Unmanned aerial vehicle hybrid communication management system

Abstract

The invention discloses an unmanned aerial vehicle hybrid communication management system, which comprises an air part and a ground part, the air part comprises a flight control module, a task load, a communication management module airborne end and a hybrid communication module airborne end; the flight control module receives a control instruction of the unmanned aerial vehicle ground station, and the task load sends service data to the unmanned aerial vehicle ground station; the ground part comprises an unmanned aerial vehicle ground station, a communication management module ground end and a hybrid communication module ground end; the unmanned aerial vehicle ground station sends a control instruction to the flight control module and receives service data; the hybrid communication module airborne end is matched with the hybrid communication module ground end, and a plurality of communication links are formed between the aerial part and the ground part and are managed in a unified manner; according to the invention, unified management is carried out on various communication links of the unmanned aerial vehicle, multi-channel fusion application in a complex environment is realized, and stable and reliable communication between the unmanned aerial vehicle and the ground station can be realized depending on redundancy and aggregation of various channels.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and specifically relates to an unmanned aerial vehicle hybrid communication management system. Background Art

[0002] Currently, the communication methods of unmanned aerial vehicles mainly include measurement and control link radios, self-organizing network radios, 4G / 5G networks, optical communication, satellite communication, etc. Measurement and control link radios usually include data radios, video transmission radios, etc., which are suitable for medium and short distance scenarios. Their characteristics are low cost and flexible networking, and their disadvantages are limited transmission distance and small bandwidth. 4G / 5G communication is suitable for application scenarios where there is operator network coverage. Its advantages are large bandwidth and high transmission rate, and it can utilize existing network infrastructure. The disadvantage is that it depends on base stations and has poor signal in remote areas. Optical communication includes laser communication, optical fiber communication, etc. Its advantages are large bandwidth, strong anti-interference ability, and good confidentiality; the disadvantage is high price. Satellite communication is mainly used for medium and large unmanned aerial vehicles, which use satellites to forward signals and are suitable for long-distance cross-regional tasks. It has the advantages of wide coverage and being not restricted by geographical environment. The disadvantages are high cost, being greatly affected by weather, and large signal delay.

[0003] Currently, in low-cost unmanned aerial vehicles, the most commonly used communication methods are measurement and control link radios, 4G / 5G, and self-organizing network radios. The three communication methods each have their own characteristics. By combining them, the task adaptability of unmanned aerial vehicles to complex environments can be effectively improved. By using 4G / 5G networks, the communication range of measurement and control link radios can be effectively extended. By using self-organizing networks, the communication ability within the signal blind area of communication base stations can be effectively enhanced. However, when using the three communication links simultaneously, it is necessary to effectively solve the problems of dynamic switching and efficient aggregation of multiple links. Summary of the Invention

[0004] Object of the Invention: When multiple communication links are used simultaneously, how to effectively solve the problems of dynamic switching and efficient aggregation of multiple links. The present invention proposes an unmanned aerial vehicle hybrid communication management system, which aggregates the self-organizing network communication, 5G communication, and measurement and control links equipped on the unmanned aerial vehicle, and supports data interaction between the unmanned aerial vehicle and the ground station through multiple channels.

