Multi-unmanned aerial vehicle and nest networking communication device and method with encryption function

Abstract

The invention discloses a multi-unmanned aerial vehicle and nest networking communication device and method with an encryption function, and the device comprises a sky end module and a ground end module which are respectively fixed with an unmanned aerial vehicle and a nest and are in signal connection with the unmanned aerial vehicle and the nest, and each of the sky end module and the ground end module comprises an ad-hoc network data link terminal which is used for the data receiving and transmitting of the unmanned aerial vehicle or the nest; the unmanned aerial vehicles and the aircraft nests are constructed and updated through respective ad hoc network data link terminals, the plurality of aircraft nests are used as relay nodes to form an upper layer network, each aircraft nest is in networking communication with the plurality of unmanned aerial vehicles through a ground end module, and the plurality of unmanned aerial vehicles are used as lower layer nodes and mutually form a network topology of a subnet; and the ad hoc network data link terminal of the unmanned aerial vehicle encrypts the to-be-transmitted data based on the encryption strategy, and sends the encrypted to-be-transmitted data to the target nest and / or the ad hoc network data link terminal of the unmanned aerial vehicle through the network topology. According to the invention, the data transmission stability and security of multi-unmanned aerial vehicle and nest networking communication can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of communication technology, and in particular relates to a multi-UAV and machine nest networking communication device and method with encryption function. Background Art

[0002] With the rapid development of drone technology, it has been widely used in many fields. Especially in the field of power inspection, drones have the advantages of low cost, high maneuverability, and fatigue-free. They solve the problems of low efficiency of traditional manual inspection and the great influence of complex environment on manual inspection, and greatly improve the inspection efficiency. In recent years, drone line inspection has become one of the main methods of Jiangsu power grid inspection, and a three-dimensional inspection mode of "machine inspection as the main and human inspection as the auxiliary" has basically been formed. With the large-scale application of Jiangsu power grid inspection drones and machine nests, the problems of short flight time of drone line inspection, uneven technical level of drone operators, poor inspection accuracy and consistency have been solved to a certain extent, guiding the rapid development of Jiangsu power grid drone inspection in the direction of automation and intelligence. However, there are still many problems and pain points in the actual application of drones and machine nests in power grid inspection:

[0003] On the one hand, the communication link between the communication base station and the drone lacks strict security measures, which poses a great security risk. At present, the general communication frequency bands of mainstream drones are mostly 2.4GHz and 5.8GHz public frequency bands, which are easily interfered and invaded by external signals, and even drones are maliciously taken over and countered. With the large-scale application of drone nests, this phenomenon will become increasingly prominent, posing a hidden danger to drone inspection work and the safety of the power grid system.

[0004] On the other hand, the communication between drones and nests during operation generally uses a point-to-point wireless data communication link. This communication method limits the operating range of drones to the location of the fixed nest (communication base station) to which they are bound. Drones can only perform inspections within the control range of the fixed nest, making it difficult to cover the line inspection needs in wide-area scenarios, limiting the work efficiency of drones. Once a problem occurs in a nest device, it will lead to a blind spot in the inspection of the area, which requires manual blind spot filling, resulting in the inability to promptly discover and handle problems in the power grid lines, which in turn affects the comprehensiveness and efficiency of drone power grid inspections. Summary of the invention

[0005] In view of the defects existing in the above-mentioned prior art, the present invention provides a multi-UAV and machine nest networking communication device and method with encryption function, which can improve the data transmission stability and security of multi-UAV and machine nest networking communication.

[0006] In a first aspect, the present invention provides a multi-UAV and machine nest networking communication device with encryption function, including a sky end module and a ground end module;

[0007] The sky-end module and the ground-end module are respectively fixed to the UAV and the machine nest and are connected by signals; both the sky-end module and the ground-end module include a self-organizing network data link terminal, which is used to receive data and transmit it to the UAV or the machine nest, and to send data from the UAV or the machine nest;

[0008] The drones and machine nests are constructed and updated through their own self-organizing network data link terminals, and multiple machine nests are used as relay nodes to form an upper-level network. Each machine nest communicates with multiple drones through a ground-end module. Multiple drones serve as lower-level nodes and form a subnet network topology with each other. The drone's self-organizing network data link terminal encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the drone's self-organizing network data link terminal through the network topology.

[0009] Furthermore, the sky end module also includes a first heat dissipation module, a first interface unit and a first shell; the self-organizing network data link terminal of the sky end module is arranged in the first shell, the first interface unit is fixed on the self-organizing network data link terminal of the sky end module and extends outside the first shell, and the first heat dissipation module is fixed on one side of the first shell and connected to the self-organizing network data link terminal of the sky end module.

[0010] Furthermore, the ground-end module also includes a power management module, a second shell, a second heat dissipation module, a second interface unit and a status indicator light; the power management module is connected to the self-organizing data link terminal of the ground-end module, the self-organizing data link terminal of the ground-end module is arranged in the second shell, the second interface unit is fixed on the self-organizing data link terminal of the ground-end module and extends outside the second shell, the second heat dissipation module is fixed on one side of the second shell and connected to the self-organizing data link terminal of the ground-end module, and the status indicator light is fixed on the self-organizing data link terminal of the ground-end module.

[0011] Furthermore, the ad hoc network data link terminal includes an encryption and decryption module, a baseband unit, a radio frequency unit and an antenna unit;

[0012] The encryption and decryption module is used for data encryption and decryption. The baseband unit includes a physical layer transmission waveform, a high-level protocol, power management and a data interface. The physical layer transmission waveform and the high-level protocol together constitute the protocol stack of the self-organizing network data link terminal. The encrypted data interface is connected to the encryption and decryption module; the RF unit includes an RF transceiver chip module and an RF front-end circuit module. The RF transceiver chip module is used to complete the gain control, filtering, digital / analog and analog / digital conversion of the frequency-converted signal. The RF front-end circuit module is used to complete the reception, gain control, filtering and frequency conversion of the RF signal. The working state of the RF front-end circuit module is controlled by the software corresponding to the physical layer transmission waveform.

[0013] Furthermore, the ad hoc network data link terminal includes an AP software transmission subsystem, a Modem subsystem and a PC Tools subsystem. One end of the AP software transmission subsystem interacts with the drone or the machine nest, and the other end interacts with the Modem subsystem for commands and data. The other end of the Modem subsystem sends and receives data through a private protocol. PC Tools includes production test tools, download tools and debugging tools.

