Unmanned aerial vehicle ad hoc network system and method

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle ad hoc network system and method. In a specific embodiment, the system comprises a software defined network controller used for sending a control signal and a data signal to an unmanned aerial vehicle ground station; the unmanned aerial vehicle ground station is used for forwarding the control signal and the data signal to a plurality of unmanned aerial vehicles; the plurality of unmanned aerial vehicles comprise airborne communication platforms, and the airborne communication platforms are used for carrying out ad hoc networks according to the control signals and the data signals so as to form in-band management and control ad hoc networks with dynamic transmission rates; and the plurality of terminal devices are used for realizing communication between the terminal devices and the unmanned aerial vehicle ground station through the in-band management and control ad hoc network and realizing communication between the two terminal devices. According to the embodiment, the communication efficiency is improved, the network flexibility is enhanced, the network management is simplified, the network reliability is improved, and diversified applications are supported.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a UAV self-organizing network system and method. Background Art

[0002] Existing drone self-organizing networks have problems such as low communication efficiency, poor network flexibility, complex network management, and low network reliability. Summary of the Invention

[0003] The object of the present invention is to provide a drone self-organizing network system and method to solve at least one of the problems existing in the prior art.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A first aspect of the present invention provides a drone self-organizing network system, the system comprising:

[0006] A software-defined network controller, used to send control and data signals to the drone ground station;

[0007] A UAV ground station, configured to forward the control signal and the data signal to multiple UAVs;

[0008] A plurality of drones, including an airborne communication platform, wherein the airborne communication platform is configured to form an in-band controllable ad hoc network with a dynamic transmission rate by performing an ad hoc network according to the control signal and the data signal;

[0009] Multiple terminal devices are used to realize communication between the terminal device and the UAV ground station through the in-band control ad hoc network, and to realize communication between two terminal devices.

[0010] Optionally, the software-defined network controller includes:

[0011] Link capability evaluation module, used to generate a list of backup links based on the candidate link set, surrounding environment, weather, obstruction, platform definition and interface constraints;

[0012] A topology planning module, configured to generate a topology planning map based on interface constraints, management, connection requests, the backup link list, and the historical topology map using an exhaustive query algorithm;

[0013] A routing configuration planning module is used to generate a control command list and update the historical topology map using an optimal path algorithm based on the topology planning map and the historical routing list;

[0014] A software-defined network control module is used to generate the control signal and the data signal according to the control command list and update the historical routing list.

[0015] Optionally, the system further comprises:

[0016] The satellite ground station is used to forward the control signal and the data signal to multiple drones through a transparent forwarding satellite or a regenerating satellite, so that the multiple drones can form an out-of-band control self-organizing network based on the control signal and the data signal and form an out-of-band control self-organizing network with dynamic bandwidth allocation.

[0017] A second aspect of the present invention provides a method for self-organizing a UAV network, the method comprising:

[0018] Use software-defined network controllers to send control and data signals to the drone ground station;

[0019] forwarding the control signal and the data signal to a plurality of drones using a drone ground station;

[0020] Utilizing the airborne communication platforms of multiple drones to form an in-band controllable ad hoc network based on the control signal and the data signal to form an in-band controllable ad hoc network with a dynamic transmission rate;

[0021] Multiple terminal devices are used to realize communication between the terminal device and the UAV ground station through the in-band control self-organizing network, and communication between two terminal devices is realized.

[0022] Optionally, the sending of control signals and data signals to the UAV ground station using the software-defined network controller includes:

[0023] Generate a list of backup links based on the candidate link set, surrounding environment, weather, obstruction, platform definition, and interface constraints using the link capability assessment module;

[0024] Using a topology planning module to generate a topology planning map based on interface constraints, management, connection requests, the backup link list and the historical topology map and using an exhaustive query algorithm;

[0025] Using a routing configuration planning module to generate a control command list and update the historical topology map based on the topology planning map and the historical routing list and using an optimal path algorithm;

[0026] A software-defined network control module is used to generate the control signal and the data signal according to the control command list and to update the historical routing list.

[0027] Optionally, the calculation of the dynamic transmission rate includes:

[0028] Calculate link signal quality;

[0029] Obtaining corresponding link spectrum efficiency according to the link signal quality;

[0030] A corresponding dynamic transmission rate is obtained according to the link spectrum efficiency.

[0031] Optionally, the generating of the topology planning map by using the topology planning module according to the interface constraints, management, connection request, the backup link list and the historical topology map and using an exhaustive query algorithm includes:

[0032] Mark all the backup links in the backup link list as available links;

[0033] Estimate the utilization efficiency of all available links;

[0034] Sort all available links in descending order of utilization efficiency;

[0035] Determine whether the utilization efficiency of the first available link after sorting is greater than 0;

[0036] If it is less than or equal to 0, then all available links after sorting are output to obtain the topology planning graph;

[0037] If it is greater than 0, the first available link after sorting is put into the output set;

[0038] Among the remaining available links, marking the available links of the transceiver including the first available link as unavailable links, the transceiver including a transmitting antenna and a receiving antenna;

[0039] estimating utilization efficiency of available links excluding the unavailable links;

[0040] sorting all available links except the unavailable link in descending order of utilization efficiency;

[0041] Repeatedly determine whether the utilization efficiency of the first available link after sorting is greater than 0;

[0042] Until all the first available links are determined, the output set is output to obtain the topology planning graph.

[0043] Optionally, the method further includes:

[0044] The control signal and the data signal are forwarded to multiple drones by a satellite ground station through a transparent forwarding satellite or a regenerative satellite, so that the multiple drones can form an out-of-band control self-organizing network based on the control signal and the data signal and form an out-of-band control self-organizing network with dynamic bandwidth allocation.

