Multi-mode communication switching method of large unmanned aerial vehicle and related device

Abstract

The invention discloses a multi-mode communication switching method of a large unmanned aerial vehicle and a related device, and the method comprises the steps: setting an auxiliary communication link to be in a hot standby state after an airborne end of the large unmanned aerial vehicle is in communication connection with a ground end through a main communication link, and carrying out the real-time monitoring of a current communication link, and obtaining a real-time monitoring result; when the real-time monitoring result is that the current communication link is abnormal in communication, the airborne end switches communication connection from a main communication link to an auxiliary communication link in a hot backup state, and controls the main communication link to enter a diagnosis mode; and after the main communication link executes the diagnosis mode and returns to normal, controlling the main communication link to enter a hot standby state, and switching the communication connection from the auxiliary communication link to the main communication link. In the embodiment of the invention, the problems that a signal coverage blind area exists in a single link and the single link is susceptible to interference are solved, so that the real-time control requirement of a large unmanned aerial vehicle is met, and the reliability and the stability in a long-distance communication scene are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) communication technology, and in particular to a multimodal communication switching method and related apparatus for large UAVs. Background Technology

[0002] The UAV communication link serves as a data transmission channel connecting the UAV and the ground control station (GCS). Its uplink refers to the transmission from the ground to the UAV, mainly transmitting remote control commands and mission commands. Its downlink refers to the transmission from the UAV to the ