Waveguide-based unmanned aerial vehicle communication method and system in space-air-ground-sea network, and unmanned aerial vehicle

Abstract

The invention provides a waveguide-based unmanned aerial vehicle communication method and system in a space-air-ground-sea network, and an unmanned aerial vehicle. The method comprises the following steps: respectively establishing connection with a ground-based cellular network and a space-based satellite network; when the unmanned aerial vehicle is in the coverage range of the ground-based cellular network, preferentially adopting the ground-based cellular network to carry out data return; and when the unmanned aerial vehicle exceeds the coverage range of the ground-based cellular network, the space-based satellite network is adopted to carry out data return when the waveguide does not occur, and data return is carried out based on cooperation of the space-based satellite network and the offshore waveguide beyond-visual-range link when the waveguide occurs. According to the waveguide-based unmanned aerial vehicle communication method and system in the space-air-ground-sea network and the unmanned aerial vehicle, uninterrupted service of unmanned aerial vehicle data return business from offshore to deep sea is realized based on a double-link parallel access mode of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless communications, and in particular to a waveguide-based UAV communication method, system, and UAV in an air-space, land-ground, and sea network. Background Art

[0002] Drones can be equipped with high-precision navigation systems, sensors, cameras, and image processing technology, enabling real-time data collection of environmental factors relevant to marine IoT applications. This data needs to be transmitted back to a control center or a ground base station (BS) for analysis or to trigger automated responses. However, the electromagnetic propagation environment for maritime communications is complex, and the establishment of basic network infrastructure is challenging, placing high demands on the stability and continuity of network services within the drone's flight area.

[0003] Seamless coverage of ocean communications is one of the core application scenarios for integrated satellite-ground communications. Due to the difficulty in selecting sites and establishing base stations in vast ocean areas, as well as the extremely high costs of power supply and laying optical cables, ocean communications face challenges such as limited transmission distance, blind spots in communication coverage, low transmission efficiency, and difficulty ensuring service quality. The coverage efficiency of land-based base stations in ocean areas is strongly correlated with the topography of the coastline. Deploying high-gain directional antennas can extend coverage by 30-50 kilometers offshore. When targeting distant ocean areas, satellite communications must be introduced as a supplement. Space-based satellite networks can effectively address the issue of universal coverage in areas with low traffic density, while providing basic access guarantees for multi-dimensional users in the air, land, and sea. However, satellite communications have drawbacks such as high cost, high latency, and expensive bandwidth.

[0004] As a key technology for expanding communication range, beyond-horizon communication in the ocean is crucial for overcoming geographical barriers and achieving wide-area coverage. Intelligently sensing and efficiently utilizing the frequent atmospheric ducting phenomenon in the ocean allows for the construction of broadband opportunistic communication links over the ocean, offering the advantages of low cost and low latency. Atmospheric ducts are formed by abnormal vertical gradients of atmospheric refractive index caused by meteorological conditions such as inversions of temperature and humidity. They occur frequently and persist for long periods at sea. As electromagnetic waves propagate through them, they undergo continuous total or near-total reflection at the boundaries of the ducting layer. Their energy attenuation is far lower than in free space, enabling signal propagation for hundreds of kilometers in near-Earth space. This is the core physical foundation of beyond-horizon communication.

[0005] In summary, in order to meet the continuity requirements of communication services from nearshore to deep sea, it is urgent to study a UAV dual-connection communication method based on ocean environment perception. Summary of the Invention

[0006] In view of the above-mentioned problems, the purpose of the present invention is to provide a waveguide-based drone communication method, system and drone in the air-space-land-sea network, based on the drone's dual-link parallel access method, to achieve uninterrupted drone data backhaul service from nearshore to deep sea.

[0007] In a first aspect, the present invention provides a waveguide-based UAV communication method in an air-space-ground-sea network, which is applied to a UAV, and the method includes the following steps: establishing connections with a ground-based cellular network and a space-based satellite network respectively; when the UAV is within the coverage of the ground-based cellular network, preferentially using the ground-based cellular network for data backhaul; when the UAV exceeds the coverage of the ground-based cellular network, using the space-based satellite network for data backhaul when waveguide does not occur, and when waveguide occurs, collaboratively performing data backhaul based on the space-based satellite network and the maritime waveguide over-the-horizon link.

