An unmanned aerial vehicle networking device and method based on wide-area homogenized laser

Abstract

The application discloses a kind of unmanned plane networking device and method based on wide-area homogenization laser.The unmanned plane networking device is composed of system control module (1), lifting omnidirectional corner reflector (2) and multiple circumferential arrangement wide-area homogenization laser positioning communication unit (3), and can carry out 360° all-around coverage positioning communication to communication target.Wide-area homogenization laser positioning communication unit (3) carries out positioning communication to communication target based on laser ranging communication integration technology, adopts large-angle wide-area homogenization laser emission signal, large field of view optical system receives laser signal, which can not only make inter-aircraft laser positioning communication more easily established and maintained, but also greatly reduce the volume and weight of airborne laser communication system, so that it can be applied to small and medium-sized unmanned plane.Unmanned plane networking method forms multiple "one-way positioning communication loop" with long plane as center node, to build unmanned plane network which can not only obtain mutual position between networking unmanned plane in real time, but also can interact information in real time.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and specifically to a UAV networking device and method based on wide-area homogenized laser. Background Technology

[0002] Unmanned aerial vehicle (UAV) swarm networking refers to a technology in which multiple UAVs connect to each other through communication network technology to collaboratively complete specific tasks. It has wide applications, including disaster relief, agricultural plant protection, and logistics transportation. This technology requires the UAV swarm to dynamically adjust its swarm networking structure according to mission requirements and environmental changes, placing high demands on the stability and timeliness of communication between UAVs.

[0003] Currently, drone swarm networking primarily relies on radio channels. However, this radio communication method is not only limited by spectrum resources but also highly susceptible to detection and interference, leading to unstable or even interrupted communication between drones, severely impacting swarm networking. Therefore, researchers have attempted to develop inter-drone laser communication technology that is anti-interference, has high bandwidth, is difficult to detect, and has no spectrum limitations for drone swarm networking. However, traditional point-to-point inter-drone laser communication systems require high tracking accuracy, are complex, large, and heavy, and are easily affected by factors such as carrier platform movement, vibration, and bumps, resulting in difficulties in link establishment and link loss, making them unsuitable for practical application in drone communication networking. Therefore, achieving efficient and stable communication has become a critical issue that urgently needs to be addressed in the field of inter-drone laser communication. Summary of the Invention

[0004] To address the problems of high tracking accuracy requirements, system complexity, large size, and heavy weight associated with traditional point-to-point inter-machine laser communication technology in practical applications, this invention provides a UAV networking device and method based on wide-area homogenized laser. This not only effectively reduces the tracking accuracy requirements of inter-machine laser communication but also significantly simplifies the system structure and reduces system size and weight. It effectively solves the problems faced by the aforementioned point-to-point inter-machine laser communication technology, enabling inter-machine laser communication technology to be practically applied to the networking of small and medium-sized UAV formations.

[0005] The technical solution adopted in this invention is as follows:

[0006] A UAV networking device based on wide-area homogenized laser includes: a system control module, a liftable omnidirectional reflector, and multiple circumferentially arranged wide-area homogenized laser positioning and communication units; the liftable omnidirectional reflector is installed on the upper surface of the system control module and interacts with the system control module, and has a liftable omnidirectional reflector inside; the wide-area homogenized laser positioning and communication unit includes a positioning and communication control part, a communication target acquisition, tracking and aiming part, a laser signal modulation and transmission part, and a laser signal receiving and demodulation part, and is connected to the side of the system control module in a circumferential arrangement to interact with the system control module.

[0007] A UAV networking method based on wide-area homogenized laser includes the following steps: Step 1: Preparation before networking; Step 2: Leader / sub-UAVs acquire each other's positions; Step 3: Leader UAV formulates networking strategy; Step 4: Establish UAV network; Step 5: Search for external communication targets in order to receive external information or connect to the network; Step 6: Dynamically adjust network topology.

