A method and system for conducting reconnaissance on enemy tanks by using unmanned aerial vehicles

Abstract

The present application provides a method and system for conducting reconnaissance on enemy tanks by using unmanned aerial vehicles (UAVs), which relate to the field of UAV reconnaissance technology. By constructing an aircraft equipped with a swarm of UAVs and a reconnaissance system with an interactive network, the aircraft is controlled to enter a battlefield environment to release the swarm of UAVs. The reconnaissance system is connected to each UAV in the swarm of UAVs through self-configuration and de-conflict processing, and the reconnaissance results of each UAV on enemy tanks in the battlefield environment are processed through reconnaissance equipment. This reduces the complexity of battlefield environment elements, overcomes the problem that ground-fired rockets or artillery can only attack targets from the side, which easily exposes the position of the launcher, reduces reconnaissance costs, and improves reconnaissance accuracy.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicle (UAV) reconnaissance technology, and in particular to a method and system for conducting reconnaissance on enemy tanks by using unmanned aerial vehicles (UAVs). Background Art

[0002] In recent years, ground attack has become a basic task, and attacks on armored targets such as tanks have received increasing attention.

[0003] At present, there are many types of aircraft used as attack aircraft, such as A-10-type medium- and low-value subsonic fighter-attack aircraft, reconnaissance and strike UAVs, armed helicopters, etc. Among them, armed helicopters are traditional close-range large-scale land combat weapons with low intensity, poor suppression time and survivability, requiring close-range combat and extremely low combat radius; A-10-type medium- and low-value subsonic fighter-attack aircraft have low strike accuracy and require close-range nose aiming for strikes; reconnaissance and strike UAVs have extremely low intensity and are more easily affected by the battlefield environment.

[0004] However, the real battlefield environment elements are often more complex, involving electromagnetic interference environment, light and smoke elements and system target environment, etc. The traditional electronic countermeasure equipment in service is increasingly difficult to use to build interference to deal with combat opponents, and ground-fired rockets or artillery can only attack targets from the side, which is easy to expose the launcher's position, and the target is easily obscured; the cost of anti-tank missiles is also very high, and will expose the launcher's position; the control range of smart mines is larger, but the cost is also relatively high; air-dropped unguided bombs have poor accuracy and are dangerous to drop at low altitudes; air-dropped guided bombs are expensive and will also expose the launch position; and an existing anti-tank multi-axis UAV has an anti-tank rocket launcher installed in the middle of the UAV, which can only attack targets vertically below, and is heavy and costly; and with the increasing importance of reconnaissance, as well as the development and progress of reconnaissance technology or reconnaissance systems, if the number of reconnaissance carriers is large, it becomes very important and urgent to obtain the reconnaissance results of reconnaissance carriers (such as UAVs) accurately, comprehensively, quickly, and with as few omissions as possible. Summary of the invention

[0005] In order to solve at least one of the technical defects in the above technical problems, the present application provides a method and system for reconnaissance of enemy tanks by using a drone.

[0006] The method of conducting reconnaissance on enemy tanks by using a drone includes the following steps:

[0007] Build an aircraft and interactive network equipped with drone swarms to form a reconnaissance system with two-way interactive capabilities (i.e. a two-way interactive reconnaissance system, which should be understood the same way below);

[0008] Initializing and systematically configuring each drone of the drone swarm;

[0009] Controlling the aircraft to enter a battlefield environment and releasing the drone swarm;

[0010] Using the reconnaissance system to communicate with each drone of the drone swarm through self-configuration and de-confliction processing;

[0011] The reconnaissance system is used to interact with each UAV, and the reconnaissance results of each UAV on the enemy tank in the battlefield environment through the reconnaissance equipment are processed, for example, the reconnaissance results of each UAV can be comprehensively processed, analyzed or decided, and the reconnaissance results can also be transmitted to the system control center or command center to request instructions, or the reconnaissance results can be transmitted to the friendly forces responsible for the attack mission to provide various information on the tank targets to be attacked, etc.;

[0012] The drone swarm includes a plurality of drones on a plurality of aircrafts, and the aircrafts are provided with system control modules; the interactive network includes: a relay network between the system control center and the aircrafts and drones, a drone communication data link between the drones and the aircraft body and drone friendly forces, and a drone network center station and communication relay station formed by the drones; the self-configuration includes: placing the system control module on the aircraft in an automatic configuration mode through a preset automatic configuration program, and starting a preset identification program for determining whether a new drone has been added to the system; the de-conflict processing includes: by means of the mutual deviation characteristics of the internal counters of the new drones, connecting the new secondary random address to the new drone through a regeneration process; using an empirically verified formula to calculate the conflict rate between the new drones, and then connecting more drones by adjusting the mask value; the expression of the new drone is to distinguish it from the drones that have been configured, identified or connected in the configuration or identification process, that is, the new drone can also be a drone or a drone friendly force, which is just a reference to the drone that has newly joined the system; other expressions about drones are applicable to the new drones, or can also be understood as the drone is a synonym for the new drone after joining the reconnaissance system.

[0013] It should be emphasized that this plan does not make an absolute distinction between "drones", "new drones" and "drone friendly forces". It is only for the convenience of expression. If they are mixed, they need to be accurately understood in the context. In addition, the expressions of "interaction", "interactive" and "interactive network" all refer to the ability to interact, but they are sometimes used as nouns, sometimes as adjectives, and sometimes as verbs. The original intention is to express in a general way to facilitate the understanding of functions. For example, it can refer to "configuration", "contact", "communication", "sending instructions", "feedback instructions", "establishing a communication network", "transmitting information", "sending reconnaissance data", "transmitting reconnaissance results", etc., which may have physical or entity connections, or may not have physical or entity connections, and only have logical or abstract connections. They should be understood in a broad sense, and the meaning needs to be accurately understood in the context when necessary.

[0014] It should also be noted that, for the method of conducting reconnaissance on enemy tanks through drones in this scheme, the main executors of the method are the military, army, company, participating parties or soldiers. Of course, for methods or steps that require equipment assistance, they can be executed through computer systems or computer-like equipment or devices, which should also be understood in a broad sense.

[0015] As a further improvement of the above technical solution: the aircraft includes: an aircraft body and a plurality of drones parked on the aircraft body, the drones are provided with reconnaissance equipment, and the plurality of drones on the aircraft form a drone swarm after being released; the system control module is used to control the aircraft body and the plurality of drones parked on the aircraft body, and to control the communication interaction between the interactive network and the system control center; the drone is equipped with a flexible frequency transceiver, and the flexible frequency transceiver is configured as a drone communication data link, including a drone network center station and a communication relay station; the drone equipped with the reconnaissance equipment is provided with two types of drone addresses, including: a long address and a short address; the long address is set at the factory, each drone has a unique long address, and the long address is stored in a permanent memory so as not to be erased; the short address can be set by the system control module.

[0016] In an embodiment of the present application, the system control module on the aircraft is placed in an automatic configuration mode by a preset automatic configuration program, and a preset identification program for determining whether a new drone has been added to the system is started, including:

[0017] During the reconnaissance mission, send the "set configuration mode" command to put multiple drones into configuration mode. When newly added multiple drones are located at a certain position, only those new multiple drones will be in configuration mode;

[0018] The system control module is placed in an automatic configuration mode and a preset identification procedure is initiated to determine whether a new drone has been added to the system: the system control module retains an address assignment table in a memory as a record of all the addresses of the drones that have been configured; if a drone long address is detected that is not in the existing address assignment table, the system control module will automatically address the drone with the long address to take the drone out of the configuration mode and assign a useless address for short address identification; the system control module determines the company name and verifies the power switch status of the drone with the long address and records the power switch status;

[0019] The system control module controls the information bar to display configuration information, including: when the information bar is called, the complete address numbers and company numbers of multiple drones are automatically configured, and the "total number" and "configuration status" are displayed in the information bar respectively; when the automatic configuration is executed, the number of all new companies is calculated, and the count of the newly formed multiple drones appears in the "configuration status" information bar; when the new multiple drones are located and configured, the long address, name, switch status and total of the multiple drones also change, and need to be provided to the system in order to receive the latest instructions; a flash signal appears directly below the "name" and "total number" displayed in the information bar during automatic configuration until the program ends;

[0020] The first configuration cycle is performed in the configuration mode through instructions, including: the self-excitation counter in the system control module generates a random address on each drone through the "secondary random address" instruction, prompting each drone to retrieve the existing count of the internal self-excitation counter and generate a random address; the range of the random address can be changed through the "set random address mask" instruction; whenever the configuration address receives an instruction, the drone checks its random address and feeds back until the system control module addresses it with the correct long address; once the drone is successfully addressed, it is taken out of the configuration mode and no longer responds to the instructions sent to its configuration address; the drone checks its random address, including: The machine address is ANDed with the mask, and the result is compared with zero. If the comparison result is zero, the instruction is processed and executed. If the instruction is "report long address" and other drones do not respond at the same time, the system control module receives the long address of the drone. If the drone is not configured and the long address of the drone is not found in the previously configured drone table, the drone is added to the drone table, and the system control module issues a command to the long address to take this specific drone out of configuration mode. If the long address of the drone is found in the table, the system control module will issue a command to the long address to take the drone out of configuration mode. Using this step, all multiple drones will eventually be located.