[0008] In an implementation of the first aspect, when the ground-based cellular network is used for data backhaul, the data is backhauled to the ground-based cellular network based on a line-of-sight link at sea.

[0009] In an implementation of the first aspect, using the space-based satellite network to perform data backhaul when waveguide does not occur includes the following steps:

[0010] Determine whether the returned data is greater than the data threshold;

[0011] If so, transmitting the delay-insensitive data back to the transparent satellite based on the transparent satellite communication link to perform the delay-insensitive data backhaul based on the transparent satellite, and storing other data in the data to the UAV;

[0012] If not, the data is transmitted back to the regenerative satellite based on the regenerative satellite communication link to perform data backhaul based on the regenerative satellite.

[0013] In an implementation of the first aspect, when a waveguide occurs, collaboratively performing data backhaul based on the space-based satellite network and the maritime waveguide over-the-horizon link includes the following steps:

[0014] Determine whether the returned data is greater than the data threshold;

[0015] If so, transmitting the other data back to the ground-based cellular network based on the offshore waveguide over-the-horizon link;

[0016] If not, the data is transmitted back to the regenerative satellite based on a regenerative satellite communication link for data backhaul based on the regenerative satellite, and / or the data is transmitted back to the ground-based cellular network based on a maritime waveguide over-the-horizon link.

[0017] In an implementation of the first aspect, when the drone is within the coverage of the ground-based cellular network, the drone always establishes a connection with the space-based satellite network to ensure the continuity of data backhaul.

[0018] In a second aspect, the present invention provides a waveguide-based UAV communication system in an air-space-ground-sea network, which is applied to a UAV, the system comprising an establishment module, a first communication module, and a second communication module;

[0019] The establishment module is used to establish connections with the ground-based cellular network and the space-based satellite network respectively;

[0020] The first communication module is configured to preferentially use the ground-based cellular network for data backhaul when the UAV is within the coverage of the ground-based cellular network, and maintain connection with the space-based satellite network;

[0021] The second communication module is used to use the space-based satellite network to transmit data back when the UAV exceeds the coverage of the ground-based cellular network when waveguide does not occur, and to transmit data back based on the space-based satellite network and the maritime waveguide beyond-line-of-sight link in collaboration when waveguide occurs.

[0022] In a third aspect, the present invention provides a storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned waveguide-based drone communication method in the air-space-ground-sea network.

[0023] In a fourth aspect, the present invention provides a drone, comprising: a processor and a memory;

[0024] The memory is used to store computer programs;

[0025] The processor is used to execute the computer program stored in the memory so that the drone performs the above-mentioned waveguide-based drone communication method in the air-space-ground-sea network.

[0026] In a fifth aspect, the present invention provides a waveguide-based UAV communication system in an air-space-ground-sea network, comprising the above-mentioned UAV and a network management system;

[0027] The network management system is used to sense whether waveguide occurs and send the sensing result to the drone.

[0028] In an implementation of the fifth aspect, the network management system includes a maritime waveguide situation awareness module, and the maritime waveguide situation awareness module is used to sense whether a waveguide occurs.

[0029] As described above, the waveguide-based UAV communication method, system, and UAV in the air-space-ground-sea network of the present invention have the following beneficial effects:

[0030] (1) Based on the parallel access mode of space-based satellite network and ground-based cellular network, uninterrupted service of drone data backhaul from nearshore to deep sea is realized, thus ensuring the business continuity of drone operations at sea;

[0031] (2) By dynamically sensing the ocean and atmospheric environmental parameters, and combining the UAV's maneuverability to deploy it to the area where atmospheric ducting occurs during the beyond-line-of-sight transmission window caused by the ducting effect, the UAV can be efficiently deployed to the area where the atmospheric ducting occurs. The waveguide beyond-line-of-sight opportunistic communication link can be efficiently used to transmit the data collected by the UAV to the ground base station for analysis or triggering automatic response, thereby reducing the cost of satellite communication in dual connectivity and ensuring business continuity.

