A UAV hybrid communication management system

Abstract

The present invention discloses a hybrid communication management system for unmanned aerial vehicles, comprising: an aerial part and a ground part; the aerial part comprises: a flight control module, a mission payload, an airborne end of a communication management module and an airborne end of a hybrid communication module; the flight control module receives control instructions from a ground station of the unmanned aerial vehicle, and the mission payload sends business data to the ground station of the unmanned aerial vehicle; the ground part comprises: a ground station of the unmanned aerial vehicle, a ground end of a communication management module and a ground end of a hybrid communication module; the unmanned aerial vehicle ground station sends control instructions to the flight control module and receives business data; 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 aerial part and the ground part and perform unified management; the present invention realizes the integrated use of multiple channels in complex environments by unified management of multiple communication links of the unmanned aerial vehicle, and can rely on the redundancy and aggregation of multiple channels to achieve stable and reliable communication between the unmanned aerial vehicle and the ground station.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a hybrid communication management system for UAVs. Background Art

[0002] Current drone communication methods primarily include tracking and control link radios, ad hoc network radios, 4G / 5G networks, optical communications, and satellite communications. Tracking and control link radios typically include data transmission radios and image transmission radios, suitable for short- to medium-range scenarios. They are characterized by low cost and flexible networking, but have disadvantages of limited transmission distance and low bandwidth. 4G / 5G communications are suitable for applications with operator network coverage. Their advantages include high bandwidth, high transmission rates, and the ability to leverage existing network infrastructure. Their disadvantages are reliance on base stations and poor signal quality in remote areas. Optical communications, including laser and fiber optic communications, have advantages of high bandwidth, strong anti-interference capabilities, and excellent confidentiality; however, they are expensive. Satellite communications, primarily used by medium- to large-sized drones, utilize satellites to relay signals and are suitable for long-distance, cross-regional missions. They offer wide coverage and are not restricted by geographical conditions. However, their disadvantages are high cost, significant weather impacts, and significant signal latency.

[0003] Currently, the most common communication methods for low-cost drones are tracking and control link radio, 4G / 5G, and ad hoc network radio. Each of these communication methods has its own unique advantages, and their combined use can effectively enhance the drone's mission adaptability in complex environments. Leveraging 4G / 5G networks can effectively extend the communication range of the tracking and control link radio, while ad hoc networks can effectively enhance communication capabilities within base station signal blind spots. However, the simultaneous use of all three communication links requires effective solutions for dynamic multi-link switching and efficient aggregation. Summary of the Invention

[0004] Purpose of the invention: When multiple communication links are used simultaneously, how to effectively solve the problem of dynamic switching and efficient aggregation of multiple links. The present invention proposes a hybrid communication management system for drones, which supports data interaction between drones and ground stations through multiple channels by aggregating the self-organizing network communication, 5G communication and measurement and control links equipped by drones.

[0005] Technical solution: A hybrid communication management system for UAVs, including: an air part and a ground part;

[0006] The aerial part includes: a flight control module, a mission payload, an airborne end of a communication management module, and an airborne end of a hybrid communication module; the flight control module receives control instructions from the UAV ground station through the airborne end of the communication management module and the airborne end of the hybrid communication module, and the mission payload sends service data to the UAV ground station through the airborne end of the communication management module and the airborne end of the hybrid communication module;

[0007] The ground part includes: a UAV ground station, a communication management module ground end and a hybrid communication module ground end; the UAV ground station sends control instructions to the flight control module through the communication management module ground end and the hybrid communication module ground end, and the UAV ground station receives service data through the communication management module ground end and the hybrid communication module ground end;

[0008] The hybrid communication module airborne end and the hybrid communication module ground end cooperate to form multiple communication links between the air part and the ground part;

[0009] Wherein, at the airborne end of the communication management module, the following steps are performed for the service data:

[0010] Receive business data, encode the business data, and convert it into coded data blocks;

[0011] Based on the round-trip delay information of each available communication link, a dynamic scheduling strategy is adopted to determine one or more scheduling communication links; the dynamic scheduling strategy is linked to the service data type;

[0012] According to the determined scheduled communication link, and in accordance with the channel aggregation transmission control protocol, encapsulating the coded data block with an aggregation transmission control packet header to obtain an encapsulated coded data block;

