A system and method for drone swarm networking

Abstract

The present application discloses a system and method for drone cluster networking. The system includes: a drone module, a data transmission module, and a disconnection unit; the drone module is respectively connected to the data transmission module and the disconnection unit through interfaces; the data transmission module is connected to the disconnection unit through an optical fiber; through the cooperation of the drone module, the data transmission module, and the disconnection unit, the TSN optical fiber networking of the drone cluster is realized, providing high-bandwidth and low-latency networking for nodes between drone clusters, enabling effective internal data communication within the cluster, and cutting off nodes with hard damage to ensure that the damaged nodes will not affect the tasks of the cluster and will not be interfered with and deceived by conventional anti-drone swarm means; the method has the same beneficial effects.

Description

Technical Field

[0001] This application relates to the technical field of UAV network communication, and particularly to a system and method for UAV swarm networking. Background Art

[0002] In recent years, UAVs have been continuously developing, and various technologies have been basically mature. They have played an increasingly important role in military and civilian fields. With the advantages of low cost, good concealment, simple take-off and landing, support for multiple mission types, etc., and high-demand missions, UAVs have developed from relatively simple and limited single-unit capabilities to UAV swarms.

[0003] When performing tasks, UAV swarms need to collect intelligence through on-board devices such as sensors and exchange information with ground control stations. They need to perform flocking control for coordinated group flight, and also need to communicate with manned aircraft via radio. Therefore, resources such as data links, communication, and navigation are very important for the function of UAV swarms. Soft kill in anti-UAV swarm means is to interfere with or deceive such resources, making UAV swarms lose the ability to cooperate in combat. It has the advantages of fast strike speed, high interception efficiency, high cost-effectiveness, etc., and is currently being widely studied and used.

[0004] In view of this, how to ensure that UAV swarms can normally network and communicate when being interfered with and deceived by anti-UAV swarm means is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] To solve the above technical problems, the object of the present invention is to provide a system and method for UAV swarm networking, which realizes TSN fiber networking for UAV swarms through each module, provides high-bandwidth and low-latency networking for nodes between UAV swarms, can effectively perform internal data communication of the swarm, and cut off nodes with hard damage to ensure that damaged nodes will not affect the tasks of the swarm.

[0006] The first object of the present invention is to provide a system for UAV swarm networking;

[0007] The technical solution provided by the present invention is as follows:

[0008] A system for UAV swarm networking includes: a UAV module, a data transmission module, and a disconnection unit; the UAV module is respectively connected to the data transmission module and the disconnection unit through interfaces; the data transmission module is connected to the disconnection unit through an optical fiber;

[0009] The UAV module is used to receive data sent by the data transmission module and control the disconnection unit;

[0010] The data transmission module is used to ensure the data transmission between the ground station and the drone module;

[0011] The circuit breaker unit is used to cut off the optical fiber connected to the damaged drone according to the instruction of the drone module.

[0012] Preferably, the drone module specifically includes: a main control chip, a storage unit, sensors, a communication interface, and a control interface;

[0013] The main control chip is respectively connected to the storage unit and the sensors;

[0014] The main control chip is connected to the circuit breaker unit through the control interface;

[0015] The main control chip is connected to the data transmission module through the communication interface.

[0016] Preferably, the drone module further includes: a GPS, a servo, and a mission interface;

[0017] The servo is connected to the main control chip;

[0018] The GPS is used to collect the position information and speed information of the drone;

[0019] The mission interface is used to install accessory devices.

[0020] Preferably, the sensors specifically include: an IMU sensor, a magnetic sensor, an airspeed sensor, and a static pressure sensor;

[0021] The main control chip is respectively connected to the IMU sensor, the magnetic sensor, the airspeed sensor, and the static pressure sensor, and is used to provide the target data for the main control chip for aircraft control.

[0022] Preferably, the data transmission module is specifically a TSN switch chip;

[0023] The TSN switch chip is connected to the communication interface through an Ethernet interface;

[0024] The TSN switch chip is connected to the circuit breaker unit through an optical fiber.

[0025] Preferably, the TSN switch chip is connected to the ground controller through an optical fiber interface.

[0026] The second object of the present invention is to provide a method for drone cluster networking;

[0027] The technical solution provided by the present invention is as follows:

[0028] A method for drone cluster networking includes the following steps:

[0029] Initialize the drone module, data transmission module, breaker unit, and configuration data structure. After successful initialization, enter the basic configuration state;

[0030] Obtain the initial configuration data structure according to the basic configuration state, and configure the basic node parameters and topology verification through the initial configuration data structure;

[0031] Remotely configure the network cluster nodes according to the topology and communication data stream transmission information, and verify the remote configuration;

[0032] Scan the network operation status of the network cluster nodes to obtain a diagnostic result, and cut off abnormal nodes according to the diagnostic result.

[0033] Preferably, the topology verification specifically includes:

[0034] Configure the corresponding forwarding table according to the network topology;

[0035] Transmit the configuration data to each cluster node according to the forwarding table;

[0036] Forward the reported data to the ground controller according to the cluster node for verification.

[0037] Preferably, before scanning the network operation status of the network cluster nodes to obtain a diagnostic result, it further includes:

[0038] Initialize the master clock and slave clock in the network;

[0039] Judge whether the master clock and the slave clock of the network are synchronized according to the deviation of each node from the master clock.

[0040] Preferably, scanning the network operation status of the network cluster nodes to obtain a diagnostic result and cutting off abnormal nodes according to the diagnostic result specifically includes:

[0041] Read the link status, node status, and packet loss register of each drone module through active network scanning to diagnose the network node and link connectivity status of each drone:

[0042] If the network node and link connectivity status of the drone is abnormal, deeply detect the network node and network link status according to the telemetry message to obtain telemetry information, and perform network fault diagnosis according to the telemetry information;

[0043] If the network node and link connectivity status of the drone is hard damaged, control the breaker unit of the drone adjacent to the damaged drone to cut off the optical fiber with the damaged drone.

[0044] The third object of the present invention is to provide an electronic device;

[0045] The technical solution provided by the present invention is as follows:

[0046] An electronic device, comprising:

[0047] At least one processor; and

[0048] A memory communicatively connected to the at least one processor, the memory storing a computer program executable by the at least one processor, the computer program being executed by the at least one processor so that the at least one processor can execute the steps of a method for unmanned aerial vehicle (UAV) cluster networking.

[0049] The fourth object of the present invention is to provide a computer-readable storage medium;

[0050] The technical solution provided by the present invention is as follows:

[0051] A computer-readable storage medium, the storage medium being used to store a computer program, the computer program being used to cause a computer to execute the steps of a method for UAV cluster networking.

[0052] A UAV cluster networking system provided by the present invention includes: a UAV module, a data transmission module, and a disconnection unit; the UAV module is respectively connected to the data transmission module and the disconnection unit through interfaces; the data transmission module is connected to the disconnection unit through an optical fiber; through the cooperation of the UAV module, the data transmission module, and the disconnection unit, the TSN optical fiber networking of the UAV cluster is realized, providing high-bandwidth and low-latency networking for nodes between UAV clusters, enabling effective internal data communication within the cluster, and cutting off nodes with hard damage to ensure that damaged nodes will not affect the tasks of the cluster and will not be interfered with and deceived by conventional anti-UAV swarm means.

[0053] The present invention also provides a method for UAV cluster networking. Since this method solves the same technical problems as the UAV cluster networking system and belongs to the same technical concept, it should have the same beneficial effects, which will not be elaborated here. Description of the Drawings

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1Schematic structural diagram of a system for drone swarm networking in an embodiment of the present invention;

[0056] Figure 2 Schematic flow diagram of a method for drone swarm networking in an embodiment of the present invention;

[0057] Figure 3 Another schematic flow diagram of a method for drone swarm networking in an embodiment of the present invention;

[0058] Figure 4 Schematic topology diagram of drone swarm networking in an embodiment of the present invention;

[0059] Figure 5 Schematic diagram of node excision in drone swarm networking in an embodiment of the present invention;

[0060] Figure 6 Schematic structural diagram of an electronic device in an embodiment of the present invention. Detailed implementation manners

[0061] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0062] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0063] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, the meaning of "a plurality of" and "several" is two or more, unless otherwise specifically defined.