[0008] The present invention has the following technical effects:

[0009] 1. This invention uses wide-area homogenized laser for inter-machine communication, which also has the advantages of traditional "point-to-point" inter-machine laser communication technology, such as anti-interference, large bandwidth, difficulty in detection, and no spectrum limitation.

[0010] 2. Compared to traditional point-to-point inter-machine laser communication technology, where both the laser signal emission angle and the receiving field of view are at the arcsecond level, this invention uses a wide-area homogenized laser with an angle at the degree level and a large field of view optical system with a field of view at the degree level for laser signal transmission and reception, respectively. This significantly reduces the target tracking accuracy requirements of inter-machine laser communication. On the one hand, it enables inter-machine laser communication to have stronger resistance to tracking errors, making it easier to establish and maintain communication links more stably. On the other hand, it significantly reduces the complexity of the inter-machine laser communication network system, greatly reducing its size and weight, and can be widely deployed and applied on economical and efficient small and medium-sized UAVs.

[0011] 3. This invention adopts laser ranging and communication integration technology, which can take into account ranging and positioning on the basis of laser communication system, and obtain the relative position between networked drones. Therefore, it can form a drone swarm network under extreme conditions where navigation signals cannot be obtained. Compared with other drone networking technologies that rely on navigation information, it has stronger environmental adaptability and richer application scenarios.

[0012] 4. This invention can dynamically adjust the network topology during the networking of drone formations to cope with changes in the relative positions of the lead drone / sub-drones, changes in the number of drones in the network, and abnormal status of the lead drone / sub-drones, thus exhibiting strong flexibility and robustness. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the UAV networking device based on wide-area homogenized laser of the present invention, wherein 1-system control module, 2-elevating omnidirectional reflector, and 3-wide-area homogenized laser positioning and communication unit;

[0014] Figure 2 This is a flowchart of the UAV networking method based on wide-area homogenized laser according to the present invention;

[0015] Figure 3 This is a schematic diagram of the "one-way positioning communication loop" constructed in the UAV networking method based on wide-area homogenized laser of the present invention, wherein a-sub-machine a, b-sub-machine b, c-sub-machine c, and d-sub-machine d. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1 As shown, the UAV networking device based on wide-area homogenized laser in this embodiment consists of a system control module 1, a liftable omnidirectional reflector 2, and 10 circumferentially arranged wide-area homogenized laser positioning and communication units 3. The liftable omnidirectional reflector 2 is installed on the upper surface of the system control module 1 and interacts with the system control module 1. It has a liftable omnidirectional reflector inside. The wide-area homogenized laser positioning and communication unit 3 includes a positioning and communication control part, a communication target acquisition, tracking and aiming part, a laser signal modulation and transmission part, and a laser signal receiving and demodulation part. It is connected to the side of the system control module 1 in a circumferential arrangement and interacts with the system control module 1.

[0019] The system control module 1 is the control center of the UAV networking device based on wide-area homogenized laser. Externally, it communicates with other system devices on the UAV to acquire information to be sent out and transmit information received and decoded from the outside. Internally, it controls the raising and lowering of the adjustable omnidirectional reflector 2 and also controls the independent and parallel operation of each circumferentially arranged wide-area homogenized laser positioning and communication unit 3, achieving 360° omnidirectional positioning and communication coverage. The positioning and communication control section of each wide-area homogenized laser positioning and communication unit 3 controls the communication target of each unit. The acquisition, tracking, and pointing (ATP) section acquires the communication target's azimuth and elevation information, and rapidly switches between multiple communication targets. It controls the laser signal modulation and transmission section of the wide-area homogenized laser positioning communication unit 3 to perform wide-area homogenized laser signal modulation and transmission. It also controls the laser signal receiving and demodulation section of the wide-area homogenized laser positioning communication unit 3 to receive and demodulate external laser signals, calculate the communication target distance, and, combined with the communication target's azimuth and elevation information, achieve communication target positioning. Here, the ATP stands for Acquisition, Tracking, and Pointing (ATP).

[0020] When the lift-up omnidirectional reflector 2 is in the raised state, its internal omnidirectional reflector extends to the outside of the lift-up omnidirectional reflector 2, so that the laser ranging signals from all directions return along the original path.

[0021] The communication target acquisition, tracking and aiming part of the wide-area homogenized laser positioning and communication unit 3, when realizing the functions of acquiring communication target ATP, communication target azimuth and elevation information, and rapid switching between multiple communication targets, adopts a turntable, galvanometer, fast reflector or other components that can realize the above functions.

[0022] The wide-area homogenized laser positioning and communication unit 3 adopts integrated laser ranging and communication technology, which takes into account laser ranging on the basis of laser communication systems such as on-off keying modulation, pulse position modulation, and phase shift keying modulation.

[0023] The laser signal modulation and emission part of the wide-area homogenization laser positioning and communication unit 3 uses a microlens array, diffractive optical element, liquid crystal spatial light modulator, birefringent lens group, aspherical lens group, or other devices that can make the emitted laser beam angle reach the degree level or above and the light spot intensity become a flat-top distribution to homogenize the emitted laser.

[0024] The laser signal receiving and demodulation section of the wide-area homogenized laser positioning and communication unit 3, under the control of the positioning and communication control section, uses a large field-of-view optical system to receive external laser signals.

[0025] like Figure 2As shown in the figure, a UAV networking method based on wide-area homogenized laser in this embodiment includes the following steps:

[0026] Step 1, Pre-networking Preparation: The wide-area homogenized laser-based drone networking device is mounted on the gimbals of 50 small drones. Each drone is assigned a number from 1 to 50, with drone number 1 designated as the lead drone and the rest as slave drones. The drone flight control system is set to a flight altitude of 200m after launch, ensuring all drones are at approximately the same altitude, guaranteeing that neighboring drones are within the vertical field of view of the wide-area homogenized laser positioning and communication unit 3 mounted on each other. The mission planner establishes the following priority for slave drones to become the lead drone: if the lead drone malfunctions, crashes, or experiences other abnormalities during networking, slave drones will sequentially become the lead drone in ascending order of their assigned numbers. This priority is then stored in the wide-area homogenized laser-based drone networking device mounted on each drone. Before launch, the wide-area homogenized laser-based drone networking device on the lead drone lowers the omnidirectional reflector 2, placing it inside the omnidirectional reflector. Before takeoff, the UAV networking device based on wide-area homogenization laser carried by the sub-aircraft will raise the omnidirectional reflector 2 so that the omnidirectional reflector is located outside the omnidirectional reflector 2.

[0027] Step 2, Leader / Sub-drone Position Acquisition: 50 drones prepared before network formation are launched from the ground. After launch, the drones fly at a preset altitude of 200m, with the distance between the sub-drones and the leader drone between 100-1000m. The sub-drones continuously perform ATP (Action-Aware Targeting) communication with each target using their onboard wide-area homogenized laser-based drone networking device. After completing ATP for each target, they emit a 1550nm wavelength wide-area homogenized laser for ranging and positioning, and then switch to the next target after storing the positioning results. When a sub-drone's wide-area homogenized laser positioning and communication unit 3 acquires the leader drone, it should continuously lock onto and track the leader drone, handing over the tracking to an adjacent wide-area homogenized laser positioning and communication unit 3 when the leader drone leaves the field of view, ensuring continuous tracking. Simultaneously, it should continuously send communication requests and the acquired drone position information via a 1550nm wavelength wide-area homogenized laser signal until a response is received from the leader drone. The lead drone, equipped with a wide-area homogenized laser-based UAV networking device, performs 360° all-around ATP (Action-of-Traffic) for the slave drones, ranging, positioning, and storing the positioning results. During ATP with a slave drone, the lead drone should only switch to the next slave drone after receiving and responding to a 1550nm wide-area homogenized laser signal from a slave drone, continuing this process until all slave drones have responded. During mutual positioning and call response between UAVs, the degree-level field of view of the wide-area homogenized laser allows the beam to effectively cover the communication target even under low tracking accuracy conditions. The degree-level field of view of the laser signal receiving and demodulation section of the wide-area homogenized laser positioning and communication unit 3 enables it to effectively acquire laser signals from the communication target even under low tracking accuracy conditions. Through this process, the wide-area homogenized laser-based UAV networking devices on all slave drones maintain tracking and locking onto the lead drone, and the lead drone also acquires the position information of all slave drones.

[0028] Step 3: The lead unit formulates a networking strategy: Based on the field of view (horizontal field of view angle of 36°) of each wide-area homogenized laser positioning and communication unit 3 on the lead unit and the position of the slave units relative to the lead unit, the lead unit groups and assigns the slave units to each wide-area homogenized laser positioning and communication unit 3 on the lead unit. For slave units within the field of view, the lead unit's wide-area homogenized laser positioning and communication unit 3 adopts a "one-way positioning and communication loop" networking method. For example, when there are 4 slave units in the field of view of a certain wide-area homogenized laser positioning and communication unit 3 on the lead unit, such as... Figure 3As shown, the master unit first emits a wide-area homogenizing laser to the nearest slave unit a for unidirectional positioning and communication (in the order: master unit → slave unit a). Then, each slave unit sequentially emits a wide-area homogenizing laser for unidirectional positioning and relay communication in order of distance from the master unit from closest to furthest (in the order: slave unit a → slave unit b → slave unit c → slave unit d). Finally, the slave unit d furthest from the master unit unidirectionally positions and communicates with the master unit (in the order: slave unit d → master unit), forming a unidirectional positioning and communication loop (the loop sequence is: master unit → slave unit a → slave unit b → slave unit c → slave unit d → master unit). Following this method, each wide-area homogenizing laser positioning and communication unit 3 of the master unit formulates its own "unidirectional positioning and communication loop" networking strategy based on the location of the assigned slave unit.

[0029] Step 4: Establish the UAV network: Each wide-area homogenized laser positioning and communication unit 3 of the lead aircraft sends the pre-defined "one-way positioning communication loop" networking strategy to the assigned slave aircraft. After receiving the networking strategy, the slave aircraft perform ATP and positioning communication with the corresponding communication targets according to the strategy, forming multiple "one-way positioning communication loops" with the lead aircraft as the central node, thus constructing an aerial UAV network that can obtain the mutual positions of networked UAVs in real time and exchange information in real time.

[0030] Step 5: Search for external communication targets to receive external information or connect to the network: After networking, each UAV continues to use its idle wide-area homogenized laser positioning and communication unit 3 to continuously perform ATP, ranging, positioning, and interrogation on suspected communication targets outside the UAV network, in order to establish communication with external communication targets, receive external information, or connect to other UAV networks. When the wide-area homogenized laser positioning and communication unit 3 on a UAV in the UAV network encounters an external communication target that can be successfully ranging and positioned, it identifies it as a suspected communication target outside the UAV network and sends the location of the suspected communication target to all UAVs in the network. Then, the lead UAV in the UAV network issues a command to make the slave UAV closest to the suspected external communication target approach and establish communication.

[0031] Step 6, Dynamically Adjust Network Topology: ① Reallocate Sub-units. Determine whether to reallocate sub-units. If, during network setup, the relative positions of the lead aircraft and sub-units change due to movement, it is necessary to reallocate sub-units for the lead aircraft's wide-area homogenized laser positioning communication unit 3. Repeat steps 3 and 4 above to enable each wide-area homogenized laser positioning communication unit 3 of the lead aircraft to be dynamically allocated sub-units, dynamically adjust the "one-way positioning communication loop" networking strategy, and reconstruct the UAV network; ② Reduce the Number of Sub-units. Determine whether to reduce the number of sub-units. If, during network setup, it is necessary to actively reduce the number of sub-units accessing the UAV network according to external instructions or pre-controlled strategies, the lead aircraft repeats steps 3 and 4 above, excludes the sub-units to be reduced, re-formulates the networking strategy, and re-establishes the UAV network; ③ Add Sub-units. Determine if a new number of sub-drones are added, and whether the number of newly added sub-drones is greater than one and not yet networked. If a new number of sub-drones need to be added to the UAV network during the networking period, follow steps 1 to 4 above to establish a new sub-drone network (if only one sub-drone is added or the new sub-drone is already networked, then it is not necessary to follow steps 1 to 4 to network the new sub-drone). Then, have the new sub-drone network arrive in the airspace near the UAV network to be supplemented. Finally, follow step 5 above to establish communication between the two sub-drone networks and merge them into one. ④ Handle sub-drone anomalies. Determine if a sub-drone is abnormal. During the networking period, if a sub-drone malfunctions, crashes, or otherwise causes the "one-way positioning communication loop" to fail or needs to be rebuilt as soon as possible, the UAV in the "one-way positioning communication loop" will immediately remain hovering or circling. As can be seen from step 2 above, each sub-drone in the UAV network will always have a wide-area homogenized laser positioning communication unit 3 tracking and locking onto the lead UAV during the networking period. Therefore, the corresponding wide-area homogenized laser positioning communication unit 3 of the lead unit quickly queries its subordinate sub-units based on their positions during hovering or circling. That is, the lead unit queries the sub-units of the corresponding "one-way positioning communication loop," and finally organizes the responding sub-units to repeat steps 3 and 4 to quickly rebuild the "one-way positioning communication loop." ⑤ Handling lead unit anomalies: Determining if the lead unit is abnormal. During network setup, if the lead unit malfunctions (determined by the sub-unit closest to the lead unit in each "one-way positioning communication loop," for example...), Figure 3If a leader needs to be replaced due to a situation such as a sub-drone (a) crashing (determined by the communication target acquisition, tracking, and aiming part of the wide-area homogenized laser positioning and communication unit 3), all drones in the drone network will immediately hover or circle. Then, each sub-drone can quickly search for the second highest priority candidate drone in the current drone network based on its position while hovering or circling. It will then determine whether this drone has crashed using the communication target ATP part of the wide-area homogenized laser positioning and communication unit 3. That is, all sub-drones will ATP-attack the candidate drones in the order of candidate leader and determine whether the candidate drone has crashed. If it has crashed, the search continues for the third highest priority candidate drone, and so on, until a candidate leader that has not crashed is captured. If it has not crashed, each sub-drone will send a communication request to the candidate drone after completing ATP-attack and wait for a response. During the response waiting period, it is determined whether the standby drone's response timeout has expired. If the standby drone fails to respond to the slave drone within the timeout period, the slave drone determines that the standby drone is faulty and cancels the ATP (Availability and Trigger) for that standby drone. Then, the ATP process continues to process standby drones in the order of priority of slave drones as the lead drone, until a standby drone that has not crashed and responds in time is found. The standby drone responds quickly to each slave drone based on the position of each slave drone while it is hovering or circling. After responding to all slave drones, the standby drone lowers its onboard retractable omnidirectional reflector 2, switches its role to lead drone, and finally repeats steps 3 and 4 above to quickly rebuild the drone network.

