Unmanned aerial vehicle communication system and method

Abstract

The invention discloses an unmanned aerial vehicle communication system and method, and aims to solve the problem of insufficient 5G network signal transmission in a high-density crowd scene. The system comprises a plurality of unmanned aerial vehicles which can be networked mutually, and each unmanned aerial vehicle carries a millimeter wave terahertz signal receiving and transmitting device (comprising an ultra-bandwidth ASK chip and a Vivadi antenna module), a wireless positioning system and a camera system. And the unmanned aerial vehicle dynamically adjusts the position according to the ground crowd density, optimizes the signal coverage range, and establishes a high-speed channel link through a millimeter wave terahertz frequency band to realize high-bandwidth and low-delay communication. The system further comprises ground communication equipment which cooperates with the unmanned aerial vehicle to complete signal transmission. Through flexible deployment of the unmanned aerial vehicle and efficient transmission of the millimeter wave terahertz technology, the communication quality in scenes such as stadiums / concerts is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the fields of communication technology, drone technology and electronic technology, and is particularly suitable for communication enhancement systems in high-density crowd scenes such as stadiums and concerts. Background Art

[0002] With the development of society and the improvement of people's living standards, stadiums are increasingly hosting events such as concerts and large-scale sports events. These events often attract large crowds. For example, a popular concert may attract tens of thousands of spectators, and large-scale sporting events can often fill stadiums to capacity. In such densely populated scenarios, 5G mobile communication networks face severe challenges.

[0003] The surge in user numbers is one of the key factors making it difficult for 5G networks to meet signal transmission requirements. While 5G networks offer high speeds, low latency, and a large number of connections, when a large number of users simultaneously engage in voice communications, data transmission, and live video streaming, the network load increases dramatically, easily causing network congestion. This is like a previously smooth highway suddenly experiencing an influx of vehicles far exceeding its carrying capacity, causing traffic to become gridlocked. In stadiums, numerous spectators simultaneously use their phones to share photos and videos, broadcast live events, or watch live events online. These data transmission demands rapidly consume the bandwidth resources of the 5G network, resulting in slower network speeds and even lag and disconnection.

[0004] Uneven signal coverage is also a common problem. Stadiums are typically large and complex, with numerous obstacles such as walls and pillars. These obstacles can block, reflect, and scatter 5G signals, causing significant signal attenuation during transmission, resulting in blind spots or weak signal coverage. For example, in corners and basements of stadiums, signal strength is often weak, unable to meet users' normal communication needs. Furthermore, the complex environment surrounding stadiums can harbor other sources of signal interference, further impacting 5G signal stability and coverage.

[0005] Communication latency is also a significant issue in stadiums. For applications with high real-time requirements, such as live broadcasts and real-time interactive gaming, even slight communication delays can significantly impact the user experience. When 5G networks experience congestion or unstable signals, data transmission latency increases significantly, causing stuttering and delays in live broadcasts and slower response times in real-time interactive games, severely impacting audience engagement and immersion. The deployment and maintenance costs of 5G technology in stadiums are high, and the stability and security of 5G networks require further improvement. Furthermore, the application of 5G technology in stadiums requires collaboration with multiple stakeholders, including event organizers, operators, and spectators, to ensure its smooth implementation and promotion. However, in practice, the numerous stakeholders involved, with their varying needs and interests, make coordination challenging, which, to a certain extent, limits the full potential of 5G technology in stadiums.

[0006] In summary, when holding events in stadiums, 5G mobile communication networks face many challenges and find it difficult to meet users' high-quality requirements for signal transmission. An innovative solution is urgently needed to improve signal transmission capabilities and communication quality.

[0007] The present invention utilizes a millimeter-wave terahertz signal receiving and transmitting device mounted on a drone to solve the problem of communication signal transmission in specific locations. This technology plays a key role, especially in the context of the rapid development of the low-altitude economy and the growing demand for enhanced mobile communication signals.

[0008] In the field of low-altitude economy, drone technology, as a core component, is constantly expanding its application scenarios. From logistics and distribution, agricultural and forestry plant protection to emergency rescue and other industries, drones play an important role with their flexibility and efficiency. Millimeter-wave terahertz communication technology, as a cutting-edge technology in the field of communications, can provide high-speed, large-capacity data transmission, making up for the shortcomings of traditional communication technology in certain scenarios. The present invention organically combines the two. By equipping drones with millimeter-wave terahertz signal receiving and transmitting devices, it achieves the coordination of low-altitude flight and high-speed communication, further enriching the application scenarios of the low-altitude economy and promoting the development of the low-altitude economy towards intelligence and efficiency.

