Method and system for establishing communication link between flyers

Abstract

The invention discloses a method and a system for establishing a communication link between flyers. The method comprises the following steps: acquiring azimuth data, a flight direction and a flight speed of a second flyer; calculating a first laser luminescence parameter; controlling the first laser light-emitting unit to emit first laser to the second flyer according to the first laser light-emitting parameter; receiving first feedback information of the second flyer based on the first laser; adjusting the emission direction of the first laser; and second laser is emitted to the second flyer in the second laser emission direction, a communication link between the first flyer and the second flyer is constructed, and rapid and accurate establishment of the communication link is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of communication between flying objects, and in particular, to a method and system for establishing a communication link between flying objects. Background Art

[0002] In the field of satellite communication, with the formation of constellations by flying objects such as low-orbit satellites / space stations, a high-bandwidth communication link between flying objects is crucial for communication performance. Flying objects in low orbits fly extremely fast. Taking low-Earth orbit satellites as an example, their in-orbit operating speed is usually 7-8 kilometers per second, which results in a relatively large relative speed between satellites / space stations and other flying objects. Taking satellites as an example, to achieve communication aiming between satellites, a fast satellite search and tracking scheme needs to be adopted. However, due to the long inter-satellite distance, the step angle requirement is extremely precise when adjusting the direction.

[0003] Although the link between flying objects in existing wireless communication schemes has a lower requirement for aiming, its bandwidth is limited and it is difficult to meet the growing demand for large data volume transmission. Optical communication, due to its high-bandwidth advantage, has become an ideal choice for achieving high-rate data transmission. However, the beam of optical communication is narrow and has extremely high requirements for aiming accuracy. In the scenario of long-distance communication between flying objects, it is extremely difficult to align between flying objects, and a tiny angle deviation may lead to the interruption of the communication link or a serious decline in communication quality, which has become a problem restricting the development of high-bandwidth communication between flying objects. Summary of the Invention

[0004] Based on this, in view of the problem that it is difficult to aim at a target flying object by an optical communication method when establishing a communication link between flying objects, a method and system for establishing a communication link between flying objects are proposed.

[0005] The first aspect of the present invention provides a method for establishing a communication link between flying objects. The communication link between flying objects is established between a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. The method for establishing a communication link between flying objects is applied to the first flying object and includes:

[0006] Obtain the azimuth data, the flight direction and the flight speed of the second flying object through a preset rough tracking method;

[0007] Calculate the first laser emission parameters of a first laser emission unit pre-arranged on the first flying object according to the azimuth data, the flight direction and the flight speed of the second flying object. The first laser emission parameters include a first laser emission direction and a laser divergence angle;

[0008] Control the first laser emitting unit to emit a first laser towards the second flying object with the first laser emission parameters;

[0009] Receive first feedback information of the second flying object based on the first laser;

[0010] Adjust the first laser emission direction according to the first feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtain a second laser emission direction;

[0011] Emit a second laser towards the second flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object.

[0012] Further, the step of obtaining the azimuth data of the second flying object, the flight direction of the second flying object and the flight speed of the second flying object by a preset rough tracking method includes:

[0013] Search for an existing communication link containing the second flying object from the established communication link, and obtain the azimuth data of the second flying object, the flight direction of the second flying object and the flight speed of the second flying object from the existing communication link; or,

[0014] Transmit a wireless communication signal to the second flying object, receive a feedback signal returned by the second flying object based on the wireless communication signal, and determine the azimuth data of the second flying object, the flight direction of the second flying object and the flight speed of the second flying object according to the feedback signal; or,

[0015] Control the rotating device of the first laser emitting unit to rotate at a preset speed and emit a search laser, receive search feedback information of the second flying object based on the search laser, and determine the azimuth data of the second flying object, the flight direction of the second flying object and the flight speed of the second flying object according to the search feedback information.

[0016] Further, the step of calculating the first laser emission parameters of the first laser emitting unit pre-arranged on the first flying object according to the azimuth data of the second flying object, the flight direction of the second flying object and the flight speed of the second flying object, where the first laser emission parameters include a first laser emission direction and a laser divergence angle, includes:

[0017] Determine the first laser emission direction according to the azimuth data of the second flying object, so that under the first laser emission direction, the first laser is emitted from the first flying object towards the second flying object;

[0018] Calculate the relative speed and communication distance between the second flying object and the first flying object according to the azimuth data, flight direction and flight speed of the second flying object;

[0019] Calculate the flight distance when the second flying object flies at the relative speed for a preset flight duration;

[0020] Calculate the value of the apex angle of an isosceles triangle with the flight distance as the base length and the communication distance as the height;

[0021] Set the laser divergence angle to be greater than or equal to the value of the apex angle.

[0022] Further, the first feedback information is the light source image formed by the first laser light receiving unit on the second flying object, and the light source image at least includes a first laser imaging point and a preset target imaging point;

[0023] The step of adjusting the first laser emission direction according to the first feedback information to make the first flying object and the second flying object meet a preset aiming condition to obtain a second laser emission direction includes:

[0024] Judge whether the first laser imaging point is within a preset peripheral area of the preset target imaging point;

[0025] If it is not within the preset peripheral area of the preset target imaging point, calculate the coordinate difference between the first laser imaging point and the preset target imaging point;

[0026] Generate a direction adjustment parameter according to the coordinate difference;

[0027] Adjust the emission angle of the first laser light emitting unit according to the direction adjustment parameter to adjust the first laser emission direction, and judge whether the first laser imaging point moves to the preset peripheral area of the preset target imaging point;

[0028] If it moves to the preset peripheral area of the preset target imaging point, it is determined that the first flying object and the second flying object meet the preset aiming condition, and the adjusted first laser emission direction that meets the preset alignment condition is used as the second laser emission direction.

[0029] Further, before the step of obtaining the azimuth data, flight direction and flight speed of the second flying object by a preset coarse tracking method, it also includes:

[0030] According to the flight parameters of the first flying object, where the flight parameters include at least one of flight speed, flight direction, and orbital information, select a flying object with a relative speed less than a preset relative speed to the first flying object as the second flying object.

