A multi-unmanned platform-oriented information communication method and device

Abstract

The application discloses a multi-unmanned platform-oriented information communication method and device, which is implemented by using a communication terminal and a communication module arranged on each unmanned platform and comprises the following steps: the communication module transmits a detection signal, and angle information of the communication terminal is measured; based on the measured angle information, the communication module transmits a transmission signal to the communication terminal; and after the communication terminal receives the transmission signal, the transmission signal is transmitted to the communication module of a target unmanned platform.

Description

Technical Field

[0001] This invention relates to the fields of unmanned swarm technology and information processing, specifically to an information communication method and apparatus for multiple unmanned platforms. Background Technology

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

[0003] 1. Poor communication link stability:

[0004] Traditional omnidirectional communication methods suffer from signal dispersion, making them susceptible to interference over long distances or in complex electromagnetic environments, leading to communication interruptions. For example, mountainous areas or urban building complexes 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 Indication (RSSI)) are greatly affected by environmental noise and have insufficient resolution, making it difficult to meet the requirements of high-precision directional communication. In particular, when multiple unmanned platforms are working together in close proximity, insufficient angle discrimination capability can lead to signal crosstalk.

[0007] 3. Low resource utilization rate:

[0008] Omnidirectional transmission consumes a large amount of energy and cannot fully utilize spectrum resources. Given the limited battery capacity of unmanned platforms, this severely restricts operational time and coverage. When multiple communication terminals are present, existing technologies struggle to simultaneously and accurately track and distinguish the location of each terminal, making multi-target parallel communication impossible. Summary of the Invention

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

[0010] In a first aspect, this invention discloses an information communication method for multiple unmanned platforms, implemented using a communication terminal and a communication module installed on each unmanned platform, comprising:

[0011] S1, the communication module transmits a detection signal to measure 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, after receiving the transmission signal, the communication terminal sends the transmission signal to the communication module of the target unmanned platform.

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

[0015] S11, The communication module performs pulse modulation on the ID information of the unmanned platform to obtain a detection signal;

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

[0017] S13, the communication terminal transmits the received detection signal in all directions;

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

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

[0020]

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

[0022] The communication module performs azimuth 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 uses an array antenna to receive a set of received signals corresponding to the detection signals sent by the communication terminal; the set of received signals includes the received signals received by each antenna of the array antenna;

[0024] S142, Discretely sample the received signal set to obtain the receiving matrix;

[0025] S143, perform angle estimation processing on the receiving matrix to obtain the angle information of the communication terminal.

[0026] The step of performing angle estimation processing on the received matrix to obtain the angle information of the communication terminal includes:

[0027] S1431, Perform feature transformation on the received matrix to obtain a transformation matrix;

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

[0029] S1433, Based on the feature matrix, an angle estimation model is constructed;

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

[0031] Based on the measured angle information, the communication module sends a transmission signal to the communication terminal, including:

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

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

[0034] S23, Based on the set of statistical feature values, the information to be transmitted is modulated to obtain a transmission signal;

[0035] S24, based on the average value of the angle information measured at all times, control the radiation 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 an array antenna to send the transmission signal to the communication terminal.

[0037] The expression for the statistical calculation is:

[0038]

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

[0040] A second aspect of the present invention discloses an information communication device for multiple unmanned platforms, the device comprising:

[0041] Memory containing 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] In a third aspect of this invention, a computer-storable medium is disclosed, wherein the computer-storable medium stores computer instructions, and when the computer instructions are invoked by a computer, they are used to execute the information communication method for multiple unmanned platforms.

[0045] A fourth aspect of the present invention discloses an information data processing terminal, which is used to implement the aforementioned information communication method for multiple unmanned platforms.

[0046] The beneficial effects of this invention are as follows:

[0047] This invention concentrates signal energy in the target direction through directional transmission and reception using an array antenna (steps S2 and S3), enhancing the main link signal strength and significantly improving communication distance and anti-interference capability. Directional communication reduces energy consumption from omnidirectional radiation, extending the endurance of unmanned platforms, making it particularly suitable for long-endurance missions. A time-domain parallel and frequency-domain separated pulse design enables efficient multiplexing of ID information and synchronization signals, improving spectrum utilization.

[0048] The system statistically analyzes angle information (step S143) and dynamically adjusts the beam direction to compensate for angle deviations caused by platform movement or environmental changes, maintaining stable communication. An angle estimation model based on eigenvalue decomposition (steps S1431-S1434) overcomes the resolution limitations of traditional methods, achieving sub-beamwidth angle measurement accuracy and supporting collaborative operation of densely deployed multi-platform systems. Frequency-domain separated pulse signals are used for azimuth measurement, reducing signal interference and further improving the accuracy of angle estimation. The angle estimation model can simultaneously process signals from multiple communication terminals (step S143), enabling one-to-many communication in conjunction with multi-beam technology, meeting the needs of cluster operations.