[0009] With the increasing popularity of 5G networks, people are placing higher demands on mobile communication signal quality and transmission speed. In crowded venues, such as stadiums hosting concerts or large-scale events, 5G mobile communication networks often struggle to meet the signal transmission needs of a large number of users simultaneously conducting voice communications, data transmission, and live video broadcasts. This invention, by constructing a millimeter-wave terahertz drone platform and establishing a high-speed channel link in the air, enhances ground-to-air communication connectivity. This provides an innovative solution to the signal transmission challenges faced in such venues, helping to improve the quality of mobile communication services and user experience. Summary of the Invention

[0010] In order to solve the above technical problems, the present invention provides a UAV communication system and method.

[0011] (1) Explanation of innovative concepts

[0012] The core innovative concept of this invention is to address the problem that 5G mobile communication networks are difficult to meet signal transmission requirements when holding events in stadiums, and propose a solution to build a millimeter wave terahertz drone platform. The millimeter wave band (30-300GHz) and the terahertz band (0.1-10THz) have significant advantages of large bandwidth and high data transmission rate. The millimeter wave band can provide a relatively high transmission rate and a large bandwidth to meet the data transmission needs of a certain scale. The terahertz band has a larger bandwidth resource, which can support a higher data transmission rate and can cope with high-speed data transmission tasks generated by a large number of users at the same time, such as high-definition video live broadcast, fast download of large files, etc.

[0013] Drones are also highly maneuverable and flexible. They can quickly reach designated locations, unrestricted by ground obstacles. They can flexibly adjust their position mid-air based on the actual signal coverage within the stadium, achieving precise coverage of weak signal areas. By integrating millimeter-wave terahertz signal transmitters and receivers onto drones, the advantages of both are fully combined to establish a high-speed aerial channel link, effectively resolving the signal transmission challenges caused by the surge in the number of users within the stadium. This innovative combination breaks the limitations of traditional communication methods and provides a new approach to solving communication problems in unique scenarios.

[0014] (2) Detailed explanation of the technical solution

[0015] Platform Construction: When selecting a drone, consider several key factors. Choose a drone with a large payload capacity to ensure it can stably carry millimeter-wave terahertz signal receivers and transmitters and related equipment. For example, some professional-grade multi-rotor drones have payload capacities of up to several kilograms, meeting the need to carry heavier communications equipment. Also, consider the drone's endurance, using high-capacity batteries or efficient energy management systems to ensure stable flight for extended periods and meet communication support needs during events. Drones equipped with high-performance lithium batteries can offer a flight time of 1-2 hours, sufficient to support communications during a concert or event.

[0016] Targeted modifications are being made to drones to adapt to the requirements of aerial operations. In terms of the airframe structure, its stability and wind resistance are being enhanced. By optimizing the structural design and selecting lightweight, high-strength materials, such as carbon fiber composites, the weight of the airframe is reduced while the structural strength is increased. To ensure the normal operation of communication equipment, drones must also be equipped with efficient cooling systems to prevent overheating due to prolonged operation, which would affect performance. In addition, high-precision positioning and navigation systems are being installed, such as a combination of a global satellite navigation system (GNSS) and an inertial navigation system (INS), to ensure that drones can accurately locate their target locations and achieve signal coverage of specific areas of the stadium. GNSS positioning data and INS attitude data are fused using the Kalman filter algorithm to improve positioning accuracy.

[0017] Equipment: The technical specifications of the millimeter-wave and terahertz signal transmission and reception devices are crucial. Millimeter-wave and terahertz antennas with high gain and narrow beam characteristics are selected to enhance signal transmission and reception capabilities. For example, some planar array antennas can achieve high gain in the millimeter-wave and terahertz frequency bands, effectively improving signal strength. The antenna's operating frequency range must cover the target millimeter-wave and terahertz frequency bands to meet communication requirements in different scenarios. The signal processing module utilizes advanced digital signal processing technology and possesses high-speed data processing capabilities, enabling rapid demodulation and decoding of received signals and efficient encoding and modulation of transmitted signals.