[0005] Technical Solution: An unmanned aerial vehicle hybrid communication management system includes: an air part and a ground part; The air part includes: a flight control module, a mission payload, an airborne communication management module, and an airborne hybrid communication module; the flight control module receives control instructions from the unmanned aerial vehicle ground station through the airborne communication management module and the airborne hybrid communication module, and the mission payload sends service data to the unmanned aerial vehicle ground station through the airborne communication management module and the airborne hybrid communication module; The ground part includes: a drone ground station, a ground end of the communication management module, and a ground end of the hybrid communication module; the drone ground station sends control instructions to the flight control module through the ground end of the communication management module and the ground end of the hybrid communication module, and the drone ground station receives service data through the ground end of the communication management module and the ground end of the hybrid communication module. Wherein, the airborne end of the hybrid communication module and the ground end of the hybrid communication module cooperate to form multiple communication links between the air part and the ground part. Wherein, in the airborne end of the communication management module, for service data, the following steps are executed: Receive service data, encode the service data, and convert it into an encoded data block. According to the round-trip delay information of each available communication link, adopt a dynamic scheduling strategy to determine one or more scheduled communication links; the dynamic scheduling strategy is associated with the service data type. According to the determined scheduled communication links, encapsulate an aggregated transmission control header for the encoded data block according to the channel aggregation transmission control protocol to obtain an encapsulated encoded data block. Allocate the encapsulated encoded data block to the determined scheduled communication links for transmission. Correspondingly, in the ground end of the communication management module, for service data, the following steps are executed: obtain the encoded data block from the scheduled communication link, perform control protocol de-encapsulation on the aggregated transmission control header of the encoded data block according to the channel aggregation transmission control protocol, and perform cache sorting on the encoded data block after control protocol de-encapsulation; decode the sorted encoded data block, and finally transfer the decoded service data to the drone ground station. Wherein, in the ground end of the communication management module, for control instructions, the following steps are executed: Receive control instructions, encode the control instructions according to the mapping relationship between each communication link and the airborne end of the communication management module, and convert them into encoded data blocks. According to the round-trip delay information of each available communication link, adopt a dynamic scheduling strategy to determine one or more scheduled communication links; the dynamic scheduling strategy is associated with the control instruction type. According to the determined scheduled communication links, encapsulate an aggregated transmission control header for the encoded data block according to the channel aggregation transmission control protocol to obtain an encapsulated encoded data block. Allocate the encapsulated encoded data block to the determined scheduled communication links for transmission. Correspondingly, at the airborne end of the communication management module, for control instructions, the following steps are executed: Obtain encoded data blocks from the scheduling communication link, perform control protocol de-encapsulation on the aggregation transmission control packet headers of the encoded data blocks according to the channel aggregation transmission control protocol, and perform caching and sorting on the encoded data blocks after control protocol de-encapsulation; Decode the sorted encoded data blocks, and finally transfer the decoded control instructions to the flight control module.

[0006] Further, the encoding of service data to convert it into encoded data blocks specifically includes the following operations: Perform redundant encoding on the service data using the data forward error correction technology based on network coding to convert the service data into encoded data blocks.

[0007] Further, both the airborne end and the ground end of the hybrid communication module include one or more of the following: an ad-hoc communication module, a 5G communication module, and a measurement and control link module.

[0008] Further, before receiving service data or control instructions, the following operations are performed: Probe each communication link to determine the availability of each communication link and obtain the round-trip delay information of each available communication link.

[0009] Further, the probing of each communication link to determine the availability of each communication link and obtaining the round-trip delay information of each available communication link specifically includes the following operations: The airborne end of the communication management module sends a keep-alive request message to each communication link to probe the availability of each communication link; After receiving the keep-alive request message from the airborne end of the communication management module, the ground end of the communication management module replies with a keep-alive response message through each communication link; After receiving the keep-alive response message from the ground end of the communication management module, the airborne end of the communication management module records the on / off status of each communication link and the round-trip delay information of each available communication link.

[0010] Further, the channel aggregation transmission control protocol is carried on top of the UDP protocol and includes: Add a SEQ field, and the SEQ field is used to sort the encoded data blocks; Add a SUBSEQ field, and the SUBSEQ field is used to count the loss of data packets on the communication link; Define a control message type as CNG to indicate the congestion situation of the communication link; Define a control message type as ACK to indicate the data reception situation.

[0011] Further, for the ground end of the communication management module, after performing the control protocol decapsulation on the aggregation transmission control packet header of the encoded data block according to the channel aggregation transmission control protocol, the following steps are further included: According to the SUBSEQ field, confirm whether there is any packet loss on the communication link; when there is packet loss on the communication link, send an ACK message to the airborne end of the communication management module; Correspondingly, for the airborne end of the communication management module, perform the following operations: adjust the congestion window and the sending window according to the ACK message sent by the airborne end of the communication management module.

