Unmanned aerial vehicle experiment teaching system of mobile ad hoc network and control method of unmanned aerial vehicle experiment teaching system

Abstract

The invention provides an unmanned aerial vehicle experiment teaching system of a mobile ad hoc network and a control method thereof, and belongs to the technical field of unmanned aerial vehicle control. The system comprises a ground console, member unmanned aerial vehicles and a target unmanned aerial vehicle, the ground console comprises a data transmission module; the ground console communicates with the member unmanned aerial vehicles through the data transmission module and is used for issuing a control instruction to an unmanned aerial vehicle formation established based on the member unmanned aerial vehicles so as to perform flight control and mobile ad hoc network of the unmanned aerial vehicle formation and receive state information of all the member unmanned aerial vehicles; the member unmanned aerial vehicles are used for detecting state information of the target unmanned aerial vehicle and sending the state information to the ground console; the unmanned aerial vehicle formation adopts a mobile ad hoc network of a tree topology structure based on clustering management for communication; and the ground console is used for analyzing and sorting the state information of the member unmanned aerial vehicle and the state information of the target unmanned aerial vehicle, and displaying the relative position information of the member unmanned aerial vehicle and the target unmanned aerial vehicle and the networking state information in real time.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle control, and more particularly relates to a mobile ad hoc network unmanned aerial vehicle experimental teaching system and a control method thereof. Background Art

[0002] As two core components of experimental teaching systems, drone mobile ad hoc networking and dynamic display of designated images are crucial for cultivating professionals in the field of drone technology. Drone swarm technology has made significant progress globally, particularly in networking and monitoring display. A series of mature technical solutions have emerged both domestically and internationally. These solutions have been widely applied in experimental teaching and continue to drive innovation in drone teaching technology.

[0003] However, although existing technologies have achieved certain results in teaching applications, they still have obvious limitations. Most experimental teaching systems are still based on single-controlled drones and can only display the flight parameters of a single drone, such as altitude, speed, magnetic bearing, etc. This single control and display method cannot fully demonstrate the collaborative working capabilities of drone clusters in a mobile ad hoc network environment, nor can it intuitively present the real-time relative position and flight parameter status between the drone cluster and the target mobile object. Even if there are a few systems that support drone cluster group control, they are limited to displaying the flight parameters of the drones on the network, lack the ability to detect target mobile objects, and do not upload the detected target object parameter information to the console for display in real time.

[0004] In addition, the existing system lacks intuitive and vivid presentation methods when displaying the relative position relationship of drone clusters. For example, decentralized presentation methods such as circles and triangles are rarely used in existing systems, which makes it difficult for students to understand the networking status and position relationship of drone clusters. Summary of the Invention

[0005] In response to the above problems, the purpose of the present invention is to provide a mobile ad hoc network drone experimental teaching system and its control method, so as to solve the problems in experimental teaching that it is impossible to intuitively demonstrate the principles of mobile ad hoc networks, and it is difficult to intuitively present the real-time relative positions of drone clusters and target mobile objects and the flight parameter status, and provide a user interface to monitor the status of drones and target objects in real time; the present invention greatly improves the quality of teaching, and leaves a secondary development interface, on this basis, students can replace and add equipment, greatly reducing the workload of students in research and development, and has high scalability.

[0006] To achieve the above-mentioned purpose, the present invention is implemented through the following technical solutions: In a first aspect, an embodiment of the present application provides a UAV experimental teaching system for a mobile ad hoc network, comprising: a ground control console, member UAVs, and a target UAV; the ground control console includes a data transmission module; The ground control console communicates with the member drones through the data transmission module, and is used to issue control instructions to the drone formation formed based on the member drones to perform flight control and mobile ad hoc networking of the drone formation, and receive status information of all member drones; The member drones are used to detect the status information of the target drone and send it to the ground control console; the drone formation uses a Mesh mobile ad hoc network with a tree topology structure based on cluster management for communication; The ground control console is used to analyze and organize the status information of the member drones and the target drone, and display the relative position information of the member drones and the target drone, as well as the networking status information in real time.