[0014] Furthermore, the RF transceiver chip module includes a digital-to-analog converter, an analog-to-digital converter, a first mixer, a second mixer, a local oscillator and a low-pass filter, the RF front-end circuit module includes a transmitter power amplifier, a receiver low-noise amplifier, a first bandpass filter, a second bandpass filter, a first dual-pass switch and a second dual-pass switch, and the antenna unit includes at least two antennas.

[0015] Furthermore, the input end of the digital-to-analog converter is connected to the baseband unit, the output end of the digital-to-analog converter is connected to the input end of the first mixer, the output end of the first mixer is connected to the input end of the transmitter power amplifier, the output end of the transmitter power amplifier is connected to the input end of the first bandpass filter, the output end of the first bandpass filter is respectively connected to the fixed contacts of the first dual-pass switch and the second dual-pass switch, and the common contacts of the first dual-pass switch and the second dual-pass switch are respectively connected to an antenna; the other fixed contacts of the first dual-pass switch and the second dual-pass switch are connected to the input end of the second bandpass filter, the output end of the second bandpass filter is connected to the input end of the receiver low-noise amplifier, the output end of the receiver low-noise amplifier is connected to the input end of the second mixer, the output end of the second mixer is connected to the input end of the low-pass filter, the output end of the low-pass filter is connected to the input end of the analog-to-digital converter, the output end of the analog-to-digital converter is connected to the baseband unit, and the local oscillator is respectively connected to the input ends of the first mixer and the second mixer.

[0016] Furthermore, the network topology is constructed and updated, including:

[0017] The machine nest broadcasts networking signals to drones within a predetermined range; the drone matches its preset configuration with the received networking signal, and sends an access request signal to the machine nest when a match occurs; the machine nest authenticates the drone based on the received access request signal, and when the authentication passes, marks the drone as an accessed node and stores the drone's relevant information to build an initial network topology;

[0018] When a drone that is not marked as an accessed node joins the initial network topology, the drone that is not marked as an accessed node sends a test signal to the nodes within a predetermined range and receives feedback to determine the quality of the communication links between the drone and the nodes within the predetermined range respectively; based on the determined communication link quality and quality threshold, the direct or indirect connection relationship between the drone that is not marked as an accessed node and the nodes within the predetermined range is given, and the network topology is updated; wherein, the nodes include drones and machine nests.

[0019] Further, the self-organizing network data link terminal of the drone encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the drone through the network topology, including:

[0020] Authentication is performed between the drone and the nodes within a predetermined range, and the nodes that pass the authentication are determined;

[0021] The drone determines the best routing information based on the target node to which the data to be transmitted is sent;

[0022] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the optimal routing information.

[0023] Furthermore, the drone is authenticated with nodes within a predetermined range, and nodes that pass the authentication are determined, including:

[0024] The drone's self-organizing network data link terminal sends a specific detection signal within a predetermined range;

[0025] After receiving the detection signal, the node within the predetermined range determines whether the connection conditions are met and generates a feedback signal to return to the drone;

[0026] The self-organizing network data link terminal of the UAV determines the node that meets the requirements based on the feedback signal and sends a connection request to the node that meets the requirements;

[0027] After receiving the connection request, the node that meets the requirements performs identity authentication by verifying the authentication information pre-set by both parties, and establishes a connection after the authentication is successful.

[0028] Furthermore, the drone determines the best routing information according to the target node to which the data to be transmitted is sent, including:

[0029] The self-organizing network data link terminal of the UAV sends a routing request message containing the target node identifier and its own identifier to the node that has passed the identity authentication;

[0030] After a node that has passed the identity authentication receives a routing request message, if it is not the target node and has not processed the routing request message, it will add its own identification and link information with the drone to the routing request message and forward it until the target node receives the routing request message or the preset maximum number of forwarding times is reached;

[0031] The target node determines the best route information from the UAV sending the data to be transmitted to the target node according to the link information of each node in the received routing request information and the preset routing selection criteria;

[0032] The target node returns the best routing information to the UAV that sent the data to be transmitted through the reverse path of the best routing information.

[0033] Furthermore, the self-identity and the link information with the drone are added to the routing request message and forwarded until the target node receives the routing request information or reaches the preset maximum forwarding number, including:

[0034] Add its own identification and link information with the drone to the routing request message and forward it to the adjacent nodes that are connected to it and have not processed the routing request message;

[0035] The adjacent node adds its own identification and the link information with the drone and the previous forwarding node to the routing request message and repeats the forwarding and adding steps until the target node receives the routing request information forwarded by all adjacent nodes connected to it or the forwarding number of a routing request information reaches the maximum value.

[0036] Further, when the self-organizing network data link terminal of the UAV transmits the data to be transmitted to the target UAV, the path corresponding to the optimal routing information contains at least one machine nest;

[0037] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the best routing information, including:

[0038] The UAV's self-organizing network data link terminal determines that the target node for data transmission is the machine nest or the UAV;

[0039] When the target node is a machine nest, the self-organizing network data link terminal of the UAV will encrypt the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the UAV to obtain a ciphertext, and the self-organizing network data link terminal of the UAV will send the ciphertext to the target machine nest through the path corresponding to the optimal routing information, and the target machine nest will decrypt the ciphertext through the session key matching the UAV to obtain the corresponding data;

[0040] When the target node is a drone, the drone's self-organizing network data link terminal encrypts the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the drone to obtain a first ciphertext, and the drone's self-organizing network data link terminal sends the first ciphertext to the included machine nest through the path corresponding to the optimal routing information; the machine nest ciphertext is decrypted and encrypted through the session key matching the target drone to obtain a second ciphertext, and the machine nest's self-organizing network data link terminal sends the second ciphertext to the target drone through the path corresponding to the optimal routing information, and the target drone decrypts the second ciphertext through the session key matching itself to obtain the corresponding data.

[0041] In a second aspect, the present invention further provides a method for networking and communicating multiple drones and machine nests with encryption functions, using the above-mentioned multiple drones and machine nest networking and communication device with encryption functions, the method comprising:

[0042] The drones and machine nests are constructed and updated through their own self-organizing network data link terminals, with multiple machine nests as relay nodes to form the upper network. Each machine nest communicates with multiple drones through the ground terminal module. Multiple drones act as lower-level nodes and form subnets with each other.

[0043] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the UAV through the network topology.

[0044] Furthermore, the network topology is constructed and updated, including:

[0045] The machine nest broadcasts networking signals to drones within a predetermined range; the drone matches its preset configuration with the received networking signal, and sends an access request signal to the machine nest when a match occurs; the machine nest authenticates the drone based on the received access request signal, and when the authentication passes, marks the drone as an accessed node and stores the drone's relevant information to build an initial network topology;

[0046] When a drone that is not marked as an accessed node joins the initial network topology, the drone that is not marked as an accessed node sends a test signal to the nodes within a predetermined range and receives feedback to determine the quality of the communication links between the drone and the nodes within the predetermined range respectively; based on the determined communication link quality and quality threshold, the direct or indirect connection relationship between the drone that is not marked as an accessed node and the nodes within the predetermined range is given, and the network topology is updated; wherein, the nodes include drones and machine nests.