[0064] It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions under which this application can be implemented. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that this application can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

[0065] As Figure 1 shown, an embodiment of the present invention provides a system for unmanned aerial vehicle (UAV) cluster networking, including: a UAV module 1, a data transmission module 2, and a disconnection unit 3; the UAV module 1 is respectively connected to the data transmission module 2 and the disconnection unit 3 through interfaces; the data transmission module 2 is connected to the disconnection unit 3 through an optical fiber;

[0066] The UAV module 1 is used to receive data sent by the data transmission module 2 and control the disconnection unit 3;

[0067] The data transmission module 2 is used to ensure data transmission between the ground station and the UAV module 1;

[0068] The disconnection unit 3 is used to cut off the optical fiber connected to the damaged UAV according to the instruction of the UAV module 1.

[0069] In the actual operation process, in the system for UAV cluster networking, a UAV module 1, a data transmission module 2, and a disconnection unit 3 are set. The UAV module 1 is respectively connected to the data transmission module 2 and the disconnection unit 3 through interfaces, and the UAV module 1 can then receive data sent by the data transmission module 2 and control the disconnection unit 3; the data transmission module 2 is connected to the disconnection unit 3 through an optical fiber, and the TSN networking function of the UAV cluster is realized through the data transmission module 2 to ensure high-bandwidth and low-latency data transmission between the system and the ground station and other UAV systems within the cluster. The disconnection unit 3 can cut off the optical fiber connected to the damaged UAV through the instruction of the UAV module 1; this system realizes the TSN optical fiber networking of the UAV cluster through the UAV module, the data transmission module, and the disconnection unit, provides high-bandwidth and low-latency networking for nodes between UAV clusters, can effectively conduct internal data communication within the cluster, and cut off nodes with hard damage to ensure that the damaged nodes will not affect the tasks of the cluster and will not be interfered with and deceived by conventional anti-UAV swarm means; the UAV module in this embodiment refers to a UAV system.

[0070] Preferably, the UAV module 1 specifically includes: a main control chip 11, a storage unit 12, a sensor 13, a communication interface 14, and a control interface 15;

[0071] The main control chip 11 is respectively connected to the storage unit 12 and the sensor 13;

[0072] The main control chip 11 is connected to the disconnection unit 3 through the control interface 15;

[0073] The main control chip 11 is connected to the data transmission module 2 through the communication interface 14.

[0074] In the actual operation process, the main control chip 11, the storage unit 12, the sensor 13, the communication interface 14 and the control interface 15 are specifically set in the UAV module. Among them, the main control chip 11 performs operations on the UAV flight control according to the input information of the sensor 13 to realize the control of the aircraft. And the main control chip can receive the Ethernet packet data transmitted from the communication interface 14, and can also control the disconnection unit 3 through the control interface 15; while the storage unit 12 mainly records the UAV attitude information, altitude information and magnetic heading information, and transmits the recorded information to the main control chip 11. At the same time, it stores some control parameters, control additional parameters and mission waypoints of the flight control, so that the main control chip 11 sends the received UAV attitude information, UAV altitude information and UAV magnetic heading information to the storage unit 12 through the communication interface 14 for recording and storage; the sensor 13 includes an IMU sensor for collecting the UAV attitude information; a magnetic sensor for collecting the UAV magnetic heading information; an airspeed sensor for collecting the speed signal of the aircraft relative to the air during flight; a static pressure sensor for calculating the static pressure value signal of the airspeed. Each sensor mainly provides various data for the aircraft control of the main control chip 11; the communication interface 14 mainly realizes the TSN access function of the UAV module, mainly completes the conversion of the UAV module data to TSN data, and realizes the data interaction between the data communicated with the ground station and the data within the cluster; the control interface 15 mainly provides the main control chip 11 with the control of the disconnection unit 3, and can cut off the externally connected optical fiber.

[0075] Preferably, the UAV module 1 further includes: GPS 16, a servo 17 and a mission interface 18;

[0076] The servo is connected to the main control chip;

[0077] The GPS 16 is used to collect the position information and speed information of the UAV;

[0078] The mission interface 18 is used to install accessory equipment.

