Communication method and device between unmanned aerial vehicles based on redundant link, equipment and medium

Abstract

The invention provides an inter-unmanned aerial vehicle communication method and device based on redundant links, equipment and a medium, the method is used for communication among multiple unmanned aerial vehicles, multiple data transmission links are arranged between every two unmanned aerial vehicles, and the method comprises the following steps: responding to received data sent by a sender unmanned aerial vehicle through the multiple data transmission links, and sending the data to the sender unmanned aerial vehicle through the multiple data transmission links; selecting a target data transmission link from the plurality of data transmission links based on a preset decision algorithm; the data sent by the plurality of data transmission links is the same data sent by the unmanned aerial vehicle of the sender after time synchronization; judging whether data sent through the target data transmission link has packet loss or not; and taking the data sent by the target data transmission link as target data in response to the fact that the data sent by the target data transmission link does not have packet loss. According to the communication method and device between the unmanned aerial vehicles based on the redundant link, the equipment and the medium provided by the invention, the communication stability and the flight safety in multi-vehicle cooperative control can be improved.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) communication technology, and further relates to a method, apparatus, device and medium for UAV-to-UAV communication based on redundant links. Background Technology

[0002] With the continuous development of unmanned aerial vehicle (UAV) control technology and the low-altitude economy, UAVs are widely used in air transport, commercial performances, disaster relief, and other fields due to their high speed, flexible operation, and lack of environmental restrictions. Many enterprises and universities have launched research in this area. However, communication technology between multiple UAVs in multi-UAV collaborative control still faces many challenges.

[0003] Current multi-drone communication typically uses a single mesh network, operating in the 1300MHz-1500MHz frequency band. This network is susceptible to electromagnetic interference, leading to link instability and increasing the difficulty of multi-drone collaborative operation. For example, using a single mesh network results in packet loss when system throughput is insufficient, preventing timely exchange of critical information such as position coordinates and flight attitude, thus affecting autonomous collaborative capabilities. Furthermore, if the mesh line of a single drone breaks, the entire multi-drone collaboration will malfunction, potentially leading to collisions and other safety incidents.

[0004] Therefore, using a single mesh network for communication can affect the communication stability and flight safety in multi-aircraft collaborative control under complex and dynamic environments. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, device and medium for inter-UAV communication based on redundant links, so as to improve communication stability and flight safety in multi-UAV collaborative control.

[0006] A first aspect of this application provides a method for inter-UAV communication based on redundant links, used for communication between multiple UAVs, wherein multiple data transmission links are set between every two UAVs, and the method includes: In response to receiving data transmitted by the sending drone through multiple data transmission links, a target data transmission link is selected from the multiple data transmission links based on a preset decision algorithm; the data transmitted by the multiple data transmission links is the same data transmitted by the sending drone after time synchronization; Determine whether there is packet loss in the data sent through the target data transmission link; In response to the absence of packet loss in the data transmitted through the target data transmission link, the data transmitted through the target data transmission link is taken as the target data.

[0007] A second aspect of this application provides an inter-UAV communication device based on redundant links for communication between multiple UAVs, wherein multiple data transmission links are provided between every two UAVs, and the device includes: The link selection module is used to select a target data transmission link from multiple data transmission links based on a preset decision algorithm when it receives data transmitted by the sending drone through multiple data transmission links; the data transmitted by multiple data transmission links is the same data transmitted by the sending drone after time synchronization; The judgment module is used to determine whether there is packet loss in the data sent through the target data transmission link; The data processing module is used to treat the data sent through the target data transmission link as the target data in response to the absence of packet loss.

[0008] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the above-described inter-UAV communication method based on redundant links.

[0009] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described inter-UAV communication method based on redundant links.

[0010] The beneficial effects of the UAV inter-UAV communication method, apparatus, device, and medium based on redundant links provided in this application are as follows: The embodiments provided in this application are used for communication between multiple drones. Multiple data transmission links are established between every two drones, and each data transmission link can transmit data independently. The sending drone transmits the same data to the receiving drone through multiple different data transmission links. The receiving drone's communication system can select a target data transmission link from among the multiple data transmission links according to a preset decision algorithm, and use the data transmitted through that target data transmission link as the target data. This method of simultaneously sending and receiving data through multiple different links avoids the situation where, under a single link, if the link is abnormally disconnected, the data between drones directly connected to that link cannot be synchronized, affecting multi-drone collaborative control and potentially leading to safety accidents such as drone collisions.

