Task path driven unmanned aerial vehicle swarm communication three-dimensional coverage method and system

Abstract

The application discloses a task flight path driven unmanned aerial vehicle swarm communication three-dimensional coverage method and system, relates to the unmanned aerial vehicle communication technical field, and comprises the following steps: projecting task flight lines of all unmanned aerial vehicle swarms to the Mercator plane to generate a two-dimensional polygon of task flight path projection; performing triangulation on the two-dimensional polygon of task flight path projection to determine ground station position layout; determining the number of unmanned aerial vehicles that each station needs to control at most based on the ground station position layout; and determining radio frequency operation conditions of each station according to the number of unmanned aerial vehicles that each station needs to control at most. The technical problem that unmanned aerial vehicles gather in the airspace covered by the same ground station and then exceed the maximum tolerance of single station control, thereby leading to the failure of unmanned aerial vehicle communication, is solved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) communication technology, and relates to a method and system for three-dimensional coverage of UAV swarm communication driven by mission trajectory. Background Technology

[0002] In traditional mobile cellular network layout design, network planning primarily focuses on ground users, whose locations are relatively fixed and whose altitude is much lower than the coverage radius of base stations. This characteristic simplifies the network planning problem to a two-dimensional planar optimization problem, with the main goal of achieving seamless signal coverage on the ground plane. This simplification greatly reduces the complexity of network design and enables network service providers to efficiently deliver stable communication services.

[0003] However, with the rapid development of drone technology, this traditional two-dimensional network planning model faces unprecedented challenges. As an emerging aerial communication node, drones not only possess the additional spatial coordinate of vertical altitude but also exhibit high-speed, swarm-like, and wide-range flight characteristics. These characteristics enable drones to perform various tasks in a vast three-dimensional space, thus requiring ground stations to have seamless three-dimensional coverage capabilities across both altitude and horizontal distance.

[0004] To achieve this goal, traditional two-dimensional network planning methods are clearly insufficient. Therefore, new technical solutions must be sought to address the seamless coverage problem in UAV communication. Multi-base station cooperative coverage technology has emerged in this context and is gradually becoming a key technology for achieving large-scale seamless UAV communication.

[0005] The core of multi-base station collaborative coverage technology lies in the collaboration of multiple ground base stations to jointly construct a continuous, blind-spot-free communication network. This technology ensures that every drone can receive stable, high-quality communication signals at any time and any location. To achieve this goal, ground base stations need to be deployed according to a pre-planned grid layout to form a communication network covering the entire operational area. Each base station is responsible for a portion of the grid area, and the appropriate overlap of coverage areas between adjacent base stations prevents communication interruptions caused by the failure of a single base station.

[0006] However, in large-scale UAV telemetry and control scenarios, the sheer number of UAV swarm nodes and their wide flight range create numerous signal coverage gaps in the airspace. Furthermore, if a large number of UAV nodes converge within the coverage area of ​​the same ground station while performing missions, it exceeds the maximum tolerance of a single-site telemetry and control system, leading to UAV communication failures. These issues further exacerbate the difficulty of achieving seamless UAV communication coverage and make the optimization and deployment of multi-base station collaborative coverage technologies more complex. Summary of the Invention

[0007] The purpose of this invention is to solve the technical problem in the prior art that when drones gather in the airspace covered by the same ground station, they exceed the maximum tolerance of single-site telemetry and control, thus causing drone communication failure. The invention provides a three-dimensional coverage method and system for drone swarm communication driven by mission trajectory.

[0008] To achieve the above objectives, the present invention employs the following technical solution:

[0009] The first aspect of this invention provides a method for three-dimensional coverage of UAV swarm communication driven by mission trajectory, comprising the following steps:

[0010] Project the mission flight paths of all drone swarms onto the Mercator plane to generate a two-dimensional polygon of the mission trajectory projection;

[0011] The two-dimensional polygon of the mission trajectory projection is triangulated to determine the location and layout of the ground station.