[0079] In the actual application process, the drone module also includes: GPS16, servo 17, and mission interface 18; among them, GPS16 is mainly used to collect the position information and speed information of the drone; the servo 17 includes aileron servo, elevator servo, throttle servo, rudder servo, parachute compartment servo, flap servo, etc., and controls the attitude of the drone by receiving the control signal input by the main control chip 11; GPS16 is mainly used to collect the position information and speed information of the drone; the mission interface 18 is used for the mission requirements during the operation of the drone, and additional accessory devices are installed, such as various reconnaissance devices. In this embodiment, the drone module 1 can be connected to the communication interface 14 and the control interface 15 to achieve fiber optic networking and control of the drone cluster. In this embodiment, the GPS and the mission interface will not be connected to the data transmission module because the drone supports wireless networking and can also support wired networking. By default, wired networking has priority, and the original drone functions are still retained.

[0080] Preferably, the data transmission module 2 is specifically a TSN switching chip;

[0081] The TSN switching chip is connected to the communication interface 14 through an Ethernet interface;

[0082] The TSN switching chip is connected to the breaking unit 3 through an optical fiber.

[0083] In the actual application process, the data transmission module is specifically a TSN switching chip. The TSN switching chip will be connected to the communication interface 14 through an Ethernet interface and connected to the breaking unit 3 through an optical fiber. The TSN networking function of the drone cluster is mainly realized through the TSN switching chip, ensuring high-bandwidth and low-latency data transmission between the system and the ground station and other drone modules 1 within the cluster.

[0084] Preferably, the TSN switching chip is connected to the ground controller through an optical fiber interface.

[0085] In the actual application process, the TSN switching chip externally leads out 4 optical fiber interfaces for in-cluster networking or connecting to the ground controller. Among them, the ground controller can perform operations such as initialization, remote configuration, configuration verification, time synchronization, and network operation status scanning on all the TSN switching chips inside the drone, so as to realize the management and control of the drone cluster networking.

[0086] As Figures 2 to 3 shown, the embodiment of the present invention provides a method for drone cluster networking, including the following steps:

[0087] S1. Initialize the drone module, data transmission module, breaking unit, and configuration data structure. After the initialization is successful, enter the basic configuration state;

[0088] In step S1, this step belongs to the initial state, which is to complete the initialization of each drone, and then jump to the basic configuration state after successful initialization; among them, the initialization of each component inside the drone module; the initialization of the network initial state, network operation state variables, setting network state capture conditions, etc. in the data transmission module; the initialization of the breaker unit is to initialize the breaker unit to the normal working state; the initialization of the configuration data structure is to fill the initial configuration data structure by parsing the initial configuration text; it also includes the initialization of the communication interface, which is to initialize the TSN communication library.

[0089] S2. Obtain the initial configuration data structure according to the basic configuration state, and configure the basic node parameters and topology verification through the initial configuration data structure;

[0090] In step S2, this step is the topology verification state. In this state, the ground controller completes the functions of configuring the basic node parameters and network topology verification according to the initial configuration data structure obtained from the basic configuration state of the drone cluster. Among them, the basic parameters include the size of the time slot of the TSN switch chip, the scheduling period, etc.

[0091] S3. Remotely configure the network cluster nodes according to the topology and communication data stream transmission information, and verify the remote configuration;

[0092] In step S3, this step is divided into the remote configuration state and the configuration verification state. In the remote configuration state, the ground controller mainly configures the network cluster nodes according to the network connection topology and communication data stream transmission planning information; the ground controller receives the user's planning configuration information and stores it in the global configuration information data structure; the ground controller configures the drone cluster starting from the drone connected to the ground first, and configures them in turn from near to far according to the connection order of the topology. After the configuration is completed, check the configuration verification flag bit. If it is 1, it means that configuration verification is required, and then jump to the configuration verification state. If it is 0, it means that no configuration verification is required, and then jump to the time synchronization initialization state.