[0011] In addition, this embodiment selects the target data transmission link from multiple data transmission links through a preset decision algorithm. This method of determining the target data transmission link through a preset decision algorithm each time data is received ensures that the received data is the most reliable and improves the communication stability of multi-machine collaborative control. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A flowchart illustrating an embodiment of the inter-UAV communication method based on redundant links provided in this application; Figure 2 A schematic diagram of a communication system structure for inter-UAV communication based on redundant links, provided as an embodiment of this application; Figure 3 A structural block diagram of an inter-UAV communication device based on redundant links provided in an embodiment of this application; Figure 4 This is a schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0014] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0015] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0016] In a mesh network composed of multiple drones and ground stations, any node can communicate with each other; that is, each drone in the mesh network can communicate with the ground station, and each drone can communicate with each other. This application presents a redundant link-based inter-drone communication method for realizing communication between drones in a mesh network. This method can be executed by the redundant link-based drone communication device of this application, which can be configured in an electronic device. Furthermore, this device is applied to the communication system of drones.

[0017] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of a UAV communication method based on redundant links provided in this application. The method is used for communication between multiple UAVs, with multiple data transmission links set between each pair of UAVs. The method includes steps S101 to S103.

[0018] S101: In response to receiving data sent by the sending drone through multiple data transmission links, select a target data transmission link from the multiple data transmission links based on a preset decision algorithm; the data sent by the multiple data transmission links is the same data sent by the sending drone after time synchronization.

[0019] In this embodiment, multiple data transmission links are established between each pair of drones, and these links can operate simultaneously to transmit data between the two drones. These multiple data transmission links may include a first-band Wi-Fi link, a second-band Wi-Fi link, and a third-band mesh link. Each pair of drones corresponding to a link in each band is equipped with a transceiver module for that band. In this embodiment, the three data transmission links operate independently. If one link fails, the others can still transmit data completely to the receiving drone, improving the reliability of communication between drones.

[0020] For example, refer to Figure 2 The two drones are designated as Drone 0 and Drone 1. Three data transmission links are established between Drone 0 and Drone 1: a 5.8GHz Wi-Fi mesh link, a 2.4GHz Wi-Fi mesh link, and a 1.4GHz mesh link, respectively. Drone 0 is equipped with transceiver modules for the 5.8GHz, 2.4GHz, and 1.4GHz bands, and similarly, Drone 1 is equipped with transceiver modules for the same frequency bands. The two drones can exchange data via these multiple data transmission links to maintain communication and coordinate control. The data transmitted through these links represents the same data sent by the sending drone after time synchronization. The specific frequency bands of the first, second, and third frequency band Wi-Fi links are not limited to those mentioned above, and other frequency bands can be selected as needed.

[0021] In this embodiment, multiple drones are in the same mesh network, and multiple drones can connect to the same ground station. Each drone can also communicate with the ground station through a 1.4G mesh link.

[0022] In response to receiving data transmitted by a drone through multiple data transmission links, a target data transmission link can be selected from these links based on a preset decision algorithm. This decision algorithm can be a multi-criteria optimal link matching algorithm. This algorithm requires acquiring link quality evaluation indicators that affect the stability of the data transmission links, assigning weights to each indicator, and then performing a weighted average of the indicator values ​​for each data transmission link to obtain a comprehensive evaluation value. The data transmission link with the highest comprehensive evaluation value is then selected as the target data transmission link. Using the method described in this embodiment to select the target data transmission link results in more reliable and secure data transmission.

[0023] S102: Determine whether there is packet loss in the data sent through the target data transmission link.

[0024] In this embodiment, the UAV's communication system may include a data receiving unit and a data processing unit. When the data receiving unit receives data sent from the target data transmission link, it needs to determine whether the data is lost. If no packet loss occurs, the data can be directly sent as target data to the system's internal data processing unit for subsequent data processing. If packet loss occurs, the lost data needs to be completed before sending it to the system's internal data processing unit for further data processing. By determining whether packet loss occurs, it can be ensured that the data processed by the system's internal data processing unit is intact, enabling better collaborative control between the two UAVs.

