Multi-modal data information sharing method

Abstract

The invention discloses a multi-modal data information sharing method, and relates to the field of data information sharing, and the method comprises the steps: collecting data information monitored by an unmanned aerial vehicle, carrying out the identity verification of the unmanned aerial vehicle, and obtaining the sharing authority of the unmanned aerial vehicle; obtaining feedback parameters of each communication link, performing preliminary screening on the transmission links between the unmanned aerial vehicles according to the feedback parameters, obtaining communication priority parameters of each communication link, performing secondary screening on the transmission links after the preliminary screening on the transmission links between the unmanned aerial vehicles according to the communication priority parameters, and obtaining an optimal communication link; the bandwidth of the optimal communication link is compared with the data size of the data packet acquired by the shared unmanned aerial vehicle in the current acquisition period, and the data packet acquired by the shared unmanned aerial vehicle is shunted and transmitted according to the comparison result, so that the timeliness, accuracy and transmission efficiency of data sharing are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data sharing, and in particular to a multimodal data information sharing method. Background Art

[0002] With the rapid development of information technology, it is being used more and more widely in daily life. While the data sharing technology between drones has been improved, there are many potential problems. For example, during the data sharing process, the delay of data transmission leads to the reduction of the timeliness of shared data; the data transmission is interfered by the outside world, which leads to the reduction of the efficiency of shared data; the information shared by data has security risks, etc.

[0003] In the existing technology, data can be transmitted to the receiving end stably and efficiently through communication network technology. However, in the process of data sharing, various factors such as external noise may interfere with the transmission of data information at any time, resulting in reduced timeliness and transmission efficiency of data sharing in the transmission channel. How to improve the timeliness and transmission efficiency of data sharing is a problem we need to solve. To this end, a multimodal data information sharing method is now provided. Summary of the invention

[0004] In order to solve the above technical problems, the present invention aims to provide a multimodal data information sharing method, comprising the following steps:

[0005] Step S1: Collect the data information monitored by the drone, authenticate the drone, and obtain the drone sharing permission;

[0006] Step S2: obtaining feedback parameters of each communication link, preliminarily screening the transmission links between the UAVs according to the feedback parameters, obtaining communication priority parameters of each communication link, and re-screening the transmission links after the preliminary screening of the transmission links between the UAVs according to the communication priority parameters to obtain the optimal communication link;

[0007] Step S3: Compare the bandwidth of the optimal communication link with the data size of the data packets collected by the shared drone in the current collection period, and perform a diversion transmission operation on the data packets collected by the shared drone according to the comparison result.

[0008] Furthermore, according to the data information collected from the drone monitoring, and the identity authentication of the drone, the process of obtaining the drone sharing authority includes:

[0009] Set the time period t;

[0010] The drone is provided with a local database, which presets the identity strings of the drones involved in monitoring data information, and stores the identity strings of all drones in the local database of each drone;

[0011] Each drone collects data information of the entire flight process in real time according to the time period t, packages the data information into data packets, and stores the data packets in the local database;

[0012] The drone that sends the information sharing request is marked as the visiting drone, and the drone that accepts the information sharing request is marked as the sharing drone. When the visiting drone sends an information sharing request to the sharing drone, the information sharing request includes the identity identification string of the visiting drone. The sharing drone verifies the identity of the visiting drone based on the identity identification string of the visiting drone. If the visiting drone passes the identity verification of the shared drone, the sharing drone allows the information sharing request of the visiting drone.

[0013] Furthermore, the process of obtaining feedback parameters of each communication link and preliminarily screening the transmission links between UAVs according to the feedback parameters includes:

[0014] When the shared drone allows access to the drone’s information sharing request, a detection instruction is generated and the number of detection data packets sent i is set;

[0015] Obtain all communication links between the shared drone and the access drone, and the shared drone sends i detection data packets to each communication link of the access drone;

[0016] When the access drone receives the detection data packet of the communication link, it sends a successful reception instruction of the detection data packet to the shared drone through the communication link, and obtains the cumulative number of successful reception instructions of each communication link received by the shared drone;

[0017] Generate feedback parameters for each communication link based on the cumulative number of successful reception instructions received for each communication link , set the feedback parameter threshold U, and set the feedback parameters of each communication link Compare with the feedback parameter threshold U to filter out the feedback parameters The communication links whose feedback parameter is greater than a feedback parameter threshold U are selected, and the communication links are marked as a first communication link set.