[0021] In an embodiment of the present application, by means of the mutual deviation characteristics of the internal counters of the new drone, the new secondary random address is associated with the new drone through a regeneration process, including:

[0022] If multiple drones respond at the same time and a conflict occurs, a regeneration process is introduced; the crystal oscillator associated with each drone is likely to deviate sufficiently in phase due to the start of the first configuration cycle, causing the internal counters of multiple drones to deviate from each other; when the regeneration command is issued, the new secondary random addresses of multiple drones that conflicted in the first configuration cycle will be different, so that multiple drones that were not located in the first configuration cycle are found;

[0023] An empirically verified formula is used to calculate the collision rate between new drones, and then more drones are contacted by adjusting the mask value, including: using the empirically verified equation to calculate the collision rate, and adjusting the mask value to find more drones; when the drone is placed in the configuration mode, the system control module issues a "set configuration mode" instruction, retains the existing value of the internal counter to generate a random address in the drone in response to the "secondary random address" instruction; sets a random address mask to respond to the "set random address mask" instruction; when the command sent to the configuration address of the drone is received, the existing secondary random address is incremented by a predetermined interval value, and the secondary random address code is "ANDed" with the mask; if the result is "positive", that is, zero, the control executes the instruction; if the result is not "positive", that is, non-zero, the drone waits for the next addressing instruction for its configuration address;

[0024] The process of the operation of the system control module includes: the "secondary random address" instruction is sent to the drone, and the drone generates a random address; the "set random address mask" instruction is sent to the drone to set the address mask; after each instruction is sent, the instruction count is increased by 1, and then the instruction count is compared with the mask value. If the instruction count is less than the mask value, after a relatively fixed time interval has passed, the system control module resends the instruction. If the instruction count is equal to the mask value, the loop ends; if this loop is repeated, even if the drones that respond at the same time have the same conflict, after completing such a loop, the control returns to the loop; if a new loop is needed, the "secondary random address" instruction is repeated again. Generate random address" instruction, in order to make the internal counters deviate from each other and make the crystal oscillator fully phase-shifted, the new secondary addresses of the two conflicting drones in the last cycle may be different; in order to allow the drone to not respond during automatic configuration for some reason, the system control module allows a new drone to be inserted into the system by manually entering a name and long address when entering the "Configure New Company" option; the system control module assigns a useless address to this drone for short address identification, and sends the name and short address to the drone that uses this long address to address it; entering the same company name for all drones can control multiple drones in the same company.

[0025] In an embodiment of the present application, a plurality of parking positions are provided on the top of the aircraft body, and a UAV is arranged on the parking position; a charging device for charging the UAV is provided on the aircraft body, and the charging device is connected to the parking position, and a charging interface for charging the UAV is provided on the parking position; when the UAV is recovered to the aircraft, it can be charged and recharged through the charging interface; the UAV includes new UAVs and friendly UAVs, that is, the statements about UAVs are applicable to new UAVs and friendly UAVs; the UAV adopts Ku band and Ka band (high altitude), and in the long-distance communication relay using a bidirectional directional antenna, a matching setting is performed in combination with different air-to-ground link frequencies.

[0026] In an embodiment of the present application, the two-way interactive reconnaissance system includes: a system control center, a satellite antenna, a satellite signal decoding module, a descrambling module, a first modulator, an addressing transceiver module, a second modulator, a system control module, a UAV communication data link and a UAV swarm; the UAV communication data link is used to connect the reconnaissance equipment input on the UAV swarm to the two-way interactive reconnaissance system, including a communication data link between the reconnaissance control center of the aircraft and several UAVs; the satellite antenna detects the satellite signal, receives and decodes it through the satellite signal decoding module, and distributes it to the UAV swarm via the first modulator through the UAV communication data link; the frequency band of the central command transmission channel of the system control center is descrambled by the descrambling module, and the descrambled command signal is modulated by the first modulator and distributed to the UAV swarm through the UAV communication data link.

[0027] In an embodiment of the present application, the system control module includes a data processor and a memory for storing states and characteristics related to all drones in the system; the system control module also controls the second modulator to generate a command channel for transmission to a two-way drone swarm through a drone communication data link; the second modulator generates a signal to drive the drone to respond to the control of the system control module, and the second modulator can also be randomly configured as needed; the drone can also be configured with a character generation module, and the system control module itself only issues instructions to generate outputs, which are transmitted to the interactive drone via an addressing transceiver module; in a drone without a character generation module and a drone "hybrid" system, a second modulator is necessary, and the output generated by the drone or the second modulator can be information about the enemy or comrades; the system control module also controls an addressing transceiver module for sending addressing information, which is performed individually for the drone swarm and also receives information at random times or when the drone responds to a query request; the addressing transceiver module can be in a The addressing information is transmitted on a separate data carrier frequency, such as 108MH2, and uplink information sent by the UAV on another separate data channel at a frequency of 25MH2 can be received; all downlink information can be sent in-band or during the transmission interval of the command signal channel sent to the reconnaissance equipment; the system control module includes: a computing processing unit, a display module, an input device and a printing module; the computing processing unit is connected to the display module, the input device and the printing module; the computing processing unit includes a processor and a memory, the processor is used to process various information, data and communications, etc., the memory may include a composite memory ROM for storing control algorithm rules and a read / write memory RAM for storing multiple reconnaissance outputs; and the display module is used to display information related to the aircraft or / and the UAV, such as power, coordinates, interaction information, etc.; the input device can be used to design or / and modify system-related content, and the printing module can be used to print out a UAV deployment list in a manner similar to military reporting.

[0028] In an embodiment of the present application, the control system hardware of the drone includes: a first modulator, an addressing transceiver module and a second modulator, an uplink and downlink conversion module, a demodulator, a character generation module, a channel modulation module, and a reconnaissance device connected through a drone communication data link; the uplink and downlink conversion module is used to convert the interactive data of the drone reconnaissance device received through the drone communication data link channel or modulated by the data transceiver module to 25MH and transmitted through the drone communication data link; the uplink and downlink conversion module uses a separate 108MH2 data carrier frequency to transmit data so that it can be demodulated and received at the data transceiver module; the received reconnaissance command signal is provided to the demodulator by the uplink and downlink conversion module, and the demodulator also provides automatic frequency control and automatic gain control of the uplink and downlink conversion module; the demodulator provides the command signal to the channel modulation module via the character generation module; the baseband audio channel of the demodulator can also receive an audio signal and send it to the input end of the reconnaissance device via the channel modulation module using radio frequency; the drone also includes: a controller for controlling the data transceiver module to process data sending and receiving, and the controller uses a gate array To control the character generation, information bar display, setting key input of the character generation module and control the reconnaissance equipment to scout enemy tanks, the random access memory (RAM) with backup power provided by the capacitor stores instructions, load characteristic data and other data received by the data transceiver module from the system control module through the data transmission loop and controlled by the response controller; the controller can also use a fixed random access memory and connect to an external read-only memory (ROM) via a gate array; in order to control the operation of the uplink and downlink conversion modules, the controller can also control the operation of a phase-locked loop and a bandpass filter; the power supply module provides +5V and +12V DC voltages to the drone and various components through the controller, and the power input to the power supply module can be provided to the access device through a charger or converter; the controller controls the state of the charger or converter through the gate array, for example, the charger or converter can continuously power its access device or only power it when the "on" button of the reconnaissance equipment is set to the on position; the controller also controls the flight process and reconnaissance process of the drone through the drone flight control module.

[0029] In an embodiment of the present application, the initialization setting and systematic configuration of the UAV include: when power is added to the power module, the controller starts to preset various hardware of the UAV, and the preset program of the hardware can be any preset program used in the UAV preset technology; the controller checks the correct operation, communication and control of each component of the UAV, and the software can execute a self-diagnosis program to confirm that the software is running well; when the setting key is operated, the setting or configuration instruction is input to the controller of the UAV, allowing the setting key function to be programmably assigned; the controller can enter the installation mode, configuration mode, factory inspection mode or maintenance mode according to the instruction or program; the information bar displays the output according to the operation, initialization or instruction of the UAV; the controller and the system control module are connected and systematically configured through communication, and the controlling soldier is controlled through the information bar or the deployer of the system control module provides visible indications and UAV status; during the interaction between the system control module and the UAV, the system control module makes requests to the UAV or receives instruction information sent from the UAV or generated by sending channel assignments and outputs, and / or UAV characteristics stored in the memory, as well as reconnaissance results of the reconnaissance equipment and other information, which can be understood or summarized as UAV reconnaissance data; the controller and the system control module communicate through communication or commands until the UAV is connected to the system, regardless of whether the output is displayed; if a normal company name or related data has been entered, the UAV input is recognized, and the activation of any setting key will cancel the installation mode; the information bar is also used to display the current status of the system control module and the UAV, involving displaying the current status of the UAV input into the system, the installation mode, etc.

[0030] In an embodiment of the present application, the systematized configuration identifies the drone swarm entering the interactive reconnaissance system, including: adding new drones to the system through system-related global instructions, multiple long-range drones in the system are connected with a single or a small number of central unit drones through drone communication data links; the global address is a fixed address associated with each drone, used to send system-wide instructions; the drone address can also be assigned an auxiliary address or a group address, the auxiliary address can also be used to issue instructions to the drone, and is processed by the drone as a second global address, and in order to optimize system performance, more than one drone can be used together An auxiliary address, which allows multiple drones to be controlled with a single transmission cycle; the group address is a special address associated with each drone, and other global addresses such as 0×7ffd or U×7ffe can be stored for use as other query methods for the terminal; the configuration instructions that the controller can recognize also include: a long address change instruction, which allows the operator to change the long address for a company, but keep the same name and short address assignment; a company name change instruction, which allows the operator to change the company name, but keep the same long address and short address assignment; a view company name instruction, which allows the operator to select any company name and view the long address.

[0031] In an embodiment of the present application, a drone controls a power switch of a reconnaissance device. When the on state is selected, power is continuously supplied to the reconnaissance device, and the reconnaissance device continues to work for reconnaissance operations; when the off state is selected, the reconnaissance device enters a closed dormant state; the drone obtains information about enemy tanks in a battlefield environment within the visible or detectable range of the drone by controlling the "on state" detection data of the reconnaissance device; thus, a swarm of drones connected to the system obtains information about all enemy tanks in the entire battlefield environment, and transmits it to a system control center through a drone communication data link, thereby realizing reconnaissance of enemy tanks in the battlefield environment through drones; a long-distance drone in a tuned drone communication data link channel is periodically queried to obtain the number, distance and reconnaissance results of the drones; the reconnaissance device includes an integrated detection module, which integrates an optoelectronic sensor, a detection radar and a dedicated electronic reconnaissance system to realize comprehensive detection, identification and interference of enemy tanks; the main detection object tank of the integrated detection module is set as a vision checkpoint mechanism model in combination with the battlefield environment, and the vision checkpoint mechanism model includes a lighting judgment mechanism; the lighting judgment mechanism includes: a reconnaissance detection point, a vision judgment mechanism and a reality mechanism.

[0032] An embodiment of the present application also provides a system for conducting reconnaissance on enemy tanks by using unmanned aerial vehicles, which adopts any of the aforementioned methods for conducting reconnaissance on enemy tanks by using unmanned aerial vehicles, including: a two-way interactive reconnaissance system, personnel using the reconnaissance system, and auxiliary equipment of the reconnaissance system, etc. Therefore, the system should be understood in a broad sense.

[0033] Beneficial effects of the present application: The method and system for using drones to conduct reconnaissance on enemy tanks provided in the present application, by constructing a two-way interactive reconnaissance system of an aircraft equipped with a drone swarm and its interactive network, controlling the aircraft to enter a battlefield environment to release the drone swarm, and connecting the two-way interactive reconnaissance system to each drone in the drone swarm through self-configuration and de-confliction processing, and processing the reconnaissance results of enemy tanks by each drone in the battlefield environment through reconnaissance equipment, thereby reducing the complexity of battlefield environment elements, overcoming the problem that ground-fired rockets or artillery can only attack targets from the side, which easily exposes the position of the launcher, reducing reconnaissance costs, and improving reconnaissance accuracy, reconnaissance capabilities, and reconnaissance range. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1It is a schematic diagram of the steps of a method for conducting reconnaissance on an enemy tank by using a drone provided in an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of an aircraft provided in an embodiment of the present application;

[0037] Figure 3 is a functional block diagram of a reconnaissance system provided in an embodiment of the present application;

[0038] Figure 4 is a functional block diagram of a system control module provided in an embodiment of the present application;

[0039] Figure 5 is a functional block diagram of a drone provided in an embodiment of the present application;

[0040] Figure 6 It is a flow chart of the configuration procedure provided in the embodiment of the present application;

[0041] Figure 7 is a flow chart of a system regeneration configuration program provided in an embodiment of the present application;

[0042] Figure 8a It is a schematic diagram of the main distribution structure of the checkpoints of the mechanism model of the reconnaissance tank provided in the embodiment of the present application;

[0043] Figure 8b It is a schematic diagram of a 15m range determination circle of a mechanism model of a reconnaissance tank provided in an embodiment of the present application;

[0044] Figure 8c It is a schematic diagram of a bush model of a mechanism model of a reconnaissance tank provided in an embodiment of the present application;

[0045] Figure 8d It is a schematic diagram of a mechanism model of a reconnaissance tank provided in an embodiment of the present application, which is not lit after destroying the enemy at the same distance;

[0046] Figure 8e It is a precise linear calculation schematic diagram of the mechanism model of the reconnaissance tank provided in the embodiment of the present application.

[0047] Figure numerals: 1, aircraft; 11, aircraft body; 100, drone swarm; 101, drone; 9, relay network; 10, system control center; 20, system control module; 30, second modulator; 40, addressing transceiver module; 50, first modulator; 60, descrambling module; 70, satellite signal decoding module; 80, satellite antenna; 801, satellite signal; 90, demodulator; 99, data link; 101, drone; 10n, drone friendly force; 103, uplink and downlink conversion module Block; 104, demodulator; 105, character generation module; 106, controller; 107, gate array; 108, data transceiver module; 109, UAV flight control module; 110, random access memory; 111, power module; 112, channel modulation module; 113, reconnaissance equipment; 114, setting key; 115, information bar; 203, display module; 205, printing module; 204, input device; 201, processor; 202, memory; 509, UAV communication data link. DETAILED DESCRIPTION

[0048] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0049] In the process of realizing this application, the applicant found that battlefield environment elements are often complex, involving electromagnetic interference environment, light and smoke elements and system target environment, etc. The way traditional electronic countermeasure equipment in service constructs interference is increasingly difficult to deal with combat opponents. Ground-fired rockets or artillery can only attack targets from the side, which easily exposes the position of the launcher and the target is easily obscured; anti-tank missiles are also very expensive and will expose the position of the launcher; smart mines have a larger control range, but the cost is also relatively high; air-dropped unguided bombs have poor accuracy and are dangerous when dropped at low altitudes; air-dropped guided bombs are expensive and will also expose the launch position; and a Russian anti-tank multi-axis drone has an anti-tank rocket launcher installed in the middle of the drone, which can only attack targets vertically below, is heavy and expensive.

[0050] Example 1

[0051] In response to the above problems, Figure 1 As shown, the method of using a drone to scout an enemy tank in this embodiment includes the following steps:

[0052] Building an aircraft 1 carrying a swarm of drones 100 and its interactive network to form a two-way interactive reconnaissance system with two-way interactive capabilities;

[0053] Initializing and systematically configuring the drones 101 of the drone swarm 100 one by one;

[0054] Controlling aircraft 1 to enter a battlefield environment and releasing drone swarm 100;

[0055] The two-way interactive reconnaissance system is connected to each drone 101 of the drone swarm 100 through self-configuration and de-confliction processing;

[0056] The interactive reconnaissance system interacts with the drone swarm 100, and processes the reconnaissance results of each drone 101 of the drone swarm 100 on the enemy tank in the battlefield environment through the reconnaissance equipment 113, such as comprehensive processing, analysis or decision-making for each reconnaissance result, and the reconnaissance results can be transmitted to the command center to request instructions, or the reconnaissance results can be transmitted to friendly forces responsible for the attack mission to provide various information about the tank targets to be attacked; of course, some of the multiple drones 101 on the aircraft 1 of this embodiment can also be set as attack drones, and attacks can be directly launched according to the reconnaissance results to eliminate the reconnaissance of enemy tank targets or other military targets; because the focus of this solution is to contact and identify each drone 101 of the drone swarm 100, and then obtain more and more complete reconnaissance information and reconnaissance results from more reconnaissance equipment 113, this embodiment does not specifically limit or elaborate on the processing of the reconnaissance results.

[0057] Among them, Figure 2 As shown, a plurality of drones 101 on a plurality of aircrafts 1 form a drone swarm 100; the interactive network includes: a relay network 9 between the system control center 10 and the aircraft 1 and the drones 101, a drone communication data link 509 between the drone 101 and the aircraft body 11 and the drone friendly forces (10n), and a drone network center station and a communication relay station formed by the drones 101; self-configuration includes: placing the system control module 20 in an automatic configuration mode through a program to start a preset identification program for determining whether a new drone 102 has been added to the system; it should be noted that the expression of a new drone is to distinguish it from a drone that has been configured, identified or contacted during the configuration or identification process, and is a reference to a drone that has newly joined the system; de-conflict processing includes:

[0058] Through the regeneration process, the new secondary random address is associated with the new drone 102 by means of the mutual deviation characteristics of the internal counters of the new drone 102;

[0059] The conflict rate between new drones is calculated using an empirically verified formula, and then more drones 101 are connected by adjusting the mask value.

[0060] In this embodiment, Figure 2 , Figure 3 As shown, the aircraft 1 includes: an aircraft body 11 and a plurality of drones 101 parked on the aircraft body 11, the drones 101 are provided with reconnaissance equipment 113, and the plurality of drones 101 on the aircraft 1 are released to form a drone swarm 100 for expanding the reconnaissance range, including the drones 101, the drones 102 and / or the drone friendly forces 10n; the aircraft body 11 is provided with a system control module 20 for controlling the aircraft body 11 and the plurality of drones 101 parked on the aircraft body 11, and for controlling the communication interaction between the interactive network and the system control center 10. Of course, the number of drones 101 parked on the aircraft body 11 depends on the actual reconnaissance range and the parking capacity of the aircraft body 11. A small number of drones 101 can also be loaded on the aircraft body 11. For example, when the reconnaissance range is small and one drone 101 can complete the reconnaissance mission, only one drone 101 can be loaded; the parking capacity of the aircraft body 11 depends on the shape characteristics and weight of the drone 101. With the miniaturization and high integration of electronic devices, the size of the drone 101 and its reconnaissance equipment 113 will become smaller and smaller. This solution does not set an upper limit on the parking capacity of the aircraft body 11 for the time being.

[0061] Furthermore, the UAV 101 is equipped with a flexible frequency transceiver, and the flexible frequency transceiver is configured to selectively change the communication frequency of the flexible frequency transceiver; the flexible frequency transceiver is configured to communicate with the aircraft body 11 and the UAV friendly forces 10n, and can change the communication frequency between the UAV 101 and the UAV friendly forces 10n; the flexible frequency transceiver is configured as a UAV communication data link 509, which can include a UAV network center station and a communication relay station, and each UAV 101 can be configured as a UAV network center station and a communication relay station or a temporary UAV network center station and a communication relay station according to needs or instructions; the UAV 101, as a communication relay station, can change the frequency between the UAV 101 and the aircraft 1, and between the UAV 101 and the UAV friendly forces 10n, so as to protect the communication when subjected to electronic interference, thereby guiding the UAV The drone 101 can cooperate with the friendly forces 10n to perform the mission; the drone 101 can form a drone network center station or communication relay station through the drone communication data link 509, and flexibly communicate and interact to better complete the reconnaissance mission; the drone communication data link 509 system is simple to build, with high-speed and low-latency communication capabilities. It can form a supplement and redundancy for theater satellite communications by effectively utilizing technologies such as the Internet architecture with high-speed communication capabilities such as communication data links, broadband access points, contact Lekasi communication systems, link detectors, and connection information processing system networks; the drone 101 uses the band as a communication system - a direct air-to-ground link in a line-of-sight state, such as the medium- and long-range C / X bands, the medium- and short-range Ku / Ka bands, etc. The radio waves are more mixed in the low-frequency area. Although the higher the frequency, the greater the air transmission loss of the radio waves, the directional gain can be utilized using directional antennas of the same size.