[0013] Allocating the encapsulated coded data blocks to the determined scheduled communication links for transmission;

[0014] Correspondingly, at the ground end of the communication management module, for service data, the following steps are performed: obtaining a coded data block from the scheduling communication link, decapsulating the aggregate transmission control packet header of the coded data block according to the channel aggregation transmission control protocol, and cache-sorting the coded data block after the control protocol decapsulation; decoding the sorted coded data block, and finally transferring the decoded service data to the UAV ground station;

[0015] Wherein, at the ground end of the communication management module, for the control instruction, the following steps are performed:

[0016] 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 coded data blocks;

[0017] According to the round-trip delay information of each available communication link, a dynamic scheduling strategy is adopted to determine one or more scheduling communication links; the dynamic scheduling strategy is linked to the control instruction type;

[0018] According to the determined scheduled communication link, and in accordance with the channel aggregation transmission control protocol, encapsulating the coded data block with an aggregation transmission control packet header to obtain an encapsulated coded data block;

[0019] Allocating the encapsulated coded data blocks to the determined scheduled communication links for transmission;

[0020] Correspondingly, at the airborne end of the communication management module, the following steps are performed for the control instructions: obtaining the coded data block from the scheduling communication link, decapsulating the aggregate transmission control packet header of the coded data block according to the channel aggregation transmission control protocol, and cache-sorting the coded data block after the control protocol decapsulation; decoding the sorted coded data block, and finally transferring the decoded control instruction to the flight control module.

[0021] Furthermore, the business data is encoded and converted into a coded data block, and the specific operations include:

[0022] The data forward error correction technology based on network coding is used to redundantly encode the service data and convert the service data into coded data blocks.

[0023] Furthermore, the hybrid communication module airborne end and the hybrid communication module ground end both include: one or more of: a self-organizing network communication module, a 5G communication module and a measurement and control chain module.

[0024] Furthermore, before receiving service data or receiving control instructions, the following operations are performed:

[0025] Each communication link is detected to determine the availability of each communication link and obtain the round-trip delay information of each available communication link.

[0026] Furthermore, the aforementioned detecting each communication link, determining the availability of each communication link, and obtaining round-trip delay information of each available communication link specifically includes:

[0027] 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;

[0028] 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;

[0029] After receiving the keep-alive response message from the ground-based communication management module, the airborne communication management module records the on / off status of each communication link and the round-trip delay information of each available communication link.

[0030] Furthermore, the channel aggregation transmission control protocol is carried on the UDP protocol and includes:

[0031] Add a SEQ field, which is used to sort the coded data blocks;

[0032] Add a SUBSEQ field, which is used to count the loss of data packets on the communication link;

[0033] A control message type called CNG is defined to indicate congestion on the communication link.

[0034] A control message type called ACK is defined to indicate the data reception status.

[0035] Furthermore, for the ground end of the communication management module, after executing the control protocol decapsulation of the aggregate transmission control packet header of the coded data block according to the channel aggregation transmission control protocol, the following steps are also included:

[0036] 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;

[0037] Correspondingly, for the airborne end of the communication management module, the following operations are performed: according to the ACK message sent by the airborne end of the communication management module, the congestion window and the sending window are adjusted.

[0038] Furthermore, when the SUBSEQ field is discontinuous, it is determined whether continuous data packet loss occurs. When continuous data packet loss occurs, 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 adjusts the congestion window and the sending window.

[0039] Furthermore, the cache sorting of the coded data blocks after decapsulation of the control protocol includes the following specific operations:

[0040] According to the global SEQ field, the coded data blocks after the control protocol is decapsulated are placed in the buffer area for sorting.

[0041] Beneficial effects: Compared with the existing technology, the present invention realizes the integrated use of multiple channels in complex environments by unified management of multiple communication links such as UAV airborne ad hoc networks, 5G, and measurement and control chains. It can rely on the redundancy and aggregation of multiple channels to achieve stable and reliable communication between UAVs and ground stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The following is a schematic diagram of the system composition;

[0043] Figure 2 This is a schematic diagram of the communication management module;

[0044] Figure 3 This is a schematic diagram of the initialization interaction process;

[0045] Figure 4 This is a diagram of the business data transmission interaction process;

[0046] Figure 5 This is a diagram of the keep-alive interaction process. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings and embodiments of the present invention.