[0012] Further, when the SUBSEQ fields are discontinuous, determine whether there is continuous packet loss. When there is continuous packet loss, it is determined that the communication link is congested, and the ground end of the communication management module sends a CNG prompt message to the airborne end of the communication management module; when the airborne end of the communication management module receives the CNG prompt message, adjust the congestion window and the sending window.

[0013] Further, the specific operation of caching and sorting the encoded data block after control protocol decapsulation includes: Put the encoded data block after control protocol decapsulation into the buffer for sorting according to the global SEQ field.

[0014] Beneficial effects: Compared with the prior art, the present invention realizes unified management of multiple communication links such as the airborne ad hoc network of the unmanned aerial vehicle (UAV), 5G, and the measurement and control link, realizes multi-channel fusion application in complex environments, and can rely on the redundancy and aggregation of multiple channels to achieve stable and reliable communication between the UAV and the ground station. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the system composition; Figure 2 It is a schematic diagram of the communication management module composition; Figure 3 It is a schematic diagram of the initialization interaction process; Figure 4 It is a schematic diagram of the service data transmission interaction process; Figure 5 It is a schematic diagram of the keep-alive interaction process. Detailed Embodiment

[0016] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the present invention in conjunction with the drawings and embodiments in the present invention.

[0017] This embodiment proposes a UAV hybrid communication management system, as Figure 1As shown in the figure, the system mainly consists of an aerial part, a 5G communication base station, and a ground part.

[0018] Specifically, the aerial part includes: a flight control module, a mission payload, an airborne communication management module, and an airborne hybrid communication module. Among them, the airborne hybrid communication module includes: a first self-organizing network communication module, a first 5G communication module, and a first measurement and control link module. The flight control module receives control instructions from the UAV ground station through the airborne communication management module and the airborne hybrid communication module to achieve UAV flight control. At the same time, it can also send real-time status data to the ground part. The mission payload sends service data to the UAV ground station through the airborne communication management module and the airborne hybrid communication module.

[0019] Specifically, the ground part includes: a UAV ground station, a ground communication management module, and a ground hybrid communication module. Among them, the ground hybrid communication module includes a second measurement and control link module, a second self-organizing network communication module, and a second 5G communication module. The UAV ground station sends control instructions to the flight control module through the ground communication management module and the ground hybrid communication module, and the UAV ground station receives service data from the mission payload through the ground communication management module and the ground hybrid communication module. The measurement and control link module is one-to-one. Deploying multiple second measurement and control link modules in the ground part can support the simultaneous control of multiple UAVs.

[0020] In this embodiment, for the aerial part, the airborne communication management module can communicate with the ground part through multiple communication links such as the first self-organizing network communication module, the first 5G communication module, and the first measurement and control link module. The first self-organizing network communication module and the second self-organizing network communication module provide self-organizing network communication capabilities between the aerial part and the ground part. The first 5G communication module and the second 5G communication module achieve 5G communication between the aerial part and the ground part by connecting to the 5G communication base station. The first measurement and control link module and the second measurement and control link module provide a one-to-one communication link for the aerial part and the ground part. Among them, the 5G communication base station provides 5G signal coverage for the aerial part and the ground part within the mission area.

[0021] For the ground part, the ground communication management module supports pairing with the UAV ground station, can externally connect to the second self-organizing network communication module, the second 5G communication module, and the second measurement and control link module, supports communicating with the aerial part through the 5G communication base station, supports communicating with multiple paired aerial parts through the second measurement and control link module, and supports communicating with the aerial part through the second self-organizing network communication module. Send mission instructions to the flight control module of the aerial part through the ground communication management module, and receive mission payload data, UAV status data, and payload status data.

[0022] Whether it is the ground communication management module or the airborne communication management module, such asFigure 2 As shown, both mainly include: a link quality detection sub-module, a data encoding sub-module, a data caching and sorting sub-module, a data scheduling sub-module, a control protocol processing sub-module, and a data transceiver sub-module.

[0023] Among them, the link quality detection sub-module monitors the channel quality of each communication link in real time, and detects and evaluates the characteristic values such as the wireless signal quality, end-to-end delay, and instantaneous throughput of each access communication link in real time, accurately, and reasonably, providing a basis for dynamic channel selection. The communication link here refers to the communication link between the air part and the ground part and the communication links between the air parts. Among them, the data encoding sub-module supports redundant encoding of the original data (in this embodiment, the original data mainly refers to control instructions and service data), reducing data retransmission requests. Specifically, in this embodiment, by adopting the data forward error correction (FEC encoding) technology system based on network coding, it is possible to introduce redundancy with an interleaved characteristic for the original data to be transmitted under the condition of not significantly increasing the data transmission load. Under the condition that the end-to-end data transmission delay is controllable, based on the forward error correction ability of network coding, it is possible to effectively recover the lost packet data, resist the burst data loss caused by the fast fading triggered by conditions such as congestion and occlusion of the channel, and improve the overall aggregation transmission efficiency of the system.

[0024] Among them, the data scheduling sub-module, according to the link detection results and transmission feedback, adopts a dynamic scheduling strategy to allocate the encoded original data to multiple communication links for transmission, trying to ensure that the amount of data allocated to each communication link matches the communication link bandwidth and the data delivered to the receiving end by each communication link is basically in order. The dynamic scheduling strategy adopted in this data scheduling sub-module will be considered in combination with the type of original data. For example, for service types such as short messages and short messages that are delay-sensitive and have a relatively small service transmission volume, it is not suitable to schedule and allocate them to different communication links at the packet granularity, and a mechanism of fixed allocation to a certain fast communication link can be adopted.

[0025] Among them, the data caching and sorting sub-module is used to re-sort the data packets according to the marks on the data packets themselves because there will definitely be a problem of out-of-order data packets due to the influence of link differences after receiving the data packets from multiple communication links.

[0026] Among them, the control protocol processing sub-module supports the interaction of the data aggregation transmission protocol between terminals, and provides support for link detection and data caching and sorting by performing the interaction of the aggregation control protocol between the ground end of the communication management module and the airborne end of the communication management module; Among them, the data transceiver sub-module supports the transceiver processing of service data and control instructions, and sends the data through the specified communication link according to the instructions of the data scheduling sub-module.

[0027] The control protocol processing sub-module will be further described below.

[0028] In both the airborne end and the ground end of the communication management module, the service data and control data are encapsulated through the channel aggregation transmission control protocol. For service data, the sender encapsulates the control header for the service data, facilitating functions such as sorting and packet loss control for the receiver based on the content of the control header; for the control instruction encapsulation, it realizes the control message interaction between the airborne end and the ground end of the communication management module, provides the basis for the link quality detection sub-module to judge the link on / off and round-trip delay, and conducts transmission feedback such as packet loss, providing support for the data scheduling sub-module.

[0029] Specifically, this channel aggregation transmission control protocol is carried on top of the UDP protocol and mainly provides two functions. One is to encapsulate service data; the other is to encapsulate control instructions. Since the UDP protocol itself does not have functions such as sorting and congestion control, this channel aggregation transmission control protocol simulates some characteristics of the TCP protocol to achieve data sorting and congestion control. However, if it is designed completely according to the TCP protocol's link establishment and retransmission mechanisms, it will instead reduce the flexibility of the channel aggregation transmission control.

[0030] Therefore, the main design idea of the channel aggregation transmission control protocol proposed in this embodiment is described as follows: a) Add a SEQ field to the data packet for sorting the data packets; b) Add a SUBSEQ field to the data packet for counting the packet loss on the communication link; c) Define a control message type as CNG to prompt the sender that the link is congested, providing support for the congestion control function of the data scheduling sub-module; d) Define a control message type as ACK to prompt the sender about the data reception situation, providing support for the congestion control function of the data scheduling sub-module; e) Do not design retransmission. The CNG message only prompts loss and does not prompt the specific sequence number of the lost data packet. There is no need for the sender to retransmit the lost message, reducing the complexity of the data packet scheduling module's processing.