[0047] Further, the self-organizing network data link terminal of the drone encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the drone through the network topology, including:

[0048] Authentication is performed between the drone and the nodes within a predetermined range, and the nodes that pass the authentication are determined;

[0049] The drone determines the best routing information based on the target node to which the data to be transmitted is sent;

[0050] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the optimal routing information.

[0051] Furthermore, the drone is authenticated with nodes within a predetermined range, and nodes that pass the authentication are determined, including:

[0052] The drone's self-organizing network data link terminal sends a specific detection signal within a predetermined range;

[0053] After receiving the detection signal, the node within the predetermined range determines whether the connection conditions are met and generates a feedback signal to return to the drone;

[0054] The self-organizing network data link terminal of the UAV determines the node that meets the requirements based on the feedback signal and sends a connection request to the node that meets the requirements;

[0055] After receiving the connection request, the node that meets the requirements performs identity authentication by verifying the authentication information pre-set by both parties, and establishes a connection after the authentication is successful.

[0056] Furthermore, the drone determines the best routing information according to the target node to which the data to be transmitted is sent, including:

[0057] The self-organizing network data link terminal of the UAV sends a routing request message containing the target node identifier and its own identifier to the node that has passed the identity authentication;

[0058] After a node that has passed the identity authentication receives a routing request message, if it is not the target node and has not processed the routing request message, it will add its own identification and link information with the drone to the routing request message and forward it until the target node receives the routing request message or the preset maximum number of forwarding times is reached;

[0059] The target node determines the best route information from the UAV sending the data to be transmitted to the target node according to the link information of each node in the received routing request information and the preset routing selection criteria;

[0060] The target node returns the best routing information to the UAV that sent the data to be transmitted through the reverse path of the best routing information.

[0061] Furthermore, the self-identity and the link information with the drone are added to the routing request message and forwarded until the target node receives the routing request information or reaches the preset maximum forwarding number, including:

[0062] Add its own identification and link information with the drone to the routing request message and forward it to the adjacent nodes that are connected to it and have not processed the routing request message;

[0063] The adjacent node adds its own identification and the link information with the drone and the previous forwarding node to the routing request message and repeats the forwarding and adding steps until the target node receives the routing request information forwarded by all adjacent nodes connected to it or the forwarding number of a routing request information reaches the maximum value.

[0064] Further, when the self-organizing network data link terminal of the UAV transmits the data to be transmitted to the target UAV, the path corresponding to the optimal routing information contains at least one machine nest;

[0065] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the best routing information, including:

[0066] The UAV's self-organizing network data link terminal determines that the target node for data transmission is the machine nest or the UAV;

[0067] When the target node is a machine nest, the self-organizing network data link terminal of the UAV will encrypt the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the UAV to obtain a ciphertext, and the self-organizing network data link terminal of the UAV will send the ciphertext to the target machine nest through the path corresponding to the optimal routing information, and the target machine nest will decrypt the ciphertext through the session key matching the UAV to obtain the corresponding data;

[0068] When the target node is a drone, the drone's self-organizing network data link terminal encrypts the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the drone to obtain a first ciphertext, and the drone's self-organizing network data link terminal sends the first ciphertext to the included machine nest through the path corresponding to the optimal routing information; the machine nest ciphertext is decrypted and encrypted through the session key matching the target drone to obtain a second ciphertext, and the machine nest's self-organizing network data link terminal sends the second ciphertext to the target drone through the path corresponding to the optimal routing information, and the target drone decrypts the second ciphertext through the session key matching itself to obtain the corresponding data.

[0069] The present invention provides a multi-UAV and machine nest networking communication device and method with encryption function, which at least includes the following beneficial effects:

[0070] (1) The self-organizing network communication module of the present invention is designed into two types: the air end and the ground end of the self-organizing network module according to different installation objects, which is more conducive to the adaptability and expansibility of the communication module. At the same time, the adopted network architecture can effectively improve the transmission range and transmission stability of multi-UAV and machine nest communication. Based on the equipment conditions at the practical level, the present invention integrates the advantages and characteristics of various technologies, integrates networking communication hardware, communication encryption, and networking models, and forms an innovative networking communication system suitable for multi-UAV and multi-machine nest inspection application scenarios.

[0071] (2) The air-end and ground-end networking modules with encryption modules of the present invention add encryption mechanisms and functions from the software and hardware levels, enhance the security of the networking communication mode, effectively prevent data from being stolen or tampered with, ensure the confidentiality, integrity and availability of the communication content, and expand the networking application scope of multiple UAV devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 A schematic diagram of a multi-UAV and machine nest networking communication device with encryption function provided by the present invention;

[0073] Figure 2 A structural diagram of a sky terminal module provided in an embodiment of the present invention;

[0074] Figure 3 An exploded diagram of a sky terminal module provided in one embodiment of the present invention;

[0075] Figure 4 A structural diagram of a ground terminal module provided in an embodiment of the present invention;

[0076] Figure 5 An exploded diagram of a ground terminal module provided in one embodiment of the present invention;

[0077] Figure 6 A schematic diagram of a radio frequency transceiver chip module provided by an embodiment of the present invention;

[0078] Figure 7 A flowchart of a multi-UAV and machine nest networking communication method with encryption function provided by the present invention;

[0079] Figure 8 A schematic diagram of a network topology provided for an embodiment of the present invention;

[0080] Fig. 9 A flowchart of determining optimal routing information is provided for an embodiment of the present invention.