[0018] For installation, use a stable and easily adjustable mounting bracket to mount the signal transmitter and receiver in a suitable location on the drone, typically on the top or bottom of the drone where it's relatively flat and less susceptible to airflow. Ensure the mounting location does not affect the drone's flight stability while facilitating a good communication link between the antenna and ground-based communication equipment. Furthermore, the mounting bracket should have a certain degree of angle adjustment to adjust the antenna's orientation based on actual communication needs for optimal signal transmission.

[0019] Link Establishment: Based on the location and signal strength information transmitted by the ground communication equipment, the drone activates its flight control system and precisely controls its position and attitude by adjusting the motor speed and propeller angle. Using GNSS and INS to obtain its real-time location information, combined with signal strength data fed back by the ground communication equipment, the drone uses intelligent algorithms (such as the A* algorithm, which combines the drone's real-time location with obstacle distribution data to generate a three-dimensional obstacle avoidance path and optimize signal coverage) to plan its flight path, positioning the drone for optimal signal transmission.

[0020] The millimeter-wave terahertz signal receiving and transmitting device exchanges signals with ground-based communication equipment. First, a detection signal is transmitted, which the ground-based communication equipment receives and analyzes, determining the initial state of the channel based on parameters such as signal strength and phase. The two parties then negotiate to determine channel parameters such as transmission rate, modulation method, and coding method. In the parameter determination process, adaptive technologies (such as adaptive modulation and coding (AMC) strategies and channel estimation algorithms) are used to dynamically adjust parameters based on real-time changes in the channel to ensure the stability of the high-speed channel link. Once a stable high-speed channel link is established, rapid data transmission is achieved between the ground-based communication equipment and the drone, providing high-quality communication services to users in the stadium.

[0021] Specifically, the present invention adopts the following technical solutions:

[0022] A UAV communication system, comprising:

[0023] Multiple networkable drones, each equipped with:

[0024] Positioning module, including global satellite navigation system and inertial navigation sensor, used to obtain real-time position and attitude data of the UAV;

[0025] A camera system for monitoring the crowd density distribution in a target area on the ground;

[0026] LiDAR, used to scan ground and air obstacles and generate three-dimensional environmental maps;

[0027] Millimeter-wave communication module, including ultra-wideband ASK chip, Vivadi directional antenna and signal processing unit, used to establish high-speed channel links in the millimeter-wave / terahertz frequency band;

[0028] Ground control station, which communicates with the UAV;

[0029] Processing unit, configured as:

[0030] Receive and process thermal imaging data and signal strength detection values collected by the camera system;

[0031] Identify hotspots of ground communication demand based on a heat map model (e.g., grayscale processing of camera images using the OpenCV library, K-means clustering to classify crowd density, and generation of an RGB heat map) and a 3D environmental map generated by LiDAR.

[0032] Generate a drone deployment plan based on the location distribution and obstacle information of the hotspot area;

[0033] Control the drone to adjust flight altitude, position and antenna pointing angle according to the deployment plan;

[0034] Based on real-time signal strength data, the transmission power and modulation parameters of the millimeter wave communication module are optimized through adaptive technology.

[0035] Preferably, the processing unit is configured as follows:

[0036] Identify hotspots of terrestrial communication demand: By processing thermal imaging data and combining it with signal strength detection values, determine where audiences gather;

[0037] Generate a drone deployment plan: plan the drone's flight path and hovering coordinates based on the location distribution and obstacle information of the audience gathering area;

[0038] Dynamically adjust communication parameters: Based on real-time monitoring of communication link quality data, the transmission power and modulation method of the millimeter wave communication module are optimized through adaptive technology.

[0039] A UAV communication method based on the system comprises the following steps:

[0040] S1. Obtain the initial position coordinates of each drone through the positioning module and control the camera system to perform a panoramic scan of the target area;

[0041] S2. Process the image data and build a heat map model of the target area (using, for example, crowd density recognition based on a convolutional neural network or heat distribution calculation based on pixel clustering). Combined with signal strength detection data, identify hot spots of communication demand.