[0031] The second aspect of the present invention provides a method for establishing an inter-flying object communication link. The inter-flying object communication link is established between a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. The method for establishing the inter-flying object communication link is applied to the second flying object and includes:

[0032] Transmit the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object to the first flying object through a preset rough tracking method;

[0033] When the first laser emitted by the first flying object is received by a pre-deployed first laser light receiving unit, generate a first feedback message;

[0034] Send the first feedback message to the first flying object;

[0035] Receive the second laser emitted by the first flying object in a second laser emission direction, and establish a communication link between the first flying object and the second flying object.

[0036] Further, the step of generating a first feedback message when the first laser emitted by the first flying object is received by a pre-deployed first laser light receiving unit includes:

[0037] When the light source information is received by a pre-deployed first laser light receiving unit, determine whether the light source is a preset wavelength light source;

[0038] If it is a preset wavelength light source, determine whether the light source contains preset modulation information;

[0039] If it contains preset modulation information, determine that the light source information comes from the first laser;

[0040] Generate a first feedback message, where the first feedback message is a light source image including at least a first laser imaging point and a preset target imaging point.

[0041] The third aspect of the present invention provides an inter-flying object communication link establishment system. The system includes a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. A first laser emitting unit is provided on the first flying object, and a first laser light receiving unit is provided on the second flying object.

[0042] The first flying object obtains the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method;

[0043] According to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object, calculate the first laser emission parameters of the first laser emission unit pre-deployed on the first flying object, where the first laser emission parameters include the first laser emission direction and the laser divergence angle;

[0044] Control the first laser emission unit to emit the first laser to the second flying object with the first laser emission parameters;

[0045] Receive the first feedback information of the second flying object based on the first laser;

[0046] Adjust the first laser emission direction according to the first feedback information so that the preset aiming condition is satisfied between the first flying object and the second flying object, and obtain the second laser emission direction;

[0047] Emit the second laser toward the second flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object;

[0048] The second flying object transmits the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method;

[0049] When the first laser received by the first laser light receiving unit pre-deployed is received, generate the first feedback information;

[0050] Send the first feedback information to the first flying object;

[0051] Receive the second laser emitted by the first flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object.

[0052] Furthermore, a second laser light receiving unit is further provided on the first flying object, and a second laser emission unit is further provided on the second flying object.

[0053] The second flying object obtains the azimuth data of the first flying object, the flight direction of the first flying object, and the flight speed of the first flying object through a preset rough tracking method;

[0054] Calculate the second laser emission parameters of the second laser emission unit pre - disposed on the second flying object according to the orientation data, flight direction, and flight speed of the first flying object, where the second laser emission parameters include the third laser emission direction and the second laser divergence angle;

[0055] Control the second laser emission unit to emit the third laser towards the first flying object with the second laser emission parameters;

[0056] Receive the second feedback information of the first flying object based on the third laser;

[0057] Adjust the third laser emission direction according to the second feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtain the fourth laser emission direction;

[0058] Emit the fourth laser towards the first flying object in the fourth laser emission direction to establish a communication link between the first flying object and the second flying object;

[0059] The first flying object transmits the orientation data, flight direction, and flight speed of the first flying object to the second flying object through a preset rough tracking method;

[0060] When the third laser emitted by the second flying object is received by a pre - deployed second laser light - receiving unit, generate second feedback information;

[0061] Send the second feedback information to the second flying object;

[0062] Receive the fourth laser emitted by the second flying object in the fourth laser emission direction to establish a communication link between the first flying object and the second flying object.

[0063] A fourth aspect of the present invention provides a communication link establishment system between flying objects. The system includes a first flying object and multiple second flying objects. The first flying object and each second flying object are in a moving state, and the first flying object and each second flying object are not relatively stationary. A plurality of first laser emission units are provided on the first flying object, and a first laser light - receiving unit is respectively provided on each second flying object. A communication link is respectively established between each first laser emission unit and one of the second flying objects according to the above - mentioned communication link establishment system between flying objects.

[0064] The method for establishing a communication link between flying objects according to the present invention can achieve fast and accurate establishment of a communication link when both the first flying object and the second flying object are in motion and not relatively stationary. This method uses a preset rough tracking method to obtain preliminary positioning information, and improves the probability of laser hitting the target and the aiming accuracy by precise calculation and real-time adjustment of laser emission parameters, thereby greatly improving the success rate and stability of establishing a communication link and realizing efficient communication between flying objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0066] Among them:

[0067] Figure 1 is a flowchart for establishing a communication link between flying objects in an embodiment;

[0068] Figure 2 is a schematic diagram of a method for adjusting the laser divergence angle in an embodiment;

[0069] Figure 3 is a flowchart for establishing a communication link between flying objects in another embodiment;

[0070] Figure 4 is a structural block diagram of a communication link system between flying objects in an embodiment;

[0071] Figure 5 is a structural block diagram of a communication link system between flying objects in another embodiment;

[0072] Figure 6 is a structural block diagram of a communication link system between flying objects in another embodiment;

[0073] Figure 7 is a structural block diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0074] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0075] Such as Figure 1As shown, in one embodiment, a method for establishing an inter-flying object communication link is provided. The inter-flying object communication link is established between a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. The method for establishing the inter-flying object communication link is applied to the first flying object and includes:

[0076] S1: Obtain the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method;

[0077] S2: Calculate the first laser emission parameters of the first laser emission unit pre-deployed on the first flying object according to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object. The first laser emission parameters include the first laser emission direction and the laser divergence angle;

[0078] S3: Control the first laser emission unit to emit the first laser towards the second flying object with the first laser emission parameters;

[0079] S4: Receive the first feedback information of the second flying object based on the first laser;

[0080] S5: Adjust the first laser emission direction according to the first feedback information so that the preset aiming condition is satisfied between the first flying object and the second flying object, and obtain the second laser emission direction;

[0081] S6: Emit the second laser towards the second flying object with the second laser emission direction to establish a communication link between the first flying object and the second flying object.

[0082] The flying objects in this embodiment include high-speed flying objects such as satellites, space stations, space shuttles, spacecraft, and spaceships.

[0083] In the above step S1, the preset rough tracking method is used to obtain the approximate azimuth of the second flying object, and obtain the flight direction and flight speed of the second flying object, so as to provide basic information for subsequent laser aiming and improve the efficiency and accuracy of laser aiming. The preset rough tracking method includes, for example, performing rough tracking through the orbit prediction data reported by the second flying object, and the orbit prediction data can also be obtained from the communication link between the second flying object and other flying objects; or tracking according to the radio beacon information from the second flying object, or searching for the second flying object through an automatic pan-tilt head that rotates at high speed and emits laser on the first flying object, and directly analyzing the moment when the laser appears on the photosensitive array in real time and other methods to capture the target flying object.