[0081] Description of the accompanying drawings: 1-air end module, 100-ad hoc network data link terminal of the air end module, 101-first upper shell, 102-encryption and decryption module of the air end module, 103-radio frequency unit of the air end module, 104-data adapter board, 105-first interface unit, 106-SMA RF connector of the air end module, 107-first bottom shell, 108-first heat dissipation module, 2-ground end module, 200-ad hoc network data link terminal of the ground end module, 201-radio frequency unit of the ground end module, 202-encryption and decryption module of the ground end module, 203-power management module, 204-SMA RF connector of the ground end module, 205-second interface unit, 206-second upper shell, 207-second heat dissipation module, 208-packaging board, 209-status indicator light mounting hole, 210-sealing ring, 211-second bottom shell. DETAILED DESCRIPTION

[0082] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0083] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0084] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0085] like Figure 1 As shown, the present invention provides a multi-UAV and machine nest networking communication device with encryption function, which may include a sky end module and a ground end module;

[0086] The sky-end module and the ground-end module are respectively fixed to the UAV and the machine nest and are connected by signals; both the sky-end module and the ground-end module include a self-organizing network data link terminal, which is used to receive data and transmit it to the UAV or the machine nest, and to send data from the UAV or the machine nest;

[0087] The drones and machine nests are constructed and updated through their own self-organizing network data link terminals, and multiple machine nests are used as relay nodes to form an upper-level network. Each machine nest communicates with multiple drones through a ground-end module. Multiple drones serve as lower-level nodes and form a subnet network topology with each other. The drone's self-organizing network data link terminal encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the drone's self-organizing network data link terminal through the network topology.

[0088] Specifically, the sky end module of the present invention further includes a first heat dissipation module, a first interface unit and a first housing; the ad hoc data link terminal of the sky end module is arranged in the first housing, the first interface unit is fixed on the ad hoc data link terminal of the sky end module and extends outside the first housing, the first heat dissipation module is fixed on one side of the first housing and connected to the ad hoc data link terminal of the sky end module. The ground end module further includes a power management module, a second housing, a second heat dissipation module, a second interface unit and a status indicator; the power management module is connected to the ad hoc data link terminal of the ground end module, the ad hoc data link terminal of the ground end module is arranged in the second housing, the second interface unit is fixed on the ad hoc data link terminal of the ground end module and extends outside the second housing, the second heat dissipation module is fixed on one side of the second housing and connected to the ad hoc data link terminal of the ground end module, and the status indicator is fixed on the ad hoc data link terminal of the ground end module.

[0089] In actual application scenarios, such as Figure 2 and Figure 3As shown, the heat dissipation cover of the self-organizing network data link terminal 100 of the sky end module is pasted with heat-conducting shock-absorbing cotton, and is installed on the first upper shell 101 of the first shell, and the heat-conducting shock-absorbing cotton is in contact with the first upper shell 101 of the first shell for compaction. The first upper shell 101 of the first shell adopts a temperature equalizing plate design to increase the heat dissipation capacity of the module. The radio frequency unit 103 of the sky end module is connected to the communication antenna of the drone through the SMA radio frequency connector 106 of the sky end module to send and receive communication signals. The self-organizing network data link terminal 100 of the sky end module is combined with the data adapter board 104 through a double-row pin, and the communication port is transferred out on the data adapter board 104, and the first interface unit 105 (J30J standard interface) is used to connect to the drone's onboard communication serial port to exchange communication information. The power cord on the self-organizing network data link terminal 100 of the sky end module is connected to the drone power supply system to provide DC5V power for the self-organizing network data link terminal 100 of the sky end module. The first bottom shell 107 of the first shell is bolted together with the first upper shell 101 and sealed by a sealing ring. The first heat dissipation module 108, i.e., a heat dissipation fan, is installed on the first bottom shell 107 to increase the heat dissipation function. The sky end module 1 can be installed on the flight control component or airborne component of the drone, or can be independently installed on the drone structure.

[0090] like Figure 4 and Figure 5 As shown, the heat conduction and shock absorbing cotton is pasted on the heat dissipation cover plate of the self-organizing network data link terminal of the ground end module, and is installed on the second upper shell 206 of the second shell, and the heat conduction and shock absorbing cotton is in contact with the second upper shell of the second shell and compacted. The outer side of the second upper shell of the second shell adopts a temperature equalizing plate design, which is provided with a groove, and a second heat dissipation module 207, that is, a heat dissipation fan, is installed in the groove, and a packaging board 208 with a through hole is fixed at the groove. The bottom of the self-organizing network data link terminal 200 of the ground end module adopts a double-row pin connection with the power management module 203, and the power management module 203 is also fixed on the second upper shell 206 of the second shell. The communication information of the self-organizing network data link terminal 200 and the power management module 203 of the ground end module is collected into the same serial port, and the second interface unit 205 (J30J standard interface) is used to exchange information with the external control device, and DC24V is used for power supply. The radio frequency unit 201 of the ground end module is connected to the external communication antenna through the SMA radio frequency connector 204 to send and receive communication signals. The second bottom shell 211 of the second shell is bolted together with the second upper shell 206 and sealed by a sealing ring 210. Three status indicator light mounting holes 209 are provided on the side of the second shell, which can light up lights of different colors and frequencies according to the working status of the ad hoc network communication module.

[0091] The ad hoc network data link terminal includes an encryption and decryption module, a baseband unit, a radio frequency unit and an antenna unit;

[0092] The encryption and decryption module is used for data encryption and decryption. The baseband unit includes a physical layer transmission waveform, a high-level protocol, power management and a data interface. The physical layer transmission waveform and the high-level protocol together constitute the protocol stack of the self-organizing network data link terminal. The encrypted data interface is connected to the encryption and decryption module; the RF unit includes an RF transceiver chip module and an RF front-end circuit module. The RF transceiver chip module is used to complete the gain control, filtering, digital / analog and analog / digital conversion of the frequency-converted signal. The RF front-end circuit module is used to complete the reception, gain control, filtering and frequency conversion of the RF signal. The working state of the RF front-end circuit module is controlled by the software corresponding to the physical layer transmission waveform.

[0093] In the encryption and decryption module, the NARI NRSEC3000 security chip is used, which has an independent memory protection unit and memory encryption unit. The chip implements the SM2 and SM1 algorithm-specific encryption modules, DES / 3DES encryption modules and RSA public key algorithm engines required for commercial cryptographic products. The chip provides a 32-bit hardware encryption processor that can be used to implement public key algorithms, digest algorithms, and symmetric algorithms such as AES and DES. At the data access chip end of the baseband unit, the NARI security platform access module SC1732Y (ESAM) is used, which supports the SM1, SM2, and SM3 national encryption algorithms.

[0094] like Figure 6 As shown, the RF transceiver chip module includes a digital-to-analog converter, an analog-to-digital converter, a first mixer, a second mixer, a local oscillator and a low-pass filter; the RF front-end circuit module includes a transmitter power amplifier, a receiver low-noise amplifier, a first bandpass filter, a second bandpass filter, a first dual-pass switch and a second dual-pass switch; and the antenna unit includes at least two antennas.