[0007] In an optional embodiment, the ground control console further includes: a data analysis module, a positioning module, and a user interface module; The data analysis module is used to classify, organize and analyze the status information of the member drones and the target drone, and display it in real time on a specific screen in the user interface module; the status information of the member drones includes: altitude, speed, magnetic bearing, networking status, and attributes; the status information of the target drone includes: altitude, speed, relative bearing, and attributes; The positioning module is used to select a positioning method according to the current environment of the ground control console, and determine the relative position information of the member drone and the target drone according to the status information of the member drone and the target drone; The user interface module is used to provide an overall display screen of the member drones and the target drone, an overall display screen from the perspective of a single member drone, an altitude and azimuth display screen of a single member drone, and an overall networking status display screen of the member drones.

[0008] In an optional embodiment, the positioning module is specifically configured to: When the ground control console is in an indoor environment, the UBW positioning method is used to determine the relative position information of the member drone and the target drone based on the status information of the member drone and the target drone; When the ground control console is in an outdoor environment, GPS or Beidou positioning is used to determine the relative position information of the member drones and the target drone based on the status information of the member drones and the target drone.

[0009] In an optional embodiment, the user interface module includes a main interface, a first sub-interface, a second sub-interface and a third sub-interface; The main interface is used to display the number of member drones, the number of online drones, the number of offline drones, the area range, and the attributes, magnetic position, speed and altitude of the current member drone or target drone in a standard orientation; The first interface is used to display the magnetic position, speed and altitude of the current member drone, the number of member drones, the number of target drones, and the network status based on the flight heading of the current member drone; and the relative position, attributes, speed, altitude of the remaining member drones and the target drones in the interface, as well as the relative position information with respect to the current member drone; The second interface is used to provide a member UAV altitude display screen and a azimuth display screen, and display a warning message when the member UAV's actual altitude is lower than the minimum warning altitude; The third interface is used to display the network topology diagram of the member drones in real time.

[0010] In an optional embodiment, the UAV formation communicates using a Mesh mobile ad hoc network with a tree topology structure based on cluster management, including: In a drone formation, each member drone is recorded as a node; The node with the strongest signal strength is elected as the cluster head through election. The remaining nodes listen to the beacon frames of other nodes, determine the potential uplink node according to the received signal strength, and select a potential uplink node to connect to, thus forming a tree-like topology mobile ad hoc network. The cluster head is used as the relay master node to communicate with the ground control console, receive control instructions from the ground console through the cluster head, and issue control instructions to all members of the UAV formation; The cluster head receives the status information of all member drones and the status information of the detected target drone and transmits it back to the ground control console.

[0011] In an optional embodiment, the remaining nodes determine potential uplink nodes according to received signal strength by listening to beacon frames of other nodes, and select a potential uplink node for connection, including: The remaining nodes listen to the beacon frames of other nodes to determine the RRSI situation and form multiple potential uplink nodes; Each node selects the potential upstream node with the lowest level or the least number of downstream nodes for connection based on the level of the upstream node and the number of existing downstream nodes.

[0012] In a second aspect, an embodiment of the present application further provides a method for controlling a drone experimental teaching system in a mobile ad hoc network, comprising: The ground control console communicates with the member drones through the data transmission module, issues control instructions to the drone formation based on the member drones, performs flight control and mobile ad hoc networking of the drone formation, and receives status information of all member drones; The UAV formation uses a Mesh mobile ad hoc network with a tree topology based on cluster management for communication. The member UAVs detect the status information of the target UAV and send it to the ground control console. Through the ground control console, the status information of member drones and target drones is analyzed and sorted, and the relative position information of member drones and target drones, as well as network status information, are displayed in real time.

[0013] In an optional embodiment, the UAV formation communicates using a Mesh mobile ad hoc network with a tree topology structure based on cluster management, including: In a drone formation, each member drone is recorded as a node; The node with the strongest signal strength is elected as the cluster head through election. The remaining nodes listen to the beacon frames of other nodes, determine the potential uplink node according to the received signal strength, and select a potential uplink node to connect to, thus forming a tree-like topology mobile ad hoc network. The cluster head is used as the relay master node to communicate with the ground control console, receive control instructions from the ground console through the cluster head, and issue control instructions to all members of the UAV formation; The cluster head receives the status information of all member drones and the status information of the detected target drone and transmits it back to the ground control console.

