Unmanned aerial vehicle low-altitude guarantee system and method based on digital twinning

Abstract

The invention discloses an unmanned aerial vehicle low-altitude guarantee system and method based on digital twinning, and relates to the technical field of low-altitude guarantee, and the system comprises an unmanned aerial vehicle logistics information acquisition module, an unmanned aerial vehicle logistics distribution preprocessing module, an unmanned aerial vehicle real-time low-altitude guarantee processing module and a local database. The load of the unmanned aerial vehicle is reduced as much as possible while the whole-course signal strength is ensured to reach the standard, antenna deployment is dynamically adjusted through parameters such as building thickness and distance value, so that the occurrence rate of communication interruption in the urban environment is reduced, the antenna is automatically withdrawn or released according to the real-time signal receiving duration, and the communication efficiency is improved under the condition that the communication rate is not affected. Therefore, the communication requirement and the aerodynamic efficiency are balanced, the windward area is reduced as much as possible, the target carrying power is dynamically calculated in combination with the wind speed, the wind direction and the windward area, and invalid energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the field of low-altitude support technology, and in particular to a low-altitude support system and method for unmanned aerial vehicles (UAVs) based on digital twins. Background Art

[0002] At present, drone logistics distribution has become an important part of the low-altitude economy, but traditional drone logistics distribution technology still has problems such as insufficient communication stability and the contradiction between aerodynamic efficiency and energy consumption. Therefore, in order to optimize and solve these problems, the present invention studies a drone low-altitude support system based on digital twins.

[0003] Existing technology, such as the invention patent application with publication number CN118658272A, discloses a low-altitude drone alarm reminder system. Its method includes: a multi-mode alarm module automatically matches the optimal alarm solution, and finally, a remote intervention module guides the low-altitude drone to quickly eliminate abnormal conditions or safely exit a no-fly zone, thereby fully ensuring the flight safety of the low-altitude drone and avoiding accidents. Existing technology, such as the invention patent application with publication number CN119417907A, discloses a data security analysis system and method for low-altitude flight. Its method includes: using depth images for visual positioning assistance to determine the drone's position, achieve correction of positioning points, reduce errors in drone positioning, improve the drone's positioning accuracy, and ensure mission execution efficiency.

[0004] It can be seen from the above scheme that the current drone low-altitude support system lacks certain attention to dynamically adjusting the number of communication antennas released by the drone. When the drone flies in a complex urban environment, the signal is easily affected by factors such as building obstruction and electromagnetic interference, resulting in communication interruption or delay. In order to enhance the signal strength, some drone low-altitude support methods will increase the number of communication antennas or use large-size communication antennas to ensure signal strength. However, too many communication antennas will increase the drone's load, resulting in more additional power consumption. Large-size communication antennas increase the windward area and weight, significantly reducing the flight speed and endurance. At the same time, the existing technology lacks certain attention to dynamically adjusting the drone's forward power according to wind speed and direction. When the wind speed and wind direction change, the drone needs to adjust the power, otherwise it is easy to stall and fall or the forward speed is too slow, reducing the drone's transportation efficiency and safety. Summary of the Invention

[0005] The purpose of the present invention is to provide a low-altitude drone support system and method based on digital twins, which solves the problems existing in the background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: The first aspect of the present invention provides a low-altitude drone support system based on digital twins, including: a drone logistics information acquisition module, which is used to obtain the allowed loading positions of each antenna of the drone when a drone is needed to transport goods, and obtain the preset transportation route of the drone.

[0007] The drone logistics distribution preprocessing module is used to analyze the actual mounting positions of each drone's communication antenna, and after placing the communication antenna at the corresponding position, evaluate the drone's initial antenna release position and initial transport carrying power, and initialize the drone and perform cargo logistics transportation accordingly.

[0008] The real-time low-altitude support processing module for drones is used to obtain the wind speed, wind direction and signal reception time of the drone at each monitoring time point in real time when the drone is carrying out cargo logistics transportation, screen the time points for adjusting the number of antennas of the drone, adjust the number of communication antennas at the corresponding time points, and calculate the target transportation carrying power of the drone at each monitoring time point. The drone real-time analysis terminal sends signals to control the drone to make corresponding adjustments.