[0018] Furthermore, the communication priority parameters of each communication link are obtained, and the transmission links between the UAVs are screened again after the preliminary screening according to the communication priority parameters. The process of obtaining the optimal communication link includes:

[0019] Set the number of data missing monitoring times n;

[0020] Acquire all communication links in the first communication link set between the shared drone and the access drone and data packets collected in real time by the shared drone;

[0021] Each time the shared drone sends a data packet to the access drone through all the communication links in the first communication link set, a hash value of the data packet sent by the shared drone is generated by a hash function, and the hash value is bound to the data packet sent by the shared drone;

[0022] Then, the hash value of the data packet received by the accessing drone is obtained through the hash function, and the hash value of the data packet received by the accessing drone is compared with the hash value of the data packet sent by the shared drone bound to the data packet. If the hash values ​​are inconsistent, the data packet received by the current accessing drone is marked as a data missing packet;

[0023] When the shared drone has cumulatively sent n data packets through all communication links in the first communication link set, the number of data packets received by the access drone is obtained. and the number of packets with missing data , according to the number of packets received by the accessing drone and the number of packets with missing data , and the data loss rate of the communication link is obtained ;

[0024] According to the feedback parameters of the communication link and missing data rate , the communication quality of the communication link is obtained ;

[0025] Obtain the time when the nth shared drone sends a data packet to the visiting drone through each communication link in the first communication link set and the time when the shared drone receives the successful reception instruction fed back by the visiting drone, and obtain the communication rate of the communication link according to the time when the nth shared drone sends a data packet to the visiting drone through each communication link in the first communication link set and the time when the shared drone receives the successful reception instruction fed back by the visiting drone. ;

[0026] According to the communication quality of the communication link and communication rate , and obtain the communication priority parameters of the communication link , set the communication priority parameter threshold R;

[0027] The communication priority parameters of each communication link in the first communication link set are Compare with the communication priority parameter threshold R to filter out the communication priority parameters The communication link whose value is greater than the communication priority parameter threshold R is marked as a second communication link set, all communication links in the second communication link set are sorted from high to low according to the communication priority parameter, and a communication link queue is generated according to the sorting result, and the first communication link is selected from the communication link queue as the optimal communication link.

[0028] Further, according to the comparison of the bandwidth of the optimal communication link with the data size of the data packets collected by the shared drone in the current collection period, the process of performing a split transmission operation on the data packets collected by the shared drone according to the comparison result includes:

[0029] Get the bandwidth of the optimal communication link to transmit data information, set it as ;

[0030] Get the data size of the data packet collected by the shared drone in the current collection cycle ;

[0031] Determine the bandwidth and data size of the data packets collected by the shared drone Relationship:

[0032] when Greater than or equal to When , the shared UAV transmits the data packets collected in the current collection period to the access UAV through the optimal communication link;

[0033] when Less than When , selecting the communication link with the second highest position in the communication link queue as the first offload communication link;

[0034] Based on the bandwidth of the optimal communication link The data packets collected by the shared drone are processed in blocks to obtain the first block data packets and the data packets to be transmitted. The data size and bandwidth of the first block data packets are equal, transmitting the first block data packet to the access drone through the optimal communication link;

[0035] Get the data size of the data packet to be transmitted by the shared drone , obtain the bandwidth of the first offload communication link to transmit data information, set it to ;

[0036] Determining bandwidth Data size of the data packet to be transmitted with the shared drone The relationship between:

[0037] when Greater than or equal to When , the shared drone transmits the data packet to be transmitted to the access drone through the first offload communication link;

[0038] when Less than When , a communication link with a lower position in the communication link queue than the second position is selected as the second offload communication link;

[0039] According to the bandwidth of the first offload communication link The data packet to be transmitted of the shared drone is processed in blocks, and a second block data packet and a second data packet to be transmitted are obtained. The data size and bandwidth of the second block data packet are equal, transmit the second block data packet to the access drone through the first split communication link, and obtain the data size of the second data packet to be transmitted by the shared drone , obtain the bandwidth of the second offload communication link to transmit data information, set it as , determine the bandwidth threshold The data size of the second data packet to be transmitted with the shared drone The relationship between them is repeated and so on until all the data packets collected by the shared drone in the current collection period are transmitted to the access drone.