[0049] Modulating the unmanned platform ID information into a 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 information to be transmitted), ensuring accurate transmission of information to the target unmanned platform. The pulse waveform (elliptic spherical wave or Gaussian pulse) can be flexibly selected according to different frequency bands and propagation environments, enhancing system adaptability. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating the implementation of the method of the present invention. Detailed Implementation

[0051] To better understand the content of this invention, an embodiment is provided here.

[0052] Figure 1 This is a flowchart illustrating the implementation of the method of the present invention.

[0053] In a first aspect, this invention discloses an information communication method for multiple unmanned platforms, implemented using a communication terminal and a communication module installed on each unmanned platform, comprising:

[0054] S1, the communication module transmits a detection signal to measure 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 to measure the angle information of the communication terminal, including:

[0059] S11, The communication module performs pulse modulation on 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 in all directions;

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

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

[0064]

[0065] Where, d i This refers to the modulation data on the i-th branch, which is also the i-th data point in the ID information of the unmanned platform where the communication module is located. N is the total number of data points contained in the ID information, and ψ i (t) represents the i-th modulation pulse, and all modulation pulses and synchronization pulses ψ p (t) is time-domain parallel and frequency-domain separated, T s ψ represents the time-domain width of the modulation pulse. i (t) and ψp (t) can be either an ellipsoidal wave pulse or a Gaussian pulse.

[0066] The expression for the detection signal f(t) employs frequency-domain separated orthogonal pulses (such as ellipsoidal waves or Gaussian pulses), ensuring that signals from different branches do not interfere with each other, thus improving resistance to multipath fading and noise. The unmanned platform ID is modulated into the pulse signal, and spread spectrum technology is used to reduce the probability of interception, enhancing communication security. Independent synchronization pulses are used to ensure accurate timing alignment at the receiver, reducing frame synchronization errors; multiple data branches are transmitted in parallel in the time domain, achieving high-speed ID information transmission within a limited bandwidth.

[0067] The communication terminal transmits the received detection signal omnidirectionally by using a horizontal omnidirectional antenna.

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

[0069] S141, the communication module uses an array antenna to receive a set of received signals corresponding to the detection signals sent by the communication terminal; the set of received signals includes the received signals received by each antenna of the array antenna;

[0070] S142, Discretely sample the received signal set to obtain the receiving matrix;

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

[0072] The step of discretely sampling the received signal set to obtain the receiving matrix involves discretely sampling each received signal in the received signal set to obtain the corresponding discrete signal; and using all the discrete signals as row vectors, the receiving matrix is ​​constructed.

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

[0074] S1431, Perform feature transformation on the received matrix to obtain a transformation matrix;

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

[0076] S1433, Based on the feature matrix, an angle estimation model is constructed;

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

[0078] Based on the measured angle information, the communication module sends a transmission signal to the communication terminal, including:

[0079] Statistical calculations are performed on the angle information measured at all times to obtain a set of statistical characteristic values.

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

[0081] Based on the set of statistical feature values, the information to be transmitted is modulated to obtain a transmission signal;

[0082] Based on the average value of the angle information measured at all times, the radiation pattern of the array antenna of the communication module is controlled to point towards 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 is:

[0085]

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

[0087] For the calculation of amplitude statistics, exponentially weighted integration is used to enhance the weight of recent angle measurements, enabling the system to respond to target motion more quickly, which is 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 average pitch and azimuth angles as benchmarks to smooth random measurement errors and reduce beam jitter. Time-domain resource optimization matches the integration upper limit with the modulation pulse width to ensure that the statistical process is synchronized with the signal transmission cycle and avoids redundant calculations. Interference robustness integration has a natural smoothing effect on short-term sudden interference (such as impulse noise), improving the reliability of angle estimation in complex electromagnetic environments.

[0088] The calculation of phase statistics is performed using θ. i -θ maxThis approach highlights outlier angles and leverages the amplification effect of the denominator at small angle differences to quickly identify and suppress outliers. The exponential term adaptively adjusts the pitch angle weights based on variance, attenuating measurements exceeding normal fluctuation ranges. This is achieved through a sine function at θ. i The derivative characteristics at approximately θ0 improve the ability to distinguish between similar angles, making it suitable for dense multi-target scenes. The phase statistics can be used as a beamwidth control parameter: when the phase statistics are large (due to severe angle fluctuations), the beam is automatically widened to increase the acquisition probability; conversely, the beam is tightened to increase gain.

[0089] The expression for the transmitted signal is:

[0090]

[0091] Where S(t) represents the transmitted signal, p(t) represents the modulation pulse waveform, and the pulse width is T. s Aε is the amplitude statistics value, which also represents the pulse amplitude, T f c represents the duration of each frame. j T represents the j-th data point of the ID information of the target unmanned platform. c M1 represents the total number of ID information data for the target unmanned platform, where M represents the unit time shift length.

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

[0093] The row vector in the receiving matrix corresponding to the earliest received signal in the received signal set is selected as the reference signal vector; the reference signal vector is subjected to feature transformation to obtain the reference vector.

[0094] The reference vector and transformation matrix are recursively calculated to obtain the signal feature matrix and noise feature matrix;

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

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

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

[0098]

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

[0100] Among them, h i Let d be the sparse vector obtained by the i-th recursion. i (k) is the reference vector obtained from 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 is calculated. S and noise subspace U N :

[0102] U S =span{h1,h2,…,h p+2},

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

[0104] Where p is the number of antennas contained in the array antenna, and M is the length of the sparse vector;

[0105] The angle estimation model constructed based on the feature matrix includes:

[0106]

[0107]

[0108] in, This is the antenna direction vector, and its value is determined by the relative position of the antennas corresponding to each non-reference signal vector and the antennas corresponding to the reference signal vector. and These are the first feature quantity and the second feature quantity, respectively. These represent the estimated values ​​of the azimuth and elevation angles, respectively. The angle information of the communication terminal includes the estimated values ​​of the azimuth and elevation angles.

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

[0110] The angle estimation model can be solved using numerical optimization algorithms, such as the Gauss-Seidel iterative algorithm.

[0111] The radiation pattern of the array antenna of the communication module is controlled to point to the average value of the angle information measured at all times, based on the average value. A weighting factor for the array antenna of the communication module can be generated using a beamforming algorithm based on the average value. The output signal of the array antenna is weighted and summed based on the weighting factor, so that the radiation 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 ID information of the target unmanned platform from the transmission signal and sends the transmission signal to the communication module of the target unmanned platform.

[0114] The feature transformation is performed on each row vector of the received matrix to obtain the corresponding transformation vector, and the transformation matrix is ​​constructed using all the transformation vectors.

[0115] The feature transformation can be achieved using wavelet transform or empirical mode decomposition transform.

[0116] The ID information is for identity verification.

[0117] A second aspect of the present invention discloses an information communication device for multiple unmanned platforms, the device comprising:

[0118] Memory containing 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] In a third aspect of this invention, a computer-storable medium is disclosed, wherein the computer-storable medium stores computer instructions, and when the computer instructions are invoked by a computer, they are used to execute the information communication method for multiple unmanned platforms.

[0122] A fourth aspect of the present invention discloses an information data processing terminal, which is used to implement the aforementioned information communication method for multiple unmanned platforms.

[0123] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for information communication among 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 to measure the angle information of the communication terminal, including: S11, the communication module performs pulse modulation on the ID information of the unmanned platform to obtain a detection signal; the expression for the detection signal f(t) is: Where, d i This refers to the modulation data on the i-th branch, which is also the i-th data point in the ID information of the unmanned platform where the communication module is located. N is the total number of data points contained in the ID information, and ψ i (t) represents the i-th modulation pulse, and all modulation pulses and synchronization pulses ψ p (t) is time-domain parallel and frequency-domain separated, T s The time-domain width of the modulation pulse; S12, the communication module sends the detection signal to the communication terminal; S13, the communication terminal transmits the received detection signal in all directions; S14, the communication module performs azimuth measurement processing on the received detection signal sent by the communication terminal to obtain the angle information of the communication terminal, including: S141, the communication module uses an array antenna to receive a set of received signals corresponding to the detection signals sent by the communication terminal; the set of received signals includes the received signals received by each antenna of the array antenna; S142, Discretely sample the received signal set to obtain the receiving matrix; S143, perform angle estimation processing on the received matrix to obtain the angle information of the communication terminal, including: S1431, Perform feature transformation on the received matrix to obtain a transformation matrix; S1432, Perform feature extraction on the transformation matrix to obtain a feature matrix; S1433, Based on the feature matrix, an angle estimation model is constructed; S1434, Solve the angle estimation model to obtain 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, including: S21, Perform statistical calculations on the angle information measured at all times to obtain a set of statistical feature values; the expression for the statistical calculation is: Where Aε is the amplitude statistic. θ0 and θ0 are the mean values ​​of the estimated pitch angle and azimuth angle measured at all times, respectively, and t is the time variable, T s χ is the time-domain width of the modulation pulse, θ is the phase statistics, and θ is the phase width. i and Let θ be the estimated azimuth and elevation angles measured at time i, respectively, and N1 be the number of estimated azimuth angles. max ω represents the maximum value of all estimated azimuth angles, and ω represents the variance of all estimated pitch angles. S22, Obtain the information to be transmitted; the information to be transmitted includes the ID information of the target unmanned platform; S23, Based on the set of statistical feature values, the information to be transmitted is modulated to obtain a transmission signal; S24, based on the average value of the angle information measured at all times, control the radiation pattern of the array antenna of the communication module to point to the average value of the angle information; S25, the communication module uses an array antenna to send the 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. An information communication device for multiple unmanned platforms, characterized in that, The device includes: Memory containing 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 claim 1.

3. A computer-storable medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked by the computer, are used to execute the information communication method for multiple unmanned platforms as described in claim 1.

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