[0062] In this embodiment, the system control module 20 is placed in an automatic configuration mode by a program to start a preset identification procedure for determining whether a new drone 102 has been added to the system, including:

[0063] Due to the difficulty of assigning the tracking company address and the lengthy and error-prone nature of manually assigning the address to the system control module 20, this embodiment provides a method for automatically joining the drone swarm 100 to the reconnaissance control system;

[0064] Often occurs during a reconnaissance mission or after the deployer has added a new plurality of drones 101 to the system, during which a "set configuration mode" command is sent to the plurality of drones 101 to place each drone 101 in configuration mode; when the newly loaded plurality of drones 101 are positioned at a certain location, only those new plurality of drones 101 will be in configuration mode;

[0065] like Figure 6As shown, placing the system control module 20 in the automatic configuration mode through the program will start the process of determining whether any new plurality of drones 101 have been added to the system;

[0066] The system control module 20 retains an address assignment table in the memory 202 as a record of all the drones 101 that have been configured. If a drone 101 is detected to be not in the existing address assignment table, the system control module 20 will automatically address the drone 101 using the long address so as to take the drone 101 out of the configuration mode and assign it an unused address for short address recognition. Then, the system control module 20 determines the company name and checks the power switch status of the drone 101 and records whether the power is on or off. The system control module 20 controls the information bar. When the information bar is called for the first time, the entire number of multiple drones 101 and the company number formed last time perform automatic configuration operation, and "total number" and "configuration status" appear in the information bar respectively.

[0067] When performing auto-configuration, the number of all new companies formed during the entire process is calculated, and the count of the newly formed multiple drones will appear in the "Configuration Status" information column. When the new multiple drones 101 are located and configured, the long address (permanent address), name, switch status and total will also change to provide a visual indication of what the system is currently doing; a flashing signal will appear directly below the "name" and "total" when the auto-configuration is in progress, and the flashing light will go out when the procedure is completed;

[0068] Automatic configuration is mostly performed during reconnaissance missions. The deployer uses a message bar in the drone 101 to enter a seven-digit number or "name" into the drone 101 memory. According to the best embodiment, this process can only occur when the system control module 20 is not working or in configuration mode. This number is preferably the company number of the drone 101, which can provide an identification mechanism within the company where the drone 101 is located;

[0069] The long address is a fixed identifier uniquely associated with the drone 101. Since there may be 8 million addresses, it is impractical to manually determine each long address for a new drone 102. Instead, a self-exciting counter is used in the system control module 20 to generate a random address on each drone 101. This is accomplished by a "secondary random address" instruction, which prompts each drone 101 to retrieve the existing count of the internal self-exciting counter, thereby generating a random address between 0 and 65535. Other counters may also be used according to system requirements, so that the range of random addresses can be changed;

[0070] In order to minimize the time required to locate multiple drones 101, the range of random addresses can be changed through a "set random address mask" command. For example, to set the address range from 0 to 63, the mask can be set to 63 or 0×3f, which requires the drone 101 to respond to the command sent to the configuration address once every 64 commands. The value of the mask can be selected as a power of 2 minus 1, for example: 3, 7, 15, 31...127, 255, 511,...32767, 65535;

[0071] In configuration mode, whenever a command is received at address 0×7ffb, the configuration address, the drone 101 will increment and check its random address until the system control module 20 addresses it with the correct long address. Once the drone 101 is addressed successfully, it is taken out of configuration mode and no longer responds to commands sent to its configuration address;

[0072] According to this embodiment, in the configuration mode, each time the configuration address of the drone 101 receives an instruction, the existing secondary random address code or random address is incremented by a predetermined value. The "increment" used here refers to the positive or negative change of the random address; according to the best embodiment, if the increment value is 1, the new secondary random address code is "ANDed" with the existing mask value, and the result is compared with zero. It can be understood that the random address is "ANDed" with the mask, which is only an explanation of the best embodiment. This embodiment is not limited to the ratio, and other types of logical functions can be used; if the result of the comparison is zero, then the instruction is processed and executed. If the instruction is "report long address", , and at the same time other drones 101 do not respond, then the system control module 20 will receive the long address of that specific drone 101. If the drone 101 has not been configured before and is not found in the table of previously configured drones 101, then the newly discovered drone 101 is added to the table, and then the system control module 20 sends a command to the long address to take the specific drone 101 out of the configuration mode; if the drone 101 is found in the table, the system control module 20 will send a command to the long address to take the drone 101 out of the configuration mode; using this step, all multiple drones will eventually be located.

[0073] In this embodiment, through the regeneration process, by means of the mutual deviation characteristics of the internal counters of the new drone 102, the new secondary random address is associated with the new drone 102, including:

[0074] If multiple drones 101 respond at the same time, a conflict may occur, resulting in not all of the multiple drones 101 being located; once the "loop" has been completed, repetition of the loop is likely to cause the same conflict due to the same multiple drones 101 responding at the same time; multiple drones 101 that respond at the same time in the first configuration loop may also respond at the same time in the subsequent loops. A loop should be defined as transmitting a predetermined number of global commands determined by the length of this mask;

[0075] In order to solve this problem, a regeneration process is introduced. The crystal oscillator associated with each drone 101 is likely to deviate its phase sufficiently due to the start of the first configuration cycle, so that the internal counters of multiple drones 101 deviate from each other. When the regeneration command is issued, the new secondary random addresses of multiple drones 101 that conflict in the first configuration cycle may be different, so that multiple drones 101 that are not located in the first configuration cycle may be found;

[0076] The conflict rate is calculated using an empirically verified formula, and then more drones 101 are connected by adjusting the mask value, including:

[0077] The conflict rate can be found using the following empirically verified equation, namely: the ratio of drones 101 that will respond during a particular cycle;

[0078]

[0079] Where b is the number of drones 101, n is the number of masks plus 1, and the natural logarithm function In() is the logarithm with the constant e as the base, denoted as In(x), that is, In(x) is loge(x), where e is an important mathematical constant, approximately equal to 2.71828;

[0080] Then the conflict rate can be obtained: hr = r h

[0081] Number of drone swarms found: Number found = n

[0082] The number of drones remaining: the number of drones remaining = b - the number of drones found

[0083] From the above formula, we can see that in order to find more drones 101, we just need to adjust the mask value;

[0084] Specifically, Figure 7As shown, when the drone 101 is placed in the configuration mode, the system control module 20 may issue a "set configuration mode" command as described above, which may be implemented on a system-wide basis during the reconnaissance mission, or the drone 101 may be placed in the configuration mode after the deployer removes the installation information bar as described above; the existing value of the 16-bit internal counter is retained to generate a random address in the drone 101 in response to the "secondary random address" command, and a random address mask is set to respond to the "set random address mask" command, which determines how often a drone 101 should address its command;

[0085] When the command to the configuration address of the drone 101 is received, the existing secondary random address is incremented by a predetermined interval value. According to the best embodiment, the secondary random address code is ANDed with the mask. If the comparison result is "positive", i.e., zero, the control executes the command; if the comparison result is not positive, i.e., non-zero, then the drone 101 waits for the next addressing command to its configuration address;

[0086] The process of the system control module 20 includes:

[0087] The "secondary random address" instruction is sent to the drone 101 that generates the random address in the drone 101, and the next step is to send the "set random address mask" instruction to the drone 101 that sets the address mask; a command is sent to the configuration address of these drones 101. According to the best embodiment, the instructions are sent at relatively fixed intervals, for example, one is sent approximately every 0.1 seconds, and the present embodiment is not limited to this. After each instruction is sent, the instruction count is increased by 1, and then the instruction count is compared with the mask value. If the instruction count is less than the mask value, after the corresponding relatively fixed time interval has passed, the system control module 20 reissues the instruction. If the instruction count is equal to the mask value, the loop ends; repeat this loop if necessary, even if the same drone 101 responds at the same time, the same conflict will occur. After completing such a loop, the control returns to the loop; if a new loop is required, another "secondary random address" instruction is sent. In order to make the internal counters deviate from each other, the crystal oscillator can be fully phase-shifted, so that the new secondary random addresses of the two drones 101 that conflict in the last loop may be different;

[0088] The "AND" operation process of the random address and the mask, for example, the random address is 101001, the mask is 1111, each bit of the random address is added to the corresponding bit of the mask, if the result is zero, the comparison is positive, and the instruction is executed; for example, with the above random address, for the instruction to be executed, the mask must be 0110, however, it can be noted that this mask also makes the random address 111001 try to send at the same time as the drone 101 with the random address of 101001, which causes a conflict. It can be seen that for the address 101001, there is indeed a value between 0 and 63 to send a response, so 63 is used as a mask, and the system control module 20 sends a response every 64 instructions;

[0089] In order to allow for the possibility that the drone 101 does not respond during automatic configuration for some reason, the system control module 20 of the present embodiment allows a new drone 102 to be inserted into the system by manually entering a name and a long address when the "Configure New Company" option is entered; the system control module 20 then assigns an unused address to the drone 101 for short address identification, and sends the name and short address to the drone 101 that is addressed using the long address; multiple drones 101 in the same company are controlled by entering the same company name for all drones 101.