[0042] S3. Calculate the optimal drone coverage plan based on the heat map model and obstacle distribution information, and generate deployment instructions including location coordinates, altitude, and orientation;

[0043] S3a. Simulate and predict the deployment effect based on environmental parameters, and iteratively adjust the solution until the preset threshold is met;

[0044] S4. Control the drone to the target coordinates through the flight control system, fine-tune its position based on real-time communication quality data, and optimize the antenna pointing angle.

[0045] S5. Monitor the communication link quality in real time, dynamically adjust the drone position, and update the thermal map model to form a closed-loop optimization process (e.g., dynamically adjust the drone position based on the signal strength error value through a PID controller and update the thermal map model every 30 seconds).

[0046] Preferably, in step S3a, the environmental parameters include real-time wind speed data obtained by the meteorological sensor carried by the drone, obstacle distribution information collected by the lidar and camera system, and the signal strength threshold of the user equipment.

[0047] Preferably, the step S4 specifically includes:

[0048] S4a. Control the drone to move near the target coordinates, maintaining a safe altitude (the highest obstacle height in the venue + 10 meters, dynamically adjusted through real-time LiDAR measurement) and spacing.

[0049] S4b. Fine-tune the position based on real-time communication quality data;

[0050] S4c. After locking the optimal position parameters, continue to monitor the communication status and prepare to trigger readjustment.

[0051] Preferably, the steps S4b and S2 form a dynamic feedback loop, specifically:

[0052] Trigger the camera system to rescan the target area after each position adjustment (e.g., "If the real-time monitoring shows that the communication bit error rate exceeds 5% or the signal strength is lower than the preset threshold, the camera system will be immediately triggered to rescan the target area");

[0053] Update the heat map model and transmit it to the processing unit;

[0054] Generate new deployment instructions to optimize coverage plans.

[0055] Preferably, when multiple drones work together:

[0056] In the S3 stage, a distributed algorithm (such as the “greedy algorithm based on load balancing”) is used to allocate the responsibility area of each drone;

[0057] In the S4 stage, the position data of each drone is shared in real time, and the distance between them is dynamically adjusted to prevent collisions;

[0058] In the S5 stage, the data collected by each drone is integrated and the overall coverage plan is jointly optimized.

[0059] An application of the drone communication system in large-scale event venues,

[0060] The large-scale event venue is a stadium or a concert venue, and the audience gathering area is the ground target area;

[0061] The millimeter wave communication module uses terahertz frequency band communication;

[0062] The system dynamically adjusts the position of drones to optimize communication quality in the audience area, achieving high-bandwidth, low-latency data transmission.

[0063] Beneficial effects:

[0064] High bandwidth: The large bandwidth characteristics of the millimeter wave terahertz frequency band bring powerful data transmission capabilities to the system. When an event is held in a stadium, a large number of users transmit data at the same time, such as the audience uploading high-definition videos shot in real time, downloading event-related materials, etc. The bandwidth of the traditional 5G network is often difficult to meet these needs. The millimeter wave terahertz drone platform of the present invention has a bandwidth of several GHz or even higher, which can easily cope with the high-speed data transmission tasks of a large number of users online at the same time. Taking high-definition video live broadcast as an example, the traditional 5G network may experience problems such as freezes and blurred image quality under high load, while the millimeter wave terahertz drone platform can provide stable high-bandwidth support to ensure that the live broadcast picture is smooth and clear, bringing an excellent viewing experience to the audience.

[0065] Low latency: Effectively reducing communication delay is one of the important advantages of the present invention. In some application scenarios with extremely high real-time requirements, such as live interactive games, instant messaging, etc., delays will seriously affect the user experience. Due to its signal propagation characteristics, millimeter wave terahertz communication technology can achieve extremely low communication delays, which can usually be controlled at the millisecond level or even lower. In live interactive games, the player's operating instructions can be quickly transmitted to the server, and the server's feedback can be returned to the player in time, achieving near real-time interaction, greatly improving the fun and participation of the game. This low-latency feature enables spectators in the stadium to enjoy communication services comparable to those in ordinary low-load network environments, enhancing user satisfaction and experience.