[0048] This embodiment proposes a hybrid communication management system for drones, such as Figure 1 As shown in the figure, the system is mainly composed of an aerial part, a 5G communication base station and a ground part.

[0049] Specifically, the aerial segment includes a flight control module, a mission payload, an airborne communications management module, and an airborne hybrid communications module. The airborne hybrid communications module includes a first ad hoc network communication module, a first 5G communications module, and a first measurement and control chain module. The flight control module receives control commands from the UAV ground station via the airborne communications management module and the airborne hybrid communications module to control the UAV flight. It also transmits real-time status data to the ground segment. The mission payload transmits service data to the UAV ground station via the airborne communications management module and the airborne hybrid communications module.

[0050] Specifically, the ground part includes: a UAV ground station, a communication management module ground terminal, and a hybrid communication module ground terminal. Among them, the hybrid communication module ground terminal includes a second measurement and control chain module, a second ad hoc network communication module, and a second 5G communication module. The UAV ground station sends control instructions to the flight control module through the communication management module ground terminal and the hybrid communication module ground terminal, and the UAV ground station receives business data from the mission payload through the communication management module ground terminal and the hybrid communication module ground terminal. The measurement and control chain module is one-to-one, and multiple second measurement and control chain modules are deployed in the ground part to support the simultaneous control of multiple UAVs.

[0051] In this embodiment, for the air segment, the airborne end of the communication management module can communicate with the ground segment through multiple communication links, such as the first ad hoc communication module, the first 5G communication module, and the first measurement and control chain module. The first ad hoc communication module and the second ad hoc communication module provide ad hoc communication capabilities between the air segment and the ground segment. The first 5G communication module and the second 5G communication module enable 5G communication between the air segment and the ground segment by connecting to a 5G communication base station. The first measurement and control chain module and the second measurement and control chain module provide a one-to-one communication link between the air segment and the ground segment, wherein the 5G communication base station provides 5G signal coverage for the air segment and the ground segment within the mission area.

[0052] For the ground segment, the ground-side communication management module supports pairing with a drone ground station. It can connect to a second ad hoc network communication module, a second 5G communication module, and a second measurement and control chain module. It supports communication with the air segment via a 5G communication base station, communication with multiple paired air segments via the second measurement and control chain module, and communication with the air segment via the second ad hoc network communication module. The ground-side communication management module sends mission commands to the flight control module in the air segment and receives mission payload data, drone status data, and payload status data.

[0053] Whether it is the ground side of the communication management module or the airborne side of the communication management module, Figure 2 As shown, both mainly include: link quality detection submodule, data encoding submodule, data cache sorting submodule, data scheduling submodule, control protocol processing submodule and data transceiver submodule.

[0054] The link quality detection submodule monitors the channel quality of each communication link in real time, accurately and reasonably detecting and evaluating characteristic values such as wireless signal quality, end-to-end delay, and instantaneous throughput of each access communication link in real time, providing a basis for dynamic channel selection. The communication links here refer to the communication links between the air segment and the ground segment, as well as the communication links between air segments. The data encoding submodule supports redundant encoding of original data (in this embodiment, this original data primarily refers to control instructions and service data) to reduce data retransmission requests. Specifically, this embodiment utilizes a data forward error correction (FEC) technology based on network coding to introduce interleaved redundancy into the original data to be transmitted without significantly increasing the data transmission load. While ensuring controllable end-to-end data transmission delay, the forward error correction capabilities of network coding enable effective recovery from packet loss, mitigate burst data loss caused by fast fading triggered by congestion, obstruction, and other channel conditions, and improve the overall aggregate transmission efficiency of the system.

[0055] The data scheduling submodule uses a dynamic scheduling strategy based on link detection results and transmission feedback to distribute the encoded original data to multiple communication links for transmission, ensuring that the amount of data allocated to each communication link matches the communication link bandwidth and that the data delivered to the receiving end by each communication link is basically orderly. The dynamic scheduling strategy adopted in the data scheduling submodule takes into account the original data type. For example, for service types such as short messages and short messages that are sensitive to time delay and have relatively small service transmission volumes, it is not suitable to schedule and distribute them to different communication links at the granularity of data packets. Instead, a mechanism of fixed allocation to a certain fast communication link can be adopted.