[0014] In a third aspect, an embodiment of the present application further provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the control method of the mobile ad hoc network drone experimental teaching system as described in any one of the above items are implemented.

[0015] In a fourth aspect, an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method of the drone experimental teaching system of the mobile ad hoc network as described in any one of the above items are implemented.

[0016] It can be seen from the above technical solutions that the present invention has the following advantages: The mobile ad hoc network drone experimental teaching system provided in this application includes drones, mobile ad hoc networking, detection of target moving objects, real-time transmission of drone cluster and target parameters, and display of them on a specific screen. This system can intuitively display altitude, speed, magnetic bearing, networking process, network status, relative position of drones, multi-hop routing, etc., making it ideal for teaching and providing students with the necessary equipment and technical foundation for future scientific research.

[0017] This application provides students with a mesh-based mobile ad hoc network UAV experimental teaching platform. By issuing control commands through the ground control console, experimental scenarios such as autonomous takeoff and landing of UAVs, mobile ad hoc networking, cluster head election, and topology formation are realized; member UAVs conduct real-time reconnaissance of the real-time status of target UAVs (target moving objects); the user interface can help students observe the process and effect of data uploading in real time, making it easier for students to learn the working principles of communication networking, altimeters, compasses and other equipment.

[0018] In this application, member drones use a mesh self-organizing network to elect a cluster head. The remaining nodes automatically form a tree topology, and the uplink node changes in real time based on network conditions. The node connection status and maintenance update status of this communication network are displayed in real time on the user interface, making it easier for students to learn the communication network process.

[0019] The UAV experimental teaching system provided in this application is a universal experimental platform with good compatibility and scalability, and a secondary development interface. Students can use this equipment and code to develop improved functions, such as expanding detection image transmission, changing formation flight, etc.

[0020] This application significantly improves the communication efficiency and network stability of drone formations by constructing a tree-topology mesh mobile ad hoc network based on cluster management. A dynamic cluster head election mechanism, combined with a signal strength optimization connection strategy, enables the network to quickly adapt to node additions and subtractions or environmental changes, ensuring real-time interaction between control commands and status information. Furthermore, the ground control console integrates data transmission, analysis, positioning, and multi-interface display capabilities, enabling comprehensive monitoring and dynamic management of drone formations in teaching scenarios, effectively supporting complex mission simulations and collaborative control teaching.

[0021] This application utilizes multi-environment positioning fusion (UBW indoor positioning and GPS / Beidou outdoor positioning) and a layered user interface design, significantly enhancing the system's adaptability to various scenarios and making teaching intuitive. The multi-dimensional information display, combining the main and sub-interfaces, supports both global situational awareness and detailed analysis of individual drones. Combined with features such as altitude alerts and topology visualization, it helps students gain a deeper understanding of the principles of self-organizing networks and formation control logic, forming a closed-loop "theory-practice-feedback" teaching process and significantly improving the quality of experimental teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. 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.

[0023] Figure 1 This is a schematic diagram of the structure of the UAV experimental teaching system for mobile ad hoc networks provided in this application.

[0024] Figure 2 This is a schematic diagram of the structure of the user interface module provided in this application.

[0025] Figure 3 This is a structural diagram of the main interface provided by this application.

[0026] Figure 4 This is a structural diagram of the first interface provided in this application.

[0027] Figure 5 This is a structural diagram of the second interface provided by this application.

[0028] Figure 6 This is the topological structure diagram of all the network states provided in this application.

[0029] Figure 7 A topological diagram of a node in an offline state provided for this application.

[0030] Figure 8 This is the topology diagram after replacing the uplink node provided in this application.

[0031] Figure 9 This is a flow chart of the control method of the mobile ad hoc network drone experimental teaching system provided in this application.

[0032] Figure 10 This is a schematic diagram of the structure of the electronic device provided in this application. DETAILED DESCRIPTION

[0033] The various embodiments of the present disclosure will be described more fully below in detail regarding the specific functions of the mobile ad hoc network drone experimental teaching system. The present disclosure can have various embodiments, and adjustments and changes can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein. Instead, the present disclosure should be construed to encompass all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present disclosure.