[0066] Flexible Deployment: The flexibility of drones allows the platform to be flexibly adjusted according to the actual needs of the venue. When hosting different types of events in a stadium, the distribution of personnel and signal requirements vary. For example, at a concert, the audience may be concentrated in front of the stage, while at a sporting event, the audience is more dispersed. Based on these actual conditions, drones can quickly move over areas with greater signal demand to achieve precise signal coverage. During the event preparation stage, simply set the drone's flight path and operating parameters to carry out targeted deployment based on the venue layout and event schedule. Compared to traditional ground communication base station construction, there is no need for complex wiring and equipment installation, which greatly shortens deployment time and improves the efficiency and targeted nature of communication support. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1This is a schematic diagram of the overall platform structure. In the figure, 1_1 represents the main frame of the UAV, which adopts a quadrotor structure to provide flight stability and maneuverability and support the installation of other modules; 1_2 represents the positioning and navigation system, which includes a GPS module and an inertial navigation sensor for real-time acquisition of the UAV's position and attitude data; 1_3 represents the flight control system, which controls the UAV's flight attitude, altitude, and path and responds to deployment instructions from the processing unit; 1_4 represents the millimeter-wave terahertz antenna, a Vivadi antenna module with high gain and narrow beam characteristics, used for directionally transmitting / receiving millimeter-wave terahertz signals; 1_5 represents the signal processing module, which includes an ultra-wideband ASK chip for demodulating / modulating the received signal to optimize communication quality.

[0068] Figure 2 The figure is a schematic diagram of signal transmission principles, where 2_1 represents ground communication equipment, which establishes a high-speed channel link with the UAV, receives / sends user signals, and connects to the core network; 2_2 represents the millimeter-wave / terahertz receiving antenna, which directionally receives the millimeter-wave / terahertz frequency band signals transmitted by user equipment (such as mobile phones); 2_3 represents the signal processing module (receiving end), which filters, amplifies, demodulates the received signal, and converts it into a digital signal; 2_4 represents the data encoding / modulation unit, which encodes and modulates the data to be sent into the millimeter-wave / terahertz frequency band signal; 2_5 represents the millimeter-wave / terahertz transmitting antenna, which directionally transmits the modulated signal to the ground user equipment or relay node; 2_6 represents the communication link between the UAV and the ground equipment, which adopts the millimeter-wave / terahertz high-speed wireless link to support uplink and downlink data transmission; 2_7 represents the user mobile device, which adopts terminal equipment such as smartphones to communicate with the UAV through the millimeter-wave / terahertz frequency band.

[0069] Figure 3 This is a schematic diagram of the application scenario. 3_1 represents the drone's hovering position, showing the drone's dynamic hovering point above the stadium and adjusting its position in real time based on signal requirements. 3_2 represents the signal coverage range, which is an elliptical / circular signal coverage area centered on the drone, ensuring communication quality in the audience area. DETAILED DESCRIPTION

[0070] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0071] The overall structure diagram of the platform in this embodiment is as follows Figure 1As shown, the appearance of the drone is clearly shown. It adopts a four-rotor design to ensure flight stability and maneuverability. The millimeter-wave terahertz signal receiving and transmitting device is mounted at a specific position on the bottom of the drone. It is convenient to adjust the antenna angle so that it can point more accurately to the ground communication equipment. The signal receiving and transmitting device mainly includes a millimeter-wave terahertz antenna and a signal processing module. The millimeter-wave terahertz antenna is a vivadi antenna (working frequency band is 24-40GHz, gain ≥18dBi, beam width ≤15°), which has high gain and narrow beam characteristics, and can enhance the signal transmission and reception capabilities. The signal processing module adopts the ultra-wideband ASK chip developed by the National Key Laboratory of Millimeter Waves of Southeast University. It is connected to the millimeter-wave terahertz antenna through a line, and directly performs processing operations such as modulation and demodulation on the input signal, and then transmits the data through the drone networking and interconnection with the base station ( Figure 2 The drone is also equipped with high-precision positioning and navigation systems, such as GPS modules and inertial navigation sensors. These devices are typically installed inside the fuselage near the center of gravity to ensure accurate positioning and attitude measurement. Furthermore, key components such as the flight control system and battery are clearly shown in the diagram. The flight control system is located in the center of the fuselage and is responsible for controlling the drone's flight attitude and movements. The battery is typically installed at the bottom of the fuselage or in a suitable location inside the fuselage to provide power for the drone and its onboard equipment.