[0025] S103: In response to the absence of packet loss in the data transmitted through the target data transmission link, the data transmitted through the target data transmission link is taken as the target data.

[0026] In this embodiment, if there is no packet loss in the data sent through the target data transmission link, the data receiving unit of the communication system can take the data sent through the target data transmission link as the target data and send the data to the data processing unit inside the system for subsequent processing.

[0027] The embodiments provided in this application are used for communication between multiple drones. Multiple data transmission links are established between every two drones, and each data transmission link can transmit data independently. The sending drone transmits the same data to the receiving drone through multiple different data transmission links. The receiving drone's communication system can select a target data transmission link from among the multiple data transmission links according to a preset decision algorithm, and use the data transmitted by that target data transmission link as the target data. This method of simultaneously sending and receiving data through multiple different links can solve the problem of data synchronization failure between drones directly connected to a single link when a single link is abnormally disconnected, affecting multi-drone collaborative control and potentially leading to safety accidents such as drone collisions.

[0028] In addition, this embodiment selects a target data transmission link from multiple data transmission links using a preset decision algorithm. If no packet loss occurs on the target data transmission link, the data transmitted by that link is directly used as the target data for subsequent processing. This method of determining the target data transmission link through a preset decision algorithm each time data is received ensures that the received data is the most reliable, improving the communication stability of multi-machine collaborative control.

[0029] In one embodiment of this application, the inter-UAV communication method based on redundant links further includes: In response to packet loss in the data sent through the target data transmission link, the data sent from multiple data transmission links are merged to obtain merged data; the merged data is deduplicated, and the deduplicated data is used as the target data.

[0030] In this embodiment, even if a target data transmission link is selected from multiple links in a complex environment with high electromagnetic interference, it cannot be guaranteed that the data received through that target data transmission link will not be lost. If packet loss occurs, because the sending UAV can synchronize the same data in time and transmit it through multiple data transmission links, the receiving UAV's communication system can fuse the data sent from multiple data transmission links, remove duplicate data packets from the fused data, and obtain the final target data for subsequent operations.

[0031] As can be seen from the above, when it is determined that there is packet loss in the data sent through the target data transmission link, the data transmitted by multiple data transmission links can be merged according to the timestamp, duplicate data packets can be removed, and the reliability of data transmission between multiple machines can be guaranteed.

[0032] In one embodiment, selecting a target data transmission link from multiple data transmission links based on a preset decision algorithm includes: Obtain the link quality evaluation index for each data transmission link in multiple data transmission links; Input the link quality evaluation indicators into the preset decision model to calculate the comprehensive evaluation value of each data transmission link; The target data transmission link is selected based on the comprehensive evaluation value of each data transmission link.

[0033] In this embodiment, the link quality evaluation metrics are used to evaluate the quality of each data transmission link, including Received Signal Strength Indicator (RSSI), Signal-to-Noise Ratio (SNR), Channel Duty Cycle (CDN), Packet Loss Rate (LOSS), Communication Delay (DELAY), and Communication Outage Count (COC). RSSI indicates signal strength; SNR indicates signal interference; CDN indicates current link bandwidth utilization, i.e., congestion; LOSS indicates whether data packets are lost, directly reflecting the link's communication quality; DELAY indicates data transmission rate; and COC is the number of communication outages, used to determine whether communication is frequently interrupted or whether communication requirements are met.

[0034] The link quality evaluation indicators are input into a preset decision model to calculate the comprehensive evaluation value of each data transmission link. The preset decision model in this embodiment differs from traditional decision models. Traditional models assign a pre-set static weight to each evaluation indicator, which remains unchanged during the decision-making process, resulting in poor adaptability to dynamic environments. In this embodiment, the weights of the preset decision model are updated based on link environment information to obtain the comprehensive evaluation value of each data transmission link according to real-time link environment information. Based on the comprehensive evaluation value of each data transmission link, the data transmission link with the highest comprehensive evaluation value can be selected as the target data transmission link.

[0035] For example, the overall evaluation value of each link can be calculated using the following formula:

[0036] Where i represents the i-th data transmission link, This represents the overall evaluation value of the i-th data transmission link. These represent the weights corresponding to RSSI, SNR, CDN, DELAY, LOSS, and COC, respectively. , , , , and These represent the quantized values ​​of the received signal strength, signal-to-noise ratio, link load rate, communication delay, packet loss rate, and number of communication interruptions corresponding to the i-th data transmission link, respectively.