[0093] In the configuration verification state, the ground controller completes the functions of receiving remote configuration verification information, collecting the information reported by nodes in the network, and reporting it to the upper-layer application. The ground controller first receives and parses the information to be verified sent by the upper-layer application; then, according to the received verification information, it configures the corresponding node reporting registers to obtain the information to be verified (reported information); finally, it submits the received reported information to the upper-layer application. The upper-layer application determines whether the configuration is successful. If the configuration is successful, it jumps to the time synchronization initialization state. If the configuration fails, it jumps to the network failure state. This state is mainly for irrecoverable network failures (non-hard damage) to prompt the user with fault information for convenient recovery and maintenance of the UAV.

[0094] S4. Scan the network operation status of the network cluster nodes to obtain a diagnostic result, and cut off abnormal nodes according to the diagnostic result.

[0095] In step S4, this step includes a network operation status scanning state and a network operation abnormal node cutting-off state. In the network operation status scanning state, the ground controller scans the network operation status of the network cluster nodes to complete operations such as status monitoring and fault diagnosis, and at the same time sends the diagnostic result to the network operation abnormal node cutting-off state. In the network operation abnormal node cutting-off state, when the ground controller discovers that the network node or link status is abnormal, it will cut off the abnormal node.

[0096] Preferably, the topology verification specifically includes:

[0097] Configure the corresponding forwarding table according to the network topology;

[0098] Transmit the configuration data to each cluster node according to the forwarding table;

[0099] Forward the reported data to the ground controller for verification according to the cluster node.

[0100] In the actual application process, the topology verification is for a specific network topology to configure the corresponding forwarding table so that the configuration data can be transmitted to each cluster node, and the reported data of each node can be forwarded to the ground controller. If the ground controller can receive the reported message of the configured cluster node, the node is online; otherwise, the node is offline. If it is offline, it jumps to the network failure state. This state is mainly for irrecoverable network failures (non-hard damage) to prompt the user with fault information, and relevant personnel are required to check the problems existing in the faulty UAV node.

[0101] Such as Figure 4As shown in the figure, the UAV cluster has completed wired deployment before takeoff, and its topology structure has been known during deployment. Each UAV supports 4 external connection interfaces. Therefore, when the UAVs are deployed and networked, the reliability of transmission will be considered. Generally, multiple interfaces are used to connect to other UAVs to provide more redundant links for data transmission and prevent the networking failure of the UAV node caused by the failure of a certain optical fiber.

[0102] Preferably, before scanning the network operation status of the network cluster nodes to obtain the diagnostic results, it further includes:

[0103] Initializing the master clock and slave clock in the network;

[0104] Judging whether the master clock and the slave clock of the network are synchronized according to the deviation between each node and the master clock.

[0105] In the actual operation process, initializing the master clock and slave clock in the network to the time synchronization initialization state. In this state, the ground controller completes the function of time synchronization and is responsible for adjusting the time deviation between the master and slave in the network to a certain range. If the clock synchronization initialization can be completed, it will jump to the time synchronization verification state. If the clock synchronization initialization cannot be completed, it will jump to the network fault state. This state is mainly for irrecoverable network faults (non-hard damage) to prompt the fault information to the user and facilitate the recovery and maintenance of the UAV.

[0106] Judging whether the master clock and the slave clock of the network are synchronized according to the deviation between each node and the master clock is the time synchronization verification state. This state is mainly for verifying whether the whole network is synchronized, and judging whether the network has fully entered the synchronization according to the deviation between each node and the master clock. If all nodes can complete the clock synchronization, it will jump to the network operation status scanning state. If all nodes cannot complete the clock synchronization, it will jump to the network fault state. This state is mainly for irrecoverable network faults (non-hard damage) to prompt the fault information to the user and facilitate the recovery and maintenance of the UAV.

[0107] Preferably, scanning the network operation status of the network cluster nodes to obtain the diagnostic results and cutting off the abnormal nodes according to the diagnostic results specifically includes:

[0108] Reading the link status, node status and packet loss register of each UAV module through active network scanning to diagnose the network nodes and link connectivity status of each UAV:

[0109] If the network nodes and link connectivity status of the UAV are abnormal, deeply detect the network nodes and network link status according to the telemetry message to obtain the telemetry information, and perform network fault diagnosis according to the telemetry information;

[0110] If the network nodes and link connectivity status of the UAV are hard damaged, the disconnection unit of the UAV adjacent to the damaged UAV is controlled to cut off the optical fiber from the damaged UAV.

