Information communication method and device for multiple unmanned platforms

Abstract

The invention discloses an information communication method and device for multiple unmanned platforms, the method is realized by using a communication terminal and a communication module arranged on each unmanned platform, and the method comprises the following steps: the communication module transmits a detection signal, and angle information of the communication terminal is obtained through measurement; based on the measured angle information, the communication module sends a transmission signal to the communication terminal; and after receiving the transmission signal, the communication terminal sends the transmission signal to the communication module of the target unmanned platform.

Description

Technical Field

[0001] The present invention relates to the fields of unmanned cluster technology and information processing, and in particular to an information communication method and device for multiple unmanned platforms. Background Art

[0002] With the widespread application of unmanned platforms such as drones and autonomous vehicles in emergency rescue and environmental monitoring, the demand for collaborative operations among multiple unmanned platforms is growing. In complex scenarios, unmanned platforms need to use communication terminals to achieve information exchange and task coordination. Existing unmanned platform communication methods have the following problems:

[0003] 1. Poor communication link stability:

[0004] Traditional omnidirectional communication methods have dispersed signals and are susceptible to interference over long distances or in complex electromagnetic environments, leading to communication interruptions. For example, mountainous areas or urban areas with dense buildings can cause severe signal obstruction and multipath fading, affecting the reliability of information transmission.

[0005] 2. Low angle measurement accuracy:

[0006] Existing angle estimation methods (such as those based on received signal strength indicator (RSSI)) are significantly affected by environmental noise and have insufficient resolution, making them difficult to meet the requirements of high-precision directional communication. This is especially true when multiple unmanned platforms are operating collaboratively in close proximity, where insufficient angle discrimination can lead to signal crosstalk.

[0007] 3. Low resource utilization:

[0008] Omnidirectional transmission consumes significant energy and fails to fully utilize spectrum resources. Given the limited battery capacity of unmanned platforms, this severely limits operational time and coverage. When multiple communication terminals are involved, existing technologies struggle to accurately track and distinguish their positions simultaneously, making simultaneous multi-target communication impossible. Summary of the Invention

[0009] The present invention mainly solves the problems of poor communication link stability, low angle measurement accuracy and low resource utilization faced in the communication process of existing unmanned platforms. The present invention discloses an information communication method and device for multiple unmanned platforms.

[0010] In a first aspect, an embodiment of the present invention discloses an information communication method for multiple unmanned platforms, which is implemented using a communication terminal and a communication module provided on each unmanned platform, including:

[0011] S1, the communication module transmits a detection signal and measures the angle information of the communication terminal;

[0012] S2, based on the measured angle information, the communication module sends a transmission signal to the communication terminal;

[0013] S3, the communication terminal receives the transmission signal, and sends the transmission signal to the communication module of the target unmanned platform.

[0014] The communication module emits a detection signal to measure the angle information of the communication terminal, including:

[0015] S11, the communication module pulse-modulates the ID information of the unmanned platform where the communication module is located to obtain a detection signal;

[0016] S12, the communication module sends the detection signal to the communication terminal;

[0017] S13, the communication terminal performs omnidirectional transmission on the received detection signal;

[0018] S14, the communication module performs bearing measurement processing on the received detection signal sent by the communication terminal to obtain the angle information of the communication terminal.

[0019] The expression of the detection signal f(t) is:

[0020]

[0021] Wherein, d i is the modulation data on the i-th branch, which is also the i-th data of the ID information of the unmanned platform where the communication module is located, N is the total number of data contained in the ID information, ψ i (t) represents the i-th modulation pulse, and all modulation pulses and the synchronization pulse ψ p (t) are time-domain parallel and frequency-domain separated, T s is the time-domain width of the modulation pulse.

[0022] The communication module performs bearing measurement processing on the received detection signal sent by the communication terminal to obtain the angle information of the communication terminal, including:

[0023] S141, the communication module receives a set of received signals corresponding to the detection signal sent by the communication terminal using an array antenna; the set of received signals includes received signals received by each antenna of the array antenna;

[0024] S142, the set of received signals is discretely sampled to obtain a received matrix;

[0025] S143, the received matrix is subjected to angle estimation processing to obtain the angle information of the communication terminal.

[0026] The received matrix is subjected to angle estimation processing to obtain the angle information of the communication terminal, including:

[0027] S1431, performing feature transformation on the receiving matrix to obtain a transformation matrix;

[0028] S1432, performing feature extraction on the transformation matrix to obtain a feature matrix;

[0029] S1433, constructing an angle estimation model based on the feature matrix;

[0030] S1434: Solve the angle estimation model to obtain angle information of the communication terminal.