[0034] Hereinafter, the terms "include" or "may include" as used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present disclosure, the terms "include," "have," and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0035] 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.

[0036] See also Figure 1 The figure shows the system architecture of a mobile ad hoc network drone experimental teaching system in a specific embodiment. The system includes a ground control console, member drones, and a target drone (or target mobile object). The ground control console includes a data transmission module, a data analysis module, a positioning module, and a user interface module.

[0037] The ground control console communicates with the member drones through the data transmission module, and is used to issue control instructions to the drone formation based on the member drones to perform flight control and mobile ad hoc networking of the drone formation, and receive status information of all member drones.

[0038] For example, the ground control console communicates with the member drones through the data transmission module and issues control instructions to all member drone formations; receives status information of all member drones, including altitude, speed, magnetic orientation, networking status, attributes, etc., as well as altitude, speed, relative orientation, attributes, etc. of target drones (target moving objects) detected by member drones.

[0039] Member drones are used to detect the status of target drones and transmit this information to the ground control center. The drone formation communicates using a mesh mobile ad hoc network with a tree topology based on cluster management. Member drones are the group-controlled drones of the system and can perform autonomous takeoff and landing, mobile ad hoc networking, detect target drones (target moving objects), and communicate with the ground control center.

[0040] The ground control console is used to analyze and organize the status information of member drones and target drones, and display the relative position information of member drones and target drones, as well as network status information in real time.

[0041] In a specific embodiment, the specific functions of the data transmission module, data analysis module, positioning module, and user interface module in the ground control console are as follows: The data analysis module is used to classify, organize and analyze the status information of member drones and target drones, and display them in real time according to specific screens in the user interface module; the status information of member drones includes: altitude, speed, magnetic bearing, networking status, and attributes; the status information of target drones includes: altitude, speed, relative bearing, and attributes.

[0042] It can be seen that the data analysis module is able to organize and analyze various types of information collected from member drones, and display them in real time according to specific screens in the user interface module.

[0043] The positioning module is used to select a positioning method based on the current ground control console environment and determine the relative position information of the member drones and the target drone based on the status information of the member drones and the target drone. Specifically, when in an indoor environment, the UBW positioning method is used to determine the relative position information of the member drones and the target drone based on the status information of the member drones and the target drone; when in an outdoor environment, the GPS or Beidou positioning method is used to determine the relative position information of the member drones and the target drone based on the status information of the member drones and the target drone.

[0044] The user interface module is used to provide an overall display screen of the member drones and the target drone, an overall display screen from the perspective of a single member drone, an altitude and azimuth display screen of a single member drone, and an overall networking status display screen of the member drones.

[0045] In a specific embodiment, the user interface module includes a main interface, a first interface, a second interface and a third interface 3. Figure 2 As shown, the main interface is the overall display screen of the member drones and the target drone; the first sub-interface is the overall display screen from the perspective of a single member drone; the second sub-interface is the height and azimuth display screen of a single member drone; and the third sub-interface is the overall networking status display screen of the member drones.

[0046] The main interface is used to display the number of member drones, the number of online drones, the number of offline drones, the area range, as well as the properties, magnetic bearing, speed and altitude of the current member drone or target drone in standard orientation.

[0047] The main interface includes the member drones and target drones displayed in the user interface. Figure 3 As shown, member drones are displayed in a circular format, while target drones (or target moving objects) are displayed in a triangular format. The numbers inside represent the sequence number, and dashed lines represent speed. Each dashed segment represents 1 meter, such as three dashed segments representing 3 meters per second. In the main interface, north (N), south (S), west (W), and east (E) are used as the orientation standards. The upper left corner displays the number of member drones, the number of online drones, the number of offline drones, and the number of target drones. The upper right corner displays the area range. When the mouse pointer moves over the position of a member drone or target drone, the current member drone or target drone's attributes, magnetic bearing, speed, altitude, and other parameter information are displayed.

[0048] The first interface is used to display the magnetic position, speed and altitude of the current member drone, the number of member drones, the number of target drones, and the network status based on the flight heading of the current member drone; it also displays the relative position, attributes, speed, altitude of the remaining member and target drones in the interface, as well as their relative position information with respect to the current member drone.