[0045] Optionally, the satellite ground station includes a satellite master station, and the airborne communication platform further includes a satellite small station;

[0046] The method of using a satellite ground station to forward the control signal and the data signal to multiple drones via a transparent forwarding satellite or a regenerative satellite includes:

[0047] Using the satellite master station to send the control signal and the data signal to the satellite small station;

[0048] Utilizing the satellite station to configure the Internet Protocol of the physical layer air interface and the Internet Protocol address of the local area network interface according to the control signal and the data signal, and to perform time synchronization and frequency synchronization with the satellite master station;

[0049] Using the satellite station to send a registration signal to the satellite master station on an uplink control channel;

[0050] Utilizing the satellite master station to receive the registration signal and sending a registration reply signal corresponding to the registration signal to the satellite small station via a downlink control channel;

[0051] After the satellite station comes online, use the satellite station to send a heartbeat signal to the satellite master station;

[0052] When the satellite master station does not receive the heartbeat signal, the satellite station goes offline;

[0053] Using the satellite station to send a cancellation signal to the satellite master station via an uplink control channel;

[0054] The satellite master station receives the cancellation signal and sends a cancellation reply signal corresponding to the cancellation signal to the satellite small station via a downlink control channel.

[0055] Optionally, the satellite station includes a source station and a destination station;

[0056] The dynamic bandwidth allocation includes:

[0057] Using the satellite master station to send the control signal and the data signal to the source station and the destination station through a downlink control channel;

[0058] Using the source station and the destination station to perform time synchronization with the satellite master station according to the control signal;

[0059] Utilizing the source small station and the destination small station to send registration signals to the satellite master station respectively for registration;

[0060] Using the source station to send a connection request signal to the satellite master station;

[0061] Using the satellite master station to send a connection number to the source station and the destination station;

[0062] Using the source station and the destination station to set filtering conditions for channel and bandwidth allocation according to the connection number;

[0063] The source station and the destination station receive the corresponding allocated bandwidth according to the filtering conditions of the channel and bandwidth allocation and perform data transmission and reception according to the allocated bandwidth.

[0064] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the second aspect of the present invention.

[0065] A fourth aspect of the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the second aspect of the present invention when executing the program.

[0066] The beneficial effects of the present invention are as follows:

[0067] The present invention provides a UAV self-organizing network system, which realizes the centralized management of the UAV self-organizing network and optimizes network resources by setting a software-defined network controller, improves the communication efficiency of the UAV self-organizing network, enhances network flexibility, simplifies network management, improves network reliability and supports diversified applications, providing strong support for the development and application of UAV technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0069] Figure 1 A schematic structural diagram of a drone ad hoc network system provided by one embodiment of the present invention is shown.

[0070] Figure 2 A schematic diagram showing the structure of a software-defined network controller of a drone ad hoc network system provided by an embodiment of the present invention is shown.

[0071] Figure 3 A schematic structural diagram of a drone ad hoc network system provided by another embodiment of the present invention is shown.

[0072] Figure 4 A schematic diagram of the satellite mesh network structure of a UAV ad hoc network system provided by another embodiment of the present invention is shown.

[0073] Figure 5 A schematic diagram of channel division of a drone ad hoc network system provided by another embodiment of the present invention is shown.

[0074] Figure 6 A schematic diagram of the channel architecture of a drone ad hoc network system provided by another embodiment of the present invention is shown.

[0075] Figure 7 A schematic diagram showing the operation of a topology planning module of a drone self-organizing network method provided by another embodiment of the present invention is shown.

[0076] Figure 8 A swim lane diagram illustrating the communication between a satellite master station and a satellite microstation in a UAV self-organizing network method provided by another embodiment of the present invention.

[0077] Figure 9 A schematic diagram illustrating the operation of a satellite master station of a UAV self-organizing network method provided by another embodiment of the present invention is shown.

[0078] Figure 10 A schematic diagram showing the operation of a satellite station in a UAV self-organizing network method provided by another embodiment of the present invention.

[0079] Figure 11 A schematic diagram illustrating bandwidth allocation for a drone self-organizing network method according to another embodiment of the present invention is shown.

[0080] Figure 12 A schematic diagram of the bandwidth allocation and data transmission process of a drone self-organizing network method provided by another embodiment of the present invention is shown.

[0081] Figure 13 A schematic structural diagram of a computer device according to another embodiment of the present invention is shown.

[0082] Figure 14 A flowchart of a drone self-organizing network method provided by another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0083] In order to more clearly illustrate the present invention, the present invention will be further described below in conjunction with the embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the following specific description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.

[0084] Existing drone self-organizing networks have problems such as low communication efficiency, poor network flexibility, complex network management, and low network reliability.

[0085] In view of this, an embodiment of the present invention provides a drone self-organizing network system, such as Figure 1 As shown, the system includes: a software-defined network controller, used to send control signals and data signals to a drone ground station; a drone ground station, used to forward the control signals and the data signals to multiple drones; multiple drones, including an airborne communication platform, the airborne communication platform is used to self-organize according to the control signals and the data signals to form an in-band control self-organizing network with a dynamic transmission rate; multiple terminal devices, used to realize communication between the terminal device and the drone ground station through the in-band control self-organizing network, and realize communication between two of the terminal devices.

[0086] In a specific example, multiple drones at high altitudes can form an interconnected transmission network in a set formation. This transmission network can be used for both data forwarding and access by ground-based terminal devices and mid- and low-altitude airborne terminal devices. The drone's onboard communication platform uses a transmission protocol to implement dynamic topology and real-time routing, and transmits data based on a dynamic routing table. Using drones running ad hoc networking software, a high-speed, dynamic, in-band managed ad hoc network can be established. The in-band managed ad hoc network provides ground coverage, allowing ground-based terminal devices or mid- and low-altitude airborne terminal devices to access the in-band managed ad hoc network, enabling two-way communication between different terminal devices within the same drone access network element, as well as two-way communication between two terminal devices within different drone access networks across multiple in-band managed ad hoc network links. The drone ground station provides interconnection between the drone ad hoc network and external networks, and can connect to the drone ad hoc network's software-defined network (SDN) controller via the ground network. Based on operational status reports from the onboard communication platform, the SDN controller can optimize the in-band managed ad hoc network, enabling management and control of the in-band managed ad hoc network.

[0087] This embodiment realizes the centralized management of drone self-organizing networks and optimizes network resources by setting up a software-defined network controller, thereby improving the communication efficiency of drone self-organizing networks, enhancing network flexibility, simplifying network management, improving network reliability and supporting diversified applications, providing strong support for the development and application of drone technology.

