System and working method for fusion transmission of multiple communication links between unmanned aerial vehicle and low-altitude ground management and control platform
By integrating system design and multi-link data fusion strategy, the problem of balancing coverage and cost in UAV telemetry and control links is solved, achieving reliability and flexibility in UAV communication links, and making it suitable for small and medium-sized UAVs.
Patent Information
- Application Number
- CN202511296799.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-11
- Publication Date
- 2025-12-12
AI Technical Summary
Existing technologies cannot meet the needs of UAV telemetry and control links through a single communication link, making it difficult to balance coverage, cost, and reliability.
An integrated system design is adopted, combining multiple communication link modules (public network, private network, and satellite communication) and implementing link switching through data fusion strategies to ensure uninterrupted data transmission.
It improves the reliability and flexibility of the UAV telemetry and control link, enhances the safety and applicability of UAVs, and is suitable for small and medium-sized UAVs.
Smart Images
Figure CN121125871A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of satellite communication, and particularly relates to a system and a working method for multi-communication link fusion transmission between an unmanned aerial vehicle and a low-altitude ground control platform. BACKGROUND
[0002] Low-altitude economic unmanned aerial vehicle flight needs to configure a bidirectional measurement and control link between the unmanned aerial vehicle and the ground station to realize transmission of remote control instructions and telemetry information. The communication technologies that can be used to build the measurement and control link at present include satellite communication technology, public network 4G / 5G communication technology, and self-organizing private network communication technology, each of which has advantages and disadvantages, and therefore, effective use of multiple communication links can provide a stable and reliable measurement and control link for the unmanned aerial vehicle.
[0003] Satellite communication is a long-distance wireless communication between users on the ground, in the air or at sea by using an artificial earth satellite as a relay station, involving three key links of signal transmission, satellite relay and ground reception, and relying on the characteristics of electromagnetic wave propagation in free space. The advantage is large coverage, and the disadvantage is high cost. The communication satellites available for unmanned aerial vehicle measurement and control at present include Tianhong No. 1 and Beidou short message. The GW low-orbit constellation of Xingwang and the Qianfan low-orbit constellation of Yuanxin are currently in the network building stage. Tianhong No. 1 and Beidou short message are both based on a proprietary transmission protocol. The user access side of the two low-orbit constellations is based on the 3GPP 5G protocol. The data transmission capacity, transmission delay and use cost of each satellite are different. This will affect the availability and use of the link. The biggest advantage of satellite communication is that the coverage is much larger than that of ground-based communication networks, but due to the long distance and complex system, the use cost will also be much higher.
[0004] The public network 4G / 5G network is a communication network built by a telecommunications operator by laying 4G / 5G base stations and core networks based on the 3GPP protocol to provide mobile wireless services to the public. The advantage is large coverage and low cost, and the disadvantage is limited coverage height. The current telecommunications operators in China are China Mobile, China Telecom, China Unicom and China Radio. The network used by the public at present is mainly the 4G and 5G network. 5G-A is an enhanced version of 5G, and is also in the process of network building, with limited network size. The network coverage of the 4G network, 5G network and 5G-A network of each operator is different. The coverage height of a conventional 5G base station is below 120 meters, and the 5G-A base station is specially enhanced in function and the antenna beam is upward to cover an altitude of about 300 meters. The altitude covered by the public network signal cannot cover all the air space altitudes used by the low-altitude economy.
[0005] The self-organizing private network technology is a technology for providing wireless network access services for designated users by using devices based on a private transmission protocol to realize wireless signal coverage in a specific range. The advantages are controllable coverage and low use cost, and the disadvantages are high network construction cost and difficulty in obtaining frequency authorization. Since it is a self-communication protocol, the device is also a dedicated device. The network coverage and the coverage of a single set of devices are related to the number of devices deployed. Since the network structure is not as complex as the public network, the network performance is also weaker than that of the public network 4G or 5G, so the cost of a single set of devices is lower than that of a public network base station. However, the network coverage range is usually larger than that of a single base station, and the network coverage height can cover the airspace height used by low-altitude economy.
[0006] The characteristics of each link determine that a single link cannot meet all the needs of the unmanned aerial vehicle measurement and control link, so this determines the necessity of using multiple links for the unmanned aerial vehicle measurement and control link. SUMMARY
[0007] The present application aims to reduce the weight and volume of various types of unmanned aerial vehicle (large / middle / small) airborne equipment applied to low-altitude economy by proposing an integrated system design architecture, thereby increasing the types of unmanned aerial vehicles that can be used as terminals, and enabling various types of unmanned aerial vehicles to have basic multi-link capabilities.