[0111] In the actual application process, the ground controller periodically performs lightweight active network scanning, reads key information such as the link status, node status, and packet loss register of each UAV device to make a preliminary judgment on the network nodes and link connectivity status. If it is found that the status of a certain UAV node is abnormal, the ground controller enters the in-band network telemetry state, generates telemetry messages according to the telemetry strategy configured by the ground controller to deeply detect the network nodes and network link status, and obtains more measurement information and node status information. According to the obtained telemetry information, the ground controller performs network fault diagnosis, generates corresponding fault recovery configuration information according to the diagnosis result, such as adjusting the sending path of the data stream, etc., and can jump to the topology verification state to re-plan and configure the network topology, so as to achieve fault recovery. If it is determined that the UAV node is hard damaged, it jumps to the network operation abnormal node disconnection state. In this state, when the ground controller finds that the network node or link status is abnormal, the ground controller will control the disconnection unit of the UAV adjacent to the damaged UAV to cut off all optical fibers from the damaged UAV, and re-enter the topology verification state to re-plan the network.

[0112] As Figure 5 shown, if one of the UAV nodes is hard damaged (marked as V in the figure), the UAV nodes adjacent to it need to cut off the optical fibers adjacent to it to ensure that the hard damaged UAV will not affect the tasks of other UAV clusters. At the same time, the data exchange of the damaged node is completed through other redundant links, and re-networking is achieved through network re-planning. If all the optical fiber channels of the UAV are disconnected and it is impossible to connect to the ground control in a wired manner, it can be connected to the ground controller through the original wireless method to achieve the recovery of the UAV.

[0113] Furthermore, the embodiment of the present application also discloses an electronic device. Figure 6 It is a structural diagram of an electronic device shown according to an exemplary embodiment. The content in the figure cannot be regarded as any limitation on the scope of use of the present application.

[0114] Figure 6A schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the method for forming a network of an unmanned aerial vehicle cluster disclosed in any of the foregoing embodiments. Additionally, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0115] In this embodiment, the power supply 23 is used to provide a working voltage for each hardware device on the electronic device 20; the communication interface 24 can create an event detection channel for the efficient utilization of limited labeled data between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of the present application, and no specific limitation is imposed thereon here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application requirements, and no specific limitation is made here.

[0116] Additionally, as a carrier for resource storage, the memory 22 can be a read-only memory, a random access memory, a magnetic disk, or an optical disc, etc., and the resources stored thereon can include an operating system 221, a computer program 222, and data 223, etc., and the storage method can be short-term storage or permanent storage.

[0117] Among them, the operating system 221 is used to manage and control each hardware device on the electronic device 20 and the computer program 222 to implement the operation and processing of the data 223 in the memory 22 by the processor 21, and it can be Windows Server, Netware, Unix, Linux, etc. The computer program 222 can further include a computer program capable of completing other specific tasks in addition to the computer program capable of implementing the method for forming a network of an unmanned aerial vehicle cluster executed by the electronic device 20 disclosed in any of the foregoing embodiments. The data 223 can include not only the data transmitted from external devices received by the devices forming the network of the unmanned aerial vehicle cluster, but also the data collected by its own input / output interface 25, etc.

[0118] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0119] Further, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the method for networking an unmanned aerial vehicle cluster disclosed above is implemented. For the specific steps of this method, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details will not be elaborated herein.

[0120] It should be understood that in the present application, if terms such as "method", "device", "unit" and / or "module" are used, they are only a way to distinguish different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, they can be replaced by other expressions.

[0121] As shown in the present application and the claims, unless the context clearly indicates an exception, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. A method or device may also include other steps or elements. An element defined by the statement "comprising one..." does not exclude the existence of another identical element in the process, method, commodity or device including the element.