[0088] In one possible implementation, the software-defined network controller includes: a link capability assessment module, which is used to generate a backup link list based on a candidate link set, surrounding environment, weather, obstruction, platform definition and interface constraints; a topology planning module, which is used to generate a topology planning map based on interface constraints, management, connection requests, the backup link list and the historical topology map and using an exhaustive query algorithm; a routing configuration planning module, which is used to generate a control command list and update the historical topology map based on the topology planning map and the historical routing list and using an optimal path algorithm; a software-defined network control module, which is used to generate the control signal and the data signal based on the control command list and update the historical routing list.

[0089] In a specific example, Figure 2As shown, the software-defined network controller includes a link capability assessment module, a topology planning module, a routing configuration planning module, and a software-defined network control module to manage the network topology and dynamic routing of the drone ad hoc network. The software-defined network controller includes a northbound interface and a southbound interface. The northbound interface is used for input to the software-defined network controller, including candidate link sets, surrounding environment, weather, obstruction, platform definition, and interface constraints, which are the basic conditions for the software-defined network controller model calculation. Maintenance personnel's management and application connection requests are used as real-time dynamic input through the northbound interface, affecting the calculation results of the model. The southbound interface is used to manage the drone ground station and the drone's airborne communication platform, realizing dynamic management of drones and dynamic maintenance of ad hoc networks.

[0090] In a specific example, the link capability assessment module inputs the candidate link set, surrounding environment, weather, obstruction, platform definition and interface constraints to generate a list of backup links. The backup link list includes the currently established physical links and the physical links that may be established. The topology planning module inputs interface constraints, management, connection requests and historical topology maps, and dynamically plans a new network topology, including disconnecting existing physical links, creating new physical links, and generating a topology planning map to implement connection requests. The routing configuration planning module inputs the topology planning map and historical routing list, generates a new dynamic routing table, and generates a new control command list for link maintenance and routing updates. The software-defined network control module organizes the input control command list into network control messages, sends control signals and data signals to the drone ground station, and generates a historical routing list for routing calculation.

[0091] In a specific example, the routing configuration planning module has generated a network connection topology diagram for the dynamic networking of drones after the software-defined network controller has completed topology planning. Based on a mature optimal path algorithm, it can obtain one or more optimal paths between any two nodes and generate a routing configuration plan based on the optimal path.

[0092] In a specific example, the software-defined network control module uses the network configuration protocol (Netconf) commonly used in the industry to perform software-defined network control. The software-defined network control module and the software-defined network agent module running on the drone's onboard communication platform realize the transmission of management and control messages, and configure the drone to establish data transmission links and dynamic routing.

[0093] In one possible implementation, the system also includes: a satellite ground station, which is used to forward the control signal and the data signal to multiple drones through a transparent forwarding satellite or a regenerating satellite, so that the multiple drones can self-organize according to the control signal and the data signal and form an out-of-band control self-organizing network with dynamic bandwidth allocation.

[0094] In one specific example, drones form an interconnected transmission network in the air, which is a software-defined network. Drones provide access to low- and medium-altitude airborne terminal devices and ground-based terminal devices. Drones can also conduct two-way communication with drone ground stations. The drone ground stations are connected to the software-defined network controller through routing and forwarding. Furthermore, satellite stations configured on drones in a satellite mesh network can communicate with the satellite master station of the satellite ground station via high-, medium-, or low-orbit satellites, as well as directly communicate with any two satellite stations in the satellite mesh network.

[0095] In a specific example, Figure 3 As shown, the satellite ground station is connected to the software-defined network controller via routing and forwarding. Control commands from the software-defined network controller can be transmitted to the drone via the satellite link, creating an out-of-band control ad hoc network. Control commands from the software-defined network controller can also be transmitted to the drone via routing and forwarding by the drone ground station and an in-band control ad hoc network, creating an in-band control ad hoc network. Furthermore, data received by terminals on the drone's onboard communication platform can be transmitted to remote drones via routing and inter-machine communication on the platform. Data can also be transmitted to remote drones via the satellite mesh network. In a satellite-assisted drone mesh network, the satellite master station is deployed at the satellite ground station, and the satellite substations are deployed on the drone's onboard communication platform.

[0096] In a specific example, Figure 4 As shown in the figure, in an out-of-band control ad hoc network, drones are equipped with satellite stations, and satellite ground stations are deployed with satellite master stations. Direct communication between the satellite stations can be achieved using transparent forwarding satellites or regenerative satellites. Both uplink and downlink communications between the satellite stations and the satellite master station use multi-frequency time division multiple access (MF-TDMA). The satellite stations implement at least two receive channels and one transmit channel, while the satellite master station implements multiple receive channels and one transmit channel.

[0097] It is a very difficult task to achieve uninterrupted network communication by relying entirely on drones. Because all control messages must be transmitted in-band through the ad hoc network, it is very likely that the drone will not be able to join the ad hoc network for a short period of time. Without an out-of-band control link, error troubleshooting and system recovery will be impossible. Therefore, in this embodiment, the satellite link is used as an out-of-band control ad hoc network. When the in-band control ad hoc network cannot be connected, the out-of-band control ad hoc network implemented through the satellite mesh network is used as a backup link for emergency data, thereby enhancing the reliability of the system. At the same time, drones can also complete the construction of ad hoc networks through out-of-band control ad hoc networks in non-line-of-sight situations.

[0098] In a specific example, the out-of-band managed ad hoc network is a satellite mesh network. A satellite mesh network can utilize the communication spectrum using a single wide channel or by dividing it into multiple time-division multiple access sub-channels. The system divides the communication spectrum into independent uplink and downlink control channels, as well as multiple data channels. The data channels are shared by all online satellite stations. Dynamic bandwidth application and allocation enable point-to-point, one-hop communication between satellite stations in the satellite mesh network.

[0099] In a specific example, Figure 5 As shown, the channel is divided into superframes on the time axis; frames (frame length is 10ms, 20ms, or 40ms, and the length is configurable); subframes (subframes), also known as the minimum unit of Layer 2 transmission data (burst); time slots; and symbols. A superframe contains N1 frames, where N1 is configurable and defaults to 8 frames. A frame contains several subframes, the number of which is determined by the subframe size. A subframe consists of several time slots, and a subframe set includes several types of subframes with configurable sizes. A time slot contains 40 symbols.

