Distributed networking method

Abstract

The invention discloses a distributed networking method, and relates to the technical field of unmanned aerial vehicle inspection, and the method comprises the steps: S1, ground node deployment and initialization, S2, initial connection of an unmanned aerial vehicle and a ground node, S3, dynamic channel distribution and switching, S4, multi-node cooperation and path optimization, and S5, encrypted tunnel and data intercommunication. And S6, monitoring and managing the remote command and control terminal. According to the invention, by deploying the distributed ground nodes and establishing a cooperative work mechanism, seamless expansion of a communication coverage area is realized; when the unmanned aerial vehicle approaches the coverage boundary of the current node, the adjacent node preloads channel parameters in advance and optimizes a switching strategy to ensure that the unmanned aerial vehicle is always connected with the optimal node in the moving process; through data intercommunication and redundancy design among multiple nodes, when a single node fails or signals are attenuated, the system can automatically route to other available nodes, and the risk of depending on a single communication link is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of drone patrol inspection, and particularly relates to a distributed network connection networking method. Background Art

[0002] With the rapid development and application of drone technology, it is currently widely used in inspection scenarios for long-distance linear projects such as oil and gas pipelines, highways, river channels, etc. Drone patrol inspections generally adopt a single-station mode.

[0003] The single-station mode relies on the point-to-point communication between a single ground station and the drone. Its coverage range is limited by terrain, electromagnetic environment, and signal attenuation, and it is difficult to meet the requirements of ultra-long-distance continuous patrol inspection. Especially in areas with complex geographical environments or strong interference, the risk of signal interruption increases significantly, resulting in the drone needing to frequently return or rely on manual intervention to restore communication, greatly reducing the patrol inspection efficiency. In response to the above problems, the following solutions are proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a distributed network connection networking method. By deploying distributed ground nodes and establishing a collaborative working mechanism, seamless expansion of the communication coverage range is achieved, and the problem that the existing video transmission distance between drones in the air and on the ground is affected by terrain and surrounding electromagnetic environment interference and is difficult to meet the requirements of ultra-long-distance continuous patrol inspection is solved.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0006] The present invention is a ground node, which is characterized by including a bracket, a controller, a directional antenna, a lightning rod, an omnidirectional antenna, and a weather station;

[0007] The controller, directional antenna, lightning rod, omnidirectional antenna, and weather station are all installed on the bracket;

[0008] The bracket is used to support other devices of the ground node, and the bracket forms include support structures such as a tripod and a vertical pole;

[0009] The controller includes a control box, a WIFI antenna, and a 4G / 5G antenna, and is connected to the directional antenna, omnidirectional antenna, weather station, and switch through lines;

[0010] The controller is used to establish a channel between the airborne end and the networking server, and realize data intercommunication between the networking server and the airborne end; the controller accesses the public network and private network through three methods: WIFI, 4G / 5G, and wired networking;

[0011] The weather station is used to monitor the weather conditions of the current ground node, and the remote control terminal judges whether the drone is in a flight condition according to the monitored data;

[0012] The networking server allows the airborne terminal, ground nodes, and remote command terminals to be directly connected through a fast encryption tunnel without the need for configuration or a central VPN server;

[0013] The remote command terminal is used to receive the status information of ground nodes and UAVs, and switch the ground nodes to ensure a one-to-one correspondence between UAVs and ground nodes; the switching logic can be automatically or manually switched by judging the distance between the UAV and the ground node and the signal strength of the ground node.

[0014] A distributed networked networking method, the networking method comprising the following steps:

[0015] Step S1, Ground node deployment and initialization: Deploy ground nodes along the inspection route, configure the hardware, initialize the network connection and assign a unique ID, and preset dynamic channel parameters;

[0016] Step S2, Initial connection between UAV and ground node: After the UAV is started, it scans for available nodes, selects the optimal channel through signal strength, noise, and meteorological data, establishes an initial communication link, and binds the node;

[0017] Step S3, Dynamic channel allocation and switching: Real-time collect signal strength, noise, and meteorological data, calculate the channel quality score, if the score is lower than the threshold or the adjacent channel is better, trigger seamless switching to maintain communication continuity;

[0018] Step S4, Multi-node cooperation and path optimization: Adjacent nodes share channel status and preload the parameters of the next node; the remote command terminal dynamically adjusts the flight path according to meteorological data and optimizes the node activation order;

[0019] Step S5, Encryption tunnel and data intercommunication: Establish an end-to-end tunnel using AES-256 encryption, attach a timestamp and node ID to the data packet, give priority to transmission through the current node, and automatically route to adjacent nodes in case of failure;

[0020] Step S6, Remote command terminal monitoring and management: Real-time display of UAV status, channel quality, and meteorological information, support for manual intervention; record switching logs and key updates, and provide audit and fault backtracking support.

[0021] Further, in the step S1, the ground node deployment and initialization includes the following steps:

[0022] Step S11, Hardware deployment: Deploy ground nodes at intervals of 1 km along the inspection route. Each node includes a bracket, a controller, a directional antenna, a lightning rod, an omnidirectional antenna, and a weather station;

[0023] The directional antenna faces the inspection path direction, and the omnidirectional antenna is used for communication with adjacent nodes and the networking server;

[0024] The weather station collects real-time data on wind speed, wind direction, and rainfall, and uploads it to the networking server through the controller.

[0025] Step S12, Network configuration: The controller accesses the public and private networks through 5G, establishes an encrypted tunnel connection with the networking server; each ground node is assigned a unique ID, and weight parameters for subsequent channel allocation are preset.

[0026] This step completes the network access configuration and unique ID assignment by deploying ground nodes (including hardware such as brackets, antennas, and weather stations) along the inspection route, provides the physical infrastructure for subsequent communication, and presets the core parameters of the dynamic channel allocation algorithm to ensure the system has the initial networking ability.

[0027] Furthermore, the initial connection between the UAV and the ground node in step S2 specifically includes the following steps:

[0028] Step S21, On-board startup: Before the UAV takes off, the on-board terminal automatically scans for available ground nodes, obtains their IDs, positions, and current channel lists; broadcasts a handshake request through an omnidirectional antenna, and receives the response signal (including S c , N c , W c initial values) from the nearest ground node.

[0029] Step S22, Channel binding: Calculate the initial optimal channel Q c , and select the channel with the highest score to establish a downlink (telemetry, video transmission) and an uplink (remote control command). The specific formula is:

[0030]

[0031] In the formula, Q c is the channel quality score, S c is the signal strength, N c is the channel noise level, W c is the weather condition score, α, β, γ are all weight coefficients, V is the real-time wind speed, V max is the maximum allowable wind speed, R is the real-time rainfall, R max is the maximum allowable rainfall, ω V , ω R are the weight coefficients of wind speed and rainfall respectively;

[0032] The controller records the binding relationship and synchronizes it to the networking server and the remote control terminal;

[0033] After the UAV is started, this design actively scans for available ground nodes, combines signal strength, noise level, and meteorological conditions, selects the optimal channel using a dynamic channel scoring formula, establishes an initial communication link, and realizes the binding of the UAV and the ground node, laying a foundation for subsequent real-time data transmission.

[0034] Further, in step S3, the dynamic channel allocation and switching specifically include the following steps:

[0035] Step S31, real-time data collection: The ground node updates the environmental data once per second, including the UAV signal strength S measured by the directional antenna c ; the channel noise N monitored by the controller c ; the W output by the weather station c ;

[0036] Step S32, channel quality assessment: The controller calculates the scores of all available channels according to the above initial optimal channel formula;

[0037] When the current channel Q c is lower than the threshold and the score of the adjacent channel is higher than the threshold, a channel switch is triggered;

[0038] Step S33, seamless handover execution: The networking server generates a handover instruction and sends it to the controller and the airborne end through an encrypted tunnel; the airborne end switches to the new channel within 10 ms to maintain the continuity of data transmission; the remote control end synchronously updates the binding status of the ground node;

[0039] This design continuously collects signal strength, noise, and meteorological data, dynamically calculates the channel quality score, and triggers a seamless handover mechanism when the score is lower than the threshold or the adjacent channel is better, ensuring the high quality and continuity of the communication link and solving the problem of transmission interruption caused by environmental interference.