[0072] The signal transmission principle diagram is as follows Figure 2 The above article explains in detail the signal reception, transmission, and transmission process. Inside the stadium, numerous users' mobile devices emit signals containing various information, including voice, data, and video. The antennas in the millimeter-wave and terahertz signal receiving and transmitting devices first receive these signals. Due to the high frequency, short wavelength, and strong directionality of millimeter-wave and terahertz signals, the antennas are able to accurately capture these signals.

[0073] The received signal is transmitted to the signal processing module, which performs a series of complex processing operations on the signal. It first filters the signal to remove noise and interference, improving signal quality. It then amplifies the signal to enhance its strength for subsequent processing. Demodulation then converts the received high-frequency signal into its original digital form, restoring the user's sent voice, data, video, and other information. The processed digital signal is then transmitted to the ground communication equipment via a high-speed channel link established between the drone and the ground communication equipment. During transmission, a variety of advanced communication technologies are employed to ensure stable and rapid signal transmission. These include Orthogonal Frequency Division Multiplexing (OFDM), which divides a high-speed data stream into multiple lower-speed sub-data streams and transmits them simultaneously on multiple subcarriers, effectively combating multipath fading and interference. Multiple-Input Multiple-Output (MIMO) technology uses multiple antennas at both the transmitter and receiver to increase channel capacity and improve data transmission rates.

[0074] After receiving the signal, the ground communication equipment processes it again. It first decodes the signal, converting the digital signal into recognizable information; then performs verification to ensure the accuracy and integrity of the signal; and finally transmits the processed signal to the communication network, establishing a communication connection with the outside world, thereby meeting the needs of users in the stadium for voice communication, data transmission, and live video broadcasting.

[0075] Application scenario diagram Figure 3 The figure below depicts a practical application scenario in a stadium. During concerts or large-scale events, large crowds gather inside. Following instructions from a control center, drones take off from designated locations and fly along pre-planned flight paths. These paths are typically designed to circle the stadium or hover over areas with high signal demand, ensuring effective coverage within the stadium.

[0076] The drone's flight altitude is adjusted based on the size of the stadium and signal coverage requirements, typically ranging from tens to hundreds of meters. During flight, the drone monitors signal strength and quality in real time and automatically adjusts its position and attitude based on feedback from ground communication equipment to ensure a stable communication link between the millimeter-wave terahertz signal transmitter and receiver and the ground communication equipment. The signal coverage area is a circular or elliptical area centered on the drone, covering the entire stadium interior and a certain surrounding area. Audience members at all locations within the stadium can receive a stable signal, whether in the front rows near the stage or in the corners and upper stands, ensuring smooth voice communication, fast data transmission, and high-definition video streaming. The application scenario diagram provides a visual representation of the millimeter-wave terahertz drone platform's operation and signal coverage in a stadium setting, providing a clear reference for practical application of this technology.

[0077] The specific implementation steps of this embodiment include:

[0078] (1) Preparation stage

[0079] Equipment Selection and Procurement: Select a highly reliable and stable drone with a maximum takeoff weight of 15 kg and a strong payload capacity, capable of easily carrying millimeter-wave terahertz signal transmitters and receivers and related equipment. Furthermore, its flight time, when equipped with a high-capacity battery, should exceed 30 minutes to meet the communication needs during stadium events. Signaling equipment should be based on millimeter-wave terahertz ASK chips. These devices effectively enhance signal transmission and reception capabilities, ensuring efficient and stable communications. When purchasing, obtain detailed technical specifications and pricing information from various channels, including direct communication with equipment manufacturers, attending industry exhibitions, and consulting with professional communications equipment dealers. After comprehensive evaluation, select the most cost-effective product.

[0080] Site Survey and Planning: Conduct a comprehensive survey of the stadium, using professional surveying equipment such as total stations and laser rangefinders to accurately measure the stadium's dimensions, building structure, and surrounding environment. Record the location and dimensions of obstacles within the stadium, such as walls, pillars, and stands, as well as surrounding buildings and trees that may affect drone flight and signal transmission. Use drone flight simulation software, combined with the survey data, to simulate the drone's flight path and signal coverage over the stadium. Optimize the flight path by adjusting parameters such as altitude, angle, and position to ensure the drone avoids obstacles while achieving effective signal coverage throughout the stadium. Based on the simulation results, determine the drone's takeoff and landing points. These should be open, flat, and away from crowds and obstacles to ensure safe and smooth takeoff and landing. Furthermore, for operational convenience and safety, the takeoff and landing points should be close to the control center for easy real-time monitoring and control by the operator.