[0100] In a specific example, the satellite master station defines a signaling broadcast channel (Broadcast Channel) for synchronization signaling (SYNC) broadcasts, Internet Protocol (IP) addressing broadcasts, bandwidth resource broadcasts, and bandwidth allocation broadcasts. All satellite stations need to monitor the signaling broadcast channel. They first establish time and frequency synchronization with the satellite master station through synchronization signaling, then configure their IP address and initiate uplink registration. All satellite stations receive commands and responses from the master station through this channel, which is called the downlink control channel for satellite stations.

[0101] In a specific example, the satellite master station defines a signaling reception channel (Admission Channel) for satellite stations to randomly access, report data backlog, and establish dynamic connections. All satellite stations send requests to the master station through this channel, which is called an uplink control channel for satellite stations.

[0102] In a specific example, the data channel uses the standard data (DATA) format, and the downlink control channel and the uplink control channel use the random access (RACH) format. When the control channel has spare bandwidth, a portion of it can be used for downlink data transmission and uplink data transmission between the satellite master station and the satellite station. The two-way data transmission between the satellite master station and the satellite station can also use a pure data channel, and the satellite master station and the satellite station are in the same position at this time. Furthermore, the control channel and data channel architecture between the satellite master station and the satellite station is as follows: Figure 6 shown.

[0103] Another embodiment of the present invention provides a method for self-organizing a UAV network. Figure 14 As shown, the method includes: using a software-defined network controller to send control signals and data signals to a UAV ground station; using the UAV ground station to forward the control signals and the data signals to multiple UAVs; using the airborne communication platforms of multiple UAVs to conduct self-organizing networking according to the control signals and the data signals to form an in-band control self-organizing network with a dynamic transmission rate; using multiple terminal devices to realize communication between the terminal device and the UAV ground station through the in-band control self-organizing network, and realize communication between two of the terminal devices.

[0104] This embodiment realizes the centralized management of drone self-organizing networks and optimizes network resources by setting up a software-defined network controller, thereby improving the communication efficiency of drone self-organizing networks, enhancing network flexibility, simplifying network management, improving network reliability and supporting diversified applications, providing strong support for the development and application of drone technology.

[0105] In one possible implementation, the use of a software-defined network controller to send control signals and data signals to a UAV ground station includes: using a link capability assessment module to generate a backup link list based on a candidate link set, surrounding environment, weather, obstruction, platform definition, and interface constraints; using a topology planning module to generate a topology planning map based on interface constraints, management, connection requests, the backup link list, and a historical topology map using an exhaustive query algorithm; using a routing configuration planning module to generate a control command list and update the historical topology map based on the topology planning map and the historical routing list using an optimal path algorithm; and using a software-defined network control module to generate the control signal and the data signal based on the control command list and update the historical routing list.

[0106] In one possible implementation, Figure 7As shown, the topology planning module generates a topology planning map based on interface constraints, management, connection requests, the backup link list and the historical topology map and using an exhaustive query algorithm, including: marking all backup links in the backup link list as available links; estimating the utilization efficiency of all available links; sorting all available links from large to small according to utilization efficiency; judging whether the utilization efficiency of the first available link after sorting is greater than 0; if it is less than or equal to 0, outputting all the sorted available links to obtain a topology planning map; if it is greater than 0, putting the sorted first available link into an output set; among the remaining available links, marking the available link of the transceiver containing the first available link as an unavailable link, the transceiver including a transmitting antenna and a receiving antenna; estimating the utilization efficiency of the available links other than the unavailable link; sorting all available links other than the unavailable link from large to small according to utilization efficiency; repeatedly judging whether the utilization efficiency of the first available link after sorting is greater than 0; until all the first available links are judged, outputting the output set to obtain a topology planning map.

[0107] In a specific example, the topology planning module aims to maximize the number of connection requests satisfied, subject to physical, policy, and priority constraints. The output of each round of topology planning is the set of links (i.e., transceiver pairs) to be implemented, along with the implementation time to achieve optimal theoretical utility. Furthermore, the topology planning module's input includes the list of alternative links output by the link capability assessment module, which in turn takes into account the surrounding environment, weather, obstructions, a set of connection requests (including the source and target platforms and the required transmission bandwidth bit rate), a mapping of transceivers to UAV-based communication platforms, and the aforementioned set of candidate link reports (i.e., the expected link margin and bit rate for each transceiver pair with line-of-sight and geometric pointing capability for each transmission link). Furthermore, the topology planning module can also examine the existing set of established links and prioritize candidate topologies that minimize disruption. Furthermore, the topology planning module imposes several logical constraints on the candidate topologies, including that each transceiver can be paired with at most one other transceiver, and that paired transceivers must use non-interfering channels.

[0108] In a specific example, given a set of center frequencies and channel bandwidths, a set of transmit powers, and a set of transceivers, a set of candidate links within a given time slice, where a given time slice is a period of time with a start time and an end time, wherein each candidate link l i→j Defined as

[0109] l i→j ={t i , t j ∈Transceiver, f∈Freq, p∈Power, bps, margin}

[0110] Where, t i is the i-th transceiver; t j is the jth transceiver, transceiver t i and transceiver t j Can not be connected to the same UAV platform, and there are no known obstacles in the line of sight, that is, a physical connection can be established; f is the transceiver t when the link is established i The center frequency and channel bandwidth in the transmission parameters that can be used are also the transceiver t j The center frequency and channel bandwidth of the receiving parameters that can be used; p is the transceiver t when establishing a link i The transmit power in the transmit parameters that can be used is also the transceiver t when establishing a link. j The receive parameters that can be used include receive power; bps is the transmission bandwidth of the connection; margin is the link margin of the connection, which is a link signal quality parameter determined by the previous link capability assessment module; Freq is a set of center frequency and channel bandwidth (Freq); Power is a set of transmit power; and Transceiver is a set of transceivers.

[0111] In a specific example, the drone node is able to internally forward data flows between any pair of transceivers, which is achieved by the routing and forwarding module in the airborne communication platform. The topology planning module also receives a set of connection requests, which are any two nodes in the drone network node set. This connection request is defined as

[0112] c x→y ={n x , n y , bps min}

[0113] Where n x is the xth node; n y is the yth node, n x , n y ∈N and n x ≠n y , N is the set of UAV network nodes; bps min The minimum transfer rate required for the connection.