[0031] Specifically, the channel aggregation transmission control protocols of the ground end and the airborne end of the communication management module are as follows: Table 1 Channel Aggregation Transmission Control Protocol

[0032] When the tunnel information type TYPE is a tunnel service packet, the tunnel service packet header is defined as follows: Table 2 Tunnel Service Packet Header Protocol

[0033] When the road information type TYPE is the tunnel packet sending information, the tunnel service packet header is defined as follows: Table 3 Packet Sending Tunnel Service Packet Header Protocol

[0034] When the tunnel information type TYPE is the tunnel packet receiving information, the tunnel service packet header is defined as follows: Table 4 Packet Receiving Tunnel Service Packet Header Protocol

[0035] When the tunnel information type TYPE is the tunnel FEC encoded packet, the tunnel service packet header is defined as follows: Table 5 Tunnel FEC Encoded Packet Tunnel Service Packet Header

[0036] During the aggregation transmission process, network tunnels are created on each communication link between the airborne end of the communication management module and the ground end of the communication management module. By dynamically scheduling data packets to multiple network tunnels for orderly transmission simultaneously, the on-off changes and bandwidth jitters of some channels do not affect the overall transmission effect of service data, effectively improving the data transmission rate and communication stability during multi-channel concurrent communication. Network tunnel is a proper noun. Generally, a network tunnel is virtual, and a link usually refers to a physical entity. There can be multiple network tunnels on a physical link, and a network tunnel can also use multiple physical links.

[0037] During the aggregation transmission process, the airborne end of the communication management module, as the initiator of communication behavior, obtains the network address of the ground end of the communication management module in advance and creates multiple network tunnels between the airborne end and the ground end of the communication management module. In the uplink direction, when the airborne end of the communication management module obtains the service data to be transmitted, it performs data encoding, converts the service data to be transmitted into encoded data blocks, determines the dynamic scheduling algorithm according to the service data type, and then uses this dynamic scheduling algorithm to allocate the encoded data blocks to multiple network tunnels for transmission. The ground end of the communication management module caches, sorts, and decodes the encoded data blocks received on multiple network tunnels, and transfers the decoded service data to the UAV ground station. In the downlink direction, the UAV ground station transfers the replied service data to the ground end of the communication management module. The ground end of the communication management module encodes the service data, performs data scheduling, and encapsulates the control protocol according to the mapping relationship between the IP address of the airborne end of the communication management module and the ID of the airborne end of the communication management module, and then sends it to the airborne end of the communication management module through multiple communication links. The airborne end of the communication management module de-encapsulates the control protocol, caches, sorts, and decodes the replied service data, and then transfers the decoded service data to the flight control module or the mission payload. Here Now in combination with Figure 3 , Figure 4 and Figure 5 the main steps involved in the above process will be further described. Including: Step 1: After the airborne end and the ground end of the communication management module are started, the airborne end of the communication management module randomly generates an identity ID, that is, the ID of the airborne end of the communication management module, and sends an initialization request message through each communication link to detect the availability of the communication link, and at the same time reports the channel address of each communication link to the ground end of the communication management module; Step 2: After receiving the initialization request message from the airborne end of the communication management module, the ground end of the communication management module records the mapping relationship between each channel address and the ID of the airborne end of the communication management module, and replies to the initialization request message from each communication link; Step 3: After receiving the reply message from the ground end of the communication management module, the airborne end of the communication management module records the on-off state of each communication link and the round-trip delay of the available communication links; Step 4: The airborne end of the communication management module actively reports the round-trip delay information of the available network tunnels to the ground end of the communication management module to support the link quality detection of the access point.

[0038] Steps 1 to 4 can be referred to Figure 3 .