[0084] In the above step S2, the first flying object calculates the first laser emission direction based on the obtained azimuth data, flight direction, and flight speed of the second flying object, combined with its own position and motion state. Since both the first flying object and the second flying object are in a high-speed flight state, the laser propagation delay and the position change of the second flying object during the laser propagation time need to be considered during the process. However, it is difficult to accurately calculate the first laser emission direction. Therefore, the laser divergence angle is further introduced. By calculating an appropriate laser divergence angle and making full use of the distribution of the directed radiation energy of the laser, a relatively large laser divergence range is formed on the second flying object by the emitted first laser, and the laser light receiving unit pre-deployed on the second flying object will not fly out of this laser divergence range within the preset flight duration, thereby improving the efficiency of capturing the second flying object.

[0085] The calculation of the laser divergence angle needs to comprehensively consider the relative distance and relative motion speed between the first flying object and the second flying object. To ensure that the laser can cover the laser light receiving unit on the second flying object, the size of the laser divergence angle needs to be adjusted according to the actual situation. Generally speaking, the closer the distance and the faster the relative motion speed, the larger the laser divergence angle needs to be set; the farther the distance and the slower the relative motion speed, the smaller the laser divergence angle needs to be set.

[0086] In the above step S3, the control unit of the first flying object sends a control signal to the first laser emitting unit according to the calculated first laser emission parameters. After receiving the signal, the first laser emitting unit adjusts its own emission angle and laser divergence angle, and then emits the first laser to the second flying object according to the set parameters.

[0087] Specifically, the first laser emitting unit includes a pan-tilt unit, a laser light source, and an optical unit.

[0088] A set that can meet the mechanical pointing adjustment within a predetermined angle range can be installed on the pan-tilt unit to adjust the laser emission direction. Further, the mobility combination of the mechanical pointing adjustment can be improved through the combination of multiple pan-tilt units. For example, the first pan-tilt is used to control the small-angle conical trajectory scanning, and the second pan-tilt is used to control the pointing direction adjustment of the center line of the first pan-tilt, thereby realizing the combined mechanical pointing adjustment.

[0089] The laser light source can be one or more, and is used to generate one or more laser lights with specific wavelength characteristics. Among them, the optical unit is paired with the laser light source to form a laser light group. The laser light group can be multiple groups and is installed with the same or different pointing directions. The control unit can independently control each group of laser light groups respectively, and is used to adjust the laser divergence angle of each group of laser beams. Each group of laser light groups can adopt time-division switch control, so as to save energy. In a specific embodiment, the laser divergence angle can be adjusted and controlled by including a group of optical units, and at the same time, the energy level of the laser received by the laser receiving unit on the second flying object can be effectively controlled, so as to avoid the laser energy received by the laser receiving unit being too large or too small. For example, referring to Figure 2 , the optical unit includes a first lens 1 and a second lens 2. By adjusting the positions of the first lens 1 and / or the second lens 2 through the control unit of the first flying object, the adjustment of the first laser divergence angle can be realized. The first laser can be a laser with a specific wavelength or a laser with a specific pulse frequency, so as to facilitate the identification of the identity of the first flying object.

[0090] In the above step S4, by receiving the first feedback information, the first flying object can understand the emission effect of the first laser and the state of the second flying object, which is used for subsequent precise adjustment.

[0091] In the above step S5, the processor of the first flying object analyzes the first feedback information to judge whether the first laser accurately hits the second flying object. If the first laser does not hit or the hitting accuracy does not meet the preset conditions, the processor calculates the angle that needs to be adjusted according to the feedback information and sends an adjustment instruction to the first laser emitting unit. The first laser emitting unit adjusts the emission direction according to the instruction, and continuously repeats the process of emitting and receiving feedback information until the preset aiming conditions are met between the first flying object and the second flying object. At this time, the obtained emission direction is the second laser emission direction. By adjusting the emission direction of the first laser in real time, it can ensure accurate aiming between the first flying object and the second flying object, and improve the success rate and stability of establishing a communication link.

[0092] In the above step S6, the control system of the first flying object sends a control signal to the first laser emitting unit again according to the obtained second laser emission direction, so that it emits the second laser towards the second flying object in the second laser emission direction, realizing accurate aiming between the first flying object and the second flying object, so that the two parties can stably transmit signals, and the communication link is successfully established.

[0093] The method for establishing a communication link between flying objects in this embodiment can achieve fast and accurate establishment of a communication link when both the first flying object and the second flying object are in motion and not relatively stationary. This method uses a preset rough tracking method to obtain preliminary positioning information, and improves the probability of laser hitting the target and the aiming accuracy by precise calculation and real-time adjustment of the laser emission parameters, thereby greatly improving the success rate and stability of establishing a communication link and realizing efficient communication between flying objects.

[0094] In a specific embodiment, the step S1 of obtaining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object by using a preset rough tracking method includes:

[0095] S101: Search for an existing communication link containing the second flying object from the established communication links, and obtain the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object from the existing communication link;

[0096] Set a list of established communication links in the first flying object, which records the communication link information established with each flying object. When it is necessary to obtain information about the second flying object, search in this list and determine whether there is an existing communication link containing the second flying object through the identification information (such as number, name, etc.) of the flying object. If an existing communication link containing the second flying object is found, the first flying object will obtain information such as the azimuth data, flight direction, and flight speed reported by the second flying object through this link.

[0097] Or it includes S102: Transmit a wireless communication signal to the second flying object, receive a feedback signal returned by the second flying object based on the wireless communication signal, and determine the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object according to the feedback signal;

[0098] The wireless communication module of the first flying object transmits a wireless communication signal according to preset parameters (such as frequency, power, etc.). After receiving the wireless communication signal, the second flying object generates a feedback signal containing its own azimuth data, flight direction, and flight speed, and returns it to the first flying object through the wireless communication module. The wireless communication signal has the advantages of wide propagation range and not being limited by the line of sight, and is suitable for quickly obtaining information about the second flying object when there is no existing communication link. This method can search for the second flying object within a large range and can update its information in real time.