[0114] Furthermore, for any connection request, there exists a set of connection sets L x→y ∈Link, Link is the set of candidate links within a given time slice; and satisfies min{bps∈L x→y}≥bps minFurthermore, additional constraints are applied to the candidate topologies, such as verifying that links are free of interference and that links are bidirectional. Furthermore, the selected topology in the previous time slice is also input and used to prioritize the candidate topologies that minimize disruption. The output is the candidate topology for the given time slice, i.e., the connection set, which forms a planning topology graph.

[0115] In a specific example, given a list of backup links, an exhaustive query method can be used to quickly obtain the desired topology. The utility of the resulting network topology depends heavily on the choice of an efficient link utility estimation algorithm. The algorithm should maintain the continuity of link selection and prevent the selection of short-lived links, thereby producing a topology that is adaptable to demand and robust to dynamic link availability.

[0116] In one possible implementation, Figure 8 As shown, the satellite ground station includes a satellite main station, and the airborne communication platform also includes a satellite small station; the use of the satellite ground station to forward the control signal and the data signal to multiple drones through a transparent forwarding satellite or a regenerated satellite includes: using the satellite main station to send the control signal and the data signal to the satellite small station; using the satellite small station to configure the Internet protocol of the physical layer air interface and the Internet protocol address of the local area network interface according to the control signal and the data signal, and perform time synchronization and frequency synchronization with the satellite main station; using the satellite small station to send the control signal and the data signal to the satellite main station on the uplink control channel The satellite master station sends a registration signal; the satellite master station receives the registration signal and sends a registration reply signal corresponding to the registration signal to the satellite station through a downlink control channel; after the satellite station goes online, the satellite station sends a heartbeat signal to the satellite master station; when the satellite master station does not receive the heartbeat signal, the satellite station goes offline; the satellite station sends a cancellation signal to the satellite master station through an uplink control channel; the satellite master station receives the cancellation signal and sends a cancellation reply signal corresponding to the cancellation signal to the satellite station through a downlink control channel.

[0117] In a specific example, the satellite master station transmits the control signal and the data signal to the satellite station; wherein the control signal and the data signal include periodic broadcast resource information. The satellite station configures the Internet Protocol (IP) address of the physical layer air interface and the Internet Protocol (IP) address of the local area network (LAN) interface based on the periodic broadcast resource information, and performs time and frequency synchronization with the satellite master station.

[0118] In a specific example, the Internet Protocol addressing of a satellite station is based on Internet Protocol addressing signaling. According to the broadcast Internet Protocol mode and addressing mode, the Internet Protocol address of the air interface and the local area network interface is configured. Furthermore, the satellite station initiates registration (Logon) and logoff (Logoff) with the satellite master station. Registration and logoff generally require the use of an uplink control channel, and the satellite master station replies are sent on the downlink control channel. After the satellite station goes online, it can maintain its online status by sending a heartbeat signal (Keepalive). If the satellite master station does not receive a heartbeat signal within a configured time, it considers the satellite station offline and needs to release all resources allocated to the satellite station. Furthermore, the Internet Protocol addressing and user access exit process includes the satellite station first receiving Internet Protocol addressing signaling and automatically configuring an Internet Protocol address. The satellite station sends a registration request on the uplink control channel, which contains the satellite station configuration context (Context) and the Internet Protocol address, and receives a registration reply signal on the downlink control channel. The satellite station sends a heartbeat signal, which contains the satellite station configuration context and the Internet Protocol address, to maintain its online status. Before the satellite station exits, it sends a logout signal and receives a logout reply signal from the satellite main station.

[0119] In one possible implementation, the method further includes: utilizing a satellite ground station to forward the control signal and the data signal to a plurality of drones via a transparent forwarding satellite or a regenerative satellite, so that the plurality of drones perform self-organizing networking according to the control signal and the data signal and form an out-of-band control self-organizing network with dynamic bandwidth allocation.

[0120] In a specific example, the satellite ground station includes a satellite master station, and the airborne communication platform also includes a satellite small station; the out-of-band control ad hoc network is a satellite mesh network.

[0121] In a specific example, Figure 9As shown, the master station controller of the satellite master station starts the time synchronization service, periodically sends the time synchronization signal to the link layer, and periodically sends the channel resource signal to the link layer; all signals output by the master station controller are encapsulated by the link layer, and the link layer encapsulation includes media access control (MAC) and satellite link coding (SLC) encapsulation, and sent to the physical layer air interface for transmission; the physical layer air interface sends the control signal in the downlink control channel; the physical layer air interface receives the control signal sent by the satellite station in the uplink control channel; the link layer decapsulates the control signal sent by the satellite station at the link layer, and the link layer decapsulation includes media access control and satellite link coding decapsulation, parses the message, and sends it according to the classification. The control signal is sent to different processing modules of the master station controller; the registration signal, deregistration signal and heartbeat signal in the control signal are processed by the access management module of the master station controller to generate a list of online stations; the connection request signal in the control signal is processed by the connection management module to generate a connection creation signal, which is sent to the two satellite stations that need to communicate; the data backlog signal (Backlog) in the control signal is processed by the bandwidth allocation module to allocate bandwidth for the two communicating satellite stations, and generate a bandwidth allocation signal to send to the two satellite stations; the data of the protocol data unit (PDU) on the data plane of the satellite master station and the satellite station are also encapsulated and decapsulated at the link layer, and are sent and received through the data channel at the physical layer.

[0122] In a specific example, Figure 10 As shown, the physical layer air interface receives control signals and data on the downlink control channel and data channel; all control signals and data are decapsulated at the link layer, and the signals contained in the control signals are sent to different processing modules of the station controller according to classification; the time synchronization signal is handed over to the frame boundary calculation and setting module for time synchronization with the satellite master station; the channel resource signal is handed over to the Internet Protocol addressing and channel configuration module to configure the Internet Protocol address and channel transmission and reception parameters of the satellite station; the connection establishment signal is handed over to the bandwidth allocation setting filter module, the connection number is used to query the bandwidth allocation table, and the configured receiving data channel waits for receiving satellite station data; the bandwidth allocation signal is handed over to the bandwidth allocation processing and framing module, which encapsulates and packages the three-layer protocol data unit data according to the bandwidth allocation; if the satellite station needs to transmit or receive data with other stations, it generates connection request signaling; all signals and three-layer protocol data unit data output by the station controller are encapsulated at the link layer, and media access control encapsulation and satellite link coding encapsulation are performed according to the bandwidth allocation; the control message encapsulated by the media access control is sent by the physical layer air interface on the uplink control channel, and the media access control encapsulated protocol data unit data sent to other satellite stations is sent on the data channel.