[0040] Further, in step S4, the multi-node collaboration and path optimization specifically include the following steps:

[0041] Step S41, neighboring node cooperation: When the UAV approaches the coverage boundary of the current ground node, the networking server preloads the channel parameters of the next node;

[0042] The controller exchanges channel quality data with neighboring nodes through an omnidirectional antenna to optimize the handover timing;

[0043] Step S42, path dynamic adjustment: The remote control end adjusts the flight path offset and speed according to meteorological data (such as strong wind areas), and the path offset calculation formula is:

[0044]

[0045] where ΔL is the path lateral offset, vmax , r max are the maximum allowable wind speed and rainfall respectively, λ is the adjustment coefficient, and W c is the meteorological score of the current ground node;

[0046] Path correction logic: When ΔL > 0, the UAV laterally offsets by ΔL in the direction of better meteorological conditions to avoid the harsh area;

[0047] The speed optimization formula is:

[0048]

[0049] In the formula, V adjusted is the adjusted speed, V base is the basic speed, σ is the balance speed adjustment amplitude coefficient, and W c is the meteorological score;

[0050] After adjustment, the remote control terminal synchronously updates the flight path and speed, and notifies the networking server to activate adjacent nodes to cover the new path;

[0051] This design shares the channel state data through adjacent nodes, preloads the communication parameters of the next node to reduce the handover delay; at the same time, the remote control terminal dynamically adjusts the UAV flight path according to real-time meteorological information, optimizes the activation order of ground nodes, and improves the efficiency and adaptability of long-distance inspection.

[0052] Furthermore, in step S5, the encryption tunnel and data intercommunication specifically include the following steps:

[0053] Step S51, Tunnel establishment: The networking server generates an independent key pair for each ground node, and uses the AES-256 encryption algorithm to establish an end-to-end tunnel; the data packet is attached with a timestamp and a node ID to prevent replay attacks;

[0054] Step S52, Data routing: The data of the airborne terminal is preferentially transmitted through the currently bound node; when the node fails, it is automatically routed to the adjacent node, and the networking server reallocates the channel;

[0055] This design uses the AES-256 encryption algorithm to establish an end-to-end secure tunnel, and the data packet is attached with a timestamp and a node ID to prevent attacks; through the priority routing and automatic fault switching mechanism, it ensures the reliable transmission of data in a complex environment and avoids communication interruption caused by a single point of failure.

[0056] Furthermore, in step S6, the monitoring and management of the remote control terminal specifically include the following steps:

[0057] Step S61, Status Visualization: The accusing end displays the UAV position, ground node signal strength, meteorological data, and channel score in real time; manual intervention switching is supported (such as forcibly specifying a high-priority channel);

[0058] Step S62, Log and Audit: All channel switching records, encryption key updates, and meteorological warnings are stored in the networking server for post-event analysis;

[0059] This design provides a visual interface to monitor the UAV status, channel quality, and meteorological information in real time, and supports manual intervention in channel switching; completely records communication logs, key updates, and fault events, providing data support for system operation and maintenance, auditing, and anomaly backtracking, and realizing full-process controllability and manageability.

[0060] The present invention has the following beneficial effects:

[0061] 1. By deploying distributed ground nodes and establishing a collaborative working mechanism, the present invention realizes seamless expansion of the communication coverage range; when the UAV approaches the coverage boundary of the current node, neighboring nodes preload channel parameters in advance and optimize the handover strategy to ensure that the UAV is always connected to the optimal node during movement; data intercommunication and redundancy design among multiple nodes enable the system to automatically route to other available nodes when a single node fails or the signal attenuates, avoiding the risk of relying on a single communication link; this distributed architecture improves the overall network reliability and inspection efficiency, providing highly available communication guarantee for long-distance linear project inspections.