[0008] The present application also aims to realize uninterrupted data transmission and reception of basic data when switching between multiple communication links by proposing a link data fusion strategy. By simultaneously transmitting and receiving data through multiple links, the link utilization rate and transmission reliability can be improved.
[0009] The present application also uses low-altitude communication navigation and surveillance infrastructure serving low-altitude economy to enable the airborne equipment and ground equipment to be not directly matched, thereby increasing flexibility and applicability.
[0010] The technical solutions adopted by the present application are as follows:
[0011] The present application provides a system for multiple communication link fusion transmission between unmanned aerial vehicles and low-altitude ground control platforms, comprising: an unmanned aerial vehicle flight control module, an unmanned aerial vehicle perception sensor module, airborne equipment, low-altitude communication equipment, low-altitude ground control platform equipment, and a low-altitude ground control platform.
[0012] The unmanned aerial vehicle flight control module is used to receive flight control instructions and convert the instructions into signals to drive the motor, control the motor to start, rotate and stop to drive the propeller to rotate.
[0013] The unmanned aerial vehicle perception sensor module is used to perceive the environment around the unmanned aerial vehicle and output perception information to the airborne equipment.
[0014] The airborne equipment includes n communication link modules and one data fusion / decision module, n is a positive integer, the communication link module is used for realizing data transceiving of at least one communication mode of public network, private network and satellite communication, and the same airborne equipment includes multiple same type but different implementation mode communication link modules; the data fusion / decision module is used for generating heartbeat packet, receiving heartbeat packet, fusing multi-link received data, generating multi-link sending data, and generating flight control instruction according to the fused remote control instruction and outputting to the unmanned aerial vehicle flight control module;
[0015] The low-altitude communication equipment includes public network 4G / 5G ground network deployed by a telecom operator, self-built low-altitude private network ground network, various communication satellites and satellite internet constellation, and is used for providing communication link resources between the unmanned aerial vehicle and the low-altitude ground control platform.
[0016] The low-altitude ground control platform equipment includes m communication link modules and one data fusion module, m is a positive integer, the communication link module covers all communication modes supported by the low-altitude communication equipment, and multiple different implementation mode modules are included under the same communication mode; the data fusion module is used for generating heartbeat packet, receiving heartbeat packet, fusing multi-link received data, and generating multi-link sending data.
[0017] The low-altitude ground control platform is used for providing service data to the unmanned aerial vehicle and receiving telemetry information transmitted by the unmanned aerial vehicle.
[0018] Further, the number and type of the n communication link modules in the airborne equipment are configured according to actual needs, and the configuration mode includes at least one of the following: one public network communication link module, one private network communication link module and one satellite communication link module; two public network communication link modules, one private network communication link module and one satellite communication link module; two public network communication link modules and one satellite communication link module.
[0019] Further, the communication link modules in the low-altitude ground control platform equipment cover all possible implementation modes of public network, private network and satellite communication, and the module number m satisfies m >= n.
[0020] The application also provides a working method applied to multi-communication link fusion transmission between an unmanned aerial vehicle and a low-altitude ground control platform, including an airborne equipment working process S1 and a low-altitude ground control platform equipment working process S2.
[0021] The airborne equipment working process S1 includes the following steps:
[0022] S11: The airborne equipment is powered on, and the communication link modules attached thereto are powered on synchronously;
[0023] S12: The data fusion / decision module schedules two communication link modules to initiate network access;
[0024] S13: After network access is completed, the data fusion / decision module generates matching telemetry data packets based on the performance differences of each link, and sends the telemetry data to two communication link modules, which then send the telemetry data to the low-altitude ground control platform.
[0025] S14: If the airborne equipment receives three consecutive remote control commands from the low-altitude ground control platform, it is determined that the corresponding link has been successfully established. Subsequently, data is exchanged between the airborne equipment and the low-altitude ground control platform equipment through this link, and the link status is monitored through data packet transmission and reception.
[0026] S15: If the airborne equipment cannot receive data from the low-altitude ground control platform, the link is determined to be interrupted, and the network access process, link establishment confirmation process, and data transmission and reception process of the unused communication link module are initiated.