[0090] In this embodiment, a radar and avionics equipment are installed at the lower part of the aircraft body 11, and a plurality of parking positions are arranged on the top of the aircraft body 11. The UAV 101 is installed in the parking position, and the parking position has an airbag compartment, in which an ejection airbag is installed, and the airbag compartment is located below the UAV 101. The ejection airbag is used to eject the UAV 101 out of the parking position, so as to facilitate the active ejection of the UAV 101 from the aircraft body 11. After ejection, the system control module 20 or the soldier controls the UAV 101 to fly away and perform reconnaissance and guidance tasks; an energy replenishment device for recharging the UAV 101 is arranged on the aircraft body 11, and the energy replenishment device is connected to the parking position, and an energy replenishment interface for recharging the UAV 101 is arranged on the parking position, and the energy replenishment interface can be a fuel replenishing port or a charging interface, that is, the energy replenishment device can be a fuel device or a power storage device, and the energy replenishment device in this embodiment is a power storage device or a battery; when the UAV 101 is recovered to the aircraft 1, it can be charged and recharged through the charging interface;

[0091] Specifically, the upper part of the aircraft body 11 is provided with a cockpit, a fuel tank, an air intake, and an engine in sequence from front to back, the aircraft body 11 is equipped with a drone 101, the lower part of the aircraft body 11 is equipped with a radar and avionics equipment, the radar and avionics equipment are located at the lower part of the cockpit, and the aircraft body 11 has a modular accommodating cabin, which can accommodate at least one of precision-guided missiles, combat personnel, ground combat equipment, and containers; the drone 101 can guide precision-guided missiles, and the guided missiles include air-to-air missiles, air-to-ground missiles, cruise missiles, anti-ship missiles, and anti-radiation missiles; through the drone 10 1 remote reconnaissance, and can also guide guided missiles to achieve precision strikes. There is no need for the aircraft 1 to approach the battlefield, and precision strikes can be achieved remotely; the UAV 101 includes the UAV 101 and the UAV friendly 10n, which are installed between the cockpit and the fuel tank. The aircraft body 11 can also be equipped with laser weapons, etc. Since the aircraft body 11 is in a flying state, the UAV 101 is ejected from the parking position and continues to move forward by inertia, and receives the start data sent by the control system of the aircraft body 11, thereby realizing the flight of the UAV 101; the UAVs 101 can use the Ku band and Ka band (high altitude), and the higher the altitude, the faster the UAV 101 can fly. Even if high frequency is used, in order to reduce losses, an appropriate frequency must be selected. In long-distance communication relays using bidirectional directional antennas, matching settings need to be made in combination with the different frequencies that may exist in the air-to-ground link. If the capacity of the antenna equipped on UAV 101 is limited, the transmission distance and speed will be limited. The control function of the directional antenna in bidirectional transmission, as well as the compatibility with the relay machine, that is, joining and leaving the communication system, also need to be configured in combination with actual conditions. The data link parameters of UAV 101 are currently at a level of 100Mbps / 150km, and in the future the level will be about 50Mbps / 200km or even 0 / 50 / 137 / 274Mbps / 400Km; in terms of modulation method, the orthogonal frequency division multiplexing (OFDM) method is mainly used for terrestrial digital television, broadcasting, etc. Its attenuation is very strong when used in mobile communications, and it must be used under a state of sufficient transmission power. The airborne transmitter is large in size, and it also requires refined configuration when used in long-distance transmission systems and small UAV systems; in terms of versatility, according to actual application requirements, it can be designed based on the standard universal data link of the imaging system, and the basic band components must be software-based first.

[0092] In this embodiment, Figure 3As shown, the two-way interactive reconnaissance system includes: a system control center 10, a satellite signal decoding module 70, a descrambling module 60, a first modulator 50, an addressing transceiver module 40, a second modulator 30, and a system control module 20, a UAV communication data link 509 and a UAV swarm 100; the UAV communication data link 509 is used to input the reconnaissance equipment 113 on the UAV swarm 100 into the reconnaissance system, including a communication data link between the reconnaissance control center of the aircraft 1 and N UAVs 101; the satellite antenna 80 detects the satellite signal 80 1, received and decoded by the satellite signal decoding module 70, and distributed to the drone swarm 100 through the drone communication data link 509 via the first modulator 50; the satellite signal 801 can be a positioning signal, or a command signal from the system control center 10, or other signals, such as interference or encrypted signals; the frequency band of the central command transmission channel of the system control center 10 is descrambled by the descrambling module 60, and the descrambled command signal is modulated by the first modulator 50 and distributed to the drone swarm 100 through the drone communication data link 509.

[0093] If necessary, an optional scrambler can be used to scramble the encrypted dedicated channel transmission of the drone swarm 100. Of course, the drone swarm 100 should include a descrambling module 60 circuit that can descramble the scrambled encrypted dedicated channel transmission; descrambling is the operation of restoring the scrambled digital signal to the original digital signal in digital communication; in the transmission process of digital signals, a scrambling module is usually used to transform short-period signals into long-period signals to reduce interference and improve signal stability, and the receiving end needs to use the descrambling module 60 to restore the original signal; the working principle of the descrambling module 60 The process is based on the inverse process of the scrambling module; at the transmitting end, the scrambling module uses a shift register to generate an m sequence, and then performs a modulo-2 sum on the information sequence and the m sequence to output a scrambled random sequence; at the receiving end, the descrambling module 60 performs the opposite operation and restores the original data through the inverse process of the modulo-2 sum; in the digital communication, the descrambling module 60 is used to restore the original data in transmission, reduce interference and improve signal quality; in the wireless communication of the drone application, the scrambling technology is used to reduce interference between multiple drones, and the drone signal is transformed into a white noise that is more like white noise to other drones through scrambling, in order to randomize the interference.

[0094] The military brigade or unit can be connected to other aircraft or friendly forces via data link 99, and the system control module 20 can receive signals through the demodulator 90 via data link 99; the system control center 10 of the military brigade or unit can grasp the status of all drones that have been connected to the system or configured, including all interactive drones 101 of other military brigade reconnaissance systems; for example, the system control center 10 can assign reconnaissance missions through data link 99 according to an operational schedule or operational plan.

[0095] In this embodiment, Figure 4 As shown, the system control module 20 includes a data processor 201 and a memory 202 for storing the status and characteristics of all drones 101 in the system; the system control module 20 also controls the second modulator 30 to generate a command channel for transmission to the two-way drone swarm 100 through the drone communication data link 509; the second modulator 30 generates a signal to drive the drone 101 to respond to the control of the system control module 20, and the second modulator 30 can also be randomly configured as needed; the drone 101 can also be configured with a character generation module 105, and the system control module 20 itself only issues instructions for generating outputs, which are transmitted to the interactive drone 101 via the addressing transceiver module 40; in a drone without a character generation module and a drone "hybrid" system, the second modulator 30 is necessary, and the output generated by the drone 101 or the second modulator 30 can be relevant information about the enemy or comrades;

[0096] Further, the system control module 20 also controls an addressing transceiver module 40 for sending addressing information, which is a single addressing information for the drone swarm 100, and also receives information at random times or when the drone 101 responds to a query request; the addressing transceiver module 40 can transmit addressing information on a separate data carrier, such as 108MH2, and can receive uplink information sent by the drone 101 on another separate data channel at a frequency of 25MH2; all downlink information can be sent in-band or during the transmission interval of the command signal channel sent to the reconnaissance device 113; the system control module 20 controls the command signal data input to the first modulator 50 or the second modulator 30 to realize in-band signal transmission. In order to increase the data carrying capacity, the transmission in each direction is preferably a separate data carrier; for reverse transmission, communication lines or spread spectrum transmission can be used instead of separate data channels;

[0097] In addition to performing one-by-one addressing data communication with the drone swarm 100, the system control module 20 can also perform global addressing communication with all interactive drones 101. This global addressing may require the drone 101 to respond, or may not require the drone 101 to respond. For example, this global communication may be addressed to a global address representing all drones in a designated military system or a group of addresses representing a group of drones with a common goal in the system.

[0098] Specifically, the system control module 20 includes: a computing processing unit 200, a display module 203, an input device 204 and a printing module 205; the system control module 20 is connected to the display module 203, the input device 204 and the printing module 205; the computing processing unit 200 includes a processor 201 and a memory 202, the processor 201 is used to process various information, data, communications, etc., the memory 202 may include a composite memory ROM for storing control algorithm rules and a read / write memory RAM for storing multiple reconnaissance outputs; and the display module 203 is used to display information related to the aircraft 1 and / or the drone 101, such as power, coordinates, interaction information, etc.; the input device 204 can be used to design or / and modify system-related content, and the printing module 205 can be used to print out the drone 101 deployment list in a manner similar to military reporting.

[0099] In this embodiment, Figure 5 As shown, the hardware of the control system of the drone 101 includes: a first modulator 50, an addressing transceiver module 40 and a second modulator 30 connected to the drone communication data link 509.

[0100] The two-way interactive drone 101 of this embodiment includes an uplink and downlink conversion module 103, which is used to convert the interactive data of the drone reconnaissance device 113 received through the drone communication data link 509 channel or modulated to 25MH by the data transceiver module 108 and transmitted through the drone communication data link 509; the uplink and downlink conversion module 103 uses a separate 108MH2 data carrier frequency to transmit data so as to be demodulated and received at the data transceiver module 108; the received reconnaissance command signal is provided by the uplink and downlink conversion module 103 to the demodulator 104, and the demodulator 104 also provides automatic frequency control and automatic gain control of the uplink and downlink conversion module 103; the demodulator 104 provides the command signal to the channel modulation module 112 via the character generation module 105; the baseband audio channel of the demodulator 104 can also receive the audio signal and send it to the input end of the reconnaissance device 113 via the channel modulation module 112 using radio frequency.

[0101] The interactive drone 101 of this embodiment also includes a controller 106 for controlling the data transceiver module 108 to process data transmission and reception; the controller 106 controls the character generation of the character generation module 105, the display of the information bar 115, the input of the setting key 114 and the control of the reconnaissance device 113 to scout enemy tanks with the help of the gate array 107; the random access memory (RAM) 110 provided with a backup power supply by a capacitor stores instructions, load characteristic data and other data received by the data transceiver module 108 from the system control module 20 through the data transmission loop to respond to the control of the controller 106; the controller 106 can also use a fixed random access memory and connect to an external read-only memory (ROM) via the gate array 107; in order to control the operation of the uplink and downlink conversion module 103 The controller 106 can also control the operation of a phase-locked loop and a bandpass filter; the power supply module 111 provides +5V and +12V DC voltages through the controller 106 to the drone 101 and various components, and the power input to the power supply module 111 can be provided to the access device through a charger or converter; the controller 106 controls the state of the charger or converter through the gate array 107, for example, the charger or converter can continuously power its access device or only power it when the "on" button of the reconnaissance device 113 is set to the on position; the controller 106 also controls the flight process and reconnaissance process of the drone 101 through the drone flight control module 109; most of the above information is understandable to those skilled in the art in terms of implementation logic and process, and will not be repeated here.