[0037] This embodiment calculates the comprehensive evaluation value of each data transmission link by inputting the link quality evaluation index into a preset decision model, thereby qualitatively determining the target data transmission link and making the selection of the target data transmission link more accurate.

[0038] In one embodiment, link quality evaluation metrics are divided into static and dynamic metrics. Static metrics are those with constant weights, meaning their weights remain unchanged when calculating the overall evaluation value of the data transmission link. Examples include RSSI and SNR, two crucial metrics in communication systems, which are affected by distance, environment, obstruction, and interference. Using these two metrics together provides a comprehensive assessment of the data transmission link's performance. Setting them as dynamic metrics could lead to flawed decision-making; therefore, this embodiment uses static metrics. Dynamic metrics, on the other hand, have their weights change dynamically when calculating the overall evaluation value of the data transmission link, such as CDN, LOSS, DELAY, and COC. Optionally, there can be six link quality evaluation metrics. RSSI and SNR are static metrics, whose weights are not adjusted by the system, using fixed weights K1 and K2 respectively. Link load rate and communication latency reflect current link transmission rate and other performance characteristics, and are dynamic metrics, using dynamic weights K3 and K4 respectively. Packet loss rate and the number of communication interruptions reflect the stability of the communication link and are also dynamic evaluation indicators. The system uses dynamic weights K5 and K6 respectively to adjust its communication strategy in an interference-free environment. This application is not limited to this; the number and specific indicators of link quality evaluation indicators can be appropriately adjusted according to the actual situation. After determining the specific indicators, it is then determined whether each indicator is a static or dynamic evaluation indicator, and corresponding weights are assigned to the specific indicators.

[0039] The inter-UAV communication method based on redundant links provided in this application also includes: The weights of dynamic evaluation indicators are determined and adjusted based on real-time link environment information and flight mission information.

[0040] In one embodiment, determining and adjusting the weights of dynamic evaluation indicators based on real-time link environment information and flight mission information includes: Determine the environmental interference index based on link environment information; In response to an environmental disturbance index exceeding a preset environmental disturbance threshold, dynamic evaluation indicators are screened to obtain at least one adjustable evaluation indicator, and the weights corresponding to the at least one adjustable evaluation indicator are adjusted. In response to an environmental interference index being less than or equal to a preset environmental interference threshold, at least one adjustment evaluation index is determined from the dynamic evaluation indicators based on flight mission information, and the weights corresponding to the at least one adjustment evaluation index are adjusted.

[0041] In this embodiment, the link environment information refers to the degree of environmental interference affecting the link, and an environmental interference index is determined based on this information. When the environmental interference index exceeds a preset environmental interference threshold, it indicates that the link environment influences the weights of the dynamic evaluation indicators. At least one adjustment evaluation indicator can be selected from all dynamic evaluation indicators, and its corresponding weight can be adjusted. For example, when the environmental interference index exceeds the preset threshold, to ensure stable communication links and prevent packet loss, the communication system can select packet loss rate and the number of communication interruptions as dynamic evaluation indicators, and increase the weights corresponding to these two indicators.

[0042] When the environmental interference index is less than or equal to the preset environmental interference threshold, it indicates that the communication environment is excellent and there are no strong interference sources. In order to improve the real-time performance of the link, the communication system can select the dynamic evaluation index of communication delay and increase the weight of the corresponding index.

[0043] In one embodiment, flight mission information includes the amount of mission transmission data; based on the flight mission information, at least one adjustable evaluation indicator is determined among the dynamic evaluation indicators, and the weights corresponding to the at least one adjustable evaluation indicator are dynamically adjusted to obtain the target weight, including: Based on the comparison between the amount of data transmitted in the task and the preset threshold, at least one adjustable evaluation index is determined among the dynamic evaluation indicators, and the weights corresponding to the at least one adjustable evaluation index are dynamically adjusted to obtain the target weight.