[0027] The low-altitude ground control platform equipment workflow S2 includes the following steps:
[0028] S21: When the low-altitude ground control platform equipment is powered on, all its associated communication link modules are powered on simultaneously.
[0029] S22: The data fusion module schedules all communication link modules to join the network and be in the data receiving state;
[0030] S23: If three consecutive packets of telemetry data are received from the UAV's onboard equipment, the corresponding link is determined to be successfully established, and a remote control command is sent to the UAV through the link.
[0031] S24: The data fusion module establishes and dynamically maintains the link relationship table between the UAV and the control platform equipment. It monitors the link status by periodically receiving telemetry data. If no telemetry information is received for 3 consecutive packets, the link is determined to be interrupted, and data is stopped from being sent to the UAV through that link.
[0032] Furthermore, in step S13, the data fusion / decision module generates telemetry data packets that match each communication link module based on the differences in data transmission capabilities, transmission latency, and usage costs of public networks, private networks, and satellite communication methods, ensuring that the telemetry data is adapted to the transmission characteristics of the corresponding link.
[0033] Furthermore, in step S14, the airborne equipment continuously receives remote control commands and sends telemetry data through two-way data interaction from the low-altitude ground control platform, and monitors the communication stability of the link in real time. If data packets are lost or the delay exceeds a preset threshold, the link status early warning mechanism is activated.
[0034] Further, in step S24, the link relationship table records the unmanned aerial vehicle identifier, corresponding communication link module type, link establishment time, link interruption time, data transmission rate parameter, and the data fusion module updates the link state information in the link relationship table every interval preset time.
[0035] Further, the data transmission link between the airborne equipment and the low-altitude ground control platform is composed of the unmanned aerial vehicle-low-altitude communication equipment link and the low-altitude communication equipment-low-altitude ground control platform equipment link, and only when both links are in normal communication, normal data transmission between the unmanned aerial vehicle and the low-altitude ground control platform is realized; when a single communication link is used, the airborne equipment takes the data sent by the low-altitude ground control platform as the basis for judging the normal link, and the low-altitude ground control platform equipment takes the data sent by the unmanned aerial vehicle as the basis for judging the normal link.
[0036] Further, the multi-link soft switching mechanism is used to realize uninterrupted data transmission, and two communication links are maintained at the same time, when both links can normally transmit and receive data, the link data with high priority is extracted as valid data; when only one link can normally transmit and receive data, the data of the link is extracted as valid data; when one of the two established links is interrupted, a new link is started to enter the network, and the soft switching mechanism is maintained to run.
[0037] Further, the link priority is preset by the data fusion / decision module or the data fusion module according to the transmission rate, time delay, stability and use cost of the link, and the priority order can be dynamically adjusted according to the actual application scene, and the adjustment trigger conditions include that the link performance fluctuation exceeds the preset range, and the user-defined demand trigger.
[0038] The beneficial effects of the present application are that the closest design defects and problems can be solved, so that the multi-link can realize uninterrupted transmission, and through the hardware integration design, the multi-link mode can be applied to small and medium-sized unmanned aerial vehicles, the reliability of the unmanned aerial vehicle measurement and control link is enhanced, and then the use safety of the unmanned aerial vehicle is enhanced. While utilizing the low-altitude ground communication navigation monitoring infrastructure, the ground control platform is facilitated to realize the control of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS
[0039] Figure 1 The system architecture of the present application is shown in the figure;
[0040] Figure 2 The working flowchart of the airborne equipment of the present application is shown in the figure;
[0041] Figure 3 The working flowchart of the low-altitude ground control equipment of the present application is shown in the figure. DETAILED DESCRIPTION
[0042] The specific embodiments of the present application are further described below with reference to the accompanying drawings and specific examples.
[0043] Example One:
[0044] 1) System architecture
[0045] The architecture is composed of a UAV flight control module, an airborne device, a low-altitude communication device, a low-altitude ground control platform device, and a low-altitude ground control platform installed on a UAV.
[0046] The UAV flight control module is the core control component for normal flight of the UAV. It converts the received control instructions such as take-off, steering, hovering, and acceleration into signals to drive the motor, and sends them to the motor to control the start, rotation, and stop of the motor, thereby driving the propeller to rotate. This is a component of the UAV. It is the receiver of flight control instructions generated by the airborne device.