[0062] 2. By collecting signal strength, channel noise, and meteorological environment data in real time and combining dynamic channel allocation, the present invention continuously evaluates and selects the optimal communication channel; this design can adapt to complex terrains and electromagnetic interference environments to ensure efficient data transmission between the UAV and ground nodes; by dynamically adjusting channel allocation, the system quickly switches to a backup channel in case of signal attenuation or sudden interference, reducing the risk of communication interruption and enhancing the real-time performance and stability of long-distance inspections; in addition, the algorithm comprehensively considers the impact of meteorological factors on wireless transmission, further enhancing the communication robustness under extreme weather conditions and avoiding link failures caused by environmental mutations, thereby ensuring the continuous operation ability of the UAV in complex scenarios.

[0063] Of course, any product implementing the present invention does not necessarily need to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0064] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0065] Figure 1 The flowchart of a distributed networked networking method of the present invention;

[0066] Figure 2 The structural schematic diagram of a ground node of the present invention. Specific embodiments

[0067] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0068] Please refer to Figure 2 As shown, the present invention is a ground node, including a ground node, characterized in that it includes a bracket 1, a controller 2, a directional antenna 3, a lightning rod 4, an omnidirectional antenna 5, and a weather station 6;

[0069] The controller 2, the directional antenna 3, the lightning rod 4, the omnidirectional antenna 5, and the weather station 6 are all installed on the bracket 1;

[0070] The bracket 1 is used to support other devices of the ground node, and the form of the bracket 1 includes a support structure such as a tripod and a vertical rod;

[0071] The controller 2 includes a control box 201, a WIFI antenna 202, and a 4G / 5G antenna 203, and is connected to the directional antenna 3, the omnidirectional antenna 5, the weather station 6, and the switch through lines;

[0072] The controller 2 is used to establish a channel between the airborne end and the networking server to realize data intercommunication between the networking server and the airborne end; the controller 2 accesses the public network and the private network through three methods: WIFI, 4G / 5G, and wired networking;

[0073] The weather station 6 is used to monitor the weather conditions of the current ground node, and the remote control terminal judges whether the drone is in a flight condition according to the monitoring data;

[0074] The networking server allows the airborne end, the ground node, and the remote control terminal to be directly connected through a fast encryption tunnel without configuring or a central VPN server;

[0075] The remote control terminal is used to receive the status information of the ground node and the drone, and switch the ground node to ensure a one-to-one correspondence between the drone and the ground node; the switching logic can be automatically or manually switched by judging the distance between the drone and the ground node and the signal strength of the ground node.

[0076] Please refer toFigure 1 As shown in the figure, the present invention is a distributed networked networking method, and the networking method includes the following steps:

[0077] Step S1, Ground node deployment and initialization:

[0078] Step S11, Hardware deployment: Ground nodes are arranged at intervals of 15 km along the inspection line. Each node includes a bracket 1, a controller 2, a directional antenna 3, a lightning rod 4, an omnidirectional antenna 5, and a weather station 6;

[0079] The directional antenna 3 faces the inspection path direction, and the omnidirectional antenna 5 is used to communicate with neighboring nodes and the networking server;

[0080] The weather station 6 collects wind speed, wind direction, and rainfall data in real time and uploads it to the networking server through the controller 2;

[0081] Step S12, Network configuration: The controller 2 accesses the public and private networks through 4G / 5G, establishes an encrypted tunnel connection with the networking server; each ground node is assigned a unique ID, and weight parameters for subsequent channel allocation are preset.