[0122] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0123] If a flowchart is used in the present application, the flowchart is used to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the operations before or after may not necessarily be executed precisely in sequence. On the contrary, they can be executed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or several operations can be removed from these processes.

[0124] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A system for forming a network of unmanned aerial vehicle clusters, characterized in that Including: A drone module, a data transmission module, and a circuit breaker unit; the drone module is respectively connected to the data transmission module and the circuit breaker unit through interfaces; The data transmission module is connected to the circuit breaker unit through an optical fiber; The drone module is used to receive data sent by the data transmission module and control the circuit breaker unit; The data transmission module is used to ensure data transmission between the ground station and the drone module; The circuit breaker unit is used to cut off the optical fiber connected to the damaged drone according to the instruction of the drone module.

2. The system for networking of a drone swarm according to claim 1, characterized in that, The drone module specifically includes: a main control chip, a storage unit, sensors, a communication interface, and a control interface; The main control chip is respectively connected to the storage unit and the sensors; The main control chip is connected to the circuit breaker unit through the control interface; The main control chip is connected to the data transmission module through the communication interface.

3. The system for drone swarm networking according to claim 2, wherein The drone module further includes: a GPS, a servo, and a mission interface; The servo is connected to the main control chip; The GPS is used to collect the position information and speed information of the drone; The mission interface is used to install accessory devices.

4. The system for drone swarm networking according to claim 2, wherein, The sensors specifically include: an IMU sensor, a magnetic sensor, an airspeed sensor, and a static pressure sensor; The main control chip is respectively connected to the IMU sensor, the magnetic sensor, the airspeed sensor, and the static pressure sensor, and is used to provide target data for aircraft control for the main control chip.

5. The system for drone swarm networking according to claim 2, wherein, The data transmission module is specifically a TSN switching chip; The TSN switching chip is connected to the communication interface through an Ethernet interface; The TSN switching chip is connected to the circuit breaker unit through an optical fiber.

6. The system for networking of a drone swarm according to claim 5, characterized in that, The TSN switching chip is connected to a ground controller through an optical fiber interface.

7. A method for forming a network of a drone swarm, characterized in that, Including the following steps: Initialize the drone module, the data transmission module, the circuit breaker unit, and the configuration data structure. After the initialization is successful, enter the basic configuration state; Obtain the initial configuration data structure according to the basic configuration state, and configure the basic parameters of the node and perform topology verification through the initial configuration data structure; Perform remote configuration on the network cluster nodes according to the topology and communication data stream transmission information, and verify the remote configuration; Scan the network operation status of the network cluster nodes to obtain a diagnosis result, and cut off the abnormal nodes according to the diagnosis result; The scanning the network operation status of the network cluster nodes to obtain a diagnosis result, and cutting off the abnormal nodes according to the diagnosis result specifically includes: Read the link status, node status, and packet loss register of each drone module through active network scanning to diagnose the network node and link connectivity status of each drone: If the network node and link connectivity status of the drone is abnormal, deeply detect the network node and network link status according to the telemetry message to obtain telemetry information, and perform network fault diagnosis according to the telemetry information; If the network node and link connectivity status of the drone is severely damaged, control the circuit breaker unit of the drone adjacent to the damaged drone to cut off the optical fiber connected to the damaged drone.

8. The method for networking of a drone swarm according to claim 7, characterized in that The topology verification specifically includes: Configure the corresponding forwarding table according to the network topology; Transmit the configuration data to each cluster node according to the forwarding table; Forward the reported data to the ground controller for verification according to the cluster node.

9. The method for forming a network of an unmanned aerial vehicle cluster according to claim 7, wherein Before scanning the network operation status of the network cluster node to obtain the diagnostic result, it further includes: Initialize the master clock and slave clock in the network; Judge whether the master clock and the slave clock in the network are synchronized by the deviation of each node from the master clock.

10. An electronic device, characterized in that, It includes: At least one processor; And A memory communicatively connected to the at least one processor, the memory storing a computer program executable by the at least one processor, the computer program being executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 7 to 9.

11. A computer-readable storage medium, characterized in that, The storage medium is used to store a computer program, and the computer program is used to cause a computer to execute the method according to any one of claims 7 to 9.

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