[0047] The UAV perception sensor module is a necessary component for normal flight of the UAV. The UAV perceives the surrounding environment through these modules. Depending on the type and principle of the perception information, multiple physical sensors may exist simultaneously. The perception sensor module outputs the perception information to the airborne device.
[0048] The airborne device is a device that provides multiple communication links and fusion decisions for the UAV. It mainly provides reliable communication connection between the UAV and the ground control platform through multi-link multiplexing to realize reliable remote control instruction and telemetry information transmission, and generates flight decisions in combination with various perception means accessed, and finally generates instructions for the UAV flight control. The airborne device is shown in Figure 1
[0049] The airborne device includes multiple communication link modules, with a maximum of variable n modules. Each communication link module completes data transmission and reception of one communication method. There are three communication methods, namely public network, private network, and satellite communication. There can be multiple communication modules of the same type but different implementation methods in the same airborne device. The number and type of link modules are configured as needed. For example, one public network, one private network, and one satellite communication link. There can also be two public networks, one private network, and one satellite communication link, or two public networks and one satellite communication link, etc.
[0050] The airborne device also includes a data fusion / decision module. This module performs the following functions: heartbeat packet generation, heartbeat packet reception, multi-link data fusion, multi-link data transmission generation, and flight control instruction generation based on the fused remote control instruction to output to the UAV flight control module.
[0051] The low-altitude ground control platform device is to establish a reliable data transmission channel for the low-altitude ground control platform and the unmanned aerial vehicle by using the communication link resources provided by the low-altitude communication device. It provides reliable communication connection between the unmanned aerial vehicle and the ground control platform through multi-link multiplexing to realize reliable remote control instruction and telemetry information transmission. The low-altitude control platform device is as shown in Figure 1
[0052] The low-altitude control platform device includes communication link modules of all communication links supported by the low-altitude communication device. Each communication link module completes data transmission and reception of one communication mode. There are three communication modes, namely public network, private network and satellite communication. There can be multiple modules of the same type of communication mode but different implementation modes in the same communication mode. The number of modules is all possible implementation modes of the three communication modes. The number of link modules of the low-altitude control platform device is at most the variable m. m≥n.
[0053] The low-altitude control platform device also includes a data fusion module. The module completes the following functions: heartbeat packet generation, heartbeat packet reception, multi-link received data fusion, and multi-link sent data generation.
[0054] The low-altitude communication device is a collection of communication means and resources serving the low-altitude economic operation, including the public network 4G / 5G ground network deployed by telecom operators, self-built low-altitude private network ground network, various communication satellites or satellite internet constellations, etc. The public network of the operator is different links for the user. The low-altitude communication device is constructed by the low-altitude economic operation unit or the regulatory unit and is provided to the low-altitude unmanned aerial vehicle for a fee.
[0055] The low-altitude ground control platform is the source of the business data sent by the low-altitude control platform device to the unmanned aerial vehicle and the destination of the unmanned aerial vehicle telemetry information received from the low-altitude communication device.
[0056] 2) Link data fusion strategy
[0057] The link between the unmanned aerial vehicle and the ground control platform is composed of the link between the unmanned aerial vehicle and the low-altitude communication device and the link between the low-altitude communication device and the low-altitude ground control platform device. The two links are not related, so only when both links are normal can the data transmission from the unmanned aerial vehicle to the ground control platform be normal. Therefore, when there is only one communication link, the ground control platform device can know that the link with the unmanned aerial vehicle is normal by receiving the data sent by the ground control platform. Similarly, the onboard device of the unmanned aerial vehicle can know that the link is normal by receiving the data sent by the ground control platform. When both sides know that the link between them is normal, the unmanned aerial vehicle and the ground control platform can transmit remote control instructions and telemetry information through the link.
[0058] Due to the performance difference of each communication mode, the multi-link backup complementary form is adopted to improve the reliability of the measurement and control link of the unmanned aerial vehicle, so as to ensure that the communication link is available during normal flight. In order to avoid the data transmission interruption caused by link hard switching, soft switching is adopted to complete multi-link, that is, the data transmission of two communication links is maintained at the same time, and when both links can transmit and receive data, the data of the link with high priority is extracted as accurate data. When only one link can transmit and receive data, the data of the link is extracted as accurate data. When one of the two links that have successfully built a link is suddenly interrupted and cannot normally transmit and receive data, the network entry process of the other link is started, and the data transmission is started, so as to maintain the normal operation of the link soft switching mechanism.