[0009] The second aspect of the present invention provides a low-altitude support method for executing the digital twin-based drone low-altitude support system, including: Step 1. Acquisition of drone logistics information: When a drone is needed to transport goods, the allowed loading positions of each antenna of the drone are obtained, and the preset transportation route of the drone is obtained.

[0010] Step 2. UAV logistics delivery preprocessing: Analyze the actual mounting positions of each antenna of the UAV's communication antenna, and after placing the communication antenna at the corresponding position, evaluate the UAV's initial antenna release position and initial transport carrying power, and initialize the UAV and carry out cargo logistics transportation accordingly.

[0011] Step 3. Real-time low-altitude support processing for drones: When drones are carrying out cargo logistics transportation, the wind speed, wind direction, and signal reception duration of the drone at each monitoring time point are obtained in real time. The time points for adjusting the number of antennas of the drone are selected, the number of communication antennas is adjusted at the corresponding time points, and the target transport carrying power of the drone at each monitoring time point is calculated. The drone real-time analysis terminal sends signals to control the drone to make corresponding adjustments.

[0012] The beneficial effects of the present invention are: (1) The drone logistics information acquisition module of the present invention obtains various data information before the drone takes off, thereby facilitating subsequent analysis.

[0013] (2) The UAV logistics distribution preprocessing module of the present invention calculates the optimal number and position of antennas at each monitoring point on the transport route based on pre-simulation. While ensuring that the signal strength meets the standard throughout the entire process, it minimizes the number of communication antennas carried and reduces the load of the UAV. It dynamically adjusts the antenna deployment based on parameters such as building thickness and distance value, thereby reducing the incidence of communication interruptions in urban environments.

[0014] (3) The UAV real-time low-altitude support processing module of the present invention automatically retracts or extends the antenna according to the real-time signal reception time. Without affecting the communication rate, the antenna is extended as little as possible, thereby balancing the communication demand with the aerodynamic efficiency and minimizing the windward area. In addition, the target carrying power is dynamically calculated based on the wind speed, wind direction and windward area to reduce ineffective energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 Schematic diagram of the system module of the present invention.

[0017] Figure 2 Schematic diagram of the method of the present invention. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] Reference Figure 1 As shown, the first aspect of the present invention provides a drone low-altitude support system based on digital twins, including: a drone logistics information acquisition module, a drone logistics distribution preprocessing module, a drone real-time low-altitude support processing module and a local database.

[0020] It should be noted that the drone logistics information acquisition module is connected to the drone logistics distribution preprocessing module, the drone logistics distribution preprocessing module is connected to the drone real-time low-altitude support processing module, and the local database is connected to the drone logistics information acquisition module, the drone logistics distribution preprocessing module, and the drone real-time low-altitude support processing module.

[0021] It should also be noted that the local database is used to store the preset transport routes of the drone, the location of the drone's real-time analysis terminal, the signal strength shielding value per unit building thickness, the required signal strength value of the communication antenna per unit distance under unobstructed conditions, the signal strength provided value of a single communication antenna per unit distance, the weight value of a single communication antenna, the weight value of the cargo, the weight value of the drone, the basic transport carrying power corresponding to each overall total weight value interval, the adjusted transport carrying power under unit wind speed value and unit total windward area, and the target interval of signal reception time.

[0022] The drone logistics information acquisition module is used to obtain the allowed loading positions of each drone antenna and the preset transportation route of the drone when a drone is needed to transport goods.

[0023] In a specific embodiment, the method of obtaining the allowed loading positions of each antenna of the drone and the preset transportation route of the drone is as follows: obtaining the allowed loading positions of each antenna of the drone through the drone terminal and obtaining the preset transportation route of the drone through the local database.

[0024] The drone logistics information acquisition module of the present invention obtains various data information before the drone takes off, thereby facilitating subsequent analysis.