[0039] Step 5: The flight control module or mission payload sends service data to the airborne end of the communication management module. After receiving the service data, the airborne end of the communication management module performs data encoding and data scheduling. After determining the specific sending interface, it encapsulates the aggregated transmission control header for the header of the service data, determines the global SEQ field and SUBSEQ field of the service data, and sends it into the communication link; Step 6: After receiving the service data, the ground end of the communication management module performs decapsulation and parsing of the aggregated transmission control packet header, confirms whether there are lost packets on the communication link according to the SUBSEQ field, sorts the service data into the buffer according to the global SEQ field, and sends the sorted service data to the UAV ground station; Step 7: The ground end of the communication management module sends an ACK message to the airborne end of the communication management module. The airborne end of the communication management module adjusts the congestion window and sending window according to the ACK message from the ground end of the communication management module, and performs available link bandwidth detection. The window here refers to the time window. In wireless communication, the transceiver parties cannot send data simultaneously, otherwise conflicts will occur. The time ranges of these two windows are adjustable and are used to relieve congestion according to the actual situation.

[0040] When the ground end of the communication module sends discontinuous SUBSEQ, confirm whether there are consecutive packet losses. When there are consecutive losses, it is determined that the communication link is congested, and the ground end of the communication management module sends a CNG prompt message to the airborne end of the communication management module; when the airborne end of the communication management module receives the CNG prompt message, it determines that the communication link is congested and adjusts the congestion window and sending window.

[0041] Steps 5 to 7 can be referred to Figure 4 。

[0042] During the normal transmission of services between the airborne end and the ground end of the communication management module, the activity status of each communication link will be recorded. When there is always data transmission and reception on each communication link, it is considered that the status of the communication link is normal and there is no need to send link quality detection messages. When there is no service transmission, it is still necessary to confirm and maintain the status of the communication link. At this time, the airborne end of the communication management module will actively send a keep-alive request message to the ground end of the communication management module to detect the on / off status of the link. The specific interaction process is as Figure 5 shown. Specifically, it includes: Step 8: The airborne end of the communication management module judges the channel activity status. When no data is received after a certain period of time, it sets the channel status to the idle state, and the airborne end of the communication management module actively sends a keep-alive request message to the ground end of the communication management module; Step 9: After receiving the keep-alive request message, the ground end of the communication management module replies with a keep-alive response message; Step 10: The airborne end of the communication management module receives the keep-alive response message, confirms that the channel is available, sets the channel status to the active state. If no reply is received after the timeout, it confirms that the channel is in an unavailable state and periodically sends keep-alive request messages to continuously observe the available state of the channel.

[0043] In this embodiment, the airborne end and the ground end of the communication management module uniformly manage multiple communication means such as self-organizing network, 5G, and TT&C chain, and can improve the data transmission rate and stability by using multiple communication links.

Claims

1. A UAV hybrid communication management system, characterized in that: Comprising: An aerial part and a ground part; The aerial part includes: a flight control module, a mission payload, an airborne communication management module, and an airborne hybrid communication module; the flight control module receives control instructions from the UAV ground station through the airborne communication management module and the airborne hybrid communication module, and the mission payload sends service data to the UAV ground station through the airborne communication management module and the airborne hybrid communication module; The ground part includes: a UAV ground station, a ground communication management module, and a ground hybrid communication module; the UAV ground station sends control instructions to the flight control module through the ground communication management module and the ground hybrid communication module, and the UAV ground station receives service data through the ground communication management module and the ground hybrid communication module; Wherein, the airborne hybrid communication module and the ground hybrid communication module cooperate to form multiple communication links between the aerial part and the ground part; Wherein, in the airborne communication management module, for service data, the following steps are performed: Receive service data, encode the service data, and convert it into an encoded data block; According to the round-trip delay information of each available communication link, adopt a dynamic scheduling strategy to determine one or more scheduled communication links; the dynamic scheduling strategy is associated with the service data type; According to the determined scheduled communication links, encapsulate an aggregated transmission control header for the encoded data block according to the channel aggregation transmission control protocol to obtain an encapsulated encoded data block; Allocate the encapsulated encoded data block to the determined scheduled communication links for transmission; Correspondingly, in the ground communication management module, for service data, the following steps are performed: obtain the encoded data block from the scheduled communication link, perform control protocol de-encapsulation on the aggregated transmission control header of the encoded data block according to the channel aggregation transmission control protocol, cache and sort the encoded data block after control protocol de-encapsulation; decode the sorted encoded data block, and finally transfer the decoded service data to the UAV ground station; Wherein, in the ground communication management module, for control instructions, the following steps are performed: Receive control instructions, encode the control instructions according to the mapping relationship between each communication link and the airborne communication management module, and convert them into encoded data blocks; According to the round-trip delay information of each available communication link, adopt a dynamic scheduling strategy to determine one or more scheduled communication links; the dynamic scheduling strategy is associated with the control instruction type; According to the determined scheduled communication links, encapsulate an aggregated transmission control header for the encoded data block according to the channel aggregation transmission control protocol to obtain an encapsulated encoded data block; Allocate the encapsulated encoded data block to the determined scheduled communication links for transmission; Correspondingly, at the airborne end of the communication management module, for control instructions, the following steps are executed: Obtain encoded data blocks from the scheduling communication link, perform control protocol de-encapsulation on the aggregation transmission control packet header of the encoded data blocks according to the channel aggregation transmission control protocol, and perform caching and sorting on the encoded data blocks after control protocol de-encapsulation; Decode the sorted encoded data blocks, and finally transfer the decoded control instructions to the flight control module.