[0081] (2) Construction and debugging stage

[0082] Equipment Installation and Integration: Install the millimeter-wave terahertz signal transmitter and receiver in a suitable location on the drone. For multi-rotor drones, this is typically located in the center of the top or bottom fuselage to ensure balance and stability during flight. Use a specially designed mounting bracket to securely attach the transmitter and receiver to the drone. The mounting bracket should have a shock-absorbing function to reduce the impact of flight vibration on the signal equipment. Furthermore, the bracket should allow for easy adjustment of the signal equipment's angle to meet varying signal transmission requirements. Make electrical connections to ensure the drone's power system can provide a stable and reliable power supply to the transmitter and receiver. Connect the signal transmission lines and connect the transmitter and receiver to the drone's flight control system and data transmission module to enable signal transmission and control command issuance. During the connection process, strictly adhere to the equipment's electrical specifications and interface standards to ensure correct and reliable wiring. Perform integration testing of the entire system to verify the compatibility and interoperability of all components. This testing includes the drone's flight performance, the operating status of the signal equipment, and the accuracy and stability of data transmission. Any issues identified should be promptly adjusted and optimized to ensure proper system operation. A lidar module (with a 0.1° angular resolution, capable of accurately identifying obstacles with a diameter of 10 cm or greater within the venue) is installed on the bottom of the drone. This module scans ground and aerial obstacles (such as the venue's ceiling and lighting fixtures) in real time, generating high-precision 3D point cloud data. The lidar is connected to the processing unit via a high-speed data bus, transmitting environmental information in real time to assist the drone in obstacle avoidance and path planning.

[0083] Functional Debugging and Optimization: Multiple test points were set up within the stadium, and professional signal testing equipment, such as spectrum analyzers and signal strength meters, were used to comprehensively test the signal transmission capabilities of the millimeter-wave terahertz drone platform. Tests included indicators such as signal reception strength, transmission rate, latency, and signal stability. Test data was recorded, and the platform's performance in different locations and environments was analyzed. Based on the test results, the platform's parameters were optimized. Parameters such as the transmit power, antenna angle, and signal modulation method of the millimeter-wave terahertz signal receiver and transmitter were adjusted to improve signal transmission quality and coverage. Simultaneously, the drone's flight control parameters, such as flight speed, altitude, and attitude control, were optimized to ensure stable flight at the designated location and provide reliable support for signal transmission. Multiple rounds of testing and optimization were conducted until the platform's performance indicators met design requirements and enabled stable and efficient signal transmission within the stadium.

[0084] (3) Application stage

[0085] Drone Takeoff and Deployment: Before an event at the stadium, operators conduct pre-takeoff inspections and preparations for the drone based on the pre-planned flight path and take-off and landing points. They check the drone's battery level, device status, and communication link to ensure a safe takeoff. At the event site, the drone is piloted from the take-off and landing point according to the scheduled time and sequence. During takeoff, the drone, using its onboard positioning, navigation, and flight control systems, gradually ascends along the pre-set flight path and flies toward the stadium. During flight, the drone's flight status and location are monitored in real time to ensure it follows the planned trajectory and avoid collisions with obstacles. Once the drone reaches its designated location, it hovers in the air and adjusts its attitude and position to align its millimeter-wave terahertz signal transmitter and receiver with the target area within the stadium, establishing a high-speed channel link with ground-based communication equipment.

[0086] Real-time Monitoring and Maintenance: During the event, the control center's monitoring system will monitor the operating status of the millimeter-wave terahertz drone platform in real time. Monitoring includes parameters such as the drone's flight attitude, battery charge, signal transmission quality, and operating temperature. If any abnormalities are detected, such as unstable flight attitude, signal transmission interruption, or overheating, an alert will be issued and appropriate measures will be taken. In the event of unstable flight attitude, the flight control system will adjust the drone's flight parameters to restore stable flight. In the event of signal transmission interruption, the signal receiving and transmitting devices and communication links will be inspected and re-established after troubleshooting. In the event of overheating, the drone's cooling system will be activated or the flight altitude will be adjusted to reduce the temperature. Regular maintenance and servicing of the drone platform will be performed, including hardware status checks and cleaning of dust and debris to ensure normal operation. After the event, the drone will be maneuvered back to the take-off and landing point according to the predetermined route. The drone and signal equipment will then be thoroughly inspected and maintained for the next use. The lidar continuously monitors the flight environment. If it detects a sudden obstacle (such as a temporary stage equipment), it immediately triggers the drone's dynamic obstacle avoidance algorithm, adjusts the flight path, and ensures the stability of the communication link.