[0025] The drone logistics distribution preprocessing module is used to analyze the actual mounting positions of each communication antenna of the drone, and after placing the communication antenna at the corresponding position, evaluate the initial antenna release position and initial transport carrying power of the drone, and initialize the drone and perform cargo logistics transportation accordingly.

[0026] In a specific embodiment of the present invention, the actual mounting position of each antenna of the communication antenna of the analysis drone is analyzed by a specific analysis method: obtaining the position of the drone real-time analysis terminal from a local database.

[0027] According to the preset transport route of the UAV, the UAV is simulated to fly along the preset transport route, so as to obtain the distance value a between the allowed carrying position of each antenna of the UAV and the real-time analysis terminal of the UAV at each path monitoring point of the preset transport route. xn , and obtain the overall thickness b of the building between the drone's real-time analysis terminal and the drone's allowed carrying position at each path monitoring point of the preset transportation route xn , where x represents the number of the allowed carrying position of each antenna, x=1,2,...,y, y is a positive integer greater than 2, and n represents the number of each path monitoring point, n=1,2,...,m, m is a positive integer greater than 2, and the number of communication antennas carried by the drone is calculated based on this.

[0028] The allowed mounting positions of the antennas of the UAV are sorted to obtain the sorted allowed mounting positions of the antennas of the UAV. The allowed mounting positions of the antennas according to the number of communication antennas are selected from the front to the back according to the sorting order, and are marked as the actual mounting positions of the communication antennas of the UAV.

[0029] In a specific embodiment, the distance values between the allowed carrying positions of each antenna of the drone and the real-time analysis terminal of the drone when they are at each path monitoring point of the preset transport route are obtained, and the overall thickness of the building between the allowed carrying positions of each antenna of the drone and the real-time analysis terminal of the drone when they are at each path monitoring point of the preset transport route is obtained. The specific acquisition method is: simulating the flight conditions of the drone in the preset transport route through the environmental digital twin model of the real-time analysis terminal of the drone, thereby obtaining the distance values between the allowed carrying positions of each antenna of the drone and the real-time analysis terminal of the drone when they are at each path monitoring point of the preset transport route, and obtaining the overall thickness of the building between the allowed carrying positions of each antenna of the drone and the real-time analysis terminal of the drone when they are at each path monitoring point of the preset transport route.

[0030] In a specific embodiment of the present invention, the calculation method for calculating the number of communication antennas carried by the drone is as follows: obtaining the signal strength shielding value A per unit building thickness, the required signal strength value B per unit distance of the communication antenna under unobstructed conditions, and the signal strength provided value D per unit distance of a single communication antenna from the local database, and calculating the target number of communication antennas carried by the drone at each path monitoring point. Where y represents the number of antenna placement positions allowed. Indicates rounding up.

[0031] The maximum value of the target carrying quantity is selected as the number of communication antennas carried by the UAV.

[0032] It should be noted that the signal strength shielding value per unit building thickness is common knowledge. The signal strength value required for a communication antenna at a unit distance under unobstructed conditions and the signal strength provided by a single communication antenna at a unit distance are parameters for the production of communication antennas and can be obtained from communication antenna manufacturers.

[0033] It should also be noted that in the calculation formula for the target number of antennas, +1 is used to carry an additional communication antenna when the minimum number of antennas is carried, so as to prevent unexpected situations that may cause the signal to be unreceivable.

[0034] In a specific embodiment of the present invention, the method for obtaining the allowed carrying positions of each antenna of the drone after sorting is as follows: according to the distance value a between the allowed carrying position of each antenna of the drone and the real-time analysis terminal of the drone at each path monitoring point of the preset transportation route, xn, calculate the distance from the threat coefficient allowed by each antenna of the drone Where m is the number of monitoring points along the path.

[0035] The allowed mounting positions of the antennas of the UAV are sorted in ascending order according to the distance from the threat coefficient, thereby obtaining the sorted allowed mounting positions of the antennas of the UAV.