[0031] The communication module sending a transmission signal to the communication terminal based on the measured angle information includes:

[0032] S21, performing statistical calculations on the angle information measured at all times to obtain a set of statistical characteristic values;

[0033] S22, obtaining information to be transmitted; the information to be transmitted includes the ID information of the target unmanned platform;

[0034] S23, performing modulation processing on the information to be transmitted based on the statistical characteristic value set to obtain a transmission signal;

[0035] S24, based on the average value of the angle information measured at all times, controlling the directional pattern of the array antenna of the communication module to point to the average value of the angle information;

[0036] S25, the communication module uses the array antenna to send the transmission signal to the communication terminal.

[0037] The expression for the statistical calculation process is:

[0038]

[0039] Among them, Aε is the amplitude statistic value, and θ0 are the mean of the estimated values ​​of the pitch angle and the azimuth angle measured at all times, respectively. t is the time variable, T s is the time domain width of the modulated pulse, χ is the phase statistics, θ i and are the estimated values ​​of azimuth and elevation measured at the i-th moment, N1 is the number of estimated values ​​of azimuth, θ max is the maximum value of the estimated values ​​of all azimuth angles, and ω is the variance of the estimated values ​​of all elevation angles.

[0040] In a second aspect of an embodiment of the present invention, an information communication device for multiple unmanned platforms is disclosed, the device comprising:

[0041] a memory storing executable program code;

[0042] a processor coupled to the memory;

[0043] The processor calls the executable program code stored in the memory to execute the information communication method for multiple unmanned platforms.

[0044] According to a third aspect of an embodiment of the present invention, a computer-storable medium is disclosed, wherein the computer-storable medium stores computer instructions. When the computer instructions are called by a computer, the computer instructions are used to execute the information communication method for multiple unmanned platforms.

[0045] According to a fourth aspect of an embodiment of the present invention, an information data processing terminal is disclosed, which is used to implement the information communication method for multiple unmanned platforms.

[0046] The beneficial effects of the present invention are:

[0047] The present invention uses directional transmission and reception via an array antenna (steps S2 and S3) to concentrate signal energy in the target direction, enhancing the main link signal strength and significantly improving communication range and anti-interference capabilities. Directional communication reduces energy consumption from omnidirectional radiation and extends the flight time of unmanned platforms, making them particularly suitable for long-duration missions. A pulse design with time-domain parallelism and frequency-domain separation enables efficient multiplexing of ID information and synchronization signals, improving spectrum utilization.

[0048] The angle information is collected (step S143) and the beam direction is adjusted dynamically to compensate for the angle deviation caused by platform movement or environmental changes and maintain stable communication. The angle estimation model of eigendecomposition is adopted (steps S1431-S1434) to break through the resolution limitation of traditional methods, achieve sub-beam width angle measurement accuracy, and support densely deployed multi-platform collaboration. Azimuth measurement is performed using pulse signals separated in the frequency domain to reduce interference between signals and further improve the accuracy of angle estimation. The angle estimation model can process signals from multiple communication terminals at the same time (step S143), and combine multi-beam technology to achieve one-to-many communication to meet the needs of cluster operations.

[0049] Modulating the unmanned platform's ID information into the spread-spectrum pulse reduces the probability of interception by non-cooperative parties and improves communication security. Precise addressing is achieved through the target ID information (included in the transmitted message), ensuring accurate transmission to the target unmanned platform. The pulse waveform (ellipsoidal or Gaussian) can be flexibly selected to suit different frequency bands and propagation environments, enhancing system adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 4 is an implementation flow chart of the method of the present invention. DETAILED DESCRIPTION

[0051] In order to better understand the content of the present invention, an embodiment is given here.

[0052] Figure 1 4 is an implementation flow chart of the method of the present invention.

[0053] In a first aspect, an embodiment of the present invention discloses an information communication method for multiple unmanned platforms, which is implemented using a communication terminal and a communication module provided on each unmanned platform, including:

[0054] S1, the communication module transmits a detection signal and measures the angle information of the communication terminal;

[0055] S2, based on the measured angle information, the communication module sends a transmission signal to the communication terminal;

[0056] S3, after receiving the transmission signal, the communication terminal sends the transmission signal to the communication module of the target unmanned platform.

[0057] The communication terminal is used to transmit information with the communication module on each unmanned platform.