[0040] Compared with the prior art, the beneficial effects of the present invention are: the shared drone authenticates the accessing drone through the identity identification string of the accessing drone. After the identity authentication, the optimal communication link between the shared drone and the accessing drone is selected. If the optimal communication link cannot meet the transmission of the shared drone's collected data packets, the communication links are prioritized according to the priority parameters, the shared drone's collected data packets are divided into blocks, and the data blocks are diverted and transmitted through the priority communication link, so that the timeliness and transmission efficiency of data sharing are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of a multimodal data information sharing method according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] like Figure 1 As shown, a multimodal data information sharing method comprises the following steps:

[0043] Step S1: Collect the data information monitored by the drone, authenticate the drone, and obtain the drone sharing permission;

[0044] Step S2: obtaining feedback parameters of each communication link, preliminarily screening the transmission links between the UAVs according to the feedback parameters, obtaining communication priority parameters of each communication link, and re-screening the transmission links after the preliminary screening of the transmission links between the UAVs according to the communication priority parameters to obtain the optimal communication link;

[0045] Step S3: Compare the bandwidth of the optimal communication link with the data size of the data packets collected by the shared drone in the current collection period, and perform a diversion transmission operation on the data packets collected by the shared drone according to the comparison result.

[0046] It should be further explained that, in the specific implementation process, according to the data information collected from drone monitoring and the identity verification of the drone, the process of obtaining the drone sharing authority includes:

[0047] Set the time period t;

[0048] The drone is provided with a local database, and the identity identification strings of the drones involved in monitoring the data information are preset, and the identity identification strings of all drones are stored in the drone local database. Each drone collects data information of the entire flight process in real time according to the time period t, packages the data information into a data packet, and stores the data packet in the local database;

[0049] The drone that sends the information sharing request is marked as the access drone, and the drone that receives the information sharing request is marked as the sharing drone. The access drone sends the information sharing request to the sharing drone. When the sharing drone receives the information sharing request from the access drone, the identity identification string of the access drone is verified. When the access drone passes the identity verification of the sharing drone, a temporary sharing code is configured for the access drone. According to the temporary sharing code, the access drone obtains the permission of the sharing drone to share data information, and the sharing drone allows the information sharing request of the access drone.

[0050] It should be further explained that, in the specific implementation process, the identity identification string of the accessing drone is collected, the identity of the drone is verified according to the identity database, and it is determined whether the identity identification string of the accessing drone exists in the identity database. When the identity authentication is passed, the number of times the accessing drone accesses the data information in the shared drone is obtained, and the shared drone configures a temporary sharing code for the accessing drone. The temporary sharing code consists of the identity identification string of the shared drone, the identity identification string of the accessing drone, and the number of times the data information is accessed. After the accessing drone uses the temporary sharing code, the temporary sharing code is cleared, and the temporary sharing code can only be used once;

[0051] If the shared drone passes the identity verification, the shared drone allows access to the drone's information sharing request.

[0052] It should be further explained that, in the specific implementation process, the transmission links between UAVs are preliminarily screened according to the feedback parameter threshold, and the transmission links between UAVs are screened again after the preliminary screening according to the communication priority parameter threshold. The process of obtaining the optimal communication link includes:

[0053] When the shared drone allows access to the drone’s information sharing request, a detection instruction is generated and the number of detection data packets sent i is set;

[0054] Obtain all communication links between the shared drone and the access drone, and the shared drone sends i detection data packets to each communication link of the access drone;

[0055] When the sharing drone temporarily shares information with the accessing drone according to the temporary sharing code, the information sharing transmits the shared data information through the transmission link between the sharing drone and the accessing drone;

[0056] Get all the communication links between the shared drone and the access drone, and mark the communication links as , c=1,2,...,n, n is an integer, and obtain the data packets collected by the drone in the current cycle. The shared drone sends i detection data packets to each communication link of the visiting drone. When the visiting drone receives the detection data packet of the communication link, it sends the successful reception instruction of the detection data packet to the shared drone through the communication link, and obtains the cumulative number of successful reception instructions of each communication link received by the shared drone. , and generate feedback parameters for each communication link according to the cumulative number of successful reception instructions received by each communication link , then the feedback parameter of the communication link The calculation formula is , set the feedback parameter threshold U, and set the feedback parameters of each communication link Compare with the feedback parameter threshold U to filter out the feedback parameters communication links greater than a feedback parameter threshold U, and marking the communication links as a first communication link set;