[0012] Based on the location layout of ground stations, determine the maximum number of drones that need to be monitored and controlled at each station;

[0013] The radio frequency operation status of each station is determined based on the maximum number of drones that need to be monitored and controlled at each station.

[0014] Furthermore, each station of the ground station is equipped with multiple pluggable radio heads and empty slots in its radio frequency device. When the capacity is insufficient, the radio head is inserted into the empty slot.

[0015] Furthermore, the projection of the mission paths of all drone swarms onto the Mercator plane specifically refers to:

[0016] The three-dimensional coordinates of the drone's flight path are Convert to Mercator projection coordinates using the Mercator projection formula ,Right now:

[0017]

[0018] in, It's latitude. It's longitude. It refers to altitude. It is the radius of the Earth.

[0019] Furthermore, the process of triangulating the two-dimensional polygon projected by the mission trajectory to determine the location and layout of the ground station specifically involves:

[0020] The Delaunay triangulation method is used to triangulate the two-dimensional polygon of the mission track projection to generate multiple Delaunay triangles.

[0021] The vertices of the Delaunay triangle will be used as the locations of the ground stations.

[0022] Furthermore, the side length of the Delaunay triangle is... ,in, This is the projected length of the ground station's coverage radius onto the Mercator plane.

[0023] Furthermore, the determination of the maximum number of UAVs requiring monitoring and control at each station based on the ground station location layout is as follows:

[0024] Obtain the location of each drone and each ground station at every moment;

[0025] Based on the location of each UAV and the location of the ground station at each moment, it is determined whether the location of each UAV is within the coverage area of ​​the ground station, and the maximum number of UAVs that need to be monitored and controlled at each station is obtained.

[0026] Furthermore, the specific method for determining whether each drone's location is within the coverage area of ​​the ground station is as follows:

[0027]

[0028] Each drone At the point of time The position is represented as ; For drones at a specific time point The x-coordinate; For drones at a specific time point The ordinate; For drones at a specific time point The vertical coordinate; for the first Line 1 ground station The position is represented as ; For the first Line 1 The horizontal coordinates of the ground stations; For the first Line 1 The vertical coordinates of the ground stations; This refers to the maximum altitude at which the ground station can cover the flight path. This indicates the sector angle of the ground station.

[0029] Furthermore, the determination of the radio frequency operation status of each station based on the maximum number of drones that need to be monitored and controlled at each station is specifically as follows:

[0030] For each site:

[0031] Calculate the additional capacity required by the site based on the maximum number of drones that the site needs to monitor and control.

[0032] Determine the site's radio frequency operation based on the additional capacity required by the site.

[0033] Furthermore, determining the radio frequency operation status of each site specifically involves:

[0034] For each site:

[0035] If the additional capacity required by the site is less than or equal to zero, no action will be taken;

[0036] When the additional capacity required by the site is greater than 0, calculate the number of RF head insertion operations:

[0037]

[0038] in, m For ground station The number of insertion operations of the RF head. This represents the floor function; Indicates ground station The maximum number of drones that need to be monitored and controlled.

[0039] The second aspect of this invention discloses a mission trajectory-driven UAV swarm communication three-dimensional coverage system, comprising:

[0040] The trajectory projection module is used to project the mission flight paths of all UAV swarms onto the Mercator plane, generating a two-dimensional polygon of the mission trajectory projection.

[0041] The site location determination module is used to triangulate the two-dimensional polygon of the mission trajectory projection to determine the layout of the ground station locations.

[0042] The maximum capacity determination module is used to determine the maximum number of UAVs that need to be monitored and controlled at each station based on the location layout of the ground stations.