[0123] In a possible implementation, the calculation of the dynamic transmission rate includes: calculating a link signal quality; obtaining a corresponding link spectrum efficiency according to the link signal quality; and obtaining a corresponding dynamic transmission rate according to the link spectrum efficiency.

[0124] The calculation formula for calculating the link signal quality is:

[0125] SNR=EIRP–L+G+228.6–10*lg(Rs)

[0126] Where SNR is the link signal quality, or signal-to-noise ratio, in dB; EIRP is the transmit power of the transmitting antenna in dBw; L is the path loss, L = 32.4 + 20lg(d) + 20lg(f), where f is the frequency in MHz and d is the distance in km; G is the gain of the receiving antenna in dB; and Rs is the symbol rate in Hz.

[0127] In a specific example, the modulation modes supported by the baseband system include Quadrature Phase Shift Keying (QPSK), 8 Phase Shift Keying (8PSK), 16-level Amplitude Phase Shift Keying (16APSK), and 32-level Amplitude Phase Shift Keying (32APSK). The coding modes of Low Density Parity Check Code (LDPC) supported by the baseband system include 1 / 4, 1 / 3, 2 / 5, 1 / 2, 3 / 5, 2 / 3, 3 / 4, 4 / 5, 5 / 6, 8 / 9, and 9 / 10. Different modulation modes and coding modes constitute 28 different modulation and coding modes (MODCOD), providing different transmission rates under different link signal quality conditions.

[0128] In a specific example, Table 1 shows a link evaluation basis table. During link evaluation, Table 1 is used as the link signal quality threshold for optional modulation and coding. The appropriate modulation and coding rate is selected by looking up Table 1 according to the SNR threshold, and the transmittable data rate is calculated based on the spectrum efficiency.

[0129] Table 1 Link evaluation basis

[0130]

[0131]

[0132] In Table 1, QPSK 1 / 4 is QPSK with a coding rate of 1 / 4; QPSK 1 / 3 is QPSK with a coding rate of 1 / 3; QPSK 2 / 5 is QPSK with a coding rate of 2 / 5; QPSK 1 / 2 is QPSK with a coding rate of 1 / 2; QPSK 3 / 5 is QPSK with a coding rate of 3 / 5; QPSK 2 / 3 is QPSK with a coding rate of 2 / 3; QPSK 3 / 4 is QPSK with a coding rate of 3 / 4; QPSK 4 / 5 is QPSK with a coding rate of 4 / 5; QPSK 5 / 6 is QPSK with a coding rate of 5 / 6; QPSK 8 / 9 is QPSK with a coding rate of 8 / 9; QPSK 9 / 10 is QPSK with a coding rate of 9 / 10; 8PSK 3 / 5 is 8PSK with a coding rate of 3 / 5; 8PSK 2 / 3 is 8PSK with a coding rate of 2 / 3; 8PSK3 / 4 is 8PSK with a coding rate of 3 / 4; 8PSK 5 / 6 is 8PSK with a coding rate of 5 / 6; 8PSK 8 / 9 is 8PSK with a coding rate of 8 / 9; 8PSK 9 / 10 is 8PSK with a coding rate of 9 / 10; 16APSK 2 / 3 is 16APSK with a coding rate of 2 / 3; 16APSK 3 / 4 is 16APSK with a coding rate of 3 / 4; 16APSK 4 / 5 is 16APSK with a coding rate of 4 / 5; 16APSK 5 / 6 is 16APSK with a coding rate of 5 / 6; 16APSK 8 / 9 is 16APSK with a coding rate of 8 / 9; 16APSK 9 / 10 is 16APSK with a coding rate of 9 / 10; 32APSK 3 / 4 is 32APSK with a coding rate of 3 / 4; 32APSK 4 / 5 is 32APSK with a coding rate of 4 / 5; 32APSK 5 / 6 is 32APSK with a coding rate of 5 / 6; 32APSK 8 / 9 is 32APSK with a coding rate of 8 / 9; 32APSK 9 / 10 is 32APSK with a coding rate of 9 / 10.

[0133] In one possible implementation, the satellite station includes a source station and a destination station; the dynamic bandwidth allocation includes: using the satellite main station to send the control signal and the data signal to the source station and the destination station through a downlink control channel; using the source station and the destination station to synchronize time with the satellite main station according to the control signal; using the source station and the destination station to send registration signals to the satellite main station respectively for registration; using the source station to send a connection request signal to the satellite main station; using the satellite main station to send a connection number to the source station and the destination station; using the source station and the destination station to set channel and bandwidth allocation filtering conditions according to the connection number; using the source station and the destination station to receive the corresponding bandwidth according to the channel and bandwidth allocation filtering conditions and send and receive data according to the bandwidth.

[0134] In a specific example, in a satellite mesh network, sending data between satellite stations requires knowing the source and destination addresses of the sending and receiving stations. Furthermore, a virtual connection is defined, where a connection represents a unidirectional data flow from a source station to a destination station. If two satellite stations are performing duplex communication, two virtual connections are required to represent the data flow in each direction.

[0135] Furthermore, for satellite stations to communicate in a mesh network, they need to create a connection between the two communicating satellite stations and maintain the connection until communication is no longer needed, at which point the connection can be removed. This connection can be a virtual concept. Maintaining the connection requires the satellite master station to always allocate bidirectional bandwidth to the two communicating satellite stations, that is, each satellite station knows which subframe of which channel to receive messages, and which subframe of which channel to send messages. In a satellite mesh network, the satellite master station performs bandwidth allocation, and bandwidth allocation is based on the connection ID of the virtual connection. The connection ID represents the data flow from one satellite station to another. When two satellite stations communicate in full-duplex, bandwidth allocation in both directions is required.

[0136] Furthermore, the satellite master station allocates two connection numbers for duplex communication within the satellite mesh network, one for each direction. These numbers are communicated to both satellite stations during the connection establishment process. Simultaneously, the satellite master station requests bandwidth for this connection. When a satellite station initiates a connection release, the satellite master station forwards the request and response, releasing bandwidth.