[0032] (3) Considering the channel quality and data transmission capacity between the UAV and the dual-connection interface, the beyond-line-of-sight transmission opportunities introduced by the offshore atmospheric waveguide, and the volume of service data returned by the UAV, a layered access and dual-connection data diversion strategy is designed to effectively reduce the transmission delay and service costs from near-shore to offshore coverage.

[0033] (4) It is suitable for application scenarios such as maritime search and rescue, maritime monitoring, and meteorological observation, and is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Shown is a schematic diagram of a framework of a waveguide-based UAV communication method in an air-space-ground-sea network according to an embodiment of the present invention;

[0035] Figure 2 Shown is a flow chart of an embodiment of a waveguide-based UAV communication method in an air-space-ground-sea network of the present invention;

[0036] Figure 3 Schematic diagram showing a transmission scenario of a waveguide-based UAV communication method in an air-space-ground-sea network according to an embodiment of the present invention;

[0037] Figure 4 Shown is a transmission link diagram of an embodiment of a waveguide-based UAV communication method in an air-space-ground-sea network of the present invention;

[0038] Figure 5 Shown is a schematic diagram of a transparent satellite-terrestrial cellular dual-connection architecture in one embodiment of the present invention;

[0039] Figure 6 Shown is a schematic diagram of a regenerative satellite-terrestrial cellular dual connectivity architecture in one embodiment of the present invention;

[0040] Figure 7 Shown is a schematic structural diagram of a waveguide-based UAV communication system in an air-space-ground-sea network according to an embodiment of the present invention;

[0041] Figure 8Shown is a schematic structural diagram of a drone according to an embodiment of the present invention;

[0042] Figure 9 Shown is a structural schematic diagram of another embodiment of a waveguide-based UAV communication system in the air-space-ground-sea network of the present invention. DETAILED DESCRIPTION

[0043] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0044] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0045] In the waveguide-based drone communication method, system, and drone in the air-space-ground-sea network of the present invention, the drone has dual connection capability and can simultaneously establish connections with the ground-based cellular network and the space-based satellite network. Figure 1 As shown in the figure, when a drone flies near shore, it is prioritized for connection to the ground-based cellular network. When sailing relatively far offshore, it automatically switches to connecting to the transparent satellite / regenerative satellite in the space-based satellite network. Furthermore, the drone can effectively identify and utilize beyond-line-of-sight opportunistic communication links introduced by atmospheric waveguides at sea. Through rational resource allocation and link scheduling, these links are integrated into the overall communication architecture, enabling uninterrupted drone data backhaul services from nearshore to deep sea, ensuring service continuity for drone operations at sea while reducing transmission latency and service costs.

[0046] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0047] like Figure 2-Figure 4 As shown, in one embodiment, the waveguide-based UAV communication method in the air-space-ground-sea network of the present invention is applied to a UAV, including steps S1 to S3.

[0048] Step S1: Establish connections with a ground-based cellular network and a space-based satellite network respectively.

[0049] Specifically, the drone of the present invention is equipped with a dual-connection communication module, enabling simultaneous connection to both ground-based cellular networks and space-based satellite networks. Based on the actual needs of maritime waveguide situational awareness and drone backhaul services, the present invention implements data backhaul through a layered access mechanism.

[0050] Step S2: When the UAV is within the coverage of the ground-based cellular network, the ground-based cellular network is preferentially used for data backhaul.

[0051] Specifically, when the drone is within the coverage of the ground-based cellular network, for example, when the drone is in an offshore area, data backhaul is prioritized through the ground-based cellular network. Meanwhile, a secondary connection with the space-based satellite network is maintained to ensure the reliability and stability of data backhaul.

[0052] In one embodiment, when the ground-based cellular network is used for data backhaul, the data is backhauled to the ground-based cellular network based on a line-of-sight link at sea.