[0032] This invention discloses a UAV networking device and method based on wide-area homogenized laser. The UAV networking device consists of a system control module 1, a liftable omnidirectional reflector 2, and multiple circumferentially arranged wide-area homogenized laser positioning and communication units 3, enabling 360° omnidirectional positioning and communication of the target. The wide-area homogenized laser positioning and communication units 3 perform positioning and communication of the target based on integrated laser ranging and communication technology. They employ a large-angle wide-area homogenized laser to emit signals and a large-field-of-view optical system to receive laser signals, which makes it easier to establish and maintain inter-UAV laser positioning and communication, and significantly reduces the size and weight of the airborne laser communication system, making it applicable to small and medium-sized UAVs. The UAV networking method forms multiple "one-way positioning and communication loops" with the lead UAV as the central node, building a UAV network that can obtain the mutual positions of networked UAVs in real time and exchange information in real time.

Claims

1. A UAV networking device based on wide-area homogenized laser, characterized in that: include: The system consists of a system control module (1), a liftable omnidirectional reflector (2), and multiple circumferentially arranged wide-area homogenized laser positioning and communication units (3). The liftable omnidirectional reflector (2) is installed on the upper surface of the system control module (1) and interacts with the system control module (1) for information exchange. It has a liftable omnidirectional reflector inside. The wide-area homogenized laser positioning and communication unit (3) includes a positioning and communication control part, a communication target acquisition, tracking and aiming part, a laser signal modulation and transmission part, and a laser signal receiving and demodulation part. It is connected to the side of the system control module (1) in a circumferential arrangement and interacts with the system control module (1) for information exchange. The system control module (1) is the control center of the UAV networking device based on wide-area homogenized laser. It communicates with other system devices on the UAV to obtain information to be sent out and transmit information received and decoded from the outside. Internally, it controls the lifting and lowering of the liftable omnidirectional reflector inside the liftable omnidirectional reflector (2) and also controls the various circumferentially arranged wide-area laser positioning and communication units. The homogenized laser positioning and communication unit (3) works independently and in parallel to achieve 360° all-round coverage positioning and communication: the positioning and communication control part of the wide-area homogenized laser positioning and communication unit (3) controls the communication target acquisition, tracking and aiming part of the wide-area homogenized laser positioning and communication unit (3) to acquire communication target ATP, communication target azimuth and elevation information, and switch between multiple communication targets. It controls the laser signal modulation and transmission part of the wide-area homogenized laser positioning and communication unit (3) to perform wide-area homogenized laser signal modulation and transmission. It controls the laser signal receiving and demodulation part of the wide-area homogenized laser positioning and communication unit (3) to perform external laser signal receiving and demodulation, communication target distance calculation, and combined with the azimuth and elevation information of the communication target, to achieve communication target positioning. Among them, the ATP is the communication target acquisition, tracking and aiming. When the lifting omnidirectional reflector (2) is in the lifting state, its internal omnidirectional reflector extends to the outside of the lifting omnidirectional reflector (2), so that the laser ranging signals from each direction return along the original path.

2. The UAV networking device based on wide-area homogenized laser according to claim 1, characterized in that: The communication target acquisition, tracking and aiming part of the wide-area homogenized laser positioning and communication unit (3) uses a turntable, galvanometer or fast reflector to realize the functions of communication target ATP, communication target azimuth and elevation information acquisition, and switching between multiple communication targets.

3. The UAV networking device based on wide-area homogenized laser according to claim 1, characterized in that: The wide-area homogenized laser positioning and communication unit (3) adopts laser ranging and communication integration technology, which takes into account laser ranging on the basis of laser communication system.

4. The UAV networking device based on wide-area homogenized laser according to claim 1, characterized in that: The laser signal modulation and emission part of the wide-area homogenization laser positioning and communication unit (3) uses a microlens array, diffractive optical elements, liquid crystal spatial light modulator, birefringent lens group or aspherical lens group to homogenize the emitted laser.

5. The UAV networking device based on wide-area homogenized laser according to claim 1, characterized in that: The laser signal receiving and demodulation part of the wide-area homogenized laser positioning and communication unit (3) uses a large field-of-view optical system to receive external laser signals under the control of the positioning and communication control part.