[0082] Step S2, Initial connection between the unmanned aerial vehicle (UAV) and the ground node:

[0083] Step S21, On-board startup: Before the UAV takes off, the on-board terminal automatically scans available ground nodes, obtains their IDs, positions, and current channel lists; broadcasts a handshake request through the omnidirectional antenna 5 and receives the response signal from the nearest ground node;

[0084] Step S22, Channel binding: Calculate the initial optimal channel Q c , select the channel with the highest score to establish the downlink and uplink. The specific formula is:

[0085]

[0086] In the formula, Q c is the channel quality score, S c is the signal strength, N c is the channel noise level, W c is the weather condition score, α, β, γ are all weight coefficients, V is the real-time wind speed, V max is the maximum allowable wind speed, R is the real-time rainfall, R max is the maximum allowable rainfall, ω V , ω R are the weight coefficients of wind speed and rainfall respectively;

[0087] The controller 2 records the binding relationship and synchronizes it to the networking server and the remote control terminal.

[0088] Step S3, Dynamic channel allocation and switching:

[0089] Step S31, Real-time data collection: The ground node updates the environmental data once per second, including the drone signal strength S measured by the directional antenna 3 c ; the channel noise N monitored by the controller 2 c ; W output by the weather station 6 c ;

[0090] Step S32, Channel quality assessment: The controller 2 calculates the scores of all available channels according to the above initial optimal channel formula;

[0091] When the current channel Q c is below the threshold and the score of the adjacent channel is higher than the threshold, trigger channel switching;

[0092] Step S33, Seamless handover execution: The networking server generates a handover instruction and sends it to the controller 2 and the airborne end through an encrypted tunnel; The airborne end switches to the new channel within 10 ms to maintain the continuity of data transmission; The remote command end synchronously updates the binding status of the ground node.

[0093] Step S4, Multi-node collaboration and path optimization:

[0094] Step S41, Proximity node collaboration: When the drone approaches the coverage boundary of the current ground node, the networking server pre-loads the channel parameters of the next node;

[0095] The controller 2 exchanges channel quality data with adjacent nodes through the omnidirectional antenna 5 to optimize the handover timing;

[0096] Step S42, Path dynamic adjustment: The remote command end adjusts the flight path offset and speed according to the meteorological data. The formula for the path offset is:

[0097]

[0098] In the formula, ΔL is the lateral path offset, v max , r max are the maximum allowable wind speed and rainfall respectively, λ is the adjustment coefficient, and W c is the meteorological score of the current ground node;

[0099] Path correction logic: When ΔL > 0, the drone laterally offsets by ΔL in the direction of better meteorological conditions to avoid bad areas;

[0100] The formula for speed optimization is:

[0101]

[0102] In the formula, V adjusted is the adjusted speed, and V baseis the base speed, σ is the balance speed adjustment amplitude coefficient, and W c is the meteorological score;

[0103] After adjustment, the remote control terminal synchronously updates the flight path and speed, and notifies the networking server to activate adjacent nodes to cover the new path.

[0104] Step S5, Encrypted Tunnel and Data Interconnection:

[0105] Step S51, Tunnel Establishment: The networking server generates an independent key pair for each ground node, and uses the AES-256 encryption algorithm to establish an end-to-end tunnel; the data packet is attached with a timestamp and node ID to prevent replay attacks;

[0106] Step S52, Data Routing: The data of the airborne terminal is preferentially transmitted through the currently bound node; when the node fails, it is automatically routed to the adjacent node, and the networking server reallocates the channel.

[0107] Step S6, Remote Control Terminal Monitoring and Management:

[0108] Step S61, Status Visualization: The control terminal real-time displays the UAV position, ground node signal strength, meteorological data and channel score; manual intervention switching is supported;

[0109] Step S62, Log and Audit: All channel switching records, encryption key updates and meteorological warnings are stored in the networking server for post-event analysis.