Claims

1. A UAV communication system, characterized in that: include: Multiple networkable drones, each equipped with: Positioning module, including global satellite navigation system and inertial navigation sensor, used to obtain real-time position and attitude data of the UAV; A camera system for monitoring the crowd density distribution in a target area on the ground; LiDAR, used to scan ground and air obstacles and generate three-dimensional environmental maps; Millimeter-wave communication module, including ultra-wideband ASK chip, Vivadi directional antenna and signal processing unit, used to establish high-speed channel links in the millimeter-wave / terahertz frequency band; Ground control station, which communicates with the UAV; Processing unit, configured as: Receive and process thermal imaging data and signal strength detection values collected by the camera system; Identify hotspots of ground communication demand based on a heat map model and a three-dimensional environmental map generated by LiDAR; Generate a drone deployment plan based on the location distribution and obstacle information of the hotspot area; Control the drone to adjust flight altitude, position and antenna pointing angle according to the deployment plan; Based on real-time signal strength data, the transmission power and modulation parameters of the millimeter wave communication module are optimized through adaptive technology.

2. The UAV communication system according to claim 1, characterized in that: The processing unit is configured as follows: Identify hotspots of terrestrial communication demand: By processing thermal imaging data and combining it with signal strength detection values, determine where audiences gather; Generate a drone deployment plan: plan the drone's flight path and hovering coordinates based on the location distribution and obstacle information of the audience gathering area; Dynamically adjust communication parameters: Based on real-time monitoring of communication link quality data, the transmission power and modulation method of the millimeter wave communication module are optimized through adaptive technology.

3. A UAV communication method based on the system of claim 1, characterized in that: The following steps are involved: S1. Obtain the initial position coordinates of each drone through the positioning module and control the camera system to perform a panoramic scan of the target area; S2. Process the image data, build a heat map model of the target area, and identify communication demand hotspots based on signal strength detection data; S3. Calculate the optimal drone coverage plan based on the heat map model and obstacle distribution information, and generate deployment instructions including location coordinates, altitude, and orientation; S3a. Simulate and predict the deployment effect based on environmental parameters, and iteratively adjust the solution until the preset threshold is met; S4. Control the drone to the target coordinates through the flight control system, fine-tune its position based on real-time communication quality data, and optimize the antenna pointing angle. S5. Monitor the communication link quality in real time, dynamically adjust the drone position and update the thermal map model to form a closed-loop optimization process.

4. The method according to claim 3, wherein: In step S3a, the environmental parameters include real-time wind speed data obtained by the meteorological sensor carried by the drone, obstacle distribution information collected by the lidar and camera system, and the signal strength threshold of the user device.

5. The method according to claim 3, wherein: The step S4 specifically includes: S4a. Control the drone to move near the target coordinates, maintaining a safe altitude and distance; S4b. Fine-tune the position based on real-time communication quality data; S4c. After locking the optimal position parameters, continue to monitor the communication status and prepare to trigger readjustment.

6. The method according to claim 5, characterized in that: Step S4b forms a dynamic feedback loop with step S2, specifically: The camera system is triggered to rescan the target area after each position adjustment; Update the heat map model and transmit it to the processing unit; Generate new deployment instructions to optimize coverage plans.

7. The method according to claim 3, characterized in that When multiple drones work together: In the S3 stage, a distributed algorithm is used to assign each drone’s responsibility area; In the S4 stage, the position data of each drone is shared in real time, and the distance between them is dynamically adjusted to prevent collisions; In the S5 stage, the data collected by each drone is integrated and the overall coverage plan is jointly optimized.

8. An application of the drone communication system according to claim 1 in a large-scale event venue, characterized in that: The large-scale event venue is a stadium or a concert venue, and the audience gathering area is the ground target area; The millimeter wave communication module uses terahertz frequency band communication; The system dynamically adjusts the position of drones to optimize communication quality in the audience area, achieving high-bandwidth, low-latency data transmission.

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