[0102] The capacity, clock rate or component model of the memory 202 can be selected as follows. For example, the clock used for timing the operation of the processor 201 can operate at a frequency of 14.318MH2. The clock signal is divided by the gate array 107 to operate the microcontroller 106 or to time other programs of the drone 101. The processor 201 can be a Motorola MC6803U4, the character generation module 105 can be a Mitsubishi M50455 component, the RAM 110 can be composed of a 16K byte memory, and the ROM can be a 32K byte memory.

[0103] In this embodiment, the initialization settings and system configuration of the drone 101 include:

[0104] When the UAV operator or the UAV deployer adds power to the power module 111, the controller 106 starts to preset various hardware of the UAV 101. The hardware preset program can be any preset program used in the UAV preset technology, such as the application data UAV preset program; the controller 106 checks the correct operation, communication and control of various components of the UAV, such as the data transceiver module 108, the UAV flight control module 109, the gate array 107, the character generation module 105, the information bar 115, the reconnaissance device 113 and the setting key 114. The software can execute a self-diagnosis program to confirm that the software is running well;

[0105] When the setting key 114 is operated, setting or configuration instructions are input to the controller 106 of the UAV 101; the controller 106 can enter the installation mode, factory inspection mode, and maintenance mode according to the instructions or procedures; the information bar 115 displays the output according to the operation, initialization or instructions of the UAV 101; the controller 106 communicates with the system control module 20 and is systematically configured, and provides visible instructions and the status of the UAV 101 to the operating soldier or the deployer of the system control module 20 through the information bar 115.

[0106] The display of the information bar 115 in the installation mode is not dependent on the system control module 20, but on two normal non-performed tasks, such as plugging in the power supply and actually pressing the designated setup key 114 simultaneously;

[0107] A display output of the information bar 115 is used to adjust the output of the connected reconnaissance device 113. Because all reconnaissance devices 113 do not process the audio and video mixed content in the same way, it is usually necessary to adjust the output; the UAV 101 controls the soldier or deployer to follow the instructions to effectively and correctly adjust the output conversion. The controller 106 can detect the reconnaissance situation of the reconnaissance device 113 or receive the instructions input by the setting key 114. The controller 106 will not consider any other input;

[0108] A display output of the information bar 115 requires the company name and the instructions from the operating soldier, whether to change the switch or keep it on; the output can also represent the permanent unique identification number (or long address) of the drone 101, which is 123ABCD (hexadecimal) in this example. If the operating soldier installs the drone 101 and encrypts the identification of the drone 101 to prevent the use of the operating soldier with unreasonable requirements, then it is inappropriate to display the unique drone 101 identification number; In addition, in the environment where the operating soldier is installed, the company name that uniquely identifies the operating soldier's position may be insufficient and other information related to the positioning of the drone 101 must be entered; For example, the "Company Name" setting requires the entry of a non-zero company identification code. When programming the system, it refuses to accept a company name with an encoding of all zeros, so a drone 101 reporting a company name of all zeros will be refused entry into the system. The input of the company name is achieved by pressing the setting key 114;

[0109] This embodiment may allow programmable assignment of functions to the setting key 114, which may have little or no correlation with the label of the setting key 114. By means of the information bar display to enhance the assigned setting key 114 function, the operating soldier or deployer may be more accustomed to their own selection of a specific setting key 114 that performs a non-indicated function; in other words, the combination of the information bar display and the programmable key can establish an easy-to-use relationship between the operating soldier or deployer and the drone 101;

[0110] During the interaction between the system control module 20 and the drone 101, the system control module 20 makes requests to the drone 101 or receives command information sent by the drone 101 or generated by the assignment and output of the sending channel, and / or the characteristics of the drone 101 stored in the memory 202, as well as the reconnaissance results of the reconnaissance equipment 113, which can be understood as the reconnaissance data of the drone; "system status" refers to the "reconnaissance" or "configuration" action of the system control module 20; if the system control module 20 stops working or does not contact the drone 101 for any reason, then the "system status" indicates "no action", and if it displays "reconnaissance", the "system status" indicates "no action". If the system control module 20 checks whether the state of the drone 101 is "not configured" or "recognized", the operating soldier or deployer can at least know that the system control module 20 is interacting with the drone 101; according to the global instructions input by the initial system, whether the state of the drone 101 is "not configured" or "recognized", the system control module 20 will require a newly installed drone 101 to at least send its identification and positioning information; if the system control module 20 confirms that it is a previously unconfigured drone 101 or a new name that has not been loaded into the system before, then the system control module 20 enters the new name together with the characteristics of the state configuration of the power switch into the memory;

[0111] A display output of the information bar 115 provides a visible indication and status of the UAV 101 to the operating soldier or the deployer of the system control module 20. The controller 106 and the system control module 20 will communicate with each other for the initial installation until the UAV 101 is connected to the system, regardless of whether the output is displayed; if a normal company name or related data has been entered, the UAV 101 input is recognized, and the activation of any setting key will remove the installation mode; the factory inspection mode can also be entered by entering a special code through the setting key 114. This special code may not be one, it is generated by the infrared transmitter normally provided to the UAV 101; according to this method, factory personnel can enter the factory mode, or provide the operating soldier or deployer with a special transmitter that can generate such a special code;

[0112] A display output of the information bar 115 indicates the current status of the system control module 20 and the drone 101, involving displaying the current status of the drone 101 input into the system, the installation mode, etc.

[0113] In this embodiment, identifying the drone swarm 100 entering the interactive reconnaissance system includes:

[0114] Instructions concerning initial system input as described above;

[0115] In a military environment where multiple drones 101 are deployed in a military company, some companies may include more than one set of connected drones 101 and reconnaissance equipment 113, and new drones 102 may also be added to the system, in which multiple remote drones 101 communicate with a single or a small number of central unit drones 101 via drone communication data links 509;

[0116] In order to identify each drone 101, each drone 101 reconnaissance device 113 or drone 101 is provided with an address; there are two types of drone addresses: a long address and a short address;

[0117] Because the drone address does not include the change of setting the long address, the long address is set at the factory and is usually unchanged. Each drone 101 has a unique long address, which can be composed of three bytes and has an allowable range, such as 1-8, 388, 607 (0×7fffff), that is, 22 3 —1;

[0118] In order to minimize the communication cost, the short address can be set by the system control module 20. The short address is processed in the same way as the long address, and is specially set and stored to prevent it from being erased due to power failure, etc. The short address can have an allowable range such as 1 to 32,767 (0×7fff) or 215-1;

[0119] In order to distinguish between long address and short address formats, the first bit of the first address byte for a long address may be, for example, S, and for a short address may be, for example, C; conversely, if the first bit of the first address byte of a short address is S, the long address may be C; with this provision, there is no mutual influence between the long and short address formats; it should be emphasized that the range of long and short addresses listed above is a typical representative of one embodiment of this embodiment, but this embodiment is not limited thereto;

[0120] The long address is stored in a non-volatile memory (NVM) so that it is not erased. For example, several methods can be used to determine the long address of a specific drone 101:

[0121] First, when the installation mode output is displayed, the information bar 115 can display the long address;

[0122] Second, the system control module 20 determines the long address by issuing a "report long address" command to the drone 101. Regardless of the address of the drone 101 to which the command is sent, this command will result in a reply from the addressed drone 101. In the preferred embodiment, the drone 101 will return four bytes, the first byte of which can be zero.

[0123] The global address is a fixed address associated with each drone 101. In the preferred embodiment, this global address is fixed at 0×7ffc. All units confirm a global address to help send system-wide commands. According to the preferred embodiment, commands sent to the global address are usually not responded to. This global address is used to handle schedule changes, send daily meeting times, send public outputs, etc. If a command is sent to the global address, a flag is placed in the drone 101 to indicate that all types of commands have been received. This flag can be used by the system control module 20 to change the reception of global configuration commands and can also be cleared.

[0124] The system control module 20 can also be assigned an auxiliary address or a group address; the auxiliary address can also be used to issue instructions to the drone 101 and is processed by the drone 101 as a second global address. In order to optimize the system performance, more than one drone 101 can share an auxiliary address, which allows multiple drones 101 to be controlled with a single transmission cycle; the configuration address is a special address associated with each drone 101. In the best embodiment, this configuration address is fixed at 0×7ffb. If an instruction is sent to the configuration address, the instruction will not be automatically executed; other global addresses such as 0×7ffd or U×7ffe can be reserved for use as other query methods of the terminal.

[0125] In this embodiment, the configuration instruction also includes:

[0126] The permanent (long) address change command allows the operator to change the long address for a company, but keep the same name and short address assignment; in order to address it, the system control module 20 will send the same name and short address to the drone 101 using the new long address. When all old configurations need to be kept intact, in order to remove unnecessary information, this command is used to change only the long address;

[0127] The company name change command allows the operator to change the company name, but keep the same long address and short address assignment; the system control module 20 will send this new name to the drone 101 using the short address to address it;

[0128] View Company Name command, allowing the operator to select any company name and view the long address;

[0129] This embodiment does not limit the number, distance and data type of new drones 102 in a military system; for example, in order to determine the number and distance of various long-distance drones 101 at a specific time, it is required to periodically query the long-distance drones in the tuned drone communication data link 509 channel to obtain the number and distance of the drones 101; other data generated on the long-distance drone 101 can also be obtained through this technology, such as clearance information. The acquisition of such clearance information is particularly useful in an interactive reconnaissance system. Such clearance information can be sent through a communication network to announce that the enemy tank has not only been accurately detected, but has also been cleared at a fixed point;

[0130] In addition, it should be noted that the power switch of the reconnaissance equipment 113 can be controlled by the drone 101. When the on state is selected, power is continuously supplied to the reconnaissance equipment 113, and the reconnaissance equipment 113 continues to work for reconnaissance operations; when the off state is selected, the reconnaissance equipment 113 enters a closed sleep state; when the configuration, access or control of each drone 101 in the military system is completed, the enemy tank information in the battlefield environment within the visible or detectable range of the drone 101 can be obtained by controlling the "on state" detection data of the reconnaissance equipment 113; thus, the drone swarm 100 connected to the system acquires all enemy tank information in the entire battlefield environment, and transmits it to the system control center 10 through the communication data link system, thereby realizing reconnaissance of enemy tanks in the battlefield environment through the drone 101; the reconnaissance equipment 113 includes an integrated detection module, which integrates photoelectric sensors, detection radars and special electronic reconnaissance systems to achieve comprehensive detection, identification and interference of enemy tanks.