[0043] The site radio frequency operation determination module is used to determine the radio frequency operation status of each site based on the maximum number of drones that need to be monitored and controlled at each site.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] This invention discloses a method for three-dimensional coverage of UAV swarm communication driven by mission trajectory. By projecting the mission flight path of the UAV swarm onto the Mercator plane to generate a two-dimensional polygon, this process ensures the geographical accuracy of the mission flight path, providing a solid foundation for subsequent communication coverage planning. The wide applicability and accuracy of the Mercator projection ensure that the projection results accurately reflect actual geographical features, providing a reliable basis for subsequent triangulation and site layout. The use of triangulation technology to subdivide the two-dimensional polygon of the mission trajectory projection simplifies the complex flight path structure and makes the ground station location layout more rational. Through triangulation, the mission area can be divided into multiple sub-regions, each with communication coverage provided by a specific ground station, thereby improving the utilization efficiency of communication resources. Based on the triangulation results, the location layout of ground stations is determined, a process that fully considers the mission requirements and communication coverage requirements of the UAV swarm. A reasonable ground station layout ensures that the UAVs maintain stable communication with the ground stations during mission execution, improving the reliability and security of mission execution. By analyzing the maximum number of UAVs that need to be monitored and controlled at each station, the monitoring and control needs of each station can be accurately predicted, thereby rationally allocating the use of radio frequency resources. This process not only improves the utilization efficiency of communication resources but also avoids resource waste or communication failures caused by inaccurate prediction of telemetry and control needs. By determining the maximum number of drones requiring telemetry and control at each station, the radio frequency (RF) operation status of each station can be flexibly adjusted according to actual mission requirements. When mission requirements change, the RF operation strategy can be quickly adjusted to ensure that the drone swarm maintains good communication coverage at all times.

[0046] Furthermore, this invention discloses a mission-track-driven UAV swarm communication three-dimensional coverage system. By integrating multiple functional modules such as track projection, site location determination, site maximum capacity determination, and site radio frequency operation determination, it achieves efficient and accurate communication coverage for UAV swarms during mission execution. The track projection module can accurately project the mission flight path of the UAV swarm onto the Mercator plane, generating a two-dimensional polygon of the mission track projection. This step not only simplifies the complex three-dimensional spatial problem but also provides an intuitive and accurate two-dimensional planar reference for subsequent site location determination and communication coverage planning. The site location determination module uses triangulation technology to divide the two-dimensional polygon of the mission track projection into multiple sub-regions and determines the optimal location layout of ground stations accordingly. This layout method not only ensures that each region receives sufficient communication coverage but also optimizes the allocation of ground station resources and improves the utilization efficiency of communication resources. The site maximum capacity determination module can accurately predict the maximum number of UAVs that need to be monitored and controlled at each site based on the ground station location layout. This step provides crucial data support for subsequent radio frequency (RF) operation determination, facilitating refined management of telemetry and control (TT&C) requirements and preventing waste or inadequacy of TT&C resources. The site RF operation determination module flexibly determines the RF operation status of each site based on the maximum number of UAVs requiring TT&C at each site. This strategy can be dynamically adjusted according to actual mission requirements and UAV distribution, ensuring the continuity and stability of communication coverage. Simultaneously, this module also possesses rapid response capabilities for unforeseen circumstances, enabling swift adjustments to RF operation strategies in emergency situations to ensure the safety of the UAV swarm and the success of mission execution. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a structural diagram of a pluggable radio frequency device according to an embodiment of the present invention;

[0049] Figure 2 This is a block diagram of the UAV swarm communication three-dimensional coverage method driven by the mission trajectory of the present invention;

[0050] Figure 3 This is a block diagram of the UAV swarm communication three-dimensional coverage system driven by the mission trajectory of the present invention;

[0051] Figure 4 This is a ground station telemetry and control UAV cluster model according to an embodiment of the present invention;

[0052] Figure 5 The Delaunay triangle represents the maximum gapless coverage area in this embodiment of the invention.

[0053] Figure 6 This is the perfect site layout for maximum gapless coverage in the embodiments of the present invention.