[0057] Set the number of data missing monitoring times n;

[0058] Acquire all communication links in the first communication link set between the shared drone and the access drone and data packets collected in real time by the shared drone;

[0059] When the shared drone cumulatively sends n data packets to the visiting drone through all communication links in the first communication link set, the visiting drone cumulatively receives n data packets sent by all communication links in the first communication link set, and compares the data packets received by the visiting drone each time with the data packets sent by the corresponding shared drone each time for data missing through a hash function. If the hash values ​​are inconsistent, the data packet received by the current visiting drone is marked as a data missing packet;

[0060] It should be further explained that, in the specific implementation process, each time the shared drone sends a data packet to the access drone through all the communication links in the first communication link set, a hash value of the data packet sent by the shared drone is generated by a hash function, the hash value is bound to the data packet sent by the shared drone, and then the hash value of the data packet received by the access drone is obtained by the hash function, and the hash value of the data packet received by the access drone is compared with the hash value of the data packet sent by the shared drone bound to the data packet to obtain the number of missing data packets. , when the shared drone sends n data packets cumulatively through all communication links in the first communication link set, the number of data packets received by the access drone is obtained and the number of packets with missing data , according to the number of packets received by the accessing drone and the number of packets with missing data , communication link The missing data rate The calculation formula is:

[0061] ;

[0062] Communication quality of the communication link With feedback parameters and missing data rate Related, according to the feedback parameters of the communication link and missing data rate , the communication quality of the communication link The calculation formula is:

[0063] ;

[0064] The shared drone sends a data packet to the access drone through each communication link in the first communication link set, and obtains the data size of the data packet , the shared UAV receives the receiving success instruction fed back by the visiting UAV, obtains the time when the shared UAV sends a data packet to the visiting UAV through each communication link in the first communication link set for the nth time and the time when the shared UAV receives the receiving success instruction fed back by the visiting UAV, and records the time when the shared UAV sends a data packet to the visiting UAV through all communication links in the first communication link set as 1. The shared drone receives the successful reception instruction fed back by the access drone. The time when the shared drone receives the successful reception instruction fed back by the access drone is obtained. The time when the shared drone receives the successful reception instruction fed back by the access drone is recorded as 2. The time when the nth shared drone sends a data packet to the access drone through all the communication links in the first communication link set 1 and the moment when the shared drone receives the successful reception instruction fed back by the access drone 2. Communication rate of the communication link The calculation formula is:

[0065] ;

[0066] According to the communication quality of the communication link and communication rate , communication priority parameters of the communication link The calculation formula is:

[0067] ;

[0068] Get the communication priority parameters of the communication link , set the communication priority parameter threshold R;

[0069] The communication priority parameters of each communication link in the first communication link set are Compare with the communication priority parameter threshold R to filter out the communication priority parameters The communication link whose value is greater than the communication priority parameter threshold R is marked as a second communication link set, all communication links in the second communication link set are sorted from high to low according to the communication priority parameter, and a communication link queue is generated according to the sorting result, and the first communication link is selected from the communication link queue as the optimal communication link.

[0070] It should be further explained that, in the specific implementation process, according to the comparison of the bandwidth of the optimal communication link with the data size of the data packet collected by the shared drone in the current collection period, the process of performing the diversion transmission operation on the data packet collected by the shared drone according to the comparison result includes:

[0071] Get the bandwidth of the optimal communication link to transmit data information, set ;

[0072] Get the data size W of the data packet collected by the shared drone in the current collection period;

[0073] Determining bandwidth The relationship between the data size W of the data packet collected by the shared drone is:

[0074] when Greater than or equal to When , the shared UAV transmits the data packets collected in the current collection period to the access UAV through the optimal communication link;

[0075] when Less than When the bandwidth of the optimal communication link for transmitting data cannot meet the transmission data requirements of the data packets collected by the shared drone in the current collection period, the communication link with the second position in the communication link queue is selected as the first diversion communication link;