[0059] Example Two:
[0060] The working process of the airborne equipment is as shown in Figure 2 .
[0061] 1) After the airborne equipment is powered on, the communication link attached thereto is also powered on synchronously;
[0062] 2) When there are multiple link modules in the airborne equipment, the fusion / decision module will only dispatch two links to start network entry;
[0063] 3) After the two links enter the network, the telemetry data is sent to the two modules by the fusion / decision module, and the telemetry data is transmitted to the ground control platform by the two modules. The performance of each link is very different, so the fusion / decision module will match to generate corresponding telemetry data packets;
[0064] 4) After the airborne equipment continuously receives the remote control command sent by the ground control platform for three times, it is considered that the link is successfully built, and then the data exchange between the airborne equipment and the ground control platform is started through the link. In this process, the normal situation of the link is monitored by continuously transmitting and receiving data packets;
[0065] 5) Once it is found that the data sent by the ground control platform cannot be received, it is considered that the link is interrupted, and the network entry process, link building confirmation process and data transmission process of the other link are started.
[0066] Example Three:
[0067] The working process of the low-altitude ground control platform is as shown in Figure 3 .
[0068] 1) After the low-altitude ground control platform device is powered on, all the communication links attached thereto are also powered on synchronously;
[0069] 2) The fusion module dispatches all the links to enter the network and be in the data receiving state;
[0070] 3) When the telemetry data 3 packets from the UAV on-board equipment are continuously received, it is considered that the link with the UAV equipment is successfully established, and the remote control command can be sent to the UAV through the link;
[0071] 4) The fusion module establishes the link relationship table between the UAV equipment and the management and control platform equipment and dynamically maintains it. In the subsequent process, the fusion module monitors the link state by periodically receiving telemetry data. When 3 packets of telemetry information are not received continuously, it is considered that the link is interrupted, and data is no longer sent to the UAV through the link.
[0072] It should be noted that the above is only a schematic description and elaboration of the present application, and those skilled in the art should understand that any modification and replacement of the present application belongs to the protection scope of the present application.
Claims
1. A system for integrated transmission of multiple communication links between unmanned aerial vehicles (UAVs) and low-altitude ground control platforms, characterized in that, The system includes: a UAV flight control module, a UAV sensing sensor module, airborne equipment, low-altitude communication equipment, low-altitude ground control platform equipment, and a low-altitude ground control platform. The UAV flight control module is used to receive flight control commands and convert the commands into signals to drive the motor, controlling the motor to start, rotate, and stop to drive the propellers to rotate. The UAV perception sensor module is used to perceive the environment around the UAV and output perception information to the onboard equipment. The airborne equipment includes n communication link modules and one data fusion / decision module, where n is a positive integer. The communication link modules are used to transmit and receive data using at least one of the following communication methods: public network, private network, and satellite communication. The same airborne equipment includes multiple communication link modules of the same type but with different implementation methods. The data fusion / decision module is used to generate heartbeat packets, receive heartbeat packets, fuse data received from multiple links, generate data to be transmitted from multiple links, and generate flight control commands based on the fused remote control commands, which are then output to the UAV flight control module. The low-altitude communication equipment includes public 4G / 5G terrestrial networks deployed by telecom operators, self-built low-altitude private terrestrial networks, various communication satellites and satellite internet constellations, which are used to provide communication link resources between UAVs and low-altitude ground control platforms; The low-altitude ground control platform equipment includes m communication link modules and 1 data fusion module, where m is a positive integer. The communication link modules cover all communication methods supported by the low-altitude communication equipment, and each communication method includes multiple modules with different implementation methods. The data fusion module is used to generate heartbeat packets, receive heartbeat packets, fuse multi-link received data, and generate multi-link transmitted data. The low-altitude ground control platform is used to provide business data to the UAV and receive telemetry information transmitted by the UAV.
2. The system for integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 1, characterized in that, The number and type of n communication link modules in the airborne equipment are configured according to actual needs, and the configuration methods include at least one of the following: 1 public network communication link module, 1 private network communication link module and 1 satellite communication link module; 2 public network communication link modules, 1 private network communication link module and 1 satellite communication link module; 2 public network communication link modules and 1 satellite communication link module.