[0137] In a specific example, in a satellite mesh network, a satellite station may need to communicate with multiple satellite stations within a single frame. Suppose a satellite station needs to communicate with n satellite stations within a single frame, but a transmitter constrains bandwidth allocation to n destinations, requiring them to be allocated at different times and preventing two subframes from being transmitted at the same time. Therefore, the satellite master station can aggregate the data backlogs of the n stations in a sequential order and treat this as a request to the satellite master station. This allocation is performed using the transmitting satellite station's System Allocation Number (SAI), while the dynamic connection number associated with the destination station is used when allocating bandwidth.

[0138] In a specific example, Figure 11As shown, the data backlog signal 102 from satellite station 1 to satellite station 2 has a system allocation number of 01 and a bandwidth allocation connection number of 0102; the data backlog signal 103 from satellite station 1 to satellite station 3 has a system allocation number of 01 and a bandwidth allocation connection number of 0103; the data backlog signal from satellite station 1 to satellite station n has a system allocation number of 01 and a bandwidth allocation connection number of 010n; it can be regarded as a data backlog signal from satellite station 1 to the satellite master station, with a system allocation number of 01.

[0139] Furthermore, the allocated bandwidth is broadcast via a bandwidth allocation signal, using a connection number. Both the transmitting and receiving stations can receive the bandwidth allocation signal simultaneously and determine the transmitting and receiving channels and subframe positions by matching the connection number, which is in hexadecimal. Table 2 shows an example of a bandwidth allocation broadcast table using connection numbers. Assuming a subframe size of 54 slots, the subframe set and subframe size are configurable.

[0140] Table 2 Bandwidth allocation broadcast example table

[0141] Connection number Time Slot Modulation coding rate Remark 0xff0102 54 8psk 9 / 10 Satellite Station 1 to Satellite Station 2 0xff0102 54 8psk 9 / 10 Satellite Station 1 to Satellite Station 2 0xff0103 54 8psk 9 / 10 Satellite Station 1 to Satellite Station 3 0xff0201 54 8psk 9 / 10 Satellite Station 2 to Satellite Station 1 0xff0301 54 8psk 9 / 10 Satellite Station 3 to Satellite Station 1 0xff0301 54 8psk 9 / 10 Satellite Station 3 to Satellite Station 1

[0142] The satellite master station is used to send the control signal and the data signal to the source station and the destination station through a downlink control channel; the source station and the destination station are used to perform time synchronization with the satellite master station according to the control signal; the source station and the destination station are used to send registration signals to the satellite master station respectively for registration; the source station is used to send a connection request signal to the satellite master station; the satellite master station is used to send a connection number to the source station and the destination station; the source station and the destination station are used to set filtering conditions for channel and bandwidth allocation according to the connection number; the source station and the destination station are used to receive the corresponding allocated bandwidth according to the filtering conditions for channel and bandwidth allocation and transmit and receive data according to the allocated bandwidth.

[0143] In a specific example, Figure 12As shown, the source and destination stations receive control signals and synchronize time with the satellite master station. The source and destination stations send registration signals to the satellite master station to register. Before sending data, the source station initiates a connection request signal to the satellite master station, which then sends the established connection number to the source and destination stations, for example, 0102 and 0201. The source and destination stations set filtering conditions for channel and bandwidth allocation based on the connection number. For example, the source station's channel and bandwidth allocation filtering conditions include: a connection number of 0102 indicates a send channel, meaning the source station sends data to the destination station; a connection number of 0201 indicates a receive channel, meaning the source station receives data sent by the destination station; and a destination station's channel and bandwidth allocation filtering conditions include a connection number of 0102 indicates a receive channel, meaning the destination station receives data sent by the source station; and a connection number of 0201 indicates a send channel, meaning the destination station sends data to the source station. The source station and the destination station receive the allocated bandwidth and send and receive data according to the allocated bandwidth. For example, if the source station receives the allocated bandwidth corresponding to the connection number 0102, and the destination station receives the allocated bandwidth corresponding to the connection number 0102, the source station sends a data signal to the destination station; for example, if the source station receives the allocated bandwidth corresponding to the connection number 0201, and the destination station receives the allocated bandwidth corresponding to the connection number 0201, the destination station sends a data signal to the source station.

[0144] Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements: using a software-defined network controller to send control signals and data signals to a drone ground station; using the drone ground station to forward the control signals and the data signals to multiple drones; using the onboard communication platforms of multiple drones to perform self-organizing networking based on the control signals and the data signals to form an in-band control self-organizing network with a dynamic transmission rate; using multiple terminal devices to realize communication between the terminal device and the drone ground station through the in-band control self-organizing network, and realizing communication between two of the terminal devices.

[0145] In practical applications, the computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0146] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0147] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, etc., or any suitable combination of the foregoing.

[0148] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0149] like Figure 13As shown, a structural diagram of a computer device provided by another embodiment of the present invention. Figure 13 The computer device T12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0150] like Figure 13 As shown, the computer device T12 is a general-purpose computing device. Components of the computer device T12 may include, but are not limited to, one or more processors or processing units T16, a system memory T28, and a bus T18 connecting various system components (including the system memory T28 and the processing unit T16).

[0151] Bus T18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0152] The computer device T12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device T12, including volatile and non-volatile media, removable and non-removable media.

[0153] System memory T28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) T30 and / or cache memory T32. Computer device T12 may further include other removable or non-removable, volatile or non-volatile computer system storage media. By way of example only, storage system T34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 13 Not shown, often called a "hard drive"). Although Figure 13 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus T18 via one or more data medium interfaces. The memory T28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0154] A program / utility T40 having a set (at least one) of program modules T42 may be stored, for example, in memory T28. Such program modules T42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. The program modules T42 generally implement the functions and / or methods of the embodiments described herein.

[0155] The computer device T12 may also communicate with one or more external devices T14 (e.g., a keyboard, a pointing device, a display T24, etc.), one or more devices that enable a user to interact with the computer device T12, and / or any device that enables the computer device T12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input and output (I / O) interface T22. Furthermore, the computer device T12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter T20. Figure 13 As shown, the network adapter T20 communicates with other modules of the computer device T12 via the bus T18. Figure 13 Not shown, other hardware and / or software modules may be used in conjunction with the computer device T12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0156] The processor unit T16 executes various functional applications and data processing by running programs stored in the system memory T28, such as implementing a method of use provided by an embodiment of the present invention.