[0049] Example, reference Figure 4 As shown, in the first interface, the upper scale displays the angle between the current member drone and magnetic north, referred to as the magnetic bearing, using the flight heading of the current member drone (hereinafter referred to as the reference drone) as the reference. This scale changes in real time as the drone flies. The upper left corner displays the number of member drones, the number of target drones, and whether they are online. The upper right corner displays information such as the current drone's magnetic bearing, speed, and altitude. The remaining member drones and target drones are displayed relative to each other in the interface. When the mouse pointer moves over a member drone or target object, the member drone's or target's attributes, speed, altitude, and relative bearing information relative to the reference drone are displayed. The relative bearing information ranges from 0° to 180° left and 0° to 180° right. Positions to the left of the reference drone are indicated as + degrees left, and positions to the right of the reference drone are indicated as + degrees right.

[0050] The second interface is used to provide the altitude display screen and the azimuth display screen of the member UAV, and to display the warning information when the actual altitude of the member UAV is lower than the minimum warning altitude.

[0051] Example, reference Figure 5 As shown, the second interface consists of two parts: an altitude display and a bearing display. The lower portion of the altitude display shows the current crew drone altitude in real time, while the right portion shows the minimum warning altitude. When the actual altitude falls below the minimum warning altitude, a warning message "warning" appears. The upper left corner features a compass needle, which follows the aircraft's movement and displays the angle with magnetic north, representing the magnetic bearing.

[0052] The third interface is used to display the network topology diagram of member drones in real time.

[0053] The third interface displays the network status of the member drones, which displays the topology diagram in real time. It can also display changes such as nodes in the network, nodes out of the network, and changes in uplink nodes.

[0054] For example, after the member drone is turned on, the topology diagram is displayed in real time on the third interface. Figure 6 All are online and have formed a topology diagram. Figure 7 A node drone is offline. Figure 8 Replace the uplink node for the drone node and put node 3 in Figure 6 The upstream node in is 2, and it is replaced with upstream node 5.

[0055] like Figure 6 、 Figure 7 、 Figure 8 It can be seen that the member drones adopt a tree topology structure, which can realize multi-hop routing transmission. The cluster head node receives the control instructions from the ground control console and forwards them to the bottom node through relay forwarding. Figure 8 In the figure, cluster head node 2 receives the command from the ground control console and transmits the control command to nodes 4 and 3 through forwarding. In the experiment, it can be demonstrated that the ground station sends a command to node 4, the information passes through node 2, forwarded to node 1, and finally to node 4. As shown in the figure, nodes 2, 1, and 3 light up in sequence.

[0056] In a specific embodiment, the member drones communicate in a mesh mobile ad hoc network, and the drone formation adopts a mesh mobile ad hoc network with a tree topology structure based on cluster management.

[0057] In a drone formation, each member drone is recorded as a node.

[0058] A tree-like topology mobile ad hoc network is constructed by electing the node with the strongest signal strength as the cluster head. The remaining nodes listen to beacon frames from other nodes, identify potential uplink nodes based on received signal strength, and select one to connect to, creating a cluster. In this example, the member drones elect the node with the strongest signal strength as the cluster head. The remaining nodes listen to beacon frames from other nodes and determine the RRSI (Return Rate Signal Indicator) to form multiple potential uplink nodes. Based on the uplink node's hierarchy and the number of existing downlink nodes, they select a potential uplink node to connect to. If the RRSI in the beacon frame falls below a preset threshold, the uplink node is replaced. Nodes in this network can change uplink nodes in real time based on actual conditions.

[0059] The cluster head is used as the relay master node to communicate with the ground control console, receive control instructions from the ground station through the cluster head, and issue control instructions to all members of the UAV formation.

[0060] The cluster head receives the status information of all member drones and the status information of the detected target drone and transmits it back to the ground control console.

[0061] As can be seen, the network ultimately forms a tree topology. The cluster head acts as a relay master node to transmit data to and from the ground station. The cluster head receives control commands from the ground station and issues them to all member drones in the formation. The cluster head drone also receives status information from all member drones and detected target drones and transmits it back to the ground control station. In addition, the network can also implement multi-hop routing transmission using a tree topology. If the current node is not sending a message to a neighboring node, a multi-hop search is performed to find the target node.