[0044] In this embodiment, flight mission information includes mission environment, mission duration, and mission data transmission volume. When the UAV's mission data transmission volume exceeds a preset threshold, the data transmission volume can be marked as 1, and the link load rate can be determined as an adjustment evaluation indicator. When the UAV's mission data transmission volume is less than or equal to the preset threshold, the data transmission volume can be marked as 0, and communication latency can be determined as an adjustment evaluation indicator. For example, when the UAV's mission data transmission volume exceeds the preset threshold, considering load balancing and avoiding exceeding the maximum bandwidth of the link, the link load rate can be selected as an adjustment evaluation indicator, and the weight corresponding to this evaluation indicator can be increased. When the UAV's mission data transmission volume is less than or equal to the preset threshold, considering real-time communication, communication latency can be selected as an adjustment evaluation indicator, and the weight corresponding to this evaluation indicator can be increased.

[0045] As can be seen from the above, this embodiment generates an environmental interference index based on real-time link environment information. When the environmental interference index exceeds a preset environmental interference threshold, anti-interference related indicators are prioritized to improve the system's reliability in complex environments. When the environmental interference index is not greater than the preset environmental interference threshold, the weights corresponding to the indicators are adjusted based on the amount of data transmitted in the task, making the comprehensive evaluation value more closely match the task objective and avoiding evaluation bias caused by fixed weights.

[0046] In one embodiment, selecting a target data transmission link based on the comprehensive evaluation value of each data transmission link includes: The comprehensive evaluation value of each data transmission link is corrected based on the sliding window algorithm to obtain the corrected comprehensive evaluation value of each data transmission link. The target data transmission link is selected based on the corrected comprehensive evaluation value of each data transmission link.

[0047] In this embodiment, to avoid the unpredictable impact of sudden factors, the system can adjust the comprehensive evaluation value of each data transmission link based on a sliding window algorithm. The sliding window algorithm formula is as follows: .

[0048] Where i represents the i-th data transmission link, T represents the window size, t represents the current time, and k represents the k-th time point; This represents the average of the comprehensive evaluation values ​​over the past T time points; This represents the comprehensive evaluation value of the data transmission link at time tk.

[0049] The comprehensive evaluation value of each data transmission link is corrected by using the sliding window algorithm to obtain the corrected comprehensive evaluation value of each data transmission link. Then, the target data transmission link is selected based on the corrected comprehensive evaluation value of each data transmission link. This can ensure the smoothness and stability of link switching, and prevent network latency and instability caused by frequent link switching.

[0050] In this embodiment, during multi-drone cooperative flight, communication stability is the most critical factor in ensuring that the drones can promptly report their flight attitude and share their position coordinates. To avoid frequent link switching in dynamic environments, one embodiment of this application provides a method for selecting a target data transmission link based on a comprehensive evaluation value of each data transmission link, including: The difference between the current maximum comprehensive evaluation value and the comprehensive evaluation value of the historical best link is compared with a preset threshold; the historical best link is determined based on the historical best feedback correction method; the historical best link can be the data transmission link with the highest historical comprehensive evaluation value the most times.

[0051] If the difference is greater than the preset threshold, the data transmission link corresponding to the current largest comprehensive evaluation value will be used as the target data transmission link; if the difference is less than or equal to the preset threshold, the historical best link will be used as the target data transmission link.

[0052] In another embodiment, if the comprehensive evaluation value of each data transmission link is corrected based on the sliding window algorithm, then selecting the target data transmission link based on the corrected comprehensive evaluation value of each data transmission link includes: The difference between the current largest corrected comprehensive evaluation value and the corrected comprehensive evaluation value of the historical best link is compared with a preset threshold; the historical best link is determined based on the historical best feedback correction method; the historical best link can be the data transmission link with the largest number of historical comprehensive evaluation values.

[0053] If the difference is greater than the preset threshold, the data transmission link corresponding to the current largest corrected comprehensive evaluation value will be used as the target data transmission link; if the difference is less than or equal to the preset threshold, the historical best link will be used as the target data transmission link.

[0054] In this embodiment, before each link switch, the data transmission link with the highest comprehensive evaluation value (or the data transmission link with the highest corrected comprehensive evaluation value) is first determined. Then, the comprehensive evaluation value (or corrected comprehensive evaluation value) of this link is subtracted from the comprehensive evaluation value of the historical best link (the historical best link is the link that has been selected as the best data transmission link the most times). If the difference is greater than a preset threshold, the data transmission link with the highest calculated comprehensive evaluation value (or the data transmission link with the highest corrected comprehensive evaluation value) is selected as the target data transmission link for this switch. If the condition that the difference is greater than the preset threshold is not met, the historical best link is selected as the target data transmission link for this switch. This embodiment can reduce the frequency of link switching and reduce the risk of communication interruption.