[0054] Wherein: 101-Pluggable RF head ground station system; 102-First RF head slot; 103-Second RF head slot; 104-Third RF head slot; 105-Fourth RF head slot; 106-First RF front end; 107-Second RF front end; 108-Third RF front end; 109-Fourth RF front end; 110-Beam transmission area; 301-Trajectory projection module; 302-Site location determination module; 303-Site maximum capacity determination module; 304-Site RF operation determination module; 401-First track point group; 402-Second track point group; 403-Third track point group; 404-Flight path; 405-Sector angle; 406-Mercator projection; 407-Area of ​​operation of the first ground station; 408-Area of ​​operation of the second ground station; 409-First ground station; 410-Second ground station; 411-Maximum coverage track altitude. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and marked in the accompanying drawings can generally be arranged and designed in various different configurations.

[0056] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0057] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0058] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0060] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0061] The present invention will now be described in further detail with reference to the accompanying drawings:

[0062] See Figure 1 This is a structural diagram of a pluggable radio frequency device, including a pluggable radio frequency head ground station system 101 and a beam transmitting area 110;

[0063] The pluggable RF head ground station system 101 is provided with several sets of RF head slots and RF front-ends; each RF head slot corresponds to one RF front-end. Figure 1Both the first RF head slot 102 and the second RF head slot 103 are fitted with extended RF heads; the third RF head slot 104 and the fourth RF head slot 105 are not fitted with extended RF heads. Therefore, the first RF front-end 106 and the second RF front-end 107 process the RF signals from the RF heads in the first RF head slot 102 and the second RF head slot 103, and process the transmitted beam through the beam transmission area 110 via the pluggable RF head ground station system 101. The third RF front-end 108 and the fourth RF front-end 109 serve as backup RF extension areas. When the existing capacity is insufficient, RF head insertion operations can be performed to extend the RF signal. The ground station generally has an initial threshold for the maximum number of drones it can control. When the number of members in the drone swarm exceeds this initial threshold, additional RF head modules can be integrated through RF head insertion operations, and the ground station begins to reallocate existing bandwidth resources. Each RF head and its RF front-end module actually acts as a bandwidth divider, dividing the original bandwidth into smaller shares according to a specific algorithm, enabling the ground station to accept more drones into the network.

[0064] See Figure 2 This invention provides a method for three-dimensional coverage of UAV swarm communication driven by mission trajectory, comprising the following steps:

[0065] S1. Project the mission paths of all UAV swarms onto the Mercator plane to generate a two-dimensional polygon of the mission path projection. Based on the Cartesian coordinate system, define a three-dimensional space where the x-axis and y-axis form a horizontal plane corresponding to the Mercator projection plane, and the z-axis is perpendicular to this plane.

[0066] First, the geographic coordinates of the mission routes of all drone swarms need to be projected onto a rectangular plane, namely the Mercator plane. Let the three-dimensional coordinates of the drone routes be... ,in It's latitude. It's longitude. If it is altitude, then the geographic coordinates are converted to Mercator projected coordinates using the Mercator projection formula. :

[0067]

[0068] in, It is the radius of the Earth.

[0069] Based on the obtained set of projected coordinates of all UAV flight paths, it is necessary to determine the bounding box of the UAV flight path curve, i.e., the minimum coverage rectangle of the curve. The obtained set of projected coordinates is as follows:

[0070]

[0071] The bounding box of the two-dimensional polygon projected from the mission trajectory is then:

[0072] .

[0073] S2, triangulate the two-dimensional polygon of the mission trajectory projection to determine the location and layout of the ground station;

[0074] After obtaining the bounding box of the two-dimensional polygon projected from the mission trajectory, the Delaunay triangulation method is used for site planning. The three vertices of a Delaunay triangle are represented as follows: , , ,and , , They are respectively based on , , A circle with its center as the center. Harmony Hand over Points, among which and Located on the edge On the same side, such as Figure 5 As shown.