[0036] In a specific embodiment of the present invention, the initial antenna release position and initial transport carrying power of the drone are evaluated by a specific evaluation method: based on the sorted allowed antenna loading positions of the drones, the first sorted allowed antenna loading position is selected as the initial antenna release position, thereby obtaining the initial antenna release position of the drone.

[0037] The drone is controlled by the real-time analysis terminal to assemble the cargo into the drone's cargo space, and the communication antenna at the drone's initial antenna release position is released. Based on the number of communication antennas carried by the drone, the basic transport carrying power E of the drone is calculated.

[0038] Obtain the wind speed and direction of the UAV during its initial flight, and calculate the UAV's adjusted transport carrying power F based on them.

[0039] Calculate the initial transport carrying power of the UAV ε = E + F.

[0040] In a specific embodiment, the wind speed and wind direction of the UAV during the initial flight are obtained by using a wind speed and wind direction sensor carried by the UAV to obtain the wind speed and wind direction of the UAV during the initial flight.

[0041] In a specific embodiment of the present invention, the basic transport carrying power of the drone is calculated by obtaining the weight value c of a single communication antenna, the weight value d of the cargo, and the weight value f of the drone from a local database, and calculating the overall total weight φ of the drone based on the number g of communication antennas carried by the drone.

[0042] The basic transport carrying power corresponding to each overall total weight value interval is obtained from the local database, and the basic transport carrying power of the UAV is mapped.

[0043] In a specific embodiment of the present invention, the specific calculation method for calculating the adjusted transport carrying power of the drone is: according to the preset transport route of the drone, the direction of the drone during the initial flight is obtained.

[0044] According to the wind direction of the UAV during its initial flight, the windward area of the UAV body, the windward area of the communication antenna, and the windward area of the cargo are simulated through a digital virtual model, and the sum of them is used as the total windward area K of the UAV.

[0045] According to the wind direction of the UAV at the initial flight and the direction of the UAV at the initial flight, the angle value G between the direction of the UAV at the initial flight and the wind direction is obtained.

[0046] The adjusted transport carrying power H under unit wind speed value and unit total frontal area is obtained from the local database. According to the wind speed value J of the UAV during the initial flight, the adjusted transport carrying power F = -K*H*J*cosG of the UAV is calculated.

[0047] It should be noted that the greater the wind speed, the greater the absolute value of the adjusted transport carrying power, and the larger the total frontal area, the greater the absolute value of the adjusted transport carrying power. The adjusted transport carrying power can be positive or negative, thereby increasing or decreasing power. If the angle between the direction of the drone at the time of initial flight and the wind direction is 0°, it means that the direction of the drone at the time of initial flight is parallel to the wind direction, and the wind force plays a propulsion role. In order to prevent the drone from stalling too quickly, it is necessary to reduce the power value of the drone's forward flight. Therefore, the transport carrying power is adjusted to a negative value at this time. If the angle between the direction of the drone at the time of initial flight and the wind direction is 180°, it means that the direction of the drone at the time of initial flight is parallel to the wind direction in the opposite direction, and the wind force plays a resistance role. In order to ensure the normal speed of the drone, it is necessary to increase the power value of the drone's forward flight. Therefore, the transport carrying power is adjusted to a positive value at this time.

[0048] The drone logistics distribution preprocessing module of the present invention calculates the optimal number and position of antennas at each path monitoring point based on a pre-simulation of the transportation route. While ensuring that the signal strength meets the standard throughout the entire process, it minimizes the number of communication antennas carried and reduces the load of the drone. The antenna deployment is dynamically adjusted according to parameters such as building thickness and distance value, thereby reducing the incidence of communication interruptions in urban environments.

[0049] The drone's real-time low-altitude support processing module is used to obtain the drone's wind speed, wind direction, and signal reception duration at each monitoring time point in real time when the drone is carrying out cargo logistics transportation, screen the time points for adjusting the number of antennas of the drone, adjust the number of communication antennas at the corresponding time points, and calculate the drone's target transport carrying power at each monitoring time point. The drone's real-time analysis terminal sends signals to control the drone to make corresponding adjustments.

[0050] In a specific embodiment, the wind speed value, wind direction and signal reception duration of the drone at each monitoring time point are obtained by a specific acquisition method: the wind speed value and wind direction of the drone at each monitoring time point are obtained through a wind speed and direction sensor carried by the drone, and the signal reception duration of the drone at each monitoring time point is obtained through a timer on the drone terminal.

[0051] It should be noted that the signal reception duration is the time between the time when the drone sends the signal and the time when the drone receives the signal returned by the drone real-time analysis terminal.

[0052] In a specific embodiment, the screening method for adjusting the number of antennas of each drone is as follows: if the signal reception duration of the drone at a certain monitoring time point is greater than the maximum value of the target interval of the signal reception duration, then the monitoring time point is marked as the antenna number adjustment time point; if the signal reception duration of the drone at a certain monitoring time point is less than the minimum value of the target interval of the signal reception duration, then the monitoring time point is marked as the antenna number adjustment time point, thereby screening the antenna number adjustment time points of each drone.

[0053] In a specific embodiment of the present invention, the communication antenna number adjustment is performed, and its specific adjustment method is: obtaining the number of communication antennas released by the drone at each antenna number adjustment time point of the drone terminal, and extracting the signal reception time of the drone at each antenna number adjustment time point based on the signal reception time of the drone at each monitoring time point.

[0054] The target signal reception time interval is obtained from the local database, and the maximum and minimum values of the target signal reception time interval are extracted. If the signal reception time of the drone at a certain antenna quantity adjustment time point is greater than the maximum value of the target signal reception time interval, and the number of communication antennas released at the antenna quantity adjustment time point is not the number of communication antennas carried, then according to the sorted allowed carrying positions of the drones, the communication antenna at the next allowed carrying position that has not yet been released is selected in sequence and released.

[0055] If the signal reception duration of the drone at a certain antenna quantity adjustment time point is less than the minimum value of the signal reception duration target interval, and the number of communication antennas released at the antenna quantity adjustment time point is not 1, the communication antenna at the most recently released antenna allowed loading position will be retracted.

[0056] In a specific embodiment of the present invention, the target transport carrying power of the UAV at each monitoring time point is calculated by the following specific calculation method: the number of communication antennas released by the UAV at each monitoring time point is obtained from the UAV terminal, and the total frontal area of the UAV is updated accordingly. The target transport carrying power of the UAV at each monitoring time point is calculated similarly based on the method of the initial transport carrying power of the UAV.

[0057] The UAV real-time low-altitude support processing module of the present invention automatically retracts or extends the antenna according to the real-time signal reception duration. Without affecting the communication rate, the antenna is extended as little as possible, thereby balancing communication needs with aerodynamic efficiency and minimizing the windward area. In addition, the target carrying power is dynamically calculated based on wind speed, wind direction and windward area to reduce ineffective energy consumption.

[0058] Reference Figure 2 As shown, the second aspect of the present invention provides a low-altitude support method for executing the digital twin-based drone low-altitude support system, including: Step 1. Acquisition of drone logistics information: When a drone is needed to transport goods, the allowed loading positions of each antenna of the drone are obtained, and the preset transportation route of the drone is obtained.

[0059] Step 2. UAV logistics delivery preprocessing: Analyze the actual mounting positions of each antenna of the UAV's communication antenna, and after placing the communication antenna at the corresponding position, evaluate the UAV's initial antenna release position and initial transport carrying power, and initialize the UAV and carry out cargo logistics transportation accordingly.

[0060] Step 3. Real-time low-altitude support processing for drones: When drones are carrying out cargo logistics transportation, the wind speed, wind direction, and signal reception duration of the drone at each monitoring time point are obtained in real time. The time points for adjusting the number of antennas of the drone are selected, the number of communication antennas is adjusted at the corresponding time points, and the target transport carrying power of the drone at each monitoring time point is calculated. The drone real-time analysis terminal sends signals to control the drone to make corresponding adjustments.