[0110] A specific application of this embodiment is:

[0111] Scenario Description: A certain oil pipeline company needs to conduct regular inspections on an oil pipeline with a total length of 500 km; the pipeline passes through mountainous areas, plains and rainy areas, with complex terrain and electromagnetic interference. Using the distributed networked networking method of the present invention, ground nodes are deployed and fixed-wing UAVs are coordinated to perform inspection tasks;

[0112] Implementation Steps:

[0113] Step S1, Ground Node Deployment and Initialization:

[0114] Hardware Deployment: A ground node is set every 20 km along the pipeline, with a total of 25 nodes. Each node includes a bracket 1, a controller 2, a directional antenna 3 (pointing in the direction of pipeline extension), an omnidirectional antenna 5, a weather station 6 and a lightning rod 4;

[0115] The weather station 6 real-time monitors the wind speed (threshold 10 m / s) and rainfall (threshold 50 mm / h), and the data is uploaded to the networking server through the controller 2;

[0116] Network configuration: The node controller 2 accesses the private cloud server through the 4G network to establish an AES-256 encrypted tunnel; Each node is preset with dynamic channel allocation weight parameters (α = 0.5, β = 0.3, γ = 0.2), and the initial channel list contains 5 optional frequency bands (2.4GHz, 5.8GHz, etc.);

[0117] Step S2, UAV startup and initial connection:

[0118] Takeoff stage: The UAV takes off from the starting base station (node 1), and the on-board terminal automatically scans the nearby ground nodes;

[0119] The directional antenna of node 1 detects the UAV signal strength (S c =-70dBm), noise level (N c =20dB), meteorological data (wind speed 5m / s, no rain, W c =1.0);

[0120] Calculate the channel quality score according to the formula:

[0121]

[0122] Select the 5.8GHz channel with the highest score (Q c =-34.8) to establish a two-way communication link;

[0123] Step S3, dynamic channel switching (mountain interference scenario):

[0124] Real-time monitoring: When the UAV flies to node 5 (mountainous area), the signal strength of directional antenna 3 drops to -85dBm, the noise rises to 35dB due to electromagnetic interference, and the weather station reports a wind speed of 12m / s (W c =0.2);

[0125] The controller calculates the current channel score:

[0126]

[0127] Compare the scores of adjacent channels (2.4GHz band):

[0128]

[0129] Seamless switching: Since the current channel score is lower than the threshold (-40), and the adjacent channel score is 5 points higher, the networking server issues a switching instruction; The on-board terminal switches to the 2.4GHz channel within 10ms, and the video stream transmission delay remains <50ms, and the inspection screen has no stuttering;

[0130] Step S4, multi-node collaboration (cross-regional inspection):

[0131] Preloading and Collaboration: When the drone approaches the coverage boundary of Node 5 (3 km remaining from Node 6), the networking server preloads the channel parameters of Node 6 (S c =-65 dBm, N c =18 dB, W c =1.0);

[0132] Node 5 and Node 6 exchange channel status through Omnidirectional Antenna 5, and optimize the handover timing to execute when the drone is only 1 km away from Node 6;

[0133] Meteorological Emergency Adjustment: Heavy rain suddenly falls in the area of Node 10 (rainfall 60 mm / h, W c =0), and the remote control terminal automatically adjusts the flight path, bypasses to the standby Node 10A, avoids the bad area, and prevents signal interruption;

[0134] Step S5, Encrypted Tunnel and Fault Tolerance:

[0135] Data Secure Transmission: The pipeline corrosion images taken by the drone are transmitted through the encrypted tunnel of Node 8, and the encryption key is updated every 5 minutes to prevent data theft;

[0136] Node Fault Emergency: Node 15 goes offline due to lightning strike, and the networking server immediately routes the communication to the adjacent Nodes 14 and 16. The drone video stream is transmitted through dual-channel aggregation without data loss;

[0137] Step S6, Remote Control Terminal Management:

[0138] Real-time Monitoring Interface: The large screen of the control terminal displays the drone trajectory, the Q c scores of each node (color-coded: green > -40, yellow -40 to -50, red < -50), the real-time wind speed and alarms (such as Node 15 going offline is marked in red);

[0139] Manual Intervention: The operator manually forces the drone to use the 5.8 GHz channel with stronger anti-interference in the area of Node 12 to cope with temporary radar interference.