[0075] connect , making , , ,in .make Represents a node and The distance between them, of which ,exist Figure 5 In China, due to and exist When they intersect, we can obtain , Let be the projected length of the ground station's coverage radius onto the Mercator plane. To maximize the area of ​​the triangle without any coverage gaps, Must equal Then there is

[0076]

[0077] because Then we can get

[0078]

[0079] The replacement is:

[0080]

[0081] make ,when , At that time, that is:

[0082]

[0083] Can obtain The maximum value, and has

[0084]

[0085] Get When At that time, the side length of Delaunay's triangle is .

[0086] It is understandable that when all Delaunay triangles have side lengths of... If the equilateral triangle is formed, then the total coverage area of ​​the ground station nodes is maximized, and there are no coverage gaps. The overlapping area is only formed by the overlap of the coverage range of two ground stations, thus avoiding frequent cross-area handover by drones.

[0087] For an equilateral Delaunay triangle, the altitude of each triangle It can be done calculate, Let be the side length of the Delaunay triangle, therefore the distance along the vertical axis is . Using the coordinates of the ground station as grid points, the generation of these grid points needs to take into account the staggered row and column layout, such as... Figure 6 As shown. For the first Line 1 For grid points (ground stations) in columns, the x-coordinates of even-numbered grid points can be directly used. The calculation involves offsetting the x-coordinates of points in odd-numbered rows by half the width of an equilateral triangle, i.e.:

[0088]

[0089] For the ordinate, the coordinates of the grid points are:

[0090]

[0091] in, and For the index of ground stations.

[0092] S3, based on the location layout of ground stations, determines the maximum number of drones that need to be monitored and controlled at each station;

[0093] Due to drone flight path Located at ground station The conditions within the coverage area are:

[0094] ,

[0095] So for each time point drone location ( Is it located at a ground station? The conditions within the coverage area are:

[0096]

[0097] In the Cartesian coordinate system, each drone At the point of time The position is represented as ; For drones at a specific time point The x-coordinate; For drones at a specific time point The ordinate; For drones at a specific time point The vertical coordinates; on the Mercator plane, using the coordinates of the ground station as grid points, the grid points are generated based on the triangulation results, and should have an alternating row and column layout. The distinction between different rows corresponds to... Changes along the axis; distinctions between different columns correspond to Changes along the axial direction. Line 1 ground station The position is represented as ; For the first Line 1 The horizontal coordinates of the ground stations; For the first Line 1 The vertical coordinates of the ground stations; This refers to the maximum altitude at which the ground station can cover the flight path. This indicates the sector angle of the ground station.

[0098] Based on the above conditions, the specific steps to determine the maximum number of drones in the airspace are as follows:

[0099] Initialize a counter for each ground station It is used to record the number of drones within the coverage area of ​​the ground station.

[0100] For each time point Obtain the location of all drones at that point in time. .

[0101] For each drone Obtain the drone at a specific time point Location .

[0102] For each ground station Obtain the location of the ground station .

[0103] Is the drone's location located at a ground station? Determining the drone's location based on the criteria within its coverage area Is it located at a ground station? Within the coverage area. If the above conditions are met, add ground stations. counter Find the maximum number of drones appearing in the coverage area of ​​each ground station, record the maximum value of each ground station, and obtain the maximum number of drones that need to be monitored and controlled in the coverage area of ​​each ground station.

[0104] S4 determines the radio frequency operation status of each station based on the maximum number of drones that need to be monitored and controlled at each station.

[0105] The initial capacity of each ground station is known to be The maximum number of drones requiring monitoring and control during the mission is [number missing]. Calculate the required additional capacity for:

[0106]

[0107] like If so, no insertion operation is needed.

[0108] like Calculate the number of insertion operations of the RF head. for:

[0109]

[0110] in, m For ground station The number of insertion operations of the RF head. This represents the floor function; Indicates ground station The maximum number of drones that need to be monitored and controlled.