[0099] Or it includes S103: Controlling the rotation device of the first laser emitting unit to rotate at a preset speed and emit a search laser, receiving the search feedback information of the second flying object based on the search laser, and determining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object according to the search feedback information.

[0100] The control unit of the first flying object sends a control instruction to the pan-tilt unit of the first laser emitting unit to make it rotate at a preset speed. At the same time, the first laser emitting unit emits a search laser at regular time intervals. During the rotation, the search laser scans the surrounding airspace and covers a certain angular range. When the search laser irradiates the second flying object, the second flying object generates search feedback information and sends it to the first flying object. By recording information such as the time of laser emission, the angular position of the rotation device, and the reception time and intensity of the feedback information, the azimuth data of the second flying object is calculated using the principle of triangulation. At the same time, by analyzing multiple feedback information, observing the change of the position of the second flying object, its flight direction and flight speed are determined. For example, if the feedback information received at different time points shows that the azimuth of the second flying object has changed, its flight direction and speed can be calculated according to the direction and rate of change.

[0101] In a specific embodiment, the step S2 of calculating the first laser emission parameters of the first laser emitting unit pre-arranged on the first flying object according to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object, where the first laser emission parameters include the first laser emission direction and the laser divergence angle, includes:

[0102] S201: Determining the first laser emission direction according to the azimuth data of the second flying object, so that under the first laser emission direction, the first laser is emitted from the first flying object towards the second flying object;

[0103] S202: Calculating the relative speed and communication distance between the second flying object and the first flying object according to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object;

[0104] S203: Calculating the flight distance when the second flying object flies at the relative speed for a preset flight duration;

[0105] S204: Calculating the value of the apex angle 2θ of the isosceles triangle in an isosceles triangle with the flight distance as the base length and the communication distance as the height;

[0106] S205: Set the laser divergence angle to be greater than or equal to the solid angle Ω, where Ω = 2π(1 - Cos(θ)).

[0107] In this embodiment, in the above step S201, the processor of the first flying object stores its own spatial position information (such as longitude, latitude, altitude, etc.) and relevant parameters of the spatial coordinate system. When receiving the azimuth data of the second flying object (such as azimuth angle information relative to a certain reference coordinate system), the processor converts the azimuth information of the second flying object into the direction information relative to the coordinate system of the first flying object itself according to the spatial geometric relationship and the coordinate transformation algorithm. Specifically, the processor calculates the vector direction from the current position of the first flying object to the current position of the second flying object, and this direction is the first laser emission direction. Then, the processor sends a control instruction to the pan-tilt unit of the first laser emitting unit to adjust its emission direction to align with the calculated direction.

[0108] In the above step S202, according to the flight direction and speed of the second flying object, as well as the speed and direction of the first flying object, the velocity vectors of the two flying objects are synthesized and calculated using the principle of vector synthesis. Specifically, the velocity vectors of the second flying object and the first flying object are decomposed in the same coordinate system, and then the difference in the velocity components in each coordinate axis direction is calculated respectively. Then, the magnitude and direction of the relative velocity are calculated by methods such as the Pythagorean theorem.

[0109] According to the azimuth data of the second flying object (such as angle, distance, etc.) and the position information of the first flying object itself, the straight-line distance between the first flying object and the second flying object, that is, the communication distance, is calculated using the distance calculation formula in spatial geometry (such as the formula for calculating the distance between two points in three-dimensional space).

[0110] In the above step S203, a preset flight duration is preset in the control system of the first flying object, and this preset flight duration can be adjusted according to actual needs. In a specific embodiment, the preset flight duration is 5ms, 10ms, 20ms, etc. According to the calculated relative velocity between the second flying object and the first flying object, using the formula: flight distance = relative velocity × preset flight duration, the flight distance of the second flying object relative to the first flying object within the preset flight duration is calculated. The flight distance is to simulate the possible movement range of the second flying object during the laser propagation process, so as to reasonably set the laser divergence angle to ensure that the laser can cover the possible positions of the second flying object during this period and improve the reliability of laser communication.

[0111] In the above step S204, the flight distance calculated in step S203 is used as the base length of the isosceles triangle, and the communication distance calculated in step S202 is used as the height of the isosceles triangle.

[0112] According to the knowledge of trigonometric functions, in an isosceles triangle, the isosceles triangle is bisected along the height to obtain two right triangles. The tangent function (tan) is used to calculate the angle of an acute angle in the right triangle, that is, tan(θ) = (half of the base length) / height, and then the value of the vertex angle 2θ is obtained.

[0113] In some embodiments of the above step S205, the laser divergence angle is set to be equal to the vertex angle 2θ.

[0114] In other embodiments, the laser divergence angle is set to be greater than the vertex angle 2θ. Specifically, it can be 2θ + θ1, where θ1 is a preset angle value; it can also be a preset multiple of 2θ, such as 1.1 times, 1.2 times, etc. To further ensure that the second flying object can be captured and the probability of the laser hitting the second flying object is increased.

[0115] This embodiment can calculate the first laser emission direction and a suitable laser divergence angle according to information such as the azimuth, flight direction, and speed of the second flying object. The reasonable first laser emission direction enables the laser to accurately face the second flying object, and the suitable laser divergence angle can adapt to the movement of the second flying object, ensuring that the laser can cover the possible position of the second flying object within a certain time, greatly improving the success rate and stability of establishing a communication link between the first flying object and the second flying object, and enhancing the reliability and effectiveness of the laser communication system between flying objects.

[0116] In a specific embodiment, the first feedback information is the light source image formed by the first laser light receiving unit on the second flying object, and the light source image at least includes a first laser imaging point and a preset target imaging point;

[0117] The step S5 of adjusting the first laser emission direction according to the first feedback information to satisfy a preset aiming condition between the first flying object and the second flying object to obtain a second laser emission direction includes:

[0118] S501: Determine whether the first laser imaging point is within a preset peripheral area of the preset target imaging point;

[0119] S502: If it is not within the preset peripheral area of the preset target imaging point, calculate the coordinate difference between the first laser imaging point and the preset target imaging point;

[0120] S503: Generate a direction adjustment parameter according to the coordinate difference;

[0121] S504: Adjust the emission angle of the first laser emitting unit according to the direction adjustment parameter to adjust the first laser emission direction, and determine whether the first laser imaging point moves into the preset peripheral area of the preset target imaging point;

[0122] S505: If it moves into the preset peripheral area of the preset target imaging point, it is determined that the preset aiming condition is satisfied between the first flying object and the second flying object, and the adjusted first laser emission direction that satisfies the preset alignment condition is used as the second laser emission direction.