[0053] Step S3: When the UAV exceeds the coverage of the ground-based cellular network, the space-based satellite network is used for data backhaul when waveguide does not occur, and data backhaul is performed based on the collaboration of the space-based satellite network and the maritime waveguide beyond-line-of-sight link when waveguide occurs.

[0054] Specifically, when the drone is beyond the coverage of the ground-based cellular network, for example, when the drone is in a deep-sea area, it automatically switches to satellite-ground dual access mode, that is, simultaneously accessing the ground-based cellular network and the space-based satellite network. In this mode, the drone can maintain communication with the ground-based cellular network through the sea waveguide over-the-horizon link formed by the atmospheric waveguide layer, and can also access the space-based satellite network, realizing flexible communication mode selection. UAV data backhaul service access link in various transmission scenarios such as Figure 4 shown.

[0055] The space-based satellite network includes transparent satellites and regenerative satellites. Based on their role in the communication system, satellites can be categorized as transparent satellites and regenerative satellites. Transparent satellites can be considered similar to repeaters, performing operations such as beam control, amplification, and frequency conversion, but not performing signal modulation and demodulation, resource scheduling, and other processing. Regenerative satellites, on the other hand, include modulation and demodulation modules, resource scheduling, and other processing. Simply put, the main processing components of the base station are located on these regenerative satellites.

[0056] In one embodiment, using the space-based satellite network to perform data backhaul when waveguide is not in use includes the following steps:

[0057] a) Determine whether the returned data is greater than the data threshold.

[0058] b) If so, the delay-insensitive data is transmitted back to the transparent satellite based on the transparent satellite communication link, and the other data in the data is stored in the UAV, thereby ensuring the basic communication needs based on the transparent satellite communication link. Since there is no waveguide at this time, if the narrowband communication provided by the satellite is used for backhaul, it will face the problems of high charges and long delays caused by the large amount of transmitted data. Therefore, the other data is temporarily stored in the UAV. Among them, the transparent satellite and ground cellular dual connection architecture is as follows Figure 5 shown.

[0059] c) If not, the data is transmitted back to the regenerative satellite based on the regenerative satellite communication link to perform data transmission based on the regenerative satellite. When the data to be transmitted is small, the data is directly transmitted based on the regenerative satellite to ensure the real-time transmission of the data. Figure 6 shown.

[0060] In one embodiment, when a waveguide occurs, data backhaul based on the space-based satellite network and the maritime waveguide over-the-horizon link is coordinated and performed, including the following steps:

[0061] a) Determine whether the returned data is greater than the data threshold.

[0062] b) If yes, transmit the other data back to the ground-based cellular network based on the offshore waveguide beyond-line-of-sight link.

[0063] The drone uses its storage function to temporarily store the other data. When a waveguide failure occurs, the other data is transmitted back to the ground-based cellular network based on the broadband communication provided by the offshore waveguide beyond-line-of-sight link, thereby ensuring the integrity of the data transmission.

[0064] c) If not, backtransmitting the data to the regenerative satellite via a regenerative satellite communication link for data backtransmission via the regenerative satellite, and / or backtransmitting the data to the ground-based cellular network via a marine waveguide over-the-horizon link. When the amount of backtransmitted data is not large, access to the regenerative satellite is prioritized.

[0065] In summary, during periods of waveguide effects, priority is given to opportunistic transmission links, enabling low-cost, low-latency, and high-bandwidth shore-based network access, fully leveraging the advantages of waveguide communications. When the waveguide effect disappears, basic communication needs are guaranteed through satellite links, ensuring continuity and reliability. This hierarchical access strategy leverages the wide-area coverage advantages of satellite communications while effectively reducing operating costs by prioritizing the use of ground-based cellular networks, all while meeting the timeliness requirements of service transmission.

[0066] The scope of protection of the waveguide-based drone communication method in the air-space-ground-sea network described in the embodiment of the present invention is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, subtracting, or replacing steps in the prior art based on the principles of the present invention are included in the scope of protection of the present invention.

[0067] An embodiment of the present invention also provides a waveguide-based drone communication system in an air-space-ground-sea network. The waveguide-based drone communication system in an air-space-ground-sea network can implement the waveguide-based drone communication method in an air-space-ground-sea network described in the present invention. However, the implementation device of the waveguide-based drone communication system in an air-space-ground-sea network described in the present invention includes but is not limited to the structure of the waveguide-based drone communication system in an air-space-ground-sea network listed in this embodiment. All structural deformations and replacements of the prior art made according to the principles of the present invention are included in the protection scope of the present invention.

[0068] like Figure 7 As shown, in one embodiment, the waveguide-based UAV communication system in the air-space-ground-sea network of the present invention is applied to a UAV, including an establishment module 71, a first communication module 72 and a second communication module 73.

[0069] The establishing module 71 is used to establish connections with the ground-based cellular network and the space-based satellite network respectively.

[0070] The first communication module 72 is connected to the establishment module 71 and is used to preferentially use the ground-based cellular network for data backhaul when the UAV is within the coverage of the ground-based cellular network, and maintain connection with the space-based satellite network.

[0071] The second communication module 73 is connected to the establishment module 71, and is used to use the space-based satellite network to transmit data when the UAV exceeds the coverage of the ground-based cellular network when waveguide does not occur, and to transmit data based on the space-based satellite network and the maritime waveguide beyond-line-of-sight link in collaboration when waveguide occurs.

[0072] Among them, the structures and principles of the establishment module 71, the first communication module 72 and the second communication module 73 correspond one-to-one to the waveguide-based drone communication method in the above-mentioned air-space-ground-sea network, so they will not be repeated here.

[0073] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices or methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0074] Modules / units described as separate components may or may not be physically separate, and components displayed as modules / units may or may not be physical modules, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules / units may be selected based on actual needs to achieve the objectives of the embodiments of the present invention. For example, the functional modules / units in various embodiments of the present invention may be integrated into a single processing module, each module / unit may exist physically separately, or two or more modules / units may be integrated into a single module / unit.

[0075] Those skilled in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0076] Embodiments of the present invention also provide a computer-readable storage medium. Those skilled in the art will appreciate that all or part of the steps in the waveguide-based UAV communication method for an air-space-ground-sea network described in the above embodiment can be performed by instructing a processor through a program. The program can be stored in a computer-readable storage medium, which is a non-transitory medium such as random access memory, read-only memory, flash memory, a hard disk, a solid-state drive, magnetic tape, a floppy disk, an optical disc, or any combination thereof. The storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, hard disk, or magnetic tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0077] An embodiment of the present invention further provides a drone comprising a processor and a memory.

[0078] The memory is used to store computer programs.

[0079] The memory includes various media that can store program codes, such as ROM, RAM, magnetic disk, USB flash drive, memory card or optical disk.

[0080] The processor is connected to the memory and is used to execute the computer program stored in the memory so that the drone performs the above-mentioned waveguide-based drone communication method in the air-space-ground-sea network.

[0081] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0082] like Figure 8As shown, the drone of the present invention is implemented as a general-purpose computing device. Components of the drone may include, but are not limited to, one or more processors or processing units 81, memory 82, and a bus 83 connecting various system components (including memory 82 and processing unit 81).

[0083] Bus 83 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0084] The drone typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the drone, including volatile and non-volatile media, removable and non-removable media.

[0085] The memory 82 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 821 and / or cache memory 822. The drone may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 823 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 8 Not shown, often called a "hard drive"). Although Figure 8 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 83 via one or more data medium interfaces. Memory 82 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0086] A program / utility 824 having a set (at least one) of program modules 8241 may be stored, for example, in memory 82. Such program modules 8241 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 8241 generally implement the functions and / or methods of the embodiments described herein.

[0087] The drone may also communicate with one or more external devices (e.g., keyboards, pointing devices, displays, etc.), one or more devices that enable a user to interact with the drone, and / or any device that enables the drone to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via input / output (I / O) interfaces 84. Furthermore, the drone may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapters 85. Figure 8 As shown, the network adapter 85 communicates with other modules of the drone via bus 83. It should be understood that although not shown in the figures, other hardware and / or software modules may be used in conjunction with the drone, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0088] like Figure 9 As shown, in one embodiment, the waveguide-based UAV communication system in the air-space-ground-sea network of the present invention includes the above-mentioned UAV 91 and the network management system 92.