[0062] The mobile ad hoc network drone experimental teaching system provided by the present invention includes a ground control console, member drones, and a target drone (or target mobile object). The ground control console includes a data transmission module, a data analysis module, a positioning module, and a user interface module. The user interface module includes a main interface, a first sub-interface, a second sub-interface, and a third sub-interface. The main interface displays the entirety of the member drones and the target drone; the first sub-interface displays the entirety of the view from a single member drone; the second sub-interface displays the altitude and azimuth of a single member drone; and the third sub-interface displays the network topology status of the member drones. The member drones utilize a mesh mobile ad hoc network, employing a cluster-managed tree topology. A cluster head member drone is selected through elections, and the remaining node member drones dynamically form a network. Uplink node member drones can be replaced in real time based on environmental changes. Member drones can temporarily join or leave, and multi-hop routing data forwarding can be achieved. The ground control console communicates with the cluster head member drones via the data transmission module, using the cluster head as a relay to issue control commands to all member drones in the formation. The cluster head receives status information from all member drones, including altitude, speed, magnetic bearing, network status, and attributes, and transmits it back to the ground control console via the data transmission module. Member drones can also automatically identify target drones, analyze their status information, including altitude, speed, magnetic north, and relative bearing, and relay it back to the ground control console via the cluster head drone. Data received via the data transmission module is analyzed by the data analysis module and displayed on a specific screen in the user interface. This system intuitively demonstrates the technical principles of mobile ad hoc networks and the dynamic changes in nodes through the interface, and monitors and displays the status of member drones and target drones in real time. This system enhances the versatility of experimental teaching of mobile ad hoc networks using drones. It also provides interfaces for further development, facilitating students' continued research and demonstrating high scalability.

[0063] like Figure 9 As shown, the following is an embodiment of the control method of the mobile ad hoc network drone experimental teaching system provided by the embodiment of the present disclosure. The control method and the mobile ad hoc network drone experimental teaching system of the above embodiments belong to the same inventive concept. For details not fully described in the embodiment of the control method of the mobile ad hoc network drone experimental teaching system, please refer to the embodiment of the above mobile ad hoc network drone experimental teaching system.

[0064] A control method for a mobile ad hoc network unmanned aerial vehicle experimental teaching system includes the following steps: S1: The ground control console communicates with the member drones through the data transmission module, issues control instructions to the drone formation based on the member drones, performs flight control and mobile ad hoc networking of the drone formation, and receives status information of all member drones.

[0065] S2: The UAV formation uses a Mesh mobile ad hoc network with a tree topology based on cluster management for communication. The member UAVs detect the status information of the target UAV and send it to the ground control console.

[0066] In a specific implementation, each member drone in the drone formation is first recorded as a node; then the node with the strongest signal strength is elected as the cluster head, and the remaining nodes determine the potential uplink node based on the received signal strength by listening to the beacon frames of other nodes, and select a potential uplink node for connection to generate a mobile ad hoc network with a tree topology.

[0067] At this time, the cluster head is used as the relay master node to communicate with the ground control console, receive control instructions from the ground station through the cluster head, and issue control instructions to all member drones in the formation; finally, the cluster head receives the status information of all member drones and the status information of the detected target drones, and transmits it back to the ground control console.

[0068] S3: Through the ground control console, the status information of member drones and target drones is analyzed and sorted, and the relative position information of member drones and target drones, as well as network status information, are displayed in real time.

[0069] The control method of the mobile ad hoc network UAV experimental teaching system provided in this embodiment realizes the flight control of the UAV formation, the real-time analysis and display of the mobile ad hoc network and status information, and improves the efficiency and effect of UAV experimental teaching.

[0070] Figure 10 A schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0071] The control method for the mobile ad hoc network drone experimental teaching system provided in the embodiments of the present application can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure involved in the embodiments of the present invention does not constitute a limitation of the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or arrange the components differently. In the embodiments of the present invention, the electronic device includes but is not limited to laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described and / or claimed herein.

[0072] The electronic device may include a processor, an external memory interface, an internal memory, a universal serial bus (USB) interface, a charging management module, a power management module, a battery, a wireless communication module, an audio module, a speaker, a microphone, a sensor module, a button, a camera, a display, and a SIM card interface, etc.