[0056] Among them, the data cache sorting submodule is used to receive data packets from multiple communication links. Due to the influence of link differences, there will definitely be a problem of data packet disorder. Therefore, the data packets are reordered according to the tags of the data packets themselves.

[0057] Among them, the control protocol processing submodule supports the interaction of data aggregation transmission protocol between terminals, and provides support for link detection and data cache sorting by performing aggregation control protocol interaction between the ground end of the communication management module and the airborne end of the communication management module;

[0058] The data transceiver submodule supports the transceiver processing of service data and control instructions, and sends the data through a designated communication link according to the instructions of the data scheduling submodule.

[0059] The control protocol processing submodule is now further explained.

[0060] Both the airborne and ground-based communication management modules utilize the Channel Aggregation Transmission Control Protocol to separate service data and control data. The sender encapsulates service data with a control header, enabling the receiver to perform functions such as sorting and packet loss control based on the control header content. Control command encapsulation facilitates control message exchange between the airborne and ground-based communication management modules, providing the link quality detection submodule with a basis for determining link connectivity and round-trip latency, and providing transmission feedback such as packet loss, supporting the data scheduling submodule.

[0061] Specifically, the Channel Aggregation Transmission Control Protocol (CACTP) is carried on top of the UDP protocol and primarily provides two functions: encapsulating service data and encapsulating control instructions. Since the UDP protocol itself lacks ordering or congestion control, the CACTP emulates some features of the TCP protocol to implement data ordering and congestion control. However, if the design were to completely mirror the TCP protocol's link establishment and retransmission mechanisms, the flexibility of the CACTP would be reduced.

[0062] Therefore, the main design ideas of the channel aggregation transmission control protocol proposed in this embodiment are described as follows:

[0063] a) Add a SEQ field to the data packet to sort the data packets;

[0064] b) Add a SUBSEQ field to the data packet to count the data packet loss on the communication link;

[0065] c) Define a control message type called CNG to indicate link congestion on the sending end, thus supporting the congestion control function of the data scheduling submodule.

[0066] d) Define a control message type called ACK to notify the sender of data reception status and provide support for the congestion control function of the data scheduling submodule;

[0067] e) No retransmission is designed. The CNG message only indicates the loss, but does not indicate the specific lost packet sequence number. The sender does not need to retransmit the lost message, reducing the complexity of the packet scheduling module.

[0068] Specifically, the channel aggregation transmission control protocol of the communication management module ground terminal and the communication management module airborne terminal is as follows:

[0069] Table 1 Channel Aggregation Transmission Control Protocol

[0070]

[0071] When the tunnel information type TYPE is a tunnel service packet, the tunnel service packet header is defined as follows:

[0072] Table 2 Tunnel service header protocol

[0073]

[0074] When the information type TYPE is tunnel packet transmission, the tunnel service packet header is defined as follows:

[0075] Table 3 Packet Transmission Tunnel Service Header Protocol

[0076]

[0077] When the tunnel information type TYPE is tunnel packet reception information, the tunnel service packet header is defined as follows:

[0078] Table 4 Packet receiving tunnel service header protocol

[0079]

[0080] When the tunnel information type TYPE is a tunnel FEC coded packet, the tunnel service packet header is defined as follows:

[0081] Table 5 Tunnel FEC coded packet tunnel service packet header

[0082]

[0083] During aggregate transmission, a network tunnel is created on each communication link between the airborne and ground-based communication management modules. By dynamically scheduling data packets across multiple network tunnels for simultaneous, orderly transmission, the on-off fluctuations and bandwidth jitter of some channels do not affect the overall transmission of service data, effectively improving the data transmission rate and communication stability during multi-channel concurrent communication. "Network tunnel" is a technical term; it is generally virtual, while "link" is generally physical. Multiple network tunnels can exist on a single physical link, and a single network tunnel can also utilize multiple physical links.

[0084] During the aggregate transmission process, the airborne end of the communication management module, as the initiator of the 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 of the communication management module and the ground end of the communication management module. In the uplink direction, after the airborne end of the communication management module obtains the business data to be transmitted, it encodes the data and converts the business data to be transmitted into coded data blocks. Based on the business data type, it determines a dynamic scheduling algorithm and then uses this dynamic scheduling algorithm to distribute the coded data blocks to multiple network tunnels for transmission. The ground end of the communication management module caches, sorts, and decodes the coded data blocks received on multiple network tunnels and transfers the decoded business data to the UAV ground station. In the downlink direction, the UAV ground station transfers the replied business data to the ground end of the communication management module. The ground end of the communication management module encodes the business data, schedules the data 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 airborne end ID of the communication management module, and sends it to the airborne end of the communication management module through multiple communication links. The airborne end of the communication management module decapsulates the replied business data through the control protocol, caches and decodes it, and then transfers the decoded business data to the flight control module or mission payload.