[0157] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in this field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A drone self-organizing network system, characterized in that: The system includes: A software-defined network controller that sends control and data signals to the drone ground station; A UAV ground station, used for forwarding the control signal and the data signal to multiple UAVs; A plurality of drones, including an airborne communication platform, wherein the airborne communication platform is used to perform self-organizing networking according to the control signal and the data signal to form an in-band control self-organizing network with a dynamic transmission rate; Multiple terminal devices are used to realize communication between the terminal device and the UAV ground station through the in-band control self-organizing network, and to realize communication between two terminal devices.

2. The unmanned aerial vehicle self-organizing network system according to claim 1, characterized in that: The software defined network controller comprises: A link capability evaluation module is used to generate a list of backup links based on the candidate link set, surrounding environment, weather, occlusion, platform definition, and interface constraints; A topology planning module, used for generating a topology planning map according to interface constraints, management, connection requests, the backup link list and the historical topology map by using an exhaustive query algorithm; A routing configuration planning module, used to generate a control command list and update the historical topology map based on the topology planning map and the historical routing list and using an optimal path algorithm; A software defined network control module is used to generate the control signal and the data signal according to the control command list and update the historical routing list.

3. The unmanned aerial vehicle self-organizing network system according to claim 2, characterized in that: The system also includes: The satellite ground station is used to forward the control signal and the data signal to multiple drones through a transparent forwarding satellite or a regenerating satellite, so that the multiple drones can self-organize according to the control signal and the data signal and form an out-of-band control self-organizing network with dynamic bandwidth allocation.

4. A method for self-organizing a drone network, characterized in that: The method includes: Use software-defined network controller to send control signals and data signals to the drone ground station; forwarding the control signal and the data signal to a plurality of drones using a drone ground station; Using the airborne communication platforms of multiple drones to conduct self-organizing networking according to the control signal and the data signal to form an in-band control self-organizing network with a dynamic transmission rate; Multiple terminal devices are used to realize communication between the terminal device and the UAV ground station through the in-band control self-organizing network, and communication between two terminal devices is realized.

5. The drone self-organizing network method according to claim 4, characterized in that: The method of using the software defined network controller to send the control signal and the data signal to the UAV ground station includes: Generate a list of backup links based on the candidate link set, surrounding environment, weather, occlusion, platform definition, and interface constraints using the link capability assessment module; Generate a topology planning map using a topology planning module according to interface constraints, management, connection requests, the backup link list and the historical topology map and using an exhaustive query algorithm; Using a routing configuration planning module to generate a control command list and update the historical topology map according to the topology planning map and the historical routing list and using an optimal path algorithm; The software defined network control module is used to generate the control signal and the data signal according to the control command list and to update the historical routing list.

6. The drone self-organizing network method according to claim 5, characterized in that: The calculation of the dynamic transmission rate includes: Calculate link signal quality; Obtaining a corresponding link spectrum efficiency according to the link signal quality; A corresponding dynamic transmission rate is obtained according to the link spectrum efficiency.

7. The drone self-organizing network method according to claim 6, characterized in that: The generating of the topology planning map by using the topology planning module according to the interface constraints, management, connection request, the backup link list and the historical topology map and using the exhaustive query algorithm comprises: Marking all the standby links in the standby link list as available links; Estimate the utilization efficiency of all available links; Sort all available links in descending order of utilization efficiency; Determine whether the utilization efficiency of the first available link after sorting is greater than 0; If it is less than or equal to 0, then all the available links after sorting are output to obtain the topology planning diagram; If it is greater than 0, the first available link after sorting is put into the output set; Among the remaining available links, marking the available links of the transceiver including the first available link as unavailable links, the transceiver including a transmitting antenna and a receiving antenna; estimating the utilization efficiency of available links except the unavailable links; sorting all available links except the unavailable link in descending order according to usage efficiency; Repeatedly determine whether the utilization efficiency of the first available link after sorting is greater than 0; Until all the first available links are determined, the output set is output to obtain the topology planning graph.

8. The drone self-organizing network method according to claim 7, characterized in that: The method further includes: The control signal and the data signal are forwarded to multiple drones by a satellite ground station through a transparent forwarding satellite or a regenerating satellite, so that the multiple drones can form a self-organizing network according to the control signal and the data signal and form an out-of-band control self-organizing network with dynamic bandwidth allocation.

9. The drone self-organizing network method according to claim 8, characterized in that: The satellite ground station includes a satellite main station, and the airborne communication platform also includes a satellite small station; The method of using a satellite ground station to forward the control signal and the data signal to multiple drones through a transparent forwarding satellite or a regeneration satellite includes: Using the satellite master station to send the control signal and the data signal to the satellite small station; Using the satellite station to configure the Internet Protocol of the physical layer air interface and the Internet Protocol address of the local area network interface according to the control signal and the data signal, and perform time synchronization and frequency synchronization with the satellite master station; Using the satellite station to send a registration signal to the satellite master station on an uplink control channel; Utilizing the satellite master station to receive the registration signal and sending a registration reply signal corresponding to the registration signal to the satellite small station through a downlink control channel; After the satellite station is online, using the satellite station to send a heartbeat signal to the satellite master station; When the satellite master station does not receive the heartbeat signal, the satellite small station goes offline; Using the satellite station to send a cancellation signal to the satellite master station on an uplink control channel; The satellite master station receives the cancellation signal and sends a cancellation reply signal corresponding to the cancellation signal to the satellite small station in a downlink control channel.

10. The drone self-organizing network method according to claim 9, characterized in that: The satellite stations include a source station and a destination station; The dynamic bandwidth allocation includes: Using the satellite master station to send the control signal and the data signal to the source station and the destination station through a downlink control channel; Using the source small station and the destination small station to perform time synchronization with the satellite main station according to the control signal; Using the source small station and the destination small station to send registration signals to the satellite main station for registration respectively; Using the source station to send a connection request signal to the satellite master station; Using the satellite master station to send a connection number to the source station and the destination station; Using the source station and the destination station to set filtering conditions for channel and bandwidth allocation according to the connection number; The source station and the destination station receive the corresponding allocated bandwidth according to the filtering conditions of the channel and bandwidth allocation and perform data transmission and reception according to the allocated bandwidth.

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