[0076] Based on the bandwidth of the optimal communication link The data packets collected by the shared drone are processed in blocks to obtain the first block data packets and the data packets to be transmitted. The data size and bandwidth of the first block data packets are equal, transmitting the first block data packet to the access drone through the optimal communication link;

[0077] Get the data size of the data packet to be transmitted by the shared drone , obtain the bandwidth of the first offload communication link to transmit data information, set it to ;

[0078] Determining bandwidth Data size of the data packet to be transmitted with the shared drone The relationship between:

[0079] when Greater than or equal to When , the shared drone transmits the data packet to be transmitted to the access drone through the first offload communication link;

[0080] when Less than When the bandwidth of the first offload communication link for transmitting data cannot meet the transmission data requirements of the data packets collected by the shared drone in the current collection period, a communication link with a lower position in the communication link queue is selected as the second offload communication link;

[0081] According to the bandwidth of the first offload communication link The data packet to be transmitted of the shared drone is processed in blocks, and a second block data packet and a second data packet to be transmitted are obtained. The data size and bandwidth of the second block data packet are equal, transmit the second block data packet to the access drone through the first split communication link, and obtain the data size of the second data packet to be transmitted by the shared drone , obtain the bandwidth of the second offload communication link to transmit data information, set it as , determine the bandwidth threshold The data size of the second data packet to be transmitted with the shared drone The relationship between them is repeated in this way until all the data packets collected by the shared drone in the current collection period are transmitted to the access drone;

[0082] The accessing drone receives the shared data blocks sent by the sharing drone, aggregates the received data blocks, obtains a complete data packet, stores the complete data packet in the accessing drone, analyzes the data information of the data packet collected by the sharing drone, completes the monitoring task, and clears the temporary sharing code used by the accessing drone in this sharing process to complete the data sharing process.

[0083] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A multimodal data information sharing method, characterized in that: The following steps are involved: Step S1: Collect the data information monitored by the drone, authenticate the drone, and obtain the drone sharing permission; Step S2: obtaining feedback parameters of each communication link, preliminarily screening the transmission links between the UAVs according to the feedback parameters, obtaining communication priority parameters of each communication link, and re-screening the transmission links after the preliminary screening of the transmission links between the UAVs according to the communication priority parameters to obtain the optimal communication link; Step S3: Compare the bandwidth of the optimal communication link with the data size of the data packets collected by the shared drone in the current collection period, and perform a diversion transmission operation on the data packets collected by the shared drone according to the comparison result.

2. A multimodal data information sharing method according to claim 1, characterized in that: The process of collecting drone monitoring data information, authenticating the drone, and obtaining drone sharing permissions includes: Set the time period t; The drone is provided with a local database, which presets the identity strings of the drones involved in monitoring data information, and stores the identity strings of all drones in the local database of each drone; Each drone collects data information of the entire flight process in real time according to the time period t, packages the data information into data packets, and stores the data packets in the local database; The drone that sends the information sharing request is marked as the visiting drone, and the drone that accepts the information sharing request is marked as the sharing drone. When the visiting drone sends an information sharing request to the sharing drone, the information sharing request includes the identity identification string of the visiting drone. The sharing drone verifies the identity of the visiting drone based on the identity identification string of the visiting drone. If the visiting drone passes the identity verification of the shared drone, the sharing drone allows the information sharing request of the visiting drone.

3. A multimodal data information sharing method according to claim 2, characterized in that: The process of obtaining feedback parameters of each communication link and preliminarily screening the transmission links between UAVs according to the feedback parameters includes: When the shared drone allows access to the drone’s information sharing request, a detection instruction is generated and the number of detection data packets sent i is set; Obtain all communication links between the shared drone and the access drone, and the shared drone sends i detection data packets to each communication link of the access drone; When the access drone receives the detection data packet of the communication link, it sends a successful reception instruction of the detection data packet to the shared drone through the communication link, and obtains the cumulative number of successful reception instructions of each communication link received by the shared drone; Generate feedback parameters for each communication link based on the cumulative number of successful reception instructions received for each communication link , set the feedback parameter threshold U, and set the feedback parameters of each communication link Compare with the feedback parameter threshold U to filter out the feedback parameters The communication links whose feedback parameter is greater than a feedback parameter threshold U are selected, and the communication links are marked as a first communication link set.