[0085] Now combined Figure 3 、 Figure 4 and Figure 5 The following is a further explanation of the main steps involved in the above process, including:

[0086] Step 1: After the airborne and ground-based communication management modules are started, the airborne communication management module randomly generates an identity ID, namely the airborne communication management module ID, and sends an initialization request message through each communication link to detect the availability of the communication link. At the same time, it reports the channel address of each communication link to the ground-based communication management module.

[0087] Step 2: After receiving the initialization request message from the airborne communication management module, the ground communication management module records the mapping relationship between each channel address and the airborne communication management module ID, and replies to the initialization request message from each communication link;

[0088] Step 3: After receiving the reply message from the ground-based communication management module, the airborne communication management module records the on / off status of each communication link and the round-trip delay of the available communication link.

[0089] Step 4: The airborne end of the communication management module actively reports the round-trip delay information of the available network tunnel to the ground end of the communication management module to support the link quality detection of the access point.

[0090] Steps 1 to 4 can be found in Figure 3 .

[0091] 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 transmission interface, it encapsulates the header of the service data into an aggregate transmission control header, determines the global SEQ field and SUBSEQ field of the service data, and sends it to the communication link.

[0092] Step 6: After receiving the service data, the ground terminal of the communication management module decapsulates and parses the aggregate transmission control packet header, confirms whether there is any data packet loss on the communication link based on the SUBSEQ field, and puts the service data into the buffer area for sorting based on the global SEQ field. The sorted service data is then sent to the UAV ground station;

[0093] Step 7: The ground-based communication management module sends an ACK message to the airborne communication management module. Based on the ACK message, the airborne communication management module adjusts the congestion window and send window to detect available link bandwidth. The window here refers to the time window. In wireless communications, the sender and receiver cannot send data simultaneously, otherwise a conflict will occur. The time ranges of these two windows are adjustable to alleviate congestion based on actual conditions.

[0094] When the ground end of the communication module sends SUBSEQ discontinuously, it confirms whether the data packets are continuously lost. If they are continuously lost, it is determined that the communication link is congested. 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.

[0095] Steps 5 to 7 can be found in Figure 4 .

[0096] During the normal business transmission between the airborne end of the communication management module and the ground end of the communication management module, the activity of each communication link will be recorded. When there is data transmission and reception on each communication link, the status of the communication link is considered normal and there is no need to send a link quality detection message. When there is no business 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 follows: Figure 5 Specifically including:

[0097] Step 8: The airborne end of the communication management module determines the channel activity. If no data is received for a certain period of time, the channel status is set to idle. The airborne end of the communication management module actively sends a keep-alive request message to the ground end of the communication management module.

[0098] Step 9: After receiving the keep-alive request message, the ground terminal of the communication management module replies with a keep-alive response message;

[0099] Step 10: The airborne end of the communication management module receives the keep-alive response message, confirms that the channel is available, and sets the channel status to active. If no reply is received after the timeout, it confirms that the channel is unavailable and sends keep-alive request messages regularly to continuously observe the channel's available status.

[0100] This embodiment uses the airborne end and the ground end of the communication management module to uniformly manage various communication means such as ad hoc networks, 5G, and measurement and control chains, and can use multiple communication links to improve data transmission rate and stability.