[0123] In this embodiment, in the above step S501, to determine whether the first laser imaging point is in the preset peripheral area of the preset target imaging point, specifically, after the first flying object receives the light source image formed by the first laser receiving unit of the second flying object, the image is analyzed using an image processing algorithm. First, the first laser imaging point and the preset target imaging point in the light source image are identified. The preset target imaging point is an ideal imaging position preset in the system, representing the position of accurate aiming. Determine the preset peripheral area of the preset target imaging point. This area can be a circular area centered on the preset target imaging point with a certain radius, or a rectangular area, etc. The specific shape and size can be set according to the actual aiming accuracy requirements. By calculating the distance between the coordinates of the first laser imaging point and the coordinates of the preset target imaging point, it is determined whether this distance is less than the radius of the preset peripheral area (for a circular area) or whether it is within the boundary range of the rectangular area, so as to determine whether the first laser imaging point is in the preset peripheral area of the preset target imaging point.

[0124] In the above step S502, when it is determined that the first laser imaging point is not in the preset peripheral area of the preset target imaging point, the processor of the first flying object extracts the coordinate values of the first laser imaging point and the preset target imaging point in the image coordinate system. Assume that the coordinate of the first laser imaging point is (x1, y1), and the coordinate of the preset target imaging point is (x0, y0). Calculate the differences between the two coordinates in the x-axis and y-axis directions respectively, that is, Δx = x1 - x0, Δy = y1 - y0. The coordinate difference reflects the offset degree of the first laser imaging point relative to the preset target imaging point.

[0125] In the above step S503, the mapping relationship between the coordinate difference and the direction adjustment parameter is stored in the processor of the first flying object, and this mapping relationship can be established through experimental data or theoretical models. According to Δx and Δy calculated in step S502, look up the corresponding mapping table or use the predefined calculation formula to convert the coordinate difference into the angle change amount that the first laser emitting unit needs to adjust.

[0126] For example, for the coordinate difference Δx in the x-axis direction, the angle θx to be adjusted in the horizontal direction is calculated by the formula θx = kx × Δx (where kx is the conversion coefficient in the x-axis direction); for the coordinate difference Δy in the y-axis direction, the angle θy to be adjusted in the vertical direction is calculated by the formula θy = ky × Δy (where ky is the conversion coefficient in the y-axis direction). θx and θy are the direction adjustment parameters.

[0127] In the above step S504, the control system of the first flying object sends a control signal to the pan-tilt unit of the first laser emitting unit according to the direction adjustment parameters θx and θy generated in step S503. After receiving the signal, the pan-tilt unit drives the first laser emitting unit to rotate by corresponding angles in the horizontal and vertical directions respectively, so as to adjust the emission direction of the first laser. After the adjustment is completed, the light source image formed by the first laser receiving unit of the second flying object is received again, and the operation of step S501 is repeated to determine whether the adjusted first laser imaging point moves into the preset peripheral area of the preset target imaging point.

[0128] In the above step S505, when it is determined that the adjusted first laser imaging point moves into the preset peripheral area of the preset target imaging point, the processor of the first flying object considers that the first flying object and the second flying object have reached the preset aiming accuracy requirement, that is, the preset aiming condition is satisfied. Record the emission angle of the first laser emitting unit at this time, and determine its corresponding emission direction as the second laser emission direction. This direction will be used to emit the second laser to establish a communication link subsequently.

[0129] During the communication process between flying objects, the first flying object continuously adjusts the laser emission direction of the pan-tilt unit of the first flying object according to the coordinate difference between the first laser imaging point and the preset target imaging point, so as to achieve continuous aiming during the communication process.

[0130] In a specific embodiment, before step S1 of obtaining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object by the preset coarse tracking method, it further includes:

[0131] S01: Select a flying object with a relative speed less than the preset relative speed to the first flying object as the second flying object according to the flight parameters of the first flying object, where the flight parameters include at least one of flight speed, flight direction, and orbit information.

[0132] In this embodiment, suitable flying objects are first selected to form a network so that the relative speed between the two flying objects for establishing a communication link is as small as possible. By selecting a flying object with a relatively small relative speed to the first flying object as the second flying object, the aiming and tracking difficulties caused by relative motion during the subsequent establishment of the communication link can be reduced. A relatively small relative speed means that within a certain period of time, the relative position change between the two flying objects is small, which is conducive to more stable laser aiming and communication, and improves the success rate and stability of establishing the communication link.

[0133] Specifically, the flying object system preferably has the same orbit (similar longitudes, and the orbital altitudes may be the same or different). The relative speed of such two flying objects is usually relatively stably maintained, and the relative distance is also relatively stably maintained or has a low change rate. This can meet the laser alignment and tracking with a small divergence angle at a relatively long distance, and does not require high-speed pan-tilt movement. Only high-precision small-angular-velocity pan-tilt control is needed to meet continuous and stable tracking. It can be considered as the tracking and alignment in the longitude direction, and its characteristics are that the relative speed change is small and the relative distance change is small. Among them, for the alignment of two flying objects with a large difference in orbital altitude, the orbital network plan can be selected in the form of a pre-calculated orbit to select flying objects with different orbital altitudes with a relatively favorable relative speed change for plan formulation, and select two flying objects with a small relative speed for plan capture and alignment.

[0134] Specially, in the non-polar region, similar latitudinal direction interconnection alignment and tracking can be carried out for different orbits (longitudes). Since its flying direction tends to the polar direction and has a leading characteristic, most of the relative speed can be offset, so as to maintain the characteristic of stable relative speed or small change, thus reducing the tracking difficulty of the flying object. At the same time, the relative distance change in the latitudinal direction in the non-polar region is not very high, and the requirements for corresponding laser divergence angle adjustment and laser emission angle adjustment can also be reduced under a relatively small relative distance change.