[0055] The UAV communication method based on redundant links provided in the above embodiments of this application is applied to the communication system of UAVs and is suitable for communication between multiple UAVs. The data transmitted through this communication method can be data used for UAV flight control. The UAV's communication system communicates with the flight control system, and the flight control system uses the data transmitted by the communication system for multi-UAV collaborative control. However, this application is not limited to this; the data transmitted through this communication method can also be other data, and can be appropriately adjusted according to actual needs.

[0056] Corresponding to the UAV communication method based on redundant links in the above embodiment, Figure 3 This is a structural block diagram of an inter-UAV communication device based on redundant links, provided as an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. References Figure 3 The UAV communication device 20 based on redundant links is used for communication between multiple UAVs. Multiple data transmission links are set between each pair of UAVs. The device 20 includes: a link selection module 21, a judgment module 22 and a data processing module 23.

[0057] The link selection module 21 is used to select a target data transmission link from the multiple data transmission links based on a preset decision algorithm in response to receiving data sent by the sending drone through multiple data transmission links; the data sent by the multiple data transmission links is the same data sent by the sending drone after time synchronization; The judgment module 22 is used to determine whether there is packet loss in the data sent through the target data transmission link; Data processing module 23 is used to treat the data sent through the target data transmission link as target data in response to the absence of packet loss in the data sent through the target data transmission link.

[0058] In one embodiment of this application, the inter-UAV communication device 20 based on redundant links further includes a data fusion module. The data fusion module is used to fuse data sent from multiple data transmission links in response to packet loss in data sent through the target data transmission link to obtain fused data; and to perform deduplication processing on the fused data, using the deduplicated data as the target data.

[0059] In one embodiment of this application, the multiple data transmission links include: a first frequency band Wi-Fi link, a second frequency band Wi-Fi link, and a third frequency band mesh link.

[0060] In one embodiment of this application, the link selection module 21 is specifically used for: Obtain the link quality evaluation index for each data transmission link in multiple data transmission links; Input the link quality evaluation indicators into the preset decision model to calculate the comprehensive evaluation value of each data transmission link; The target data transmission link is selected based on the comprehensive evaluation value of each data transmission link.

[0061] In one embodiment of this application, the link quality evaluation indicators include: static evaluation indicators and dynamic evaluation indicators. The UAV inter-UAV communication device 20 based on redundant links also includes a weight adjustment module, which is used to determine and adjust the weights of the dynamic evaluation indicators based on real-time link environment information and flight mission information.

[0062] In one embodiment of this application, the weight adjustment module is specifically used for: Determine the environmental interference index based on link environment information; In response to an environmental disturbance index exceeding a preset environmental disturbance threshold, dynamic evaluation indicators are screened to obtain at least one adjustable evaluation indicator, and the weights corresponding to the at least one adjustable evaluation indicator are adjusted. In response to an environmental interference index being less than or equal to a preset environmental interference threshold, at least one adjustment evaluation index is determined from the dynamic evaluation indicators based on flight mission information, and the weights corresponding to the at least one adjustment evaluation index are adjusted.

[0063] In one embodiment of this application, when the link selection module 21 selects a target data transmission link based on the comprehensive evaluation value of each data transmission link, it is specifically used for: The comprehensive evaluation value of each data transmission link is corrected based on the sliding window algorithm to obtain the corrected comprehensive evaluation value of each data transmission link. The target data transmission link is selected based on the corrected comprehensive evaluation value of each data transmission link.

[0064] In one embodiment of this application, when the link selection module 21 selects a target data transmission link based on the corrected comprehensive evaluation value of each data transmission link, it is specifically used for: The difference between the current maximum corrected comprehensive evaluation value and the corrected comprehensive evaluation value of the historical best link is compared with a preset threshold; the historical best link is determined based on the historical best feedback correction method. If the difference is greater than the preset threshold, the data transmission link corresponding to the current largest corrected comprehensive evaluation value will be used as the target data transmission link. If the difference is less than or equal to a preset threshold, the best historical link will be used as the target data transmission link.