[0095] The input end of the digital-to-analog converter is connected to the baseband unit, the output end of the digital-to-analog converter is connected to the input end of the first mixer, the output end of the first mixer is connected to the input end of the transmitter power amplifier, the output end of the transmitter power amplifier is connected to the input end of the first bandpass filter, the output end of the first bandpass filter is respectively connected to the fixed contacts of the first dual-pass switch and the second dual-pass switch, and the common contacts of the first dual-pass switch and the second dual-pass switch are respectively connected to an antenna; the other fixed contacts of the first dual-pass switch and the second dual-pass switch are connected to the input end of the second bandpass filter, the output end of the second bandpass filter is connected to the input end of the receiver low-noise amplifier, the output end of the receiver low-noise amplifier is connected to the input end of the second mixer, the output end of the second mixer is connected to the input end of the low-pass filter, the output end of the low-pass filter is connected to the input end of the analog-to-digital converter, the output end of the analog-to-digital converter is connected to the baseband unit, and the local oscillator is respectively connected to the input ends of the first mixer and the second mixer.

[0096] In the receiving direction, the self-organizing data link terminal performs bandpass filtering on the RF signal received by the antenna through a filter to filter out the out-of-band interference signal. After low-noise amplification by the power amplifier module, the signal is sent to the receiving channel of the RF transceiver. The RF transceiver down-converts the RF signal and converts it into a baseband digital signal after AD conversion, and transmits it to the baseband unit. After the baseband unit completes the data detection function, it is sent to the baseband processor chip through the serial interface through the encryption and decryption module for transmission waveform processing. The transmission waveform includes synchronization, demodulation, decoding, equalization, error correction and other processing. The link layer protocol runs in the baseband processor chip to complete the network synchronization access and resource scheduling. The network layer protocol runs in the encryption and decryption module to complete the routing algorithm and data aggregation processing. The encryption and decryption module can also perform task planning related processing. The transmission information is transmitted through the interface unit and the command and control subsystem.

[0097] The radio frequency unit 103, baseband unit and encryption and decryption module 102 of the sky end module 1 are integrated on the module board, and each module is covered with a protective and heat dissipation cover, forming the self-organizing network data link terminal of the sky end module. The radio frequency unit 201, baseband unit and encryption and decryption module 202 of the ground end module 2 are integrated on the module board, and each module is covered with a protective and heat dissipation cover, forming the self-organizing network data link terminal 200 of the ground end module.

[0098] In practical applications, the multi-UAV and nest equipment networking communication system constructed by the present invention is planned to adopt a layered self-organizing network architecture, each UAV is equipped with a sky end module, and each nest is equipped with a ground end module. The deployed nest is used as a relay node to form an upper network, and the nest is connected to the remote control center through a wired network. Each nest can communicate with multiple UAVs through a ground end module. Multiple UAVs, as the main lower-layer nodes, can form subnets with each other, and together with the wireless ground end module of the nest, form a network topology with an upper and lower structure. Different working frequencies are used between each node to avoid mutual interference. There is at least one gateway or backup gateway node in each subnet, and the subnet contains two sky end modules working at different frequencies, which communicate with the subnet and the relay network respectively. Each subnet can automatically select one of the dual-frequency nodes as a gateway node, and the other dual-frequency nodes as backup gateways. It has the characteristics of a large number of networking nodes in the whole network, a large data throughput, and a small communication delay between machines in the subnet.

[0099] The self-organizing network data link terminal of the present invention includes a software system. Specifically, the self-organizing network data link terminal includes an AP software transmission subsystem, a Modem subsystem and a PC Tools subsystem. One end of the AP software transmission subsystem interacts with a drone or a machine nest, and the other end interacts with the Modem subsystem for commands and data; the other end of the Modem subsystem receives and sends data through a private protocol, and the PC Tools include a production test tool, a download tool and a debugging tool.

[0100] In actual applications, the AP data transmission subsystem of the ad hoc network data link terminal interacts with the information terminal through USB / RJ45 / UART at one end, and exchanges commands and data through the bridge and modem subsystems at the other end; the modem subsystem exchanges commands and data with the AP data transmission subsystem through the bridge at one end, and sends and receives data through the LTE-SON private protocol at the other end.

[0101] The AP software system design of the ad hoc data link terminal is based on the AP+CP architecture. The AP provides upper-layer applications and external interface platforms, and the CP is responsible for the implementation of the ad hoc wireless protocol, including the high-level protocol subsystem + physical layer protocol subsystem. The high-level protocol software subsystem is mainly composed of the wireless protocol layer and the abstract interface layer. The wireless protocol layer includes L3's radio resource control RRC, packet data convergence protocol PDCP, radio link control RLC, and media access control MAC. The physical layer protocol stack is based on a real-time operating system and follows the ideas of systematic design and modular software design. The physical layer software includes modules such as L1CC, OSA, ALGO, and DD. Multiple modules are integrated to form a subsystem responsible for realizing the wireless underlying communication of the ad hoc network.

[0102] The high-level protocol subsystem adopts the WAPI secure access protocol to provide mutual authentication and session key negotiation between terminal devices and APs, and adopts a public key certificate scheme based on elliptic curves; it further adopts the block encryption algorithm SMS4 to enhance the confidentiality of communication data. The user's digital certificate can be encrypted using the public key of ASU for access authentication, solving the problem of user certificate confidentiality. In order to further address the threat of replay attacks to the protocol, a timestamp is added to the protocol to resist replay attacks. In addition, in response to pseudo-AP attacks, the AP signs the certificate authentication request message to resist this attack and improve the efficiency of the protocol operation.

[0103] like Figure 7 As shown, the present invention also provides a multi-UAV and machine nest networking communication method with encryption function, using the multi-UAV and machine nest networking communication device with encryption function, the method may include:

[0104] The drones and machine nests are constructed and updated through their own self-organizing network data link terminals, with multiple machine nests as relay nodes to form the upper network. Each machine nest communicates with multiple drones through the ground terminal module. Multiple drones act as lower-level nodes and form subnets with each other.

[0105] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the UAV through the network topology.

[0106] The construction and update of the network topology may include:

[0107] The machine nest broadcasts a networking signal to drones within a predetermined range; the drone matches its own preset configuration with the received networking signal, and sends an access request signal to the machine nest when a match is found; the machine nest authenticates the drone based on the received access request signal, marks the drone as an accessed node when the authentication is successful, and stores the drone's related information to build an initial network topology; wherein the networking signal includes the machine nest's own identification, frequency band, and network ID, the preset configuration includes whether it is within the network range allowed for access and whether the frequency band matches, the access request signal includes the drone's own identification and location information, and the related information includes location and communication capability;

[0108] When a drone that is not marked as an accessed node joins the initial network topology, the drone that is not marked as an accessed node sends a test signal to the nodes within a predetermined range and receives feedback to determine the quality of the communication link between the drone and the nodes within the predetermined range; based on the determined communication link quality and quality threshold, the direct or indirect connection relationship between the drone that is not marked as an accessed node and the nodes within the predetermined range is given, and the network topology is updated, such as Figure 8 As shown; wherein, the nodes include drones and machine nests.