[0135] As Figure 3 shown, in one embodiment, a method for establishing a communication link between flying objects is provided. The communication link between flying objects is established between a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. The method for establishing a communication link between flying objects is applied to the second flying object and includes:

[0136] T1: Transmit the azimuth data of the second flying object, the flying direction of the second flying object, and the flying speed of the second flying object to the first flying object through a preset rough tracking method;

[0137] T2: Generate a first feedback message when the first laser emitted by the first flying object is received by a first laser light receiving unit deployed in advance;

[0138] T3: Transmit the first feedback information to the first flying object;

[0139] T4: Receive the second laser emitted by the first flying object in the second laser emission direction, and establish a communication link between the first flying object and the second flying object.

[0140] In this embodiment, in the above step T1, the preset rough tracking method is used to obtain the approximate azimuth of the second flying object, and obtain the flying direction and flying speed of the second flying object, so as to provide basic information for subsequent laser aiming, and improve the efficiency and accuracy of laser aiming. The preset rough tracking method includes, for example, obtaining the orbit prediction data reported by the second flying object, or the orbit prediction data can be reported from the communication link between the second flying object and other flying objects; or if there is already a certain communication link between the first flying object and the second flying object (such as a low-bandwidth wireless communication link), the data can be sent through this link; if there is no existing communication link, a broadcast wireless communication method can be selected, such as using radio waves of a specific frequency band to send data to the surrounding. The second flying object sends information such as its own azimuth data, flying direction and flying speed to the first flying object through the selected communication method.

[0141] In the above step T2, the first laser light receiving unit (such as a high-sensitivity photosensitive array) pre-deployed on the second flying object continuously monitors the surrounding laser signals. When the first laser emitted by the first flying object irradiates the second flying object, the first laser light receiving unit receives the laser signal and converts it into an electrical signal. According to the analysis result of the first laser signal, the processor of the second flying object generates the first feedback information. The first feedback information may include imaging information of the first laser (such as the position of the first laser imaging point on the light receiving unit), laser intensity information, and deviation of the emission direction of the first flying object calculated based on these information. In some other embodiments, the deviation of the emission direction of the first flying object is calculated by the first flying object.

[0142] In the above step T3, the processor of the second flying object sends the generated first feedback information to the first flying object. The same communication method as in step T1 can be selected, such as a wireless communication link; or it can be switched to other more suitable communication methods according to the situation, such as using an optical communication method to transmit the feedback information.

[0143] In the above step T4, when the first flying object emits the second laser in the adjusted second laser emission direction, the first laser light receiving unit of the second flying object receives the second laser signal and converts it into an electrical signal. The communication link between the first flying object and the second flying object is officially established, and data transmission and other communication operations can start.

[0144] In this embodiment, through the above steps, the second flying object can work in cooperation with the first flying object to establish a communication link between the flying objects. From providing its own key information, to receiving the first laser and feeding back information, and finally to receiving the second laser to establish a communication link, each step is closely coordinated to ensure the accuracy, reliability, and efficiency of the establishment of the communication link.

[0145] In a specific embodiment, the step T2 of generating the first feedback information when the first laser receiving unit deployed in advance receives the first laser emitted by the first flying object includes:

[0146] T201: When the light source information is received by the first laser receiving unit deployed in advance, determine whether the light source is a preset wavelength light source;

[0147] T202: If it is a preset wavelength light source, determine whether the light source contains preset modulation information;

[0148] T203: If it contains preset modulation information, determine that the light source information comes from the first laser;

[0149] T204: Generate the first feedback information, where the first feedback information is a light source image including at least the first laser imaging point and the preset target imaging point.

[0150] In this embodiment, in the above step T201, the first laser receiving unit pre-deployed on the second flying object is equipped with a laser wavelength detection device, such as a combination of a filter and a photodetector. When the first laser receiving unit receives the light source information, it first passes through the interference filter. The interference filter is designed to only allow light within a specific wavelength range to pass through, and this specific wavelength range corresponds to the preset wavelength of the first laser emitted by the first flying object. The light passing through the interference filter is received by the photodetector and converted into an electrical signal. The signal processing circuit in the first laser receiving unit analyzes the electrical signal output by the photodetector, and based on the intensity change and corresponding time information of the electrical signal, determines whether there is a light signal within the preset wavelength range. If a significant light signal response is detected within the preset wavelength range, it is preliminarily determined that the light source may be a preset wavelength light source; conversely, if no significant light signal is detected within this wavelength range, it is determined that the light source is not a preset wavelength light source.

[0151] In an alternative embodiment, the first laser receiving unit is equipped with a specific laser wavelength detection device and a non-specific laser wavelength detection device. It is possible to simultaneously receive and determine specific wavelengths and non-specific wavelengths. Only when the specific wavelength detection device forms an image and the non-specific wavelength detection device cannot form an image, does it indicate that the light source may come from a preset wavelength light source.

[0152] In the above step T202, after determining that the light source is a preset wavelength light source, the first laser light receiving unit further processes the light source signal. The first laser emitted by the first flying object is modulated according to a specific modulation method before emission, such as pulse amplitude modulation. A corresponding demodulation module is integrated in the first laser light receiving unit of the second flying object for demodulating the received optical signal. After the optical signal is converted into an electrical signal through photoelectric conversion, the demodulation circuit demodulates the electrical signal according to the preset modulation method. If information conforming to the preset modulation rule can be parsed out in the electrical signal, it is determined that the light source contains the preset modulation information; if information conforming to the preset modulation rule cannot be parsed out, it is determined that the light source does not contain the preset modulation information, and the current process ends. This step greatly reduces the possibility of misjudgment and improves the reliability of the first laser recognition.

[0153] In the above steps T203 - T204, when the light source is determined to be both a preset wavelength light source and contain preset modulation information, the processor of the second flying object determines that the light source information comes from the first laser emitted by the first flying object.

[0154] The first laser light receiving unit acquires the imaging information of the first laser on the imaging surface of the light receiving unit at this time. A light spot will be formed on the imaging surface, and the position corresponding to the light spot is the first laser imaging point. At the same time, the position information of the preset target imaging point is pre - stored inside the first laser light receiving unit, and the preset target imaging point represents the ideal position where the first laser should be imaged when the first flying object accurately aims at the second flying object. The first laser light receiving unit integrates the information of the first laser imaging point and the preset target imaging point to generate a light source image containing these two key pieces of information. The generated light source image is sent to the first flying object.

[0155] As Figure 4 shown, in one embodiment, a communication link establishment system between flying objects is provided. The system includes a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. A first laser emitting unit is provided on the first flying object, and a first laser light receiving unit is provided on the second flying object.

[0156] The first flying object obtains the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method.

[0157] According to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object, calculate the first laser emission parameters of the first laser emitting unit disposed on the first flying object. The first laser emission parameters include the first laser emission direction and the laser divergence angle.

[0158] Control the first laser emitting unit to emit a first laser towards the second flying object with the first laser emission parameter;

[0159] Receive first feedback information of the second flying object based on the first laser;

[0160] Adjust the first laser emission direction according to the first feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtain a second laser emission direction;

[0161] Emit a second laser towards the second flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object;

[0162] The second flying object transmits the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset coarse tracking method;

[0163] When the first laser received by the first laser light receiving unit deployed in advance is received, generate first feedback information;

[0164] Send the first feedback information to the first flying object;

[0165] Receive the second laser emitted by the first flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object.

[0166] In this embodiment, the first flying object performs the same steps as the embodiment with the first flying object as the execution subject described above, and the second flying object performs the same steps as the embodiment with the second flying object as the execution subject described above. Through the mutual cooperation of the first flying object and the second flying object, the communication link establishment system between flying objects can achieve fast and accurate communication link establishment when both the first flying object and the second flying object are in motion and not relatively stationary. The system uses a preset coarse tracking method to obtain preliminary positioning information, and improves the probability of the laser hitting the target and the aiming accuracy through precise calculation and real-time adjustment of the laser emission parameters, thereby greatly improving the success rate and stability of the communication link establishment and realizing efficient communication between flying objects.

[0167] As Figure 5 shown, in a specific embodiment, a second laser light receiving unit is further provided on the first flying object, and a second laser emitting unit is further provided on the second flying object,

[0168] The second flying object obtains the azimuth data of the first flying object, the flight direction of the first flying object, and the flight speed of the first flying object through a preset coarse tracking method;

[0169] Calculate second laser emission parameters of a second laser emission unit pre-deployed on the second flying object according to the orientation data, flight direction, and flight speed of the first flying object, where the second laser emission parameters include a third laser emission direction and a second laser divergence angle;

[0170] Control the second laser emission unit to emit a third laser toward the first flying object according to the second laser emission parameters;

[0171] Receive second feedback information of the first flying object based on the third laser;

[0172] Adjust the third laser emission direction according to the second feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtain a fourth laser emission direction;

[0173] Emit a fourth laser toward the first flying object in the fourth laser emission direction to establish a communication link between the first flying object and the second flying object;

[0174] The first flying object transmits the orientation data, flight direction, and flight speed of the first flying object to the second flying object through a preset rough tracking method;

[0175] When the third laser emitted by the second flying object is received by a pre-deployed second laser light receiving unit, second feedback information is generated;

[0176] Send the second feedback information to the second flying object;

[0177] Receive the fourth laser emitted by the second flying object in the fourth laser emission direction to establish a communication link between the first flying object and the second flying object.

[0178] The communication link establishment system between flying objects in this embodiment can establish a fast and accurate communication link when both the first flying object and the second flying object are in motion and not relatively stationary. The system obtains preliminary positioning information through two-way capture and aiming between the first flying object and the second flying object, and improves the probability of laser hitting the target and the aiming accuracy through precise calculation and real-time adjustment of laser emission parameters, further improving the success rate and stability of communication link establishment and realizing efficient communication between flying objects.

[0179] Such as Figure 6As shown, in one embodiment, a communication link establishment system between flying objects is provided. The system includes a first flying object and multiple second flying objects. Both the first flying object and each second flying object are in a moving state, and the first flying object and each second flying object are not relatively stationary. A plurality of first laser emitting units are provided on the first flying object, and a first laser receiving unit is respectively provided on each second flying object. A communication link is constructed between each first laser emitting unit and one of the second flying objects according to the communication link establishment system between flying objects in the foregoing embodiment.

[0180] The communication link establishment system between flying objects in this embodiment is established between a first flying object and multiple second flying objects, and can realize the establishment of multiple communication links between a first flying object and multiple second flying objects. Preliminary positioning information is obtained by using a preset rough tracking method, and the laser emission parameters are improved through precise calculation and real-time adjustment, thereby improving the probability of the laser hitting the target and the aiming accuracy, increasing the success rate and stability of the communication link establishment, and realizing efficient communication between flying objects.

[0181] Figure 7 The internal structure diagram of a computer device in one embodiment is shown. The computer device may specifically be a terminal or a server. As Figure 7 shown, the computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the method for establishing a communication link between flying objects. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute the method for establishing a communication link between flying objects. Those skilled in the art can understand that Figure 7 the structure shown in

[0182] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided by the present invention can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0183] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0184] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A method for establishing a communication link between flying objects, characterized in that, The communication link between flying objects is established between a first flying object and a second flying object. Both the first flying object and the second flying object are in motion and are not relatively stationary. The method for establishing the communication link between flying objects is applied to the first flying object and includes: Obtaining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method; Calculating first laser emission parameters of a first laser emission unit pre-installed on the first flying object according to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object. The first laser emission parameters include a first laser emission direction and a laser divergence angle; Controlling the first laser emission unit to emit a first laser towards the second flying object with the first laser emission parameters; Receiving first feedback information of the second flying object based on the first laser; Adjusting the first laser emission direction according to the first feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtaining a second laser emission direction; Emitting a second laser towards the second flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object.

2. The method for establishing a communication link between flying objects according to claim 1, characterized in that, The step of obtaining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method includes: Searching for an existing communication link containing the second flying object from the established communication links, and obtaining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object from the existing communication link; or, Transmitting a wireless communication signal to the second flying object, receiving a feedback signal returned by the second flying object based on the wireless communication signal, and determining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object according to the feedback signal; or, Controlling a rotating device of the first laser emission unit to rotate at a preset speed and emit a search laser, receiving search feedback information of the second flying object based on the search laser, and determining the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object according to the search feedback information.