[0140] Implementation Effect: The average delay throughout the process is 45 ms, and the video transmission packet loss rate < 0.1%; compared with the traditional relay drone solution, 18 relay drones are reduced in investment, and the cost is saved by about 2 million yuan; the pipeline inspection time of 500 km is shortened from 48 hours to 28 hours, and the efficiency is increased by 42%.

[0141] In this embodiment, by optimizing the communication link with real-time environmental data and combining multi-node redundancy and encryption design, the efficient, stable and secure long-distance inspection of the drone in complex environments is achieved.

[0142] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0143] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A ground node, characterized in that , including a bracket (1), a controller (2), a directional antenna (3), a lightning rod (4), an omnidirectional antenna (5), and a weather station (6); The controller (2), the directional antenna (3), the lightning rod (4), the omnidirectional antenna (5), and the weather station (6) are all installed on the bracket (1); The bracket (1) is used to support other devices of the ground node, and the form of the bracket (1) includes a support structure such as a tripod and a vertical pole; The controller (2) includes a control box (201), a WIFI antenna (202), and a 4G / 5G antenna (203), and is connected to the directional antenna (3), the omnidirectional antenna (5), the weather station (6), and the switch through lines; The controller (2) is used to establish a channel between the airborne end and the networking server to realize data intercommunication between the networking server and the airborne end; the controller (2) accesses the public network and the private network through three methods: WIFI, 4G / 5G, and wired network connection; The weather station (6) is used to monitor the weather conditions of the current ground node, and the remote control end judges whether the UAV is in a flight condition according to the monitoring data; The networking server allows the airborne end, the ground node, and the remote control end to be directly connected through a fast encryption tunnel without configuring a central VPN server; The remote control end is used to receive the status information of the ground node and the UAV, and switch the ground node to ensure that the UAV corresponds to the ground node one by one; the switching logic can be automatically or manually switched by judging the distance between the UAV and the ground node and the signal strength of the ground node.

2. A distributed network connection networking method, adopting a ground node as described in claim 1, characterized in that, The networking method includes the following steps: Step S1, Ground node deployment and initialization: Deploy ground nodes along the inspection line, configure the hardware, initialize the network connection, assign a unique ID, and preset dynamic channel parameters; Step S2, Initial connection between the UAV and the ground node: After the UAV is started, it scans for available nodes, selects the optimal channel through signal strength, noise, and meteorological data, establishes an initial communication link, and binds the nodes; Step S3, Dynamic channel allocation and switching: Real-time collect signal strength, noise, and meteorological data, calculate the channel quality score, if the score is lower than the threshold or the adjacent channel is better, trigger seamless switching to maintain communication continuity; Step S4, Multi-node collaboration and path optimization: Adjacent nodes share the channel status and pre-load the parameters of the next node; the remote control end dynamically adjusts the flight path according to the meteorological data and optimizes the node activation sequence; Step S5, Encryption tunnel and data intercommunication: Use AES-256 encryption to establish an end-to-end tunnel, attach a time stamp and a node ID to the data packet, give priority to transmitting through the current node, and automatically route to adjacent nodes in case of failure; Step S6, Remote control end monitoring and management: Real-time display the UAV status, channel quality, and meteorological information, support manual intervention; record the switching log and key update, and provide audit and fault backtracking support.

3. A distributed networked networking method according to claim 2, characterized in that, In the said step S1, the ground node deployment and initialization includes the following steps: Step S11, Hardware Deployment: Ground nodes are arranged at intervals of 15 km along the inspection route. Each node includes a bracket (1), a controller (2), a directional antenna (3), a lightning rod (4), an omnidirectional antenna (5), and a weather station (6); The directional antenna (3) faces the inspection path direction, and the omnidirectional antenna (5) is used for communicating with adjacent nodes and the networking server; The weather station (6) collects real-time wind speed, wind direction, and rainfall data and uploads it to the networking server through the controller (2); Step S12, Network Configuration: The controller (2) accesses the public and private networks through 4G / 5G to establish an encrypted tunnel connection with the networking server; Each ground node is assigned a unique ID, and weight parameters for subsequent channel allocation are preset.