[0065] In one embodiment of this application, when the link selection module 21 selects a target data transmission link based on the comprehensive evaluation value of each data transmission link, it is specifically used for: The difference between the current maximum comprehensive evaluation value and the comprehensive evaluation value of the historical best link is compared with a preset threshold; the historical best link is determined based on the historical best feedback correction method. If the difference is greater than the preset threshold, the data transmission link corresponding to the current largest comprehensive evaluation value will be used as the target data transmission link. If the difference is less than or equal to a preset threshold, the best historical link will be used as the target data transmission link.

[0066] In summary, the UAV inter-UAV communication method and apparatus based on redundant links provided in this application can bring the following beneficial effects: 1) Improve communication stability between UAVs: Multiple data transmission links send and receive data simultaneously, and through time synchronization and data fusion technology, the data received by the communication system is always stable and complete, which improves the communication stability of multi-UAV collaborative control.

[0067] 2) Enhanced adaptability: In the embodiments of this application, each pair of drones is connected by multiple data transmission links. When a single link or multiple links (less than the total number of data transmission links between the two drones) are interfered with, causing the communication connection to be unstable or disconnected, the two drones can still maintain smooth communication.

[0068] 3) Reduce link switching frequency: The embodiments of this application correct the comprehensive evaluation value of each data transmission link by using a sliding window algorithm based on historical smoothing weights, and then select the target data transmission link based on the corrected comprehensive evaluation value of each data transmission link, which can reduce the link switching frequency and reduce the risk of communication interruption between drones.

[0069] 4) Enhanced scalability: The multiple data transmission links provided in this application embodiment all belong to decentralized mesh networking. When the number of drones increases, the newly added drones can communicate normally with other drones.

[0070] 5) Enhanced environmental adaptability: The embodiments of this application can determine and adjust the weights of dynamic evaluation indicators based on real-time link environment information and flight mission information, ensuring that the target data transmission link selected under different conditions is stable and reliable, thereby enhancing the environmental adaptability of the communication system.

[0071] The UAV communication method and apparatus based on redundant links provided in this application are applicable to scenarios of multi-aircraft collaborative control, including but not limited to multi-aircraft transportation, formation performances, and disaster relief. When used for multi-aircraft transportation, in addition to the beneficial effects described above, it also solves the problem of poor single-aircraft transportation capacity and increases the payload of air transport.

[0072] See Figure 4 , Figure 4 This is a schematic block diagram of an electronic device provided according to an embodiment of this application. Figure 4The electronic device 300 in this embodiment may include a memory 304, a processor 301, and a computer program stored in the memory 304 and running on the processor 301. When the processor 301 executes the computer program, it implements the steps of the method in the above-described method embodiments. Specifically, the electronic device 300 may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memory 304 stores a computer program, which includes program instructions. The processor 301 executes the program instructions stored in the memory 304. The processor 301 is configured to invoke the program instructions to perform the functions of each module / unit in the above-described device embodiments, for example... Figure 3 The functions of the link selection module 21, the judgment module 22, and the data processing module 23 are shown.

[0073] It should be understood that, in the embodiments of this application, the processor 301 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0074] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0075] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory.

[0076] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of this application can execute the implementation methods described in the UAV communication method based on redundant links provided in the embodiments of this application, or they can execute the implementation methods of the electronic devices described in the embodiments of this application, which will not be repeated here.

[0077] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the methods described in the above embodiments. Specifically, the computer program includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described in the above embodiments. Alternatively, the computer program can instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0078] The computer-readable storage medium can be an internal storage unit of the electronic device in any of the foregoing embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the electronic device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the electronic device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0079] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the electronic devices and units described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules, units, or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces or modules / units, or it may be an electrical, mechanical, or other form of connection.

[0082] The modules / units described as separate components may or may not be physically separate. Similarly, the components shown as modules / units may or may not be physical modules / units; they may be located in one place or distributed across multiple network modules / units. Some or all of the modules / units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0083] Furthermore, the functional modules / units in the various embodiments of this application can be integrated into one processing module / unit, or each module / unit can exist physically separately, or two or more modules / units can be integrated into one module / unit. The integrated modules / units described above can be implemented in hardware or in the form of software functional modules / units.