[0058] The communication module transmits a detection signal and measures angle information of the communication terminal, including:

[0059] S11, the communication module pulse-modulates the ID information of the unmanned platform to obtain a detection signal;

[0060] S12, the communication module sends the detection signal to the communication terminal;

[0061] S13, the communication terminal transmits the received detection signal omnidirectionally;

[0062] S14, the communication module performs azimuth measurement processing on the received detection signal sent by the communication terminal to obtain angle information of the communication terminal.

[0063] The expression of the detection signal f(t) is:

[0064]

[0065] Among them, d i is the modulated data on the i-th branch, which is also the i-th data of the ID information of the unmanned platform where the communication module is located. N is the total number of data contained in the ID information, ψ i (t) represents the i-th modulation pulse, all modulation pulses and synchronization pulse ψ p (t) is parallel in time domain and separated in frequency domain, T s is the time domain width of the modulated pulse. i (t) and ψp (t) Both ellipsoidal wave pulses and Gaussian pulses can be used.

[0066] The detection signal f(t) is expressed using frequency-domain separated orthogonal pulses (such as ellipsoidal waves or Gaussian pulses). This prevents interference between different branch signals, improving robustness against multipath fading and noise. The unmanned platform ID is modulated into the pulse signal, using spread spectrum technology to reduce the probability of interception and enhance communication security. Independent synchronization pulses ensure accurate timing alignment at the receiving end, reducing frame synchronization errors. Parallel transmission of multiple data branches in the time domain enables high-speed ID information transmission within a limited bandwidth.

[0067] The communication terminal transmits the received detection signal omnidirectionally, and the communication terminal uses a horizontal omnidirectional antenna to transmit the received detection signal omnidirectionally.

[0068] The communication module performs azimuth measurement processing on the received detection signal sent by the communication terminal to obtain angle information of the communication terminal, including:

[0069] S141: A communication module receives, using an array antenna, a set of received signals corresponding to a detection signal sent by a communication terminal; the set of received signals includes a received signal received by each antenna of the array antenna;

[0070] S142, discretely sampling the received signal set to obtain a receiving matrix;

[0071] S143: Perform angle estimation processing on the receiving matrix to obtain angle information of the communication terminal.

[0072] The discrete sampling of the received signal set to obtain the received matrix is ​​to discretely sample each received signal of the received signal set to obtain a corresponding discrete signal; and all the discrete signals are used as row vectors to construct the received matrix.

[0073] The performing angle estimation processing on the receiving matrix to obtain angle information of the communication terminal includes:

[0074] S1431, performing feature transformation on the receiving matrix to obtain a transformation matrix;

[0075] S1432, performing feature extraction on the transformation matrix to obtain a feature matrix;

[0076] S1433, constructing an angle estimation model based on the feature matrix;

[0077] S1434: Solve the angle estimation model to obtain angle information of the communication terminal.

[0078] The communication module sending a transmission signal to the communication terminal based on the measured angle information includes:

[0079] Perform statistical calculations on the angle information measured at all times to obtain a set of statistical eigenvalues;

[0080] Acquire information to be transmitted; the information to be transmitted includes the ID information of the target unmanned platform;

[0081] Based on the statistical characteristic value set, modulating the information to be transmitted to obtain a transmission signal;

[0082] Based on the average value of the angle information measured at all times, controlling the directional pattern of the array antenna of the communication module to point to the average value of the angle information;

[0083] The communication module uses an array antenna to send the transmission signal to the communication terminal.

[0084] The expression for the statistical calculation process is:

[0085]

[0086] Among them, Aε is the amplitude statistic value, and θ0 are the mean of the estimated values ​​of the pitch angle and the azimuth angle measured at all times, respectively. t is the time variable, T s is the time domain width of the modulated pulse, χ is the phase statistics, θ i and are the estimated values ​​of azimuth and elevation measured at the i-th moment, N1 is the number of estimated values ​​of azimuth, θ max is the maximum value of the estimated values ​​of all azimuth angles, and ω is the variance of the estimated values ​​of all elevation angles.

[0087] For the calculation of amplitude statistics, exponentially weighted integration is used to increase the weight of recent angle measurements, enabling the system to respond more quickly to target motion and making it suitable for highly maneuverable unmanned platform scenarios. The denominator t suppresses early noise accumulation and improves statistical stability over long time series. Angle fluctuation suppression uses the mean pitch and azimuth angles as a benchmark to smooth random measurement errors and reduce beam jitter. Time domain resource optimization matches the integral upper limit with the modulation pulse width to ensure synchronization of the statistical process with the signal transmission period and avoid redundant calculations. The anti-interference robustness integral operation has a natural smoothing effect on short-term burst interference (such as pulse noise), improving the reliability of angle estimation in complex electromagnetic environments.