[0111] One embodiment of the present invention provides a mission trajectory-driven UAV swarm communication three-dimensional coverage system, comprising:

[0112] The track projection module 301 is used to project the mission flight paths of all UAV swarms onto the Mercator plane to generate a two-dimensional polygon of the mission track projection.

[0113] The site location determination module 302 is used to triangulate the two-dimensional polygon of the mission trajectory projection to determine the layout of the ground station locations.

[0114] The maximum capacity determination module 303 is used to determine the maximum number of UAVs that need to be monitored and controlled at each station based on the location layout of the ground stations.

[0115] The site radio frequency operation determination module 304 is used to determine the radio frequency operation status of each site based on the maximum number of drones that need to be monitored and controlled at each site.

[0116] The working principle of this invention is as follows:

[0117] See Figure 4 The uptilt angle of the antennas of the first ground station 409 and the second ground station 410 directly affects the signal coverage. If the uptilt angle is too small, the signal may be blocked by obstacles such as the ground, resulting in limited signal transmission distance and coverage, failing to achieve the expected effect. Especially in complex environments such as cities, with tall buildings and complex signal propagation paths, an excessively small uptilt angle is more likely to cause signal dead zones. Therefore, the uptilt angle is generally set to be greater than a certain value, which results in each ground station having a sector angle of 405°. The coverage area can be approximated as a three-dimensional cone, with a maximum coverage track altitude of 411. Within its coverage area, the ground station can provide a directional beam for the UAV. Based on the coverage area of ​​the ground station's beam, the track 404 is divided into three parts: a first track point group 401, a second track point group 402, and a third track point group 403; the first track point group 401 is only provided with signals by the first ground station 409; the third track point group 403 is only provided with signals by the second ground station 410; the second track point group 402 is located at the handover point between the first ground station 409 and the second ground station 410.

[0118] This invention performs Mercator projection 406 on the flight path, the projection of the effective area of ​​the first ground station 409 is the effective area 407 of the first ground station; the projection of the effective area of ​​the second ground station 410 is the effective area 408 of the second ground station; and performs Delaunay triangulation on the UAV flight path after Mercator projection, and rationally plans the station sites, so as to achieve seamless coverage of the UAV airspace by the ground station beam while reducing the complexity of mobility management.

[0119] To address the challenges posed by the surge in drone numbers, after site deployment, the issue of multiple drones failing at a single site due to beam configuration constraints must be considered. This invention employs a pluggable radio frequency (RF) device. The core of this device is a modular, pluggable RF head unit. By inserting the RF head, the ground station's ability to simultaneously monitor and control a number of drones can be increased. Each RF head is integrated one-to-one with the RF front-end and is responsible for processing the signal from one antenna unit, performing key preprocessing tasks such as signal amplification, filtering, and up / down conversion. Existing ground stations typically have an initial threshold for the maximum number of drones they can control. When the number of members in the drone swarm exceeds this initial threshold, additional RF head modules can be integrated through a simple RF head insertion operation. The ground station then begins to reallocate existing bandwidth resources, forming more beams. Each RF head and RF front-end module effectively acts as a bandwidth divider, dividing the original bandwidth into smaller shares according to a specific algorithm, allowing the ground station to accept more drones into the network. Specifically, the original capacity of a single ground station is... Each insertion operation of a drone divides the atomic frequency band into two parts and doubles the number of beams, meaning that the number of drones that a single ground station can control increases exponentially. Although the width of the sub-band is reduced, it can ensure that each drone can maintain a stable and independent communication link with the ground station.

[0120] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for task trajectory driven stereoscopic coverage of UAV swarm communication, characterized in that, The method comprises the following steps: projecting the task flight path of all unmanned aerial vehicle swarms to a Mercator plane to generate a two-dimensional polygon of the task flight path projection; triangulating the two-dimensional polygon of the task flight path projection to determine the ground station position layout; a plurality of pluggable radio frequency heads and slots are arranged in the radio frequency device of each station of the ground station, and when the capacity is insufficient, the radio frequency head is inserted into the slot; determine the maximum number of unmanned aerial vehicles that each station needs to control based on the ground station position layout; specifically: obtain the position of each unmanned aerial vehicle at each time and the position of each ground station; determine whether the position of each unmanned aerial vehicle is within the coverage range of the ground station based on the position of each unmanned aerial vehicle at each time and the position of the ground station to obtain the maximum number of unmanned aerial vehicles that each station needs to control; wherein the method for determining whether the position of each unmanned aerial vehicle is within the coverage range of the ground station is as follows: wherein each drone at time point is represented by ; is the horizontal coordinate of the drone at time point ; is the vertical coordinate of the drone at time point ; is the vertical coordinate of the drone at time point ; and the position of the ground station in the i-th row and j-th column is represented by ; ; ; ; is the horizontal coordinate of the ground station in the i-th row and j-th column; ; is the vertical coordinate of the ground station in the i-th row and j-th column; ; ; is the maximum height of the route that can be covered by the ground station; ; represents the sector angle of the ground station; determine the radio frequency operation of each station according to the maximum number of unmanned aerial vehicles that each station needs to control.

2. The mission trajectory driven UAV swarm communication stereoscopic coverage method according to claim 1, characterized in that, The task flight path of all unmanned aerial vehicle swarms is projected to a Mercator plane, specifically: The three-dimensional coordinates of the UAV flight path are converted into Mercator projection coordinates by the Mercator projection formula, that is: that is:​ wherein, is the latitude, is the longitude, is the altitude, is the radius of the earth.

3. The mission trajectory driven UAV swarm communication stereoscopic coverage method according to claim 1, wherein, The two-dimensional polygon of the task flight path projection is triangulated to determine the ground station position layout, specifically: The two-dimensional polygon of the task flight path projection is triangulated using the Delaunay triangulation method to generate a plurality of Delaunay triangles; the vertices of the Delaunay triangles are used as the station addresses of the ground stations.

4. The mission trajectory driven UAV swarm communication stereoscopic coverage method according to claim 3, characterized in that, The side length of the Delaunay triangle is wherein, is the projection length of the ground station coverage radius in the Mercator plane.

5. The mission trajectory driven UAV swarm communication stereoscopic coverage method according to claim 1, wherein, The radio frequency operation of each station is determined according to the maximum number of unmanned aerial vehicles that each station needs to control, specifically: for each station: calculate the additional capacity required by the station based on the maximum number of unmanned aerial vehicles that the station needs to control; determine the radio frequency operation of the station based on the additional capacity required by the station.

6. The mission trajectory driven UAV swarm communication stereoscopic coverage method according to claim 5, characterized in that, The radio frequency operation of each station is determined, specifically: for each station: when the additional capacity required by the station is less than or equal to zero, no operation is performed; when the additional capacity required by the station is greater than 0, calculate the number of radio frequency head insertion operations: wherein, m is the number of insertion operations of the radio head of the ground station , denotes a ceiling function; denotes the number of unmanned aerial vehicles that have to be controlled by the ground station at most.

7. A mission trajectory driven UAV swarm communication stereoscopic coverage system based on the mission trajectory driven UAV swarm communication stereoscopic coverage method of claim 1, characterized in that, It comprises: a flight path projection module for projecting the task flight path of all unmanned aerial vehicle swarms to a Mercator plane to generate a two-dimensional polygon of the task flight path projection; a station position determination module for triangulating the two-dimensional polygon of the task flight path projection to determine the ground station position layout; a station maximum capacity determination module for determining the maximum number of unmanned aerial vehicles that each station needs to control based on the ground station position layout; a station radio frequency operation determination module for determining the radio frequency operation of each station according to the maximum number of unmanned aerial vehicles that each station needs to control.

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