4. A distributed networked networking method according to claim 2, characterized in that The specific steps of the initial connection between the UAV and the ground node in step S2 are as follows: Step S21, On-board Startup: Before the UAV takes off, the on-board device automatically scans for available ground nodes, obtains their IDs, positions, and current channel lists; Broadcasts a handshake request through the omnidirectional antenna (5) and receives the response signal from the nearest ground node; Step S22, channel binding: Calculate the initial optimal channel Q c , select the channel with the highest score to establish the downlink and uplink. The specific formula is as follows: Where, Q c is the channel quality score, S c is the signal strength, N c is the channel noise level, W c is the meteorological condition score, α, β, γ are all weight coefficients, V is the real-time wind speed, V max is the maximum allowable wind speed, R is the real-time rainfall, R max is the maximum allowable rainfall, ω V , ω R are the weight coefficients of wind speed and rainfall respectively; The controller (2) records the binding relationship and synchronizes it to the networking server and the remote control terminal.

5. A distributed networked networking method according to claim 2, characterized in that The specific steps of dynamic channel allocation and switching in step S3 are as follows: Step S31, real-time data acquisition: The ground node updates the environmental data once per second, including the drone signal strength S measured by the directional antenna (3) c ; the channel noise N monitored by the controller (2) c ; the W output by the weather station (6) c ; Step S32, Channel Quality Assessment: The controller (2) calculates the scores of all available channels according to the above initial optimal channel formula; On the current channel Q c When it is lower than the threshold and the adjacent channel score is higher than the threshold, a channel switch is triggered; Step S33, Seamless Handover Execution: The networking server generates a handover instruction and sends it to the controller (2) and the on-board device through the encrypted tunnel; The on-board device switches to the new channel within 10 ms to maintain the continuity of data transmission; The remote control terminal synchronously updates the binding status of the ground node.

6. A distributed networked networking method according to claim 2, characterized in that, The specific steps of multi-node collaboration and path optimization in step S4 are as follows: Step S41, Adjacent Node Collaboration: When the UAV approaches the coverage boundary of the current ground node, the networking server pre-loads the channel parameters of the next node; The controller (2) exchanges channel quality data with adjacent nodes through the omnidirectional antenna (5) to optimize the handover timing; Step S42, Path Dynamic Adjustment: The remote control terminal adjusts the flight path offset and speed according to the meteorological data. The formula for the path offset is: where ΔL is the lateral path offset, v max , r max are the maximum allowable wind speed and rainfall respectively, λ is the adjustment coefficient, and W c is the meteorological score of the current ground node; Path Correction Logic: When ΔL > 0, the UAV laterally offsets by ΔL in the direction with better meteorological conditions to avoid harsh areas; The formula for speed optimization is: Where, V adjusted is the adjusted speed, V base is the basic speed, σ is the balance speed adjustment amplitude coefficient, and W c is the meteorological score; After adjustment, the remote control terminal synchronously updates the flight path and speed and notifies the networking server to activate adjacent nodes to cover the new path.

7. A distributed networked networking method according to claim 2, characterized in that The specific steps of the encrypted tunnel and data intercommunication in step S5 are as follows: Step S51, Tunnel Establishment: The networking server generates an independent key pair for each ground node and establishes an end-to-end tunnel using the AES-256 encryption algorithm; The data packet is appended with a timestamp and the node ID to prevent replay attacks; Step S52, Data Routing: The on-board device data is preferentially transmitted through the currently bound node; When the node fails, it is automatically routed to an adjacent node, and the networking server reallocates the channel.

8. A distributed networked networking method according to claim 2, characterized in that, The specific steps of monitoring and management by the remote control terminal in step S6 are as follows: Step S61, Status Visualization: The accusing end displays the UAV position, ground node signal strength, meteorological data, and channel score in real time; manual intervention for switching is supported; Step S62, Log and Audit: All channel switching records, encryption key updates, and meteorological warnings are stored in the networking server for post - event analysis.

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