[0088] For the calculation of phase statistics, we use θ i -θ max, highlighting the outlier angles, combined with the amplification effect of the denominator at small angle differences, quickly identifying and suppressing outliers. The exponential term adaptively adjusts the pitch angle weight based on the variance, attenuating the measured values ​​that exceed the normal fluctuation range, and using the sine function in θ i The derivative characteristic at ≈θ0 improves the ability to distinguish between close angles and is suitable for dense multi-target scenarios. Phase statistics can be used as a beamwidth control parameter: when the phase statistics are large (angle fluctuations are large), the beam is automatically widened to increase the capture probability; otherwise, the beam is tightened to improve gain.

[0089] The expression of the transmission signal is:

[0090]

[0091] Among them, S(t) represents the transmission signal, p(t) represents the modulated pulse waveform, and the pulse width is T s , Aε is the amplitude statistic, also represents the pulse amplitude, T f Indicates the length of each frame, c j The jth data representing the ID information of the target unmanned platform, T c represents the unit time shift length, and M1 represents the total number of data of the ID information of the target unmanned platform.

[0092] The step of extracting features from the transformation matrix to obtain a feature matrix includes:

[0093] Selecting a row vector in the receiving matrix corresponding to the earliest received signal in the received signal set as a reference signal vector; performing feature transformation on the reference signal vector to obtain a reference vector;

[0094] Recursively calculating the reference vector and the transformation matrix to obtain a signal characteristic matrix and a noise characteristic matrix;

[0095] A feature matrix is ​​constructed using the signal feature matrix and the noise feature matrix.

[0096] The recursive calculation of the reference vector and the transformation matrix to obtain a signal feature matrix and a noise feature matrix includes:

[0097] Calculate the cross-correlation vector between the reference vector d0(k) and the row vector of the transformation matrix make Let i = 1, 2, 3, ..., 6M, and perform the forward recursive operation in a loop:

[0098]

[0099] X i (k) = X i-1 (k)-h i di (k),

[0100] wherein h i is the sparse vector obtained by the i-th recursion, d i (k) is the reference vector obtained by the i-th recursion, X i (k) is the row vector of the transformation matrix obtained by the i-th recursion.

[0101] The signal subspace U S and the noise subspace U N are calculated as follows:

[0102] U S = span{h1, h2, …, h p+2},

[0103] U N = span{h p+3 , h p+4 , …, h M},

[0104] wherein p is the number of antennas included in the array antenna, and M is the length of the sparse vector.

[0105] The angle estimation model is constructed based on the characteristic matrix, comprising:

[0106]

[0107]

[0108] wherein, is the antenna direction vector, whose value is determined by the relative position of the antenna corresponding to each non-reference signal vector and the antenna corresponding to the reference signal vector, and are the first characteristic quantity and the second characteristic quantity, respectively, denote the estimated value of the azimuth angle and the estimated value of the elevation angle, respectively. The angle information of the communication terminal comprises the estimated value of the azimuth angle and the estimated value of the elevation angle.

[0109] The cross-correlation vector is obtained by cross-correlation calculation on the spliced vector of the reference vector and all row vectors of the transformation matrix.

[0110] The solving of the angle estimation model can adopt a numerical optimization algorithm, such as Gauss-Seidel iteration algorithm.

[0111] The average value of the angle information measured at all times is used to control the directional pattern of the array antenna of the communication module to point to the average value of the angle information. Based on the average value, a beamforming algorithm can be used to generate a weighting factor of the array antenna of the communication module. Based on the weighting factor, the output signal of the array antenna is weighted and summed so that the directional pattern of the array antenna of the communication module points to the average value of the angle information.

[0112] After receiving the transmission signal, the communication terminal sends the transmission signal to the communication module of the target unmanned platform, including:

[0113] After receiving the transmission signal, the communication terminal demodulates the transmission signal to obtain the ID information of the target unmanned platform, and sends the transmission signal to the communication module of the target unmanned platform.

[0114] The feature transformation is to perform feature transformation on each row vector of the receiving matrix to obtain a corresponding transformation vector, and to construct a transformation matrix using all the transformation vectors.

[0115] The feature transformation may adopt wavelet transformation or empirical mode decomposition transformation.

[0116] The ID information is identity identification information.

[0117] In a second aspect of an embodiment of the present invention, an information communication device for multiple unmanned platforms is disclosed, the device comprising:

[0118] a memory storing executable program code;

[0119] a processor coupled to the memory;

[0120] The processor calls the executable program code stored in the memory to execute the information communication method for multiple unmanned platforms.

[0121] According to a third aspect of an embodiment of the present invention, a computer-storable medium is disclosed, wherein the computer-storable medium stores computer instructions. When the computer instructions are called by a computer, the computer instructions are used to execute the information communication method for multiple unmanned platforms.

[0122] According to a fourth aspect of an embodiment of the present invention, an information data processing terminal is disclosed, which is used to implement the information communication method for multiple unmanned platforms.

[0123] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for information communication between multiple unmanned platforms, characterized in that: This is achieved using a communication terminal and a communication module installed on each unmanned platform, including: S1, the communication module transmits a detection signal and measures the angle information of the communication terminal; S2, based on the measured angle information, the communication module sends a transmission signal to the communication terminal; S3, after receiving the transmission signal, the communication terminal sends the transmission signal to the communication module of the target unmanned platform.

2. The information communication method for multiple unmanned platforms according to claim 1, characterized in that: The communication module transmits a detection signal and measures angle information of the communication terminal, including: S11, the communication module pulse-modulates the ID information of the unmanned platform to obtain a detection signal; S12, the communication module sends the detection signal to the communication terminal; S13, the communication terminal transmits the received detection signal omnidirectionally; S14, the communication module performs azimuth measurement processing on the received detection signal sent by the communication terminal to obtain angle information of the communication terminal.

3. The information communication method for multiple unmanned platforms according to claim 2, characterized in that: The expression of the detection signal f(t) is: Among them, d i is the modulated data on the i-th branch, which is also the i-th data of the ID information of the unmanned platform where the communication module is located. N is the total number of data contained in the ID information, ψ i (t) represents the i-th modulation pulse, all modulation pulses and synchronization pulse ψ p (t) is parallel in time domain and separated in frequency domain, T s is the time domain width of the modulated pulse.

4. The information communication method for multiple unmanned platforms according to claim 1, characterized in that: The communication module performs azimuth measurement processing on the received detection signal sent by the communication terminal to obtain angle information of the communication terminal, including: S141: A communication module receives, using an array antenna, a set of received signals corresponding to a detection signal sent by a communication terminal; the set of received signals includes a received signal received by each antenna of the array antenna; S142, discretely sampling the received signal set to obtain a receiving matrix; S143: Perform angle estimation processing on the receiving matrix to obtain angle information of the communication terminal.

5. The information communication method for multiple unmanned platforms according to claim 4, characterized in that: The performing angle estimation processing on the receiving matrix to obtain angle information of the communication terminal includes: S1431, performing feature transformation on the receiving matrix to obtain a transformation matrix; S1432, performing feature extraction on the transformation matrix to obtain a feature matrix; S1433, constructing an angle estimation model based on the feature matrix; S1434: Solve the angle estimation model to obtain angle information of the communication terminal.

6. The information communication method for multiple unmanned platforms according to claim 4, characterized in that: The communication module sending a transmission signal to the communication terminal based on the measured angle information includes: S21, performing statistical calculations on the angle information measured at all times to obtain a set of statistical characteristic values; S22, obtaining information to be transmitted; the information to be transmitted includes the ID information of the target unmanned platform; S23, performing modulation processing on the information to be transmitted based on the statistical characteristic value set to obtain a transmission signal; S24, based on the average value of the angle information measured at all times, controlling the directional pattern of the array antenna of the communication module to point to the average value of the angle information; S25, the communication module uses the array antenna to send the transmission signal to the communication terminal.

7. The information communication method for multiple unmanned platforms according to claim 6, characterized in that: The expression for the statistical calculation process is: Among them, Aε is the amplitude statistic value, and θ0 are the mean of the estimated values ​​of the pitch angle and the azimuth angle measured at all times, respectively. t is the time variable, T s is the time domain width of the modulated pulse, χ is the phase statistics, θ i and are the estimated values ​​of azimuth and elevation measured at the i-th moment, N1 is the number of estimated values ​​of azimuth, θ max is the maximum value of the estimated values ​​of all azimuth angles, and ω is the variance of the estimated values ​​of all elevation angles.

8. An information communication device for multiple unmanned platforms, characterized in that: The device comprises: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the information communication method for multiple unmanned platforms as described in any one of claims 1 to 7.

9. A computer storable medium, characterized in that The computer storable medium stores computer instructions, and when the computer instructions are called by a computer, they are used to execute the information communication method for multiple unmanned platforms as described in any one of claims 1 to 7.

10. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the information communication method for multiple unmanned platforms as described in any one of claims 1 to 7.

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