[0131] In this embodiment, a "field of vision checkpoint" mechanism model of a reconnaissance tank is set according to the tanks in the battlefield environment. For example, when only a part of the tank entity (such as the gun barrel, suspension) extends out of the bunker (that is, exposed to the line of sight of the reconnaissance equipment), the tank will not be lit immediately, but will be lit only when a sufficient part is exposed.

[0132] For the complete calculation system of the "lighting judgment mechanism", the specific mechanism is as follows: it is composed of reconnaissance detection points, field of view judgment mechanism, and reality mechanism; the reconnaissance detection points include: in the center of the front and rear of the tank, in the center of the left and right sides, and at the connection between the gun barrel and the turret (gun root), each has a "reconnaissance detection point". When any of these five key points is exposed to the field of view of the reconnaissance equipment, the tank immediately loses all additional concealment coefficient bonus effects.

[0133] like Figure 8a As shown, for example, a tank is in the grass (dense), and the concealment bonus is 50%. At this time, the five checkpoints of the tank (in the field of vision of the reconnaissance equipment) are all hidden in the grass. If one checkpoint is exposed outside the grass, the tank will immediately lose the concealment coefficient bonus effect brought by the grass (even if the tank still has four checkpoints in the grass).

[0134] For example, when a tank is in a street fight in a city, if it is exposed by a reconnaissance checkpoint, but it is exposed in a location with grass, and the other checkpoints are behind the physical map model, then the tank will only enjoy the concealment coefficient bonus effect equivalent to "the entire vehicle body is hidden in the grass".

[0135] The vision judgment mechanism includes: Similar to the vision confrontation mechanism, the "reconnaissance checkpoint" also has a corresponding "reconnaissance checkpoint". The "reconnaissance checkpoint" is usually located at the connection between the gun barrel and the turret and in the middle of the top of the turret (the "center of the top of the turret" covers possible positions including the commander's tower, machine gun turret, observation mirror, etc.) Only when these two checkpoints are not blocked, the tank's vision range is effective. When the reconnaissance checkpoint is blocked by a solid wall or bushes, the tank's vision range cannot be normally effective. The reconnaissance and reconnaissance checkpoints at the "gun root" position will move with the rotation of the turret.

[0136] like Figure 8b As shown, a concept is introduced here: 15m behind the grass: In the lighting judgment mechanism, the "penetration range" of the tank's vision for the grass is 15m, that is, the grass within 15m around the reconnaissance checkpoint, including the grass within the 15m judgment circle at the edge of the model (as shown above), will not block the tank's vision.

[0137] like Figure 8cAs shown, when the tank fires, the "firing moment" effect also affects the surrounding bushes within a range of 15m, that is, the bushes 15m around the "reconnaissance checkpoint" (at this time, the checkpoint only records the gun root checkpoint) lose their concealment effect (model determination is the same as above), which also means that "you can't have your cake and eat it too", between efficient lighting and safe firing, you can only choose one. The most straightforward words are "if the tank does not move, firing when lighting will inevitably lose concealment, and firing without losing concealment will inevitably fail to light up."

[0138] like Figure 8d As shown, the realistic mechanism consists of: when the tank is illuminated by the reconnaissance equipment, the "field tracking time" it faces will be as long as 10 seconds, which is what we call the "10-second illumination time"; the illumination judgment mechanism will have a delay of 1 / 6 second (about 0.17 seconds), such as: when the "fire moment" of tank A triggers the "concealment failure of the surrounding 15m bushes", the additional concealment of tank A will be immediately invalid, but the judgment of the illumination result will be made after 1 / 6 second. If all the tanks of the reconnaissance equipment that can illuminate tank A within 1 / 6 second are in a "destroyed" state, then the judgment result of the illumination mechanism will still be "not illuminated".

[0139] like Figure 8e As shown, the concealment bonus of trees is provided at the crown. If it is a dense crown, it provides a bonus equivalent to "dense shrubs" (50%). If it is a dead tree (sparse crown), it provides a bonus equivalent to "sparse shrubs (semi-dense grass)" (25%). The crown concealment model can be moved. When the tree falls, the model will move with the movement of the crown. Since the lighting judgment mechanism operates strictly according to the "checkpoint-checkpoint" connection, and the checkpoint is a strict "point" in the data, therefore, a slightly smaller grass cannot completely cover all the checkpoints of the tank. When the number of grass layers is large enough, even sparse grass can provide a higher concealment coefficient bonus. Multiple grass can provide a maximum of 80% concealment coefficient bonus.

[0140] This embodiment also provides a system for reconnaissance of enemy tanks by using a drone, using any of the aforementioned methods for reconnaissance of enemy tanks by using a drone, including: a two-way interactive reconnaissance system. The contents including the two-way interactive reconnaissance system are described in detail in the aforementioned embodiments, and will not be repeated here.

[0141] The technical solution of this embodiment is to construct a two-way interactive reconnaissance system for an aircraft equipped with a swarm of drones and its interactive network, control the aircraft to enter a battlefield environment to release the swarm of drones, connect the two-way interactive reconnaissance system to each drone in the swarm of drones through self-configuration and de-confliction processing, and process the reconnaissance results of each drone on enemy tanks in the battlefield environment through reconnaissance equipment, thereby reducing the complexity of battlefield environmental elements, overcoming the problem that ground-fired rockets or artillery can only attack targets from the side, which easily exposes the position of the launcher, reducing reconnaissance costs, and improving reconnaissance accuracy, reconnaissance capabilities, and reconnaissance range.

[0142] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0143] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0144] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for conducting reconnaissance on enemy tanks by using a drone, characterized in that: include: Constructing an interactive network of an aircraft (1) equipped with a drone swarm (100) and a system control center (10) to form a reconnaissance system with two-way interactive capabilities; Initializing and systematically configuring each drone (101) of the drone swarm (100); Controlling the aircraft (1) to enter a target battlefield and releasing the drone swarm (100); The reconnaissance system is used to contact each drone (101) of the drone swarm (100) through self-configuration and conflict resolution processing, and interact with each drone (101), and each drone (101) is used to control the reconnaissance equipment (113) to conduct reconnaissance on the enemy tank in the target battlefield, thereby obtaining reconnaissance results; Processing the reconnaissance results of each of the drones (101) in the target battlefield by means of the reconnaissance system; Wherein, the self-configuration includes: placing a system control module (20) on the aircraft (1) in an automatic configuration mode through a preset automatic configuration program, and starting a preset identification program for determining whether a new drone (102) has been added to the system; The conflict resolution process includes: By means of the mutual deviation characteristics of the internal counters of the new drone (102), a new secondary random address is associated with the new drone (102) through a regeneration process; The conflict rate between the new drones (102) is calculated using an empirically verified formula, and then more drones (101) are acquired by adjusting the mask value.

2. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 1, characterized in that: The drone swarm (100) comprises: a plurality of aircraft (1) and a plurality of drones (101), wherein the aircraft (1) is provided with a system control module (20); The interactive network includes: a relay network (9) between the system control center (10) and the aircraft (1) and the unmanned aerial vehicle (101), an unmanned aerial vehicle communication data link (509) between the unmanned aerial vehicle (101) and the aircraft body (11) and unmanned aerial vehicle friendly forces (10n), and an unmanned aerial vehicle network center station and a communication relay station formed by the unmanned aerial vehicle (101); The aircraft (1) comprises: an aircraft body (11) and a plurality of drones (101) parked on the aircraft body (11), wherein the drones (101) are provided with reconnaissance equipment (113), and the plurality of drones (101) on the plurality of aircraft (1) are released to form a drone swarm (100); The system control module (20) is used to control the aircraft body (11) and a plurality of unmanned aerial vehicles (101) parked on the aircraft body (11), and to control the communication interaction between the interactive network and the system control center (10); The drone (101) is equipped with a flexible frequency transceiver, and the flexible frequency transceiver is configured as a drone communication data link (509), including a drone network central station and a communication relay station; The drone (101) equipped with the reconnaissance device (113) is provided with two drone addresses, including: a long address and a short address; The long address is set at the factory, and each drone (101) has a unique long address, which is stored in the memory (202); The short address is set by the system control module (20).

3. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 1, characterized in that: The system control module (20) on the aircraft (1) is placed in an automatic configuration mode by a preset automatic configuration program, and a preset identification program is started to determine whether a new drone (102) has been added to the system, including: Sending a "set configuration mode" command, the system control module (20) is placed in automatic configuration mode, and a preset identification program is started to determine whether a new drone (102) has been added to the system: The system control module (20) retains an address assignment table in the memory (202) as a record of all configured drone addresses; if a drone long address is detected not in the existing address assignment table, the system control module (20) will automatically address the drone (101) with the long address so as to take the drone (101) out of the configuration mode and assign an unused address for short address identification; the system control module (20) determines the company name and checks the power switch status of the drone (101) with the long address and records the power switch status; The system control module (20) controls the information bar to display configuration information, including: when the information bar is called, the complete address numbers and company numbers of multiple drones are automatically configured, and "total number" and "configuration status" are displayed in the information bar respectively; when the automatic configuration is executed, the number of all new companies is calculated, and the counts of the newly identified multiple drones appear in the "configuration status" information bar; when the automatic configuration is in progress and the "name" and "total number" are displayed in the information bar, a flashing signal appears directly below the "name" and "total number" displayed in the information bar until the program ends; The first configuration cycle is performed in the configuration mode through the instruction, including: using the "secondary random address" instruction to make the self-excitation counter in the system control module generate a random address on each drone, prompting each drone to retrieve the existing count of the internal self-excitation counter to generate a random address; using the "set random address mask" instruction to change the range of the random address; each time the configuration address receives a command, the drone checks its random address and feeds back until the system control module (20) addresses it with the correct long address; If the command "report long address" is given, and no other drone responds at the same time, the system control module (20) receives the long address of the drone (101); if the drone (101) is not configured, and the long address of the drone (101) is not found in the previously configured drone table, then the drone (101) is added to the drone table, and the system control module (20) issues a command to the long address to take this specific drone (101) out of the configuration mode; if the long address of the drone (101) is found in the table, the system control module (20) will issue a command to the long address to take the drone (101) out of the configuration mode; until all drones are finally located and identified.

4. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 3, characterized in that: By means of the mutual deviation characteristics of the internal counters of the new drone (102), a new secondary random address is associated with the new drone (102) through a regeneration process, comprising: A regeneration command is issued, and the new secondary random addresses of the multiple drones that conflict in the first configuration cycle will be different, so as to find the multiple drones that are not located in the first configuration cycle (101); The conflict rate between new drones (102) is calculated using an empirically verified formula, and then more drones (101) are obtained by adjusting the mask value, including: The existing value of the internal counter is retained to generate a random address in the drone (101) in response to the "secondary random address" instruction, and a random address mask is set to respond to the "set random address mask" instruction; When a command to configure the address of the drone (101) is received, the existing secondary random address is incremented by a predetermined interval value, and the secondary random address code is ANDed with the mask; If the result is "positive", the control executes the instruction; if the result is not "positive", the drone (101) waits for the next addressing instruction to its configuration address; The process of the system control module (20) includes: The "secondary random address" command is sent to the drone (101), the drone (101) generates a random address, and the "set random address mask" command is sent to the drone (101) to set the address mask; After each instruction is sent, the instruction count is increased by 1, and the instruction count is compared with the mask value. If the instruction count is less than the mask value, the system control module (20) resends the "secondary random address" and / or "set random address mask" instructions. If the instruction count is equal to the mask value, the loop ends. If the drone (101) that responds at the same time has the same conflict, control returns to the loop after completing the loop; If a new cycle is needed, the "secondary random address" command is resent, using the internal counter to generate a sufficient phase offset of the crystal oscillators that deviate from each other until the new secondary addresses in the two conflicting drones in the cycle are different.

5. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 2, characterized in that: A plurality of parking positions are arranged on the top of the aircraft body (11), and the drone (101) is arranged on the parking positions; The aircraft body (11) is provided with an energy charging device for charging the UAV (101), the energy charging device is connected to the parking position, and the parking position is provided with an energy charging interface for charging the UAV (101); when the UAV (101) is recovered to the aircraft (1), it can be charged and charged through the charging interface; The drone (101) includes a new drone (102) and a friendly drone (10n); The unmanned aerial vehicle (101) uses the Ku band and the Ka band (high altitude), and performs matching settings in combination with different air-to-ground link frequencies in a long-distance communication relay using a bidirectional directional antenna.

6. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 5, characterized in that: The reconnaissance system comprises: a system control center (10), a satellite antenna (80), a satellite signal decoding module (70), a descrambling module (60), a first modulator (50), an addressing transceiver module (40), a second modulator (30), a system control module (20), a UAV communication data link (509) and a UAV swarm (100); The drone communication data link (509) is used to input the reconnaissance equipment (113) on the drone swarm (100) into the reconnaissance system, including a communication data link between the reconnaissance control center of the aircraft (1) and a plurality of drones (101); The satellite antenna (80) detects a satellite signal (801), receives and decodes it through a satellite signal decoding module (70), and distributes it to the drone swarm (100) via a first modulator (50) and a drone communication data link (509); The frequency band of the central command transmission channel of the system control center (10) is descrambled by a descrambling module (60), and the descrambled command signal is modulated by a first modulator (50) and distributed to the drone swarm (100) via a drone communication data link (509).

7. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 6, characterized in that: The system control module (20) includes a data processor (201) and a memory (202) for storing states and characteristics related to all drones (101) in the system; The system control module (20) controls the second modulator (30) to generate a command channel for transmission to the drone swarm (100) via the drone communication data link (509); the second modulator (30) generates a signal for driving the drone (101) to respond to the control of the system control module (20); The system control module (20) further controls an addressing transceiver module (40) for sending addressing information, wherein the addressing transceiver module (40) transmits addressing information on a separate data carrier frequency and receives uplink information sent by the drone (101) on another separate data channel; The system control module (20) comprises: a computing processing unit (200), a display module (203), an input device (204) and a printing module (205), wherein the computing processing unit (200) is connected to the display module (203), the input device (204) and the printing module (205); the computing processing unit (200) comprises a processor (201) and a memory (202), wherein the processor (201) is used to process various information, data and communications, and the memory (202) comprises a composite memory for storing control algorithm rules and a read / write memory for storing multiple reconnaissance outputs; the display module (203) is used to display information related to the aircraft (1) or / and the unmanned aerial vehicle (101); the input device (204) is used to design or / and modify system-related content, and the printing module (205) is used to print out a deployment list of the unmanned aerial vehicle (101) in a manner similar to military reporting.

8. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 7, characterized in that: The control system hardware of the drone (101) includes: A first modulator (50), an addressing transceiver module (40) and a second modulator (30), an uplink and downlink conversion module (103), a demodulator (104), a character generation module (105), a channel modulation module (112), and a reconnaissance device (113) connected via a drone communication data link (509); The uplink and downlink conversion module (103) is used to convert the interactive data of the unmanned aerial vehicle reconnaissance equipment (113) received via the unmanned aerial vehicle communication data link (509) channel or modulated to 25MH by the data transceiver module (108) and transmitted via the unmanned aerial vehicle communication data link (509); The received reconnaissance command signal is provided to the demodulator (104) by the uplink and downlink conversion module (103), and the demodulator (104) also provides automatic frequency control and automatic gain control of the uplink and downlink conversion module (103); the demodulator (104) provides the command signal to the channel modulation module (112) via the character generation module (105); the baseband audio channel of the demodulator (104) can also receive the audio signal and send it to the input end of the reconnaissance device (113) via the channel modulation module (112) using radio frequency; The drone (101) further comprises: a controller (106) for controlling the data transceiver module (108) to process data transmission and reception, the controller (106) controls the character generation of the character generation module (105), the display of the information bar (115), the input of the setting key (114) and the control of the reconnaissance equipment (113) to scout the enemy tanks by means of a gate array (107), and a random access memory (RAM) (110) provided with a backup power supply by a capacitor to store instructions, load characteristic data and the data received by the data transceiver module (108) through the data transmission loop from the system control module (20 ) responds to other data controlled by the controller (106); the controller (106) uses a fixed random access memory and is connected to an external read-only memory (ROM) via a gate array (107); the power supply module (111) provides +5V and +12V DC voltages through the controller (106) to the drone (101) and various components, and the power input to the power supply module (111) is provided to the access device through a charger or converter; the controller (106) also controls the flight process and reconnaissance process of the drone (101) through the drone flight control module (109).

9. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 8, characterized in that: The initialization setting and systematic configuration of each drone (101) of the drone swarm (100) includes: After the power module (111) supplies power, the controller (106) starts to pre-set the hardware of the drone (101); the controller (106) checks the correct operation, communication and control of the components of the drone, and the software executes a self-diagnosis program; the controller (106) enters an installation mode, a configuration mode, a factory inspection mode or a maintenance mode according to instructions or programs; When the setting key (114) is operated, a setting or configuration instruction is input to the drone (101); The information bar (115) displays output according to the operation, initialization or instruction of the drone (101); The controller (106) communicates with the system control module (20) and is systematically configured, and provides visible instructions and the status of the drone (101) to the operating soldier or the deployer of the system control module (20) through the information bar (115).

10. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 9, characterized in that: The systematized configuration further includes: identifying a new drone (102) through a global command and a global address, and a plurality of remote drones (101) communicating with a single or a small number of central unit drones (101) through a drone communication data link (509); The global address is a fixed address associated with each drone and is used to send system-wide commands; The drone address is also configured with an auxiliary address or a group address, the auxiliary address is used to issue instructions to the drone (101) and is processed by the drone (101) as a second global address; the group address is a group of more than one drone (101) that uses one auxiliary address together, and is used to control multiple drones (101) through a single transmission cycle; The instructions also include: The long address change command allows the operator to change the long address for a company; The company name change command allows the operator to change the company name; The command to view company names allows the operator to select any company name and view the long address.

11. The method for conducting reconnaissance on enemy tanks by using a drone as claimed in claim 10, characterized in that: The drone (101) acquires information about enemy tanks in a battlefield environment within the visible or detectable range of the drone (101) by controlling the reconnaissance equipment (113), so that the drone swarm (100) connected to the system acquires information about all enemy tanks in the entire battlefield environment and transmits the information to the system control center (10) via the drone communication data link (509), thereby realizing reconnaissance of enemy tanks in the battlefield environment by the drone (101); periodically querying the long-distance drones in the tuned drone communication data link (509) channel to obtain the number, distance and reconnaissance results of the drones (101); The reconnaissance equipment (113) includes a comprehensive detection module, which integrates a photoelectric sensor, a detection radar and a special electronic reconnaissance system to achieve comprehensive detection, identification and interference of enemy tanks; The tank, the main detection object of the integrated detection module, is set as a vision checkpoint mechanism model in combination with the battlefield environment, and the vision checkpoint mechanism model includes a lighting judgment mechanism; The lighting determination mechanism includes: a reconnaissance detection point, a field of view determination mechanism and a reality determination mechanism.

12. A system for conducting reconnaissance on enemy tanks by using a drone, using any of the methods for conducting reconnaissance on enemy tanks by using a drone as described in claims 1 to 11, characterized in that: Includes: Reconnaissance system.

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