[0073] A processor may include one or more processing units, such as a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0074] The processor can be the nerve center and command center of the electronic device. The controller can generate operation control signals based on the instruction opcode and timing signal to complete the control of instruction fetching and execution.

[0075] The processor may also include a memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or is reusing. If the processor needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0076] The external memory interface can be used to connect an external memory card, such as a MicroSD card, to expand the storage capacity of an electronic device. The external memory card communicates with the processor through the external memory interface, enabling data storage. For example, files such as music and videos can be stored on the external memory card.

[0077] Internal memory can be used to store computer-executable program code, which includes instructions. The processor executes the instructions stored in the internal memory to perform various functional applications and data processing of the electronic device. The internal memory can include a program storage area and a data storage area. The internal memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0078] The wireless communication function of an electronic device can be implemented through an antenna, a wireless communication module, a modem processor, and a baseband processor.

[0079] Wireless communication modules can provide wireless communication solutions for electronic devices, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), etc.

[0080] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0081] Electronic devices can achieve shooting functions through ISP, camera, video codec, GPU, display and application processor.

[0082] Electronic devices can achieve display functions through GPU, display screen and application processor.

[0083] A GPU is a microprocessor for image processing that connects the display screen to the application processor. It performs mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0084] The display screen is used to display images, videos, etc. The display screen includes a display panel.

[0085] The above-mentioned electronic equipment implements the control method of the mobile ad hoc network drone experimental teaching system of the present application by adopting a Mesh mobile ad hoc network communication method with a tree topology structure based on cluster management, and combining it with the comprehensive control and analysis of the ground control console, thereby achieving the beneficial effects of improving the flexibility of drone formation flight control, enhancing network communication efficiency and real-time performance, and optimizing the experimental teaching experience and effect.

[0086] The storage medium provided in this application stores a program product that can implement a control method for a drone experimental teaching system in a mobile ad hoc network.

[0087] The control method of the UAV experimental teaching system of mobile ad hoc network includes: the ground control console communicates with member UAVs through the data transmission module, issues control instructions to the UAV formation formed by the member UAVs, performs flight control and mobile ad hoc networking of the UAV formation, and receives status information of all member UAVs; the UAV formation adopts a Mesh mobile ad hoc network with a tree topology structure based on cluster management for communication, detects the status information of the target UAV through the member UAVs, and sends it to the ground control console; the ground control console analyzes and organizes the status information of the member UAVs and the target UAV, and displays the relative position information of the member UAVs and the target UAV, as well as the network status information, in real time.

[0088] In some possible implementations, the control method of the mobile ad hoc network drone experimental teaching system disclosed herein can be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of this specification.

[0089] The storage medium of the present disclosure can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0090] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mobile ad hoc network drone experimental teaching system, characterized by: include: Ground control console, crew drone, target drone; the ground control console includes a data transmission module; The ground control console communicates with the member drones through the data transmission module, and is used to issue control instructions to the drone formation formed based on the member drones to perform flight control and mobile ad hoc networking of the drone formation, and receive status information of all member drones; The member drones are used to detect the status information of the target drone and send it to the ground control console; the drone formation uses a Mesh mobile ad hoc network with a tree topology structure based on cluster management for communication; The ground control console is used to analyze and organize the status information of the member drones and the target drone, and display the relative position information of the member drones and the target drone, as well as the networking status information in real time.

2. The UAV experimental teaching system of mobile ad hoc network according to claim 1 is characterized in that: The ground control console also includes: a data analysis module, a positioning module, and a user interface module; The data analysis module is used to classify, organize and analyze the status information of the member drones and the target drone, and display it in real time on a specific screen in the user interface module; the status information of the member drones includes: altitude, speed, magnetic bearing, networking status, and attributes; the status information of the target drone includes: altitude, speed, relative bearing, and attributes; The positioning module is used to select a positioning method according to the current environment of the ground control console, and determine the relative position information of the member drone and the target drone according to the status information of the member drone and the target drone; The user interface module is used to provide an overall display screen of the member drones and the target drone, an overall display screen from the perspective of a single member drone, an altitude and azimuth display screen of a single member drone, and an overall networking status display screen of the member drones.