[0109] In actual application scenarios, the initialization stage of network topology construction: when the machine nest is started, it first broadcasts a networking signal containing its own identification and network parameters (such as frequency band, network ID, etc.). After receiving the signal, the surrounding drones determine whether to participate in the networking based on their own preset configurations (such as whether they are within the network range allowed to access, whether the frequency band matches, etc.). If the conditions are met, the drone sends an access request signal containing its own identification, location information, etc. to the machine nest. After receiving the request signal, the machine nest verifies the identity of the drone (by comparing it with a pre-stored list of authorized drones, etc.). If the verification is successful, the machine nest marks the drone as an accessed node and stores its relevant information (such as location, communication capabilities, etc.) in the node information database of the network control unit.

[0110] Dynamic expansion: When a new drone joins the network, it first connects to the network and then uses the self-organizing network data link terminal to actively detect the communication link with the surrounding connected nodes (including other drones and nests). By sending test signals to each other and receiving feedback, the quality of the communication link between each other (such as signal strength, bit error rate, etc.) is determined. Based on this information, the new drone can establish a direct or indirect connection with the surrounding nodes. For example, if the quality of the direct communication link between drone A and the nest is poor, but the quality of the communication link between drone A and drone B is good, and there is a stable communication link between drone B and the nest, then drone A can establish an indirect connection with the nest through drone B as a transit node. In actual operation, drone A can send a test signal to drone B through its wireless communication module. After drone B receives the signal, it returns the feedback signal to drone A. Drone A determines whether an indirect connection can be established based on the information in the feedback signal (such as signal strength, bit error rate, etc.).

[0111] The self-organizing network data link terminal of the unmanned aerial vehicle of the present invention encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the unmanned aerial vehicle through the network topology, which may include:

[0112] Authentication is performed between the drone and the nodes within a predetermined range, and the nodes that pass the authentication are determined;

[0113] The drone determines the best routing information based on the target node to which the data to be transmitted is sent;

[0114] The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the optimal routing information.

[0115] The drone is authenticated with nodes within a predetermined range, and nodes that pass the authentication are determined, including:

[0116] The drone's self-organizing network data link terminal sends a specific detection signal within a predetermined range;

[0117] After receiving the detection signal, the node within the predetermined range determines whether the connection conditions are met and generates a feedback signal to return to the drone;

[0118] The self-organizing network data link terminal of the UAV determines the node that meets the requirements based on the feedback signal and sends a connection request to the node that meets the requirements;

[0119] After receiving the connection request, the node that meets the requirements performs identity authentication by verifying the authentication information pre-set by both parties, and establishes a connection after the authentication is successful.

[0120] In actual application scenarios, after the drone is started, its self-organizing network data link terminal starts to send a specific detection signal. After the surrounding drones and nests receive the detection signal, if the connection conditions are met (such as within the signal coverage range, identity verification is passed, etc.), they will send a feedback signal to the drone. After receiving the feedback signal, the drone determines whether the identification information in the feedback signal meets the requirements. If it does, it sends a connection request to the corresponding node. After receiving the connection request, the node performs identity authentication by verifying the pre-set identification and password of both parties. If the verification is successful, a connection is established and the drone can be included in the network topology.

[0121] like Fig. 9 As shown, the drone determines the best routing information based on the target node to which the data to be transmitted is sent, including:

[0122] The self-organizing network data link terminal of the UAV sends a routing request message containing the target node identifier and its own identifier to the node that has passed the identity authentication;

[0123] After a node that has passed the identity authentication receives a routing request message, if it is not the target node and has not processed the routing request message, it will add its own identification and link information with the drone to the routing request message and forward it until the target node receives the routing request message or the preset maximum number of forwarding times is reached;

[0124] The target node determines the best route information from the UAV sending the data to be transmitted to the target node according to the link information of each node in the received routing request information and the preset routing selection criteria;

[0125] The target node returns the best routing information to the UAV that sent the data to be transmitted through the reverse path of the best routing information.

[0126] Add its own identification and the link information with the drone to the routing request message and forward it until the target node receives the routing request information or reaches the preset maximum forwarding number, including:

[0127] Add its own identification and link information with the drone to the routing request message and forward it to the adjacent nodes that are connected to it and have not processed the routing request message;

[0128] The adjacent node adds its own identification and the link information with the drone and the previous forwarding node to the routing request message and repeats the forwarding and adding steps until the target node receives the routing request information forwarded by all adjacent nodes connected to it or the forwarding number of a routing request information reaches the maximum value.

[0129] The practical application of the routing protocol of the present invention to realize data transmission is:

[0130] Route discovery: In the network topology of the present invention, when a drone needs to transmit data to a target node (a nest or other designated drone), a route discovery process is first initiated. The drone uses a self-organizing network data link terminal to send a route request message containing a target node identifier and its own identifier to surrounding nodes. After receiving the request message, if the surrounding node is not the target node and has not processed the request message, it will add its own identifier and link information to the node (such as distance, link quality, etc.) to the message, and then continue to forward it to all surrounding nodes that have not processed the request message. For example, drone A sends a route request message to surrounding nodes. After a surrounding node such as drone B receives the message, if drone B is not the target node and has not processed the request message, it will add its own identifier and link information to drone B to the message, and then continue to forward it to surrounding nodes that have not processed the request message, such as drone C. This cycle continues until the target node receives the route request message or the message reaches the preset maximum number of forwarding times. In actual operation, the maximum number of forwarding times can be set.

[0131] Routing selection: After receiving the routing request message, the target node will determine the best route from the source node (the drone sending data) to the target node according to the link information of each node carried in the message and certain routing selection criteria (such as minimum hop count, optimal link quality, comprehensive consideration of hop count and link quality, etc.). Then, the target node sends the best routing information back to the source node through the reverse path. After receiving the best routing information, the source node transmits data according to this route. For example, if the best route determined according to the routing selection criteria is drone A-drone B-machine nest, then when drone A needs to transmit data to the machine nest, it will send the data to drone B in sequence along this path, and then drone B will send it to the machine nest. In actual operation, if the routing selection criteria is to comprehensively consider the number of hops and link quality, the weight of the number of hops and the weight of the link quality can be set to more accurately determine the best route.