3. The method for establishing a communication link between flying objects according to claim 1, wherein The step of calculating first laser emission parameters of a first laser emission unit pre-installed on the first flying object according to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object. The first laser emission parameters include a first laser emission direction and a laser divergence angle includes: Determining the first laser emission direction according to the azimuth data of the second flying object, so that under the first laser emission direction, the first laser is emitted from the first flying object towards the second flying object; Based on the orientation data, flight direction, and flight speed of the second flying object, calculate the relative speed and communication distance between the second flying object and the first flying object; Calculate the flight distance when the second flying object flies at the relative speed for a preset flight duration; Calculate the value of the apex angle of an isosceles triangle with the flight distance as the base length and the communication distance as the height; Set the laser divergence angle to be greater than or equal to the value of the apex angle.

4. The method for establishing a communication link between flying objects according to claim 1, wherein The first feedback information is the light source image formed by the first laser light receiving unit on the second flying object, and the light source image includes at least a first laser imaging point and a preset target imaging point; The step of adjusting the first laser emission direction according to the first feedback information to satisfy a preset aiming condition between the first flying object and the second flying object to obtain a second laser emission direction includes: Determine whether the first laser imaging point is within a preset peripheral area of the preset target imaging point; If it is not within the preset peripheral area of the preset target imaging point, calculate the coordinate difference between the first laser imaging point and the preset target imaging point; Generate a direction adjustment parameter according to the coordinate difference; Adjust the emission angle of the first laser light emitting unit according to the direction adjustment parameter to adjust the first laser emission direction, and determine whether the first laser imaging point moves to within the preset peripheral area of the preset target imaging point; If it moves to within the preset peripheral area of the preset target imaging point, determine that the preset aiming condition is satisfied between the first flying object and the second flying object, and use the adjusted first laser emission direction that satisfies the preset alignment condition as the second laser emission direction.

5. The method for establishing a communication link between flying objects according to claim 1, wherein Before the step of obtaining the orientation data, flight direction, and flight speed of the second flying object through a preset rough tracking method, further include: According to the flight parameters of the first flying object, where the flight parameters include at least one of flight speed, flight direction, and orbital information, select a flying object with a relative speed less than a preset relative speed to the first flying object as the second flying object.

6. A method for establishing a communication link between flying objects, characterized in that, The communication link between flying objects is established between the first flying object and the second flying object. Both the first flying object and the second flying object are in motion and are not relatively stationary. The method for establishing the communication link between flying objects is applied to the second flying object and includes: Transmit the orientation data, flight direction, and flight speed of the second flying object to the first flying object through a preset rough tracking method; When the first laser emitted by the first flying object is received by a pre-deployed first laser light receiving unit, generate first feedback information; Send the first feedback information to the first flying object; Receive the second laser emitted by the first flying object in the second laser emission direction to establish a communication link between the first flying object and the second flying object.

7. The method for establishing a communication link between flying objects according to claim 6, wherein The step of generating first feedback information after receiving the first laser emitted by the first flying object through a pre-deployed first laser light receiving unit includes: When receiving light source information through a pre-deployed first laser light receiving unit, determining whether the light source is a light source with a preset wavelength; If it is a light source with a preset wavelength, determining whether the light source contains preset modulation information; If it contains preset modulation information, determining that the light source information comes from the first laser; Generating first feedback information, where the first feedback information is a light source image including at least a first laser imaging point and a preset target imaging point.

8. A communication link establishment system between flying objects, characterized in that, The system includes a first flying object and a second flying object. Both the first flying object and the second flying object are in a moving state, and the first flying object and the second flying object are not relatively stationary. A first laser emitting unit is provided on the first flying object, and a first laser light receiving unit is provided on the second flying object. The first flying object obtains the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method; According to the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object, calculating first laser emission parameters of the first laser emitting unit pre-deployed on the first flying object, where the first laser emission parameters include a first laser emission direction and a laser divergence angle; Controlling the first laser emitting unit to emit the first laser towards the second flying object with the first laser emission parameters; Receiving the first feedback information of the second flying object based on the first laser; Adjusting the first laser emission direction according to the first feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtaining a second laser emission direction; Emitting a second laser towards the second flying object with the second laser emission direction to establish a communication link between the first flying object and the second flying object; The second flying object transmits the azimuth data of the second flying object, the flight direction of the second flying object, and the flight speed of the second flying object through a preset rough tracking method; When receiving the first laser emitted by the first flying object through a pre-deployed first laser light receiving unit, generating first feedback information; Sending the first feedback information to the first flying object; Receiving the second laser emitted by the first flying object with the second laser emission direction to establish a communication link between the first flying object and the second flying object.

9. The communication link establishment system between flying objects according to claim 8, characterized in that, A second laser light receiving unit is further provided on the first flying object, and a second laser emitting unit is further provided on the second flying object. The second flying object obtains the azimuth data of the first flying object, the flight direction of the first flying object, and the flight speed of the first flying object through a preset rough tracking method; Calculate second laser emission parameters of a second laser emission unit pre - disposed on the second flying object according to the azimuth data, flight direction, and flight speed of the first flying object, where the second laser emission parameters include a third laser emission direction and a second laser divergence angle; Control the second laser emission unit to emit a third laser towards the first flying object with the second laser emission parameters; Receive second feedback information of the first flying object based on the third laser; Adjust the third laser emission direction according to the second feedback information so that a preset aiming condition is satisfied between the first flying object and the second flying object, and obtain a fourth laser emission direction; Emit a fourth laser towards the first flying object with the fourth laser emission direction to establish a communication link between the first flying object and the second flying object; The first flying object transmits the azimuth data, flight direction, and flight speed of the first flying object to the second flying object through a preset coarse tracking method; When the third laser emitted by the second flying object is received by a pre - deployed second laser light - receiving unit, generate second feedback information; Send the second feedback information to the second flying object; Receive the fourth laser emitted by the second flying object with the fourth laser emission direction to establish a communication link between the first flying object and the second flying object.

10. A communication link establishment system between flying objects, characterized in that, The system includes a first flying object and multiple second flying objects. The first flying object and each second flying object are in a moving state, and the first flying object and each second flying object are not relatively stationary. Multiple first laser emission units are provided on the first flying object, and first laser light - receiving units are respectively provided on each second flying object. A communication link is respectively established between each first laser emission unit and one of the second flying objects according to the system for establishing a communication link between flying objects as described in claim 8.

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