3. The UAV experimental teaching system of mobile ad hoc network according to claim 2 is characterized in that: The positioning module is specifically used to: When the ground control console is in an indoor environment, the UBW positioning method is used to determine the relative position information of the member drone and the target drone based on the status information of the member drone and the target drone; When the ground control console is in an outdoor environment, GPS or Beidou positioning is used to determine the relative position information of the member drones and the target drone based on the status information of the member drones and the target drone.

4. The UAV experimental teaching system of mobile ad hoc network according to claim 3 is characterized in that: The user interface module includes a main interface, a first sub-interface, a second sub-interface and a third sub-interface; The main interface is used to display the number of member drones, the number of online drones, the number of offline drones, the area range, and the attributes, magnetic position, speed and altitude of the current member drone or target drone in a standard orientation; The first interface is used to display the magnetic position, speed and altitude of the current member drone, the number of member drones, the number of target drones, and the network status based on the flight heading of the current member drone; and the relative position, attributes, speed, altitude of the remaining member drones and the target drones in the interface, as well as the relative position information with respect to the current member drone; The second interface is used to provide a member UAV altitude display screen and a azimuth display screen, and display a warning message when the member UAV's actual altitude is lower than the minimum warning altitude; The third interface is used to display the network topology diagram of the member drones in real time.

5. The UAV experimental teaching system of mobile ad hoc network according to claim 4 is characterized in that: The UAV formation uses a Mesh mobile ad hoc network with a tree topology structure based on cluster management for communication, including: In a drone formation, each member drone is recorded as a node; The node with the strongest signal strength is elected as the cluster head through election. The remaining nodes listen to the beacon frames of other nodes, determine the potential uplink node according to the received signal strength, and select a potential uplink node to connect to, thus forming a tree-like topology mobile ad hoc network. The cluster head is used as the relay master node to communicate with the ground control console, receive control instructions from the ground console through the cluster head, and issue control instructions to all members of the UAV formation; The cluster head receives the status information of all member drones and the status information of the detected target drone and transmits it back to the ground control console.

6. The UAV experimental teaching system of mobile ad hoc network according to claim 5 is characterized in that: The remaining nodes determine potential uplink nodes according to received signal strength by listening to beacon frames of other nodes, and select a potential uplink node for connection, including: The remaining nodes listen to the beacon frames of other nodes to determine the RRSI situation and form multiple potential uplink nodes; Each node selects the potential upstream node with the lowest level or the least number of downstream nodes for connection based on the level of the upstream node and the number of existing downstream nodes.

7. A control method for a mobile ad hoc network drone experimental teaching system, characterized in that: The control method adopts the UAV experimental teaching system of the mobile ad hoc network as claimed in any one of claims 1 to 6; The control method includes: The ground control console communicates with the member drones through the data transmission module, issues control instructions to the drone formation based on the member drones, performs flight control and mobile ad hoc networking of the drone formation, and receives status information of all member drones; The UAV formation uses a Mesh mobile ad hoc network with a tree topology based on cluster management for communication. The member UAVs detect the status information of the target UAV and send it to the ground control console. Through the ground control console, the status information of member drones and target drones is analyzed and sorted, and the relative position information of member drones and target drones, as well as network status information, are displayed in real time.

8. The control method of the UAV experimental teaching system of the mobile ad hoc network according to claim 7 is characterized in that: The UAV formation uses a Mesh mobile ad hoc network with a tree topology structure based on cluster management for communication, including: In a drone formation, each member drone is recorded as a node; The node with the strongest signal strength is elected as the cluster head through election. The remaining nodes listen to the beacon frames of other nodes, determine the potential uplink node according to the received signal strength, and select a potential uplink node to connect to, thus forming a tree-like topology mobile ad hoc network. The cluster head is used as the relay master node to communicate with the ground control console, receive control instructions from the ground console through the cluster head, and issue control instructions to all members of the UAV formation; The cluster head receives the status information of all member drones and the status information of the detected target drone and transmits it back to the ground control console.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the control method of the mobile ad hoc network drone experimental teaching system according to any one of claims 7 to 8 are implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method of the mobile ad hoc network drone experimental teaching system as claimed in any one of claims 7 to 8 are implemented.

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