2. The unmanned aerial vehicle hybrid communication management system according to claim 1, characterized in that: The encoding of service data and its conversion into encoded data blocks specifically include: Redundantly encode the service data using the data forward error correction technology based on network coding, and convert the service data into encoded data blocks.

3. The unmanned aerial vehicle hybrid communication management system according to claim 1, wherein: Both the airborne end and the ground end of the hybrid communication module include one or more of: an ad-hoc communication module, a 5G communication module, and a measurement and control link module.

4. A drone hybrid communication management system according to claim 1, characterized in that: Before receiving service data or control instructions, the following operations are performed: Detect each communication link to determine the availability of each communication link and obtain the round-trip delay information of each available communication link.

5. The hybrid communication management system for an unmanned aerial vehicle according to claim 4, wherein: The detection of each communication link to determine the availability of each communication link and obtain the round-trip delay information of each available communication link specifically includes: The airborne end of the communication management module sends a keep-alive request message to each communication link to detect the availability of each communication link; After receiving the keep-alive request message from the airborne end of the communication management module, the ground end of the communication management module replies with a keep-alive response message through each communication link; After receiving the keep-alive response message from the ground end of the communication management module, the airborne end of the communication management module records the on / off status of each communication link and the round-trip delay information of each available communication link.

6. The UAV hybrid communication management system according to claim 1, wherein: The channel aggregation transmission control protocol is carried on top of the UDP protocol and includes: Add a SEQ field, which is used to sort the encoded data blocks; Add a SUBSEQ field, which is used to count the loss of data packets on the communication link; Define a control message type as CNG, which is used to indicate the congestion situation of the communication link; Define a control message type as ACK, which is used to indicate the data reception situation.

7. The UAV hybrid communication management system according to claim 6, wherein: For the ground end of the communication management module, after performing the control protocol de-encapsulation on the aggregation transmission control packet header of the encoded data blocks according to the channel aggregation transmission control protocol, the following steps are further included: According to the SUBSEQ field, confirm whether there is data packet loss on the communication link; when there is data packet loss on the communication link, send an ACK message to the airborne end of the communication management module; Correspondingly, for the airborne end of the communication management module, the following operations are performed: Adjust the congestion window and the sending window according to the ACK message sent by the airborne end of the communication management module.

8. The UAV hybrid communication management system according to claim 7, wherein: When the SUBSEQ field is discontinuous, determine whether there is continuous data packet loss. When there is continuous data packet loss, it is determined that the communication link is congested, and the ground end of the communication management module sends a CNG prompt message to the airborne end of the communication management module; When the airborne end of the communication management module receives the CNG prompt message, adjust the congestion window and the sending window.

9. The UAV hybrid communication management system according to claim 6, wherein: The caching and sorting of the encoded data blocks after the control protocol is decapsulated specifically includes the following operations: According to the global SEQ field, the encoded data blocks after the control protocol is decapsulated are placed in the buffer for sorting.

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