[0132] Route maintenance: During network operation, due to changes in the flight status of the drone (such as position movement, altitude change, etc.), environmental interference and other factors, the quality of some communication links in the optimal route may change, or even link interruption may occur. In order to ensure smooth data transmission, route maintenance is required. Each node will regularly send link status monitoring messages to surrounding nodes to obtain the latest link status information. If a problem is found in a link, such as link interruption or link quality drops below a preset threshold, the nodes involved in the link will promptly send route update messages to the source node and the target node to reselect the best route. After receiving the route update message, the source node will initiate the route discovery and route selection process again to re-determine an optimal route for data transmission. In actual operation, the sending interval of the link status monitoring message can be set to perform route maintenance more accurately.

[0133] When the self-organizing network data link terminal of the drone of the present invention transmits the data to be transmitted to the target drone, the path corresponding to the optimal routing information includes at least one machine nest. The self-organizing network data link terminal of the drone encrypts the data to be transmitted through an encryption strategy and transmits it to the target machine nest and / or the self-organizing network data link terminal of the drone according to the optimal routing information, which may include:

[0134] The UAV's self-organizing network data link terminal determines that the target node for data transmission is the machine nest or the UAV;

[0135] When the target node is a machine nest, the self-organizing network data link terminal of the UAV will encrypt the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the UAV to obtain a ciphertext, and the self-organizing network data link terminal of the UAV will send the ciphertext to the target machine nest through the path corresponding to the optimal routing information, and the target machine nest will decrypt the ciphertext through the session key matching the UAV to obtain the corresponding data;

[0136] When the target node is a drone, the drone's self-organizing network data link terminal encrypts the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the drone to obtain a first ciphertext, and the drone's self-organizing network data link terminal sends the first ciphertext to the included machine nest through the path corresponding to the optimal routing information; the machine nest ciphertext is decrypted and encrypted through the session key matching the target drone to obtain a second ciphertext, and the machine nest's self-organizing network data link terminal sends the second ciphertext to the target drone through the path corresponding to the optimal routing information, and the target drone decrypts the second ciphertext through the session key matching itself to obtain the corresponding data.

[0137] When the machine nest needs to send content to a specific drone, the unique identity information of the target drone will be included; the hardware encryption system (encryption and decryption module) in the ground module generates the corresponding key and target drone information, and sends it to the target drone through a single link or multi-hop link. After receiving the information sent by the machine nest, the target drone uses its own unique identity to filter and obtain its corresponding key block, so that each drone only processes the key content related to itself, avoiding confusion and incorrect use of the key.

[0138] In the hardware encryption module of the ground terminal module, the true random number generator (TRNG) inside the HSM is used to generate random keys. When generating keys, the RSA algorithm is used to generate two large prime numbers P and q, calculate n = p × q, and then generate a public key e and a corresponding private key d that are coprime with the Euler function φ (n) to complete the generation of the RSA key pair. The entire process is carried out in the secure environment inside the HSM, and the key will not be exposed to the outside in plain text.

[0139] In actual application scenarios, key generation and distribution: During the network topology initialization phase, the Machine Nest, as the control center, generates a pair of public and private key pairs, and generates multiple session keys based on the elliptic curve encryption algorithm. The Machine Nest publicly transmits the public key to each drone node, while the private key is kept by the Machine Nest itself. At the same time, the Machine Nest distributes each session key to the corresponding drone node through a secure communication channel to ensure that each drone node has a session key for encrypted communication with the Machine Nest.

[0140] Data encryption and decryption: When the drone needs to send data to the machine nest, it first uses the corresponding session key to encrypt the data to generate ciphertext. Then the ciphertext is sent to the machine nest through the wireless communication link of the network topology. After receiving the ciphertext, the machine nest uses the private key and the corresponding session key to decrypt the ciphertext and restore the original data. Similarly, when the machine nest needs to send data to the drone, it also follows the above encryption and decryption process, encrypts the data with the corresponding session key and sends it to the target drone, and the drone then uses its own session key to decrypt it.

[0141] In the process of network topology communication of the present invention, the machine nest will send a network status monitoring signal to each drone node every T minutes. After receiving the signal, the drone node will feed back its own device status (such as battery power, communication link status, etc.) information to the machine nest. The machine nest determines whether there is a node failure based on the received feedback information. If it is found that the communication link of the drone is interrupted, the machine nest will re-plan the transmission path from another drone to the machine nest to avoid the faulty drone and ensure smooth data transmission. At the same time, every U days, the machine nest will update all session keys, and improve the security of data encryption by regenerating session keys and distributing them to each drone node according to the above-mentioned key distribution method.

[0142] The present invention proposes a networking communication module that integrates software and hardware encryption in accordance with standard communication protocols. By configuring networking communication modules for multiple drones and nest devices, using specific frequency bands and encryption measures, the communication stability and security of drones in wide-area flight are guaranteed. At the same time, in the networking communication system mode of multiple drones and nests, the constraints of single-point communication range are removed, and the operating range and communication quality of drones are expanded. Effective information sharing and collaborative operations between multiple nests / multiple drones are achieved, improving the system's collaborative work ability and inspection efficiency.

[0143] Compared with the public cellular mobile communication network, the networking communication module and system of the present invention are private network communication systems between multiple devices, which have higher security, stability, and larger communication bandwidth. Compared with other types of networking systems, the networking module and communication method of the present invention integrate software and hardware encryption mechanisms, use higher privacy, and prevent malicious intrusion. Compared with satellite communication, the networking communication system of the present invention can achieve larger transmission bandwidth and smaller transmission delay.

[0144] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multi-UAV and machine nest networking communication device with encryption function, characterized in that: Including sky end module and ground end module; The sky-end module and the ground-end module are respectively fixed to the UAV and the machine nest and are connected by signals; both the sky-end module and the ground-end module include a self-organizing network data link terminal, which is used to receive data and transmit it to the UAV or the machine nest, and to send data from the UAV or the machine nest; The drones and machine nests are constructed and updated through their own self-organizing network data link terminals, and multiple machine nests are used as relay nodes to form an upper-level network. Each machine nest communicates with multiple drones through a ground-end module. Multiple drones serve as lower-level nodes and form a subnet network topology with each other. The drone's self-organizing network data link terminal encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the drone's self-organizing network data link terminal through the network topology.

2. The multi-UAV and nest networking communication device according to claim 1, characterized in that: The sky end module also includes a first heat dissipation module, a first interface unit and a first shell; the self-organizing network data link terminal of the sky end module is arranged in the first shell, the first interface unit is fixed on the self-organizing network data link terminal of the sky end module and extends outside the first shell to connect with the drone for signal, and the first heat dissipation module is fixed on the first shell on the same side as the first interface unit and is connected to the self-organizing network data link terminal of the sky end module.