[0061] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all fall within the scope of protection of the present invention.

Claims

1. A UAV low-altitude support system based on digital twins, characterized by: include: The drone logistics information acquisition module is used to obtain the allowed loading positions of each drone antenna and the preset transportation route of the drone when the drone is needed to transport goods; The drone logistics delivery pre-processing module is used to analyze the actual mounting positions of each drone's communication antenna, place the communication antenna at the corresponding position, evaluate the drone's initial antenna release position and initial transport carrying power, and initialize the drone and carry out cargo logistics transportation accordingly; The real-time low-altitude support processing module for drones is used to obtain the wind speed, wind direction and signal reception time of the drone at each monitoring time point in real time when the drone is carrying out cargo logistics transportation, screen the time points for adjusting the number of antennas of the drone, adjust the number of communication antennas at the corresponding time points, and calculate the target transportation carrying power of the drone at each monitoring time point. The drone real-time analysis terminal sends signals to control the drone to make corresponding adjustments.

2. The UAV low-altitude support system based on digital twin according to claim 1 is characterized in that: The specific analysis method for analyzing the actual mounting position of each antenna of the drone's communication antenna is as follows: Obtain the location of the drone real-time analysis terminal from the local database; According to the preset transport route of the UAV, the UAV is simulated to fly along the preset transport route, so as to obtain the distance value a between the allowed carrying position of each antenna of the UAV and the real-time analysis terminal of the UAV at each path monitoring point of the preset transport route. xn , and obtain the overall thickness b of the building between the drone's antenna allowed carrying position and the drone's real-time analysis terminal at each path monitoring point of the preset transportation route xn , where x represents the number of the allowed carrying position of each antenna, x = 1, 2, ..., y, y is a positive integer greater than 2, and n represents the number of each path monitoring point, n = 1, 2, ..., m, m is a positive integer greater than 2, and the number of communication antennas carried by the drone is calculated based on this; The allowed mounting positions of the antennas of the UAV are sorted to obtain the sorted allowed mounting positions of the antennas of the UAV. The allowed mounting positions of the antennas according to the number of communication antennas are selected from the front to the back according to the sorting order, and are marked as the actual mounting positions of the communication antennas of the UAV.

3. The UAV low-altitude support system based on digital twin according to claim 2 is characterized in that: The specific calculation method for calculating the number of communication antennas carried by the drone is as follows: Obtain the signal strength shielding value A per unit building thickness, the required signal strength value B per unit distance for the communication antenna under unobstructed conditions, and the signal strength provided by a single communication antenna per unit distance, D, from the local database, and calculate the number of targets carried by the drone's communication antenna at each path monitoring point. Where y represents the number of antenna placement positions allowed. Indicates rounding up; The maximum value of the target carrying quantity is selected as the number of communication antennas carried by the UAV.

4. The UAV low-altitude support system based on digital twin according to claim 2 is characterized in that: The method for obtaining the allowed mounting positions of the antennas of the drones after sorting is as follows: According to the allowed carrying position of each antenna of the UAV, the distance value a between the UAV and the real-time analysis terminal at each path monitoring point of the preset transportation route is xn , calculate the distance from the threat coefficient allowed by each antenna of the drone Where m is the number of path monitoring points; The allowed mounting positions of the antennas of the UAV are sorted in ascending order according to the distance from the threat coefficient, thereby obtaining the sorted allowed mounting positions of the antennas of the UAV.

5. The UAV low-altitude support system based on digital twin according to claim 2 is characterized in that: The specific evaluation method for evaluating the initial antenna deployment position and initial transport carrying power of the UAV is as follows: According to the allowed mounting positions of the antennas of the UAVs after sorting, the first allowed mounting position of the antenna is selected as the initial antenna release position, thereby obtaining the initial antenna release position of the UAV; The drone real-time analysis terminal controls the drone to assemble the cargo into the drone's cargo space and deploy the communication antenna at the drone's initial antenna deployment position. Based on the number of communication antennas on board, the basic transport carrying power E of the drone is calculated. Obtain the wind speed and direction of the UAV during its initial flight, and calculate the UAV's adjusted transport carrying power F accordingly; Calculate the initial transport carrying power of the UAV ε = E + F.