Claims

1. A hybrid communication management system for unmanned aerial vehicles, characterized by: include: an air segment and a ground segment; The aerial part includes: a flight control module, a mission payload, an airborne end of a communication management module, and an airborne end of a hybrid communication module; the flight control module receives control instructions from the UAV ground station through the airborne end of the communication management module and the airborne end of the hybrid communication module, and the mission payload sends service data to the UAV ground station through the airborne end of the communication management module and the airborne end of the hybrid communication module; The ground part includes: a UAV ground station, a communication management module ground end and a hybrid communication module ground end; the UAV ground station sends control instructions to the flight control module through the communication management module ground end and the hybrid communication module ground end, and the UAV ground station receives service data through the communication management module ground end and the hybrid communication module ground end; The hybrid communication module airborne end and the hybrid communication module ground end cooperate to form multiple communication links between the air part and the ground part; Wherein, at the airborne end of the communication management module, the following steps are performed for the service data: Receive business data, encode the business data, and convert it into coded data blocks; Based on the round-trip delay information of each available communication link, a dynamic scheduling strategy is adopted to determine one or more scheduling communication links; the dynamic scheduling strategy is linked to the service data type; According to the determined scheduled communication link, and in accordance with the channel aggregation transmission control protocol, encapsulating the coded data block with an aggregation transmission control packet header to obtain an encapsulated coded data block; Allocating the encapsulated coded data blocks to the determined scheduled communication links for transmission; Correspondingly, at the ground end of the communication management module, for service data, the following steps are performed: obtaining a coded data block from the scheduling communication link, decapsulating the aggregate transmission control packet header of the coded data block according to the channel aggregation transmission control protocol, and cache-sorting the coded data block after the control protocol decapsulation; decoding the sorted coded data block, and finally transferring the decoded service data to the UAV ground station; Wherein, at the ground end of the communication management module, for the control instruction, the following steps are performed: 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 coded data blocks; According to the round-trip delay information of each available communication link, a dynamic scheduling strategy is adopted to determine one or more scheduling communication links; the dynamic scheduling strategy is linked to the control instruction type; According to the determined scheduled communication link, and in accordance with the channel aggregation transmission control protocol, encapsulating the coded data block with an aggregation transmission control packet header to obtain an encapsulated coded data block; Allocating the encapsulated coded data blocks to the determined scheduled communication links for transmission; Correspondingly, at the airborne end of the communication management module, the following steps are performed for the control instructions: obtaining the coded data block from the scheduling communication link, decapsulating the aggregate transmission control packet header of the coded data block according to the channel aggregation transmission control protocol, and cache-sorting the coded data block after the control protocol decapsulation; decoding the sorted coded data block, and finally transferring the decoded control instruction to the flight control module.

2. The hybrid communication management system for unmanned aerial vehicles according to claim 1, characterized in that: The business data is encoded and converted into a coded data block, and the specific operations include: The data forward error correction technology based on network coding is used to redundantly encode the service data and convert the service data into coded data blocks.

3. The hybrid communication management system for unmanned aerial vehicles according to claim 1, characterized in that: The hybrid communication module airborne end and the hybrid communication module ground end both include: one or more of: a self-organizing network communication module, a 5G communication module and a measurement and control chain module.

4. The hybrid communication management system for unmanned aerial vehicles according to claim 1, characterized in that: Before receiving service data or control instructions, perform the following operations: Each communication link is detected 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 unmanned aerial vehicles according to claim 4, characterized in that: The specific operations of detecting each communication link, determining the availability of each communication link, and obtaining the round-trip delay information of each available communication link include: 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-based communication management module, the airborne 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 hybrid communication management system for unmanned aerial vehicles according to claim 1, characterized in that: The channel aggregation transmission control protocol is carried on the UDP protocol and includes: Add a SEQ field, which is used to sort the coded data blocks; Add a SUBSEQ field, which is used to count the loss of data packets on the communication link; A control message type called CNG is defined to indicate congestion on the communication link. A control message type called ACK is defined to indicate the data reception status.

7. The hybrid communication management system for unmanned aerial vehicles according to claim 6, characterized in that: For the ground end of the communication management module, after executing the control protocol decapsulation of the aggregate transmission control packet header of the coded data block according to the channel aggregation transmission control protocol, the following steps are also 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: according to the ACK message sent by the airborne end of the communication management module, the congestion window and the sending window are adjusted.

8. The hybrid communication management system for unmanned aerial vehicles according to claim 7, characterized in that: When the SUBSEQ field is discontinuous, it is determined whether continuous data packet loss occurs. If continuous data packet loss occurs, 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 adjusts the congestion window and the sending window.

9. The hybrid communication management system for unmanned aerial vehicles according to claim 6, characterized in that: The cache sorting of the coded data blocks after decapsulation of the control protocol includes the following specific operations: According to the global SEQ field, the coded data blocks after the control protocol is decapsulated are placed in the buffer area for sorting.

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