6. A method for UAV networking based on wide-area homogenized laser, characterized in that, Includes the following steps: Step 1: Preparation before networking; Equip the gimbals of multiple drones with a drone networking device based on wide-area homogenization laser, assign a unique number and role to each drone, designate one drone as the lead drone and the rest as slave drones; Set the predetermined flight altitude after the drones are launched; Determine the priority of slave drones as candidates for lead drones and store them. Set the status of the UAV networking device based on wide-area homogenization laser carried by the lead aircraft, and the status of the UAV networking device based on wide-area homogenization laser carried by the slave aircraft; Step 2: The lead unit or the slave unit acquires each other's positions; Step 3: The lead server formulates the networking strategy; Step 4: Establish the drone network; the lead drone sends the pre-defined networking strategy to the assigned sub-drones; after receiving the networking strategy, the sub-drones form multiple one-way positioning communication loops with the lead drone as the central node, thus constructing the drone network. Step 5: Search for external communication targets in order to receive external information or connect to the network; After the network is formed, each UAV continues to perform ATP, ranging, positioning and questioning on suspected communication targets outside the UAV network in order to establish communication with external communication targets, receive external information or connect to other UAV networks. Step 6, dynamically adjust the network topology; dynamically adjust the network topology of the UAV network to cope with changes in the relative positions of the lead UAV and sub-UAVs, changes in the number of UAVs in the network, and abnormal status of the lead UAV or sub-UAV during the networking process; Wherein, ATP refers to target acquisition, tracking, and aiming for communication targets; Step 1 includes: mounting a drone networking device based on wide-area homogenization laser on the gimbals of multiple drones, assigning a unique number and role to each drone; setting a predetermined flight altitude after the drones are launched, so that all drones are basically at the same altitude after launch; determining the priority of the candidate leader drones and storing it in the drone networking device based on wide-area homogenization laser mounted on each drone; setting the lift-type omnidirectional reflector (2) of the drone networking device based on wide-area homogenization laser mounted on the leader drone to be in a lowered state, and setting the lift-type omnidirectional reflector (2) of the drone networking device based on wide-area homogenization laser mounted on the slave drones to be in a raised state; Step 2 includes: launching the sub-machines that have completed the pre-networking preparations in step 1; wherein, the launched sub-machines continuously perform target ATP, ranging, and positioning in 360° all directions through the UAV networking device based on wide-area homogenized laser, and switch to the next target after storing the positioning results; when a certain wide-area homogenized laser positioning and communication unit (3) carried by the sub-machine captures the lead aircraft, it continuously locks and tracks the lead aircraft, and hands it over to the adjacent wide-area homogenized laser positioning and communication unit (3) when the lead aircraft flies out of the field of view, so that the machine keeps locking and tracking the lead aircraft, continuously emits wide-area homogenized laser signals during the tracking period, sends communication requests and the UAV position information already acquired by the machine, and stops sending until it receives a response from the lead aircraft; the launched lead aircraft performs ATP, ranging, positioning and storing positioning results of the sub-machines in 360° all directions through the UAV networking device based on wide-area homogenized laser, and switches to the next sub-machine after receiving the wide-area homogenized laser signal sent by the sub-machine and completing the response, until all sub-machines have completed the response; Step 3 includes: The main unit assigns the sub-units to the various wide-area homogenized laser positioning and communication units (3) of the main unit according to the field of view of each unit and the position of the sub-units relative to the main unit; For the sub-units within the field of view, the wide-area homogenized laser positioning and communication units (3) of the main unit form a network by constructing a one-way positioning and communication loop: First, the main unit performs one-way positioning and communication with the nearest sub-unit, then each sub-unit performs one-way positioning and relay communication in order of distance from the main unit from near to far, and finally the sub-unit furthest from the main unit performs one-way positioning and communication with the main unit, thus forming a one-way positioning and communication loop; According to the method of constructing a one-way positioning and communication loop, each wide-area homogenized laser positioning and communication unit (3) of the main unit formulates its own one-way positioning and communication loop networking strategy according to the position of the assigned sub-units.

