information of the aircraft unit, the longitude information of the aircraft unit, the dimension information of the aircraft unit, the altitude information of the aircraft unit, etc.; the orbital control information is used for the high-level aircraft unit to share the travel orbit information with the low-level aircraft unit, including track change information, etc.

[0072] In this embodiment, the second information includes at least one of the following: flight attitude data information; environmental data information. Further, the second information is described. The flight attitude control information is used for the low-level aircraft unit to share the flight status with the high-level aircraft unit, including speed, angle, direction, etc.; the environmental data information is used for the low-level aircraft unit to share the travel environment data information with the high-level aircraft unit, including wind speed, wind direction, temperature, air pressure information, etc.

[0073] Example 3

[0074] In one embodiment, the aircraft unit is a drone, which is ejected and launched from a launch pad. Figure 8 As shown in the figure, there are 4 drones in a formation, one at each level L1\2\3\4. The priority of the drones is initially preset manually.

[0075] In one implementation, when the L1 drone in the aircraft group is lost, damaged or ineffective, the level of the L2 drone in the aircraft group is automatically adjusted to L1. The levels of the remaining drones are increased in sequence.

[0076] In one implementation, when the L1 drone in the aircraft group fails to establish communication with the L2\3\4 drones before the first timing information, the level of the L2 drone in the aircraft group is automatically adjusted to L1.

[0077] The above is an explanation of the specific implementation of the present invention, rather than a limitation of the present invention. Those skilled in the relevant technical field can also make various equivalent technical solutions without departing from the scope of the present invention, so all equivalent technical solutions should be included in the patent protection scope of the present invention.

Claims

1. A method for wireless communication between multiple cooperative aircraft, characterized in that: The steps include: Step 1: Create at least one aircraft group: The aircraft group includes at least M aircraft units, where M is an integer greater than 1; Step 2: When the aircraft group in step 1 is 2-N groups, the aircraft group is divided into levels, and the number of levels of the aircraft group is at least K, where K is an integer greater than 1; Step 3: Classify the M aircraft units in the aircraft group into levels: The number of levels of the aircraft unit is at least L levels, L is an integer greater than 0, and the first level is the highest level; Step 4: Setting up communication between aircraft units of different levels in the same aircraft group; Setting up communication between aircraft units in different aircraft groups; Step 5: When all the first-level aircraft units in each aircraft group are lost, damaged or invalid, the level of at least one aircraft unit in the second-first-level aircraft units in the aircraft group is automatically adjusted to the first level within the first timing information period, completing the replacement; When all the aircraft units of the second first level in each aircraft group fail to establish communication with the aircraft units of the first level before the end of the first timing information period, the level of at least one aircraft unit in the second level in the aircraft group is automatically adjusted to the first level, and the succession is completed; and so on, until the level of at least one aircraft unit in the aircraft group is automatically adjusted to the first level, and the succession is completed.

2. The method for wireless communication of multiple cooperative aircraft according to claim 1, characterized in that: In step 3, the principles for configuring the M aircraft unit levels include at least one of the following: Aircraft units with the same positioning capabilities are at the same level; Aircraft units with the same launch sequence are of the same level; Aircraft units with the same target area are of the same level; High-level aircraft units have stronger positioning capabilities than low-level aircraft units.

3. The method for wireless communication of multiple cooperative aircraft according to claim 2, characterized in that: The communication in step 4 includes at least one of one-way communication and two-way communication.

4. The method for wireless communication of multiple cooperative aircraft according to claim 3, characterized in that: The one-way communication in step 4 includes one of the following: within the same aircraft group, only a higher-level aircraft unit is allowed to send the first information to a lower-level aircraft unit; within the same aircraft group, only a lower-level aircraft unit is allowed to send the second information to a higher-level aircraft unit; between different aircraft groups, only a higher-level aircraft unit is allowed to send the first information to a lower-level aircraft unit; between different aircraft groups, only a lower-level aircraft unit is allowed to send the second information to a higher-level aircraft unit.

5. The method for wireless communication of multiple cooperative aircraft according to claim 3, characterized in that: The two-way communication in step 4 includes one of the following: within the same aircraft group, a higher-level aircraft unit sends a first message to a lower-level aircraft unit, and a lower-level aircraft unit sends a second message to a higher-level aircraft unit; between different aircraft groups, a higher-level aircraft unit is allowed to send a first message to a lower-level aircraft unit, and a lower-level aircraft unit is allowed to send a second message to a higher-level aircraft unit.

6. A method for wireless communication of multiple cooperative aircraft according to claim 4 or 5, characterized in that: The first information includes at least one of the following: flight attitude control information; positioning control information; orbit control information; flight attitude data information; positioning data information; orbit data information; and environmental data information.

7. The method for wireless communication of multiple cooperative aircraft according to claim 6, characterized in that: The second information includes at least one of the following: flight attitude data information; positioning data information; orbit data information; and environmental data information.

8. The method for wireless communication of multiple cooperative aircraft according to claim 7, characterized in that: The lower-level aircraft unit directly uses the information sent by the higher-level aircraft unit to make flight control adjustments; the higher-level aircraft unit receives data from multiple lower-level aircraft units, and fits the multiple information into one information to make flight control adjustments.

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