3. The multi-UAV and machine nest networking communication device as claimed in claim 2, characterized in that: The ad hoc network data link terminal includes an encryption and decryption module, a baseband unit, a radio frequency unit and an antenna unit; The encryption and decryption module is used for data encryption and decryption. The baseband unit includes a physical layer transmission waveform, a high-level protocol and an encrypted data interface. The physical layer transmission waveform and the high-level protocol together constitute the protocol stack of the self-organizing network data link terminal. The encrypted data interface is connected to the encryption and decryption module; the RF unit includes an RF transceiver chip module and an RF front-end circuit module. The RF transceiver chip module is used to complete the gain control, filtering, digital / analog and analog / digital conversion of the frequency-converted signal. The RF front-end circuit module is used to complete the reception, gain control, filtering and frequency conversion of the RF signal. The working state of the RF front-end circuit module is controlled by the software corresponding to the physical layer transmission waveform.

4. The multi-UAV and machine nest networking communication device as claimed in claim 3, characterized in that: The RF transceiver chip module includes a digital-to-analog converter, an analog-to-digital converter, a first mixer, a second mixer, a local oscillator and a low-pass filter; the RF front-end circuit module includes a transmitter power amplifier, a receiver low-noise amplifier, a first bandpass filter, a second bandpass filter, a first dual-pass switch and a second dual-pass switch; and the antenna unit includes at least two antennas.

5. The multi-UAV and nest networking communication device as claimed in any one of claims 4, characterized in that: The input end of the digital-to-analog converter is connected to the baseband unit, the output end of the digital-to-analog converter is connected to the input end of the first mixer, the output end of the first mixer is connected to the input end of the transmitter power amplifier, the output end of the transmitter power amplifier is connected to the input end of the first bandpass filter, the output end of the first bandpass filter is respectively connected to the fixed contacts of the first dual-pass switch and the second dual-pass switch, and the common contacts of the first dual-pass switch and the second dual-pass switch are respectively connected to an antenna; the other fixed contacts of the first dual-pass switch and the second dual-pass switch are connected to the input end of the second bandpass filter, the output end of the second bandpass filter is connected to the input end of the receiver low-noise amplifier, the output end of the receiver low-noise amplifier is connected to the input end of the second mixer, the output end of the second mixer is connected to the input end of the low-pass filter, the output end of the low-pass filter is connected to the input end of the analog-to-digital converter, the output end of the analog-to-digital converter is connected to the baseband unit, and the local oscillator is respectively connected to the input ends of the first mixer and the second mixer.

6. A multi-UAV and machine nest networking communication method with encryption function, characterized in that: Using the multi-UAV and machine nest networking communication device with encryption function as described in any one of claims 1 to 5, the method includes: The drones and machine nests are constructed and updated through their own self-organizing network data link terminals, with multiple machine nests as relay nodes to form the upper network. Each machine nest communicates with multiple drones through the ground terminal module. Multiple drones act as lower-level nodes and form subnets with each other. The self-organizing network data link terminal of the UAV encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the UAV through the network topology.

7. The multi-UAV and nest networking communication device as claimed in claim 6, characterized in that: Build and update the network topology, including: The machine nest broadcasts networking signals to drones within a predetermined range; the drone matches its preset configuration with the received networking signal, and sends an access request signal to the machine nest when a match occurs; the machine nest authenticates the drone based on the received access request signal, and when the authentication passes, marks the drone as an accessed node and stores the drone's relevant information to build an initial network topology; When a drone that is not marked as an accessed node joins the initial network topology, the drone that is not marked as an accessed node sends a test signal to the nodes within a predetermined range and receives feedback to determine the quality of the communication links between the drone and the nodes within the predetermined range respectively; based on the determined communication link quality and quality threshold, the direct or indirect connection relationship between the drone that is not marked as an accessed node and the nodes within the predetermined range is given, and the network topology is updated; wherein, the nodes include drones and machine nests.

8. The multi-UAV and nest networking communication device as claimed in claim 7, characterized in that: The self-organizing network data link terminal of the UAV encrypts the data to be transmitted based on the encryption strategy, and sends the encrypted data to be transmitted to the target machine nest and / or the self-organizing network data link terminal of the UAV through the network topology, including: Authentication is performed between the drone and the nodes within a predetermined range, and the nodes that pass the authentication are determined; The drone determines the best routing information based on the target node to which the data to be transmitted is sent; The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the optimal routing information.

9. The multi-UAV and nest networking communication device as claimed in claim 8, characterized in that: Authentication is performed between the drone and the nodes within the predetermined range, and the nodes that pass the authentication are determined, including: The drone's self-organizing network data link terminal sends a specific detection signal within a predetermined range; After receiving the detection signal, the node within the predetermined range determines whether the connection conditions are met and generates a feedback signal to return to the drone; The self-organizing network data link terminal of the UAV determines the node that meets the requirements based on the feedback signal and sends a connection request to the node that meets the requirements; After receiving the connection request, the node that meets the requirements performs identity authentication by verifying the authentication information pre-set by both parties, and establishes a connection after the authentication is successful.

10. The multi-UAV and nest networking communication device according to claim 8 or 9, characterized in that: When the self-organizing network data link terminal of the UAV transmits the data to be transmitted to the target UAV, the path corresponding to the optimal routing information contains at least one machine nest; The self-organizing network data link terminal of the UAV encrypts the data to be transmitted through the encryption strategy, and transmits it to the target machine nest and / or the self-organizing network data link terminal of the UAV according to the best routing information, including: The UAV's self-organizing network data link terminal determines that the target node for data transmission is the machine nest or the UAV; When the target node is a machine nest, the self-organizing network data link terminal of the UAV will encrypt the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the UAV to obtain a ciphertext, and the self-organizing network data link terminal of the UAV will send the ciphertext to the target machine nest through the path corresponding to the optimal routing information, and the target machine nest will decrypt the ciphertext through the session key matching the UAV to obtain the corresponding data; When the target node is a drone, the drone's self-organizing network data link terminal encrypts the data to be transmitted through the machine nest based on the public-private key pair to generate a session key matching the drone to obtain a first ciphertext, and the drone's self-organizing network data link terminal sends the first ciphertext to the included machine nest through the path corresponding to the optimal routing information; the machine nest ciphertext is decrypted and encrypted through the session key matching the target drone to obtain a second ciphertext, and the machine nest's self-organizing network data link terminal sends the second ciphertext to the target drone through the path corresponding to the optimal routing information, and the target drone decrypts the second ciphertext through the session key matching itself to obtain the corresponding data.

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