7. The UAV networking method based on wide-area homogenized laser according to claim 6, characterized in that: Step 4 includes: each wide-area homogenized laser positioning communication unit (3) of the lead aircraft sends the formulated one-way positioning communication loop networking strategy to the assigned sub-aircraft; after receiving the one-way positioning communication loop networking strategy, the sub-aircraft performs ATP and positioning communication on the corresponding communication targets according to the one-way positioning communication loop networking strategy, forming multiple one-way positioning communication loops with the lead aircraft as the central node, and constructing an aerial UAV network that can both obtain the mutual positions between networked UAVs in real time and exchange information in real time.

8. The UAV networking method based on wide-area homogenized laser according to claim 7, characterized in that: Step 5 includes: after networking, each UAV continues to perform ATP, ranging, positioning, and interrogation on communication targets outside the UAV network equipped with the UAV networking device based on wide-area homogenization laser through idle wide-area homogenization laser positioning and communication units (3) in order to establish communication with the communication targets and receive external information.

9. The UAV networking method based on wide-area homogenized laser according to claim 8, characterized in that: Step 6 includes: ① Reassigning sub-machines; if during network formation, due to changes in the relative positions of the lead aircraft and sub-machines, it is necessary to reassign sub-machines to the wide-area homogenized laser positioning communication unit (3) of the lead aircraft, then repeat steps 3 and 4 to dynamically assign sub-machines to each wide-area homogenized laser positioning communication unit (3) of the lead aircraft, dynamically adjust the one-way positioning communication loop networking strategy, and reconstruct the UAV network; ② Reducing the number of sub-machines; if it is necessary to actively reduce the number of sub-machines accessing the UAV network during network formation, then the lead aircraft repeats steps 3 and 4 to exclude the sub-machines that need to be reduced, and then re-formulates the networking strategy and re-establishes the UAV network. Network; ③ Adding new sub-drones; If additional sub-drones need to be added to the UAV network during network setup, first establish a new sub-drone network according to steps 1-4, except for adding one sub-drone or adding a sub-drone that is already networked. Then, have the new sub-drone network arrive in the airspace near the UAV network to be supplemented. Finally, establish communication between the two sub-drone networks through step 5; ④ Handling sub-drone anomalies; During network setup, if a sub-drone malfunctions, crashes, or other abnormalities cause the one-way positioning communication loop to fail or need to be rebuilt as soon as possible, all UAVs in the one-way positioning communication loop should immediately remain hovering or circling; then the corresponding wide-area homogenized laser positioning communication of the lead aircraft. Unit (3) queries all its subordinate submachines according to their position when they hover or circle, and finally organizes the submachines that respond, repeating steps 3 and 4 to rebuild the one-way positioning communication loop; ⑤ Handling primary abnormalities; If a primary drone needs to be replaced, all drones in the drone network immediately hover or circle, and then each submachine ATP the drone with the highest priority of the current primary drone in the drone network according to the position of each drone when it hovers or circles, and uses it as a substitute drone; If this substitute drone has crashed, it continues to ATP other substitute drones in the order of priority of the substitute primary drone, until a substitute drone that has not crashed is captured; If the backup drone does not crash, after completing ATP with the backup drone, a communication request is sent to it and a response is awaited. If the backup drone does not respond to the slave drone within the time limit, the slave drone determines that the backup drone is faulty and cancels the ATP with the backup drone. Then, the backup drones are ATPed in order of priority of the backup leader drone until the backup drone that has not crashed and responds in time is ATPed. The backup drone responds to each slave drone according to the position of each slave drone when it is hovering or circling. After responding to all slave drones, the backup drone lowers the lift-type omnidirectional reflector (2) it is equipped with and switches its role to the leader drone. Finally, steps 3 and 4 are repeated to rebuild the drone network.

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