3. The system for integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 1, characterized in that, The communication link modules in the low-altitude ground control platform equipment cover all possible implementations of three communication methods: public network, private network, and satellite communication, and the number of modules m satisfies m≥n.
4. A method for integrating multiple communication links for transmission between a UAV and a low-altitude ground control platform, based on the system described in any one of claims 1-3, characterized in that, This includes the airborne equipment workflow S1 and the low-altitude ground control platform equipment workflow S2; The airborne equipment workflow S1 includes the following steps: S11: When the airborne equipment is powered on, its associated communication link module is powered on synchronously. S12: The data fusion / decision module schedules two communication link modules to initiate network access; S13: After network access is completed, the data fusion / decision module generates matching telemetry data packets based on the performance differences of each link, and sends the telemetry data to two communication link modules, which then send the telemetry data to the low-altitude ground control platform. S14: If the airborne equipment receives three consecutive remote control commands from the low-altitude ground control platform, it is determined that the corresponding link has been successfully established. Subsequently, data is exchanged between the airborne equipment and the low-altitude ground control platform equipment through this link, and the link status is monitored through data packet transmission and reception. S15: If the airborne equipment cannot receive data from the low-altitude ground control platform, the link is determined to be interrupted, and the network access process, link establishment confirmation process, and data transmission and reception process of the unused communication link module are initiated. The low-altitude ground control platform equipment workflow S2 includes the following steps: S21: When the low-altitude ground control platform equipment is powered on, all its associated communication link modules are powered on simultaneously. S22: The data fusion module schedules all communication link modules to join the network and be in the data receiving state; S23: If three consecutive packets of telemetry data are received from the UAV's onboard equipment, the corresponding link is determined to be successfully established, and a remote control command is sent to the UAV through the link. S24: The data fusion module establishes and dynamically maintains the link relationship table between the UAV and the control platform equipment. It monitors the link status by periodically receiving telemetry data. If no telemetry information is received for 3 consecutive packets, the link is determined to be interrupted, and data is stopped from being sent to the UAV through that link.
5. The working method for the integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 4, characterized in that, In step S13, the data fusion / decision module generates telemetry data packets that match the communication link modules based on the differences in data transmission capabilities, transmission latency, and usage costs of public networks, private networks, and satellite communication methods, ensuring that the telemetry data is adapted to the transmission characteristics of the corresponding link.
6. The working method for the integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 4, characterized in that, In step S14, the airborne equipment continuously receives remote control commands and sends telemetry data through two-way data interaction from the low-altitude ground control platform to monitor the communication stability of the link in real time. If data packets are lost or the delay exceeds a preset threshold, the link status early warning mechanism is activated.
7. The working method for the integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 4, characterized in that, In step S24, the link relationship table records the UAV identifier, the corresponding communication link module type, the link establishment time, the link interruption time, and the data transmission rate parameters. The data fusion module updates the link status information in the link relationship table at preset intervals.
8. The working method for the integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 4, characterized in that, The data transmission link between the airborne equipment and the low-altitude ground control platform consists of a UAV-low-altitude communication equipment link and a low-altitude communication equipment-low-altitude ground control platform equipment link. Normal data transmission between the UAV and the low-altitude ground control platform is achieved only when both links are communicating normally. When a single communication link is used, the airborne equipment uses the data received from the low-altitude ground control platform as the criterion for determining that the link is normal, and the low-altitude ground control platform equipment uses the data received from the UAV as the criterion for determining that the link is normal.
9. The working method for the integrated transmission of multiple communication links between a UAV and a low-altitude ground control platform as described in claim 4, characterized in that, A multi-link soft handover mechanism is adopted to achieve uninterrupted data transmission. Data transmission on two communication links is maintained at the same time. When both links can transmit and receive data normally, the data of the link with higher priority is extracted as valid data. When only one link can transmit and receive data normally, the data of that link is extracted as valid data. When one of the two established links is interrupted, a new link access process is initiated to maintain the operation of the soft handover mechanism.
10. The working method for the integrated transmission of multiple communication links between an unmanned aerial vehicle (UAV) and a low-altitude ground control platform as described in claim 9, characterized in that, The link priority is preset by the data fusion / decision module or the data fusion module based on the link's transmission rate, latency, stability, and usage cost. The priority order can be dynamically adjusted according to the actual application scenario. The adjustment trigger conditions include link performance fluctuations exceeding the preset range and user-defined requirements.