4. A multimodal data information sharing method according to claim 3, characterized in that: The communication priority parameters of each communication link are obtained, and the transmission links between the UAVs are screened again after the initial screening according to the communication priority parameters. The process of obtaining the optimal communication link includes: Set the number of data missing monitoring times n; Acquire all communication links in the first communication link set between the shared drone and the access drone and data packets collected in real time by the shared drone; Each time the shared drone sends a data packet to the access drone through all the communication links in the first communication link set, a hash value of the data packet sent by the shared drone is generated by a hash function, and the hash value is bound to the data packet sent by the shared drone; Then, the hash value of the data packet received by the accessing drone is obtained through the hash function, and the hash value of the data packet received by the accessing drone is compared with the hash value of the data packet sent by the shared drone bound to the data packet. If the hash values ​​are inconsistent, the data packet received by the current accessing drone is marked as a data missing packet; When the shared drone has cumulatively sent n data packets through all communication links in the first communication link set, the number of data packets received by the access drone is obtained. and the number of packets with missing data , according to the number of packets received by the accessing drone and the number of packets with missing data , and the data loss rate of the communication link is obtained ; According to the feedback parameters of the communication link and missing data rate , the communication quality of the communication link is obtained ; Obtain the time when the nth shared drone sends a data packet to the visiting drone through each communication link in the first communication link set and the time when the shared drone receives the successful reception instruction fed back by the visiting drone, and obtain the communication rate of the communication link according to the time when the nth shared drone sends a data packet to the visiting drone through each communication link in the first communication link set and the time when the shared drone receives the successful reception instruction fed back by the visiting drone. ; According to the communication quality of the communication link and communication rate , and obtain the communication priority parameters of the communication link , set the communication priority parameter threshold R; The communication priority parameters of each communication link in the first communication link set are Compare with the communication priority parameter threshold R to filter out the communication priority parameters The communication link whose value is greater than the communication priority parameter threshold R is marked as a second communication link set, all communication links in the second communication link set are sorted from high to low according to the communication priority parameter, and a communication link queue is generated according to the sorting result, and the first communication link is selected from the communication link queue as the optimal communication link.

5. A multimodal data information sharing method according to claim 4, characterized in that: The process of comparing the bandwidth of the optimal communication link with the data size of the data packets collected by the shared drone in the current collection period and performing the diversion transmission operation on the data packets collected by the shared drone according to the comparison result includes: Get the bandwidth of the optimal communication link to transmit data information, set it as ; Get the data size of the data packet collected by the shared drone in the current collection cycle ; Determining bandwidth Data size of data packets collected by shared drones Relationship: when Greater than or equal to When , the shared UAV transmits the data packets collected in the current collection period to the access UAV through the optimal communication link; when Less than When , selecting the communication link with the second highest position in the communication link queue as the first offload communication link; Based on the bandwidth of the optimal communication link The data packets collected by the shared drone are processed in blocks to obtain the first block data packets and the data packets to be transmitted. The data size and bandwidth of the first block data packets are equal, transmitting the first block data packet to the access drone through the optimal communication link; Get the data size of the data packet to be transmitted by the shared drone , obtain the bandwidth of the first offload communication link to transmit data information, set it to ; Determining bandwidth Data size of the data packet to be transmitted with the shared drone The relationship between: when Greater than or equal to When , the shared drone transmits the data packet to be transmitted to the access drone through the first offload communication link; when Less than When , a communication link with a lower position in the communication link queue than the second position is selected as the second offload communication link; According to the bandwidth of the first offload communication link The data packet to be transmitted of the shared drone is processed in blocks, and a second block data packet and a second data packet to be transmitted are obtained. The data size and bandwidth of the second block data packet are equal, transmit the second block data packet to the access drone through the first split communication link, and obtain the data size of the second data packet to be transmitted by the shared drone , obtain the bandwidth of the second offload communication link to transmit data information, set it as , determine the bandwidth threshold The data size of the second data packet to be transmitted with the shared drone The relationship between them is repeated and so on until all the data packets collected by the shared drone in the current collection period are transmitted to the access drone.

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