[0089] The network management system 92 is connected to the drone 91 and is used to sense whether waveguide occurs and send the sensing result to the drone 91.

[0090] In one embodiment, the network management system 92 includes a maritime waveguide situation awareness module, and the maritime waveguide situation awareness module is used to sense whether a waveguide occurs.

[0091] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A waveguide-based UAV communication method in an air-space-ground-sea network, applied to UAVs, characterized by: The method comprises the following steps: Establish connections with ground-based cellular networks and space-based satellite networks respectively; When the UAV is within the coverage of the ground-based cellular network, the ground-based cellular network is preferentially used for data backhaul; When the UAV exceeds the coverage of the ground-based cellular network, the space-based satellite network is used for data backhaul when waveguide does not occur, and when waveguide occurs, data backhaul is performed collaboratively based on the space-based satellite network and the maritime waveguide beyond-line-of-sight link.

2. The waveguide-based UAV communication method in an air-space-ground-sea network according to claim 1, characterized in that: When the ground-based cellular network is used for data backhaul, the data is backhauled to the ground-based cellular network based on a line-of-sight link at sea.

3. The waveguide-based UAV communication method in an air-space-ground-sea network according to claim 1, characterized in that: When waveguide does not occur, using the space-based satellite network to perform data backhaul includes the following steps: Determine whether the returned data is greater than the data threshold; If so, transmitting the delay-insensitive data back to the transparent satellite based on the transparent satellite communication link to perform the delay-insensitive data backhaul based on the transparent satellite, and storing other data in the data to the UAV; If not, the data is transmitted back to the regenerated satellite based on the regenerated satellite communication link to perform data backhaul based on the regenerated satellite.

4. The waveguide-based UAV communication method in an air-space-ground-sea network according to claim 3, characterized in that: When a waveguide occurs, data backhaul based on the space-based satellite network and the maritime waveguide over-the-horizon link is coordinated and performed, including the following steps: Determine whether the returned data is greater than the data threshold; If so, transmitting the other data back to the ground-based cellular network based on the offshore waveguide over-the-horizon link; If not, the data is transmitted back to the regenerative satellite based on a regenerative satellite communication link for data backhaul based on the regenerative satellite, and / or the data is transmitted back to the ground-based cellular network based on a maritime waveguide over-the-horizon link.

5. The waveguide-based UAV communication method in an air-space-ground-sea network according to claim 1, characterized in that: When the UAV is within the coverage of the ground-based cellular network, the UAV always establishes a connection with the space-based satellite network to ensure the continuity of data backhaul.

6. A waveguide-based UAV communication system in an air-space-ground-sea network, applied to UAVs, characterized by: The system includes a setup module, a first communication module, and a second communication module; The establishment module is used to establish connections with the ground-based cellular network and the space-based satellite network respectively; The first communication module is configured to preferentially use the ground-based cellular network for data backhaul when the UAV is within the coverage of the ground-based cellular network, and maintain connection with the space-based satellite network; The second communication module is used to use the space-based satellite network to transmit data back when the UAV exceeds the coverage of the ground-based cellular network when waveguide does not occur, and to transmit data back based on the space-based satellite network and the maritime waveguide beyond-line-of-sight link in collaboration when waveguide occurs.

7. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the waveguide-based drone communication method in the air-space-ground-sea network described in any one of claims 1 to 7 is implemented.

8. A drone, characterized in that: include: processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the drone performs the waveguide-based drone communication method in the air-space-ground-sea network according to any one of claims 1 to 7.

9. A waveguide-based UAV communication system in an air-space-ground-sea network, characterized by: Including the drone and network management system according to claim 8; The network management system is used to sense whether waveguide occurs and send the sensing result to the drone.

10. The waveguide-based UAV communication system in the air-space-ground-sea network according to claim 9, characterized in that: The network management system includes a maritime waveguide situation awareness module, and the maritime waveguide situation awareness module is used to sense whether a waveguide occurs.

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