6. The UAV low-altitude support system based on digital twin according to claim 5 is characterized in that: The specific calculation method for calculating the basic transport carrying power of the UAV is as follows: Obtain the weight c of a single communication antenna, the weight d of the cargo, and the weight f of the drone from the local database. Calculate the total weight of the drone (φ = c*g + d + f) based on the number of communication antennas g carried by the drone. The basic transport carrying power corresponding to each overall total weight value interval is obtained from the local database, and the basic transport carrying power of the UAV is mapped.

7. The UAV low-altitude support system based on digital twin according to claim 5 is characterized in that: The specific calculation method for calculating the adjusted transport carrying power of the UAV is as follows: According to the preset transportation route of the UAV, obtain the direction of the UAV during the initial flight; According to the wind direction of the UAV during its initial flight, the windward area of the UAV body, the windward area of the communication antenna, and the windward area of the cargo are simulated through a digital virtual model, and the sum of these is taken as the total windward area K of the UAV. According to the wind direction of the UAV at the initial flight and the direction of the UAV at the initial flight, the angle value G between the direction of the UAV at the initial flight and the wind direction is obtained; The adjusted transport carrying power H under unit wind speed value and unit total frontal area is obtained from the local database. According to the wind speed value J of the UAV during the initial flight, the adjusted transport carrying power F = -K*H*J*cosG of the UAV is calculated.

8. The UAV low-altitude support system based on digital twin according to claim 2 is characterized in that: The specific adjustment method for adjusting the number of communication antennas is as follows: Obtain the number of communication antennas released at each antenna quantity adjustment time point of the drone from the drone terminal, and extract the signal reception time of the drone at each antenna quantity adjustment time point based on the signal reception time of the drone at each monitoring time point; Obtain the target signal reception duration interval from the local database and extract the maximum and minimum values of the target signal reception duration interval. If the drone's signal reception duration at a certain antenna quantity adjustment time point is greater than the maximum value of the target signal reception duration interval, and the number of communication antennas deployed at that antenna quantity adjustment time point is not the number of communication antennas on board, then select the next communication antenna on the next allowed antenna mounting position that has not yet been deployed, and deploy it. If the signal reception duration of the drone at a certain antenna quantity adjustment time point is less than the minimum value of the signal reception duration target interval, and the number of communication antennas released at the antenna quantity adjustment time point is not 1, the communication antenna at the most recently released antenna allowed loading position will be retracted.

9. The UAV low-altitude support system based on digital twin according to claim 8 is characterized in that: The specific calculation method for calculating the target transport carrying power of the UAV at each monitoring time point is: The number of communication antenna releases of the drone at each monitoring time point is obtained from the drone terminal, and the total windward area of the drone is updated accordingly. According to the method of the drone's initial transport carrying power, the target transport carrying power of the drone at each monitoring time point is calculated in the same way.

10. A low-altitude support method for executing a low-altitude support system for a UAV based on digital twins according to any one of claims 1 to 9, characterized in that: include: Step 1. Obtaining drone logistics information: When a drone is needed to transport goods, obtain the permitted carrying positions of each drone antenna and the drone's preset transportation route; Step 2. UAV logistics delivery preprocessing: Analyze the actual mounting positions of the drone's communication antennas, place the communication antennas in the corresponding positions, evaluate the drone's initial antenna release position and initial transport carrying power, and initialize the drone and carry out cargo logistics transportation accordingly. Step 3. Real-time low-altitude support processing for drones: When drones are carrying out cargo logistics transportation, the wind speed, wind direction, and signal reception duration of the drone at each monitoring time point are obtained in real time. The time points for adjusting the number of antennas of the drone are selected, the number of communication antennas is adjusted at the corresponding time points, and the target transport carrying power of the drone at each monitoring time point is calculated. The drone real-time analysis terminal sends signals to control the drone to make corresponding adjustments.

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