[0084] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for inter-UAV communication based on redundant links, characterized in that, For communication between multiple drones, with multiple data transmission links established between every two drones, the method includes: In response to receiving data transmitted by the sending drone through multiple data transmission links, a target data transmission link is selected from the multiple data transmission links based on a preset decision algorithm; the data transmitted by the multiple data transmission links is the same data transmitted by the sending drone after time synchronization; Determine whether there is packet loss in the data sent through the target data transmission link; In response to the absence of packet loss in the data transmitted through the target data transmission link, the data transmitted through the target data transmission link is taken as the target data.

2. The method as described in claim 1, characterized in that, The method further includes: In response to packet loss in the data transmitted through the target data transmission link, the data transmitted through the multiple data transmission links are fused to obtain fused data; The fused data is deduplicated, and the deduplicated data is used as the target data.

3. The method as described in claim 1, characterized in that, The multiple data transmission links include: a first frequency band Wi-Fi link, a second frequency band Wi-Fi link, and a third frequency band mesh link.

4. The method according to any one of claims 1-3, characterized in that, The selection of the target data transmission link from the multiple data transmission links based on the preset decision algorithm includes: Obtain the link quality evaluation index for each of the multiple data transmission links; The link quality evaluation index is input into a preset decision model to calculate the comprehensive evaluation value of each data transmission link; The target data transmission link is selected based on the comprehensive evaluation value of each data transmission link.

5. The method as described in claim 4, characterized in that, The link quality evaluation indicators include: static evaluation indicators and dynamic evaluation indicators, and the method further includes: The weights of the dynamic evaluation indicators are determined and adjusted based on real-time link environment information and flight mission information. The process of determining and adjusting the weights of the dynamic evaluation indicators based on real-time link environment information and flight mission information includes: The environmental interference index is determined based on the link environment information. In response to the environmental interference index being greater than a preset environmental interference threshold, the dynamic evaluation indicators are screened to obtain at least one adjustment evaluation indicator, and the weights corresponding to the at least one adjustment evaluation indicator are adjusted. In response to the environmental interference index being less than or equal to a preset environmental interference threshold, at least one adjustment evaluation index is determined among the dynamic evaluation indicators based on the flight mission information, and the weights corresponding to the at least one adjustment evaluation index are adjusted.

6. The method as described in claim 4, characterized in that, The selection of the target data transmission link based on the comprehensive evaluation value of each data transmission link includes: The comprehensive evaluation value of each data transmission link is corrected based on the sliding window algorithm to obtain the corrected comprehensive evaluation value of each data transmission link. The target data transmission link is selected based on the corrected comprehensive evaluation value of each data transmission link; The selection of the target data transmission link based on the corrected comprehensive evaluation value of each data transmission link includes: The difference between the current maximum corrected comprehensive evaluation value and the corrected comprehensive evaluation value of the historical best link is compared with a preset threshold; the historical best link is determined based on the historical best feedback correction method. If the difference is greater than the preset threshold, the data transmission link corresponding to the current largest corrected comprehensive evaluation value will be used as the target data transmission link. If the difference is less than or equal to the preset threshold, the historical best link will be used as the target data transmission link.

7. The method as described in claim 4, characterized in that, The selection of the target data transmission link based on the comprehensive evaluation value of each data transmission link includes: The difference between the current maximum comprehensive evaluation value and the comprehensive evaluation value of the historical best link is compared with a preset threshold; the historical best link is determined based on the historical best feedback correction method. If the difference is greater than the preset threshold, then the data transmission link corresponding to the current largest comprehensive evaluation value will be used as the target data transmission link. If the difference is less than or equal to the preset threshold, the historical best link will be used as the target data transmission link.

8. An inter-UAV communication device based on redundant links, characterized in that, For communication between multiple drones, with multiple data transmission links established between each pair of drones, the device includes: The link selection module is used to select a target data transmission link from the multiple data transmission links based on a preset decision algorithm in response to receiving data transmitted by the sending drone through multiple data transmission links; the data transmitted by the multiple data transmission links is the same data transmitted by the sending drone after time synchronization; The judgment module is used to determine whether there is packet loss in the data sent through the target data transmission link; The data processing module is used to, in response to the absence of packet loss in the data transmitted through the target data transmission link, treat the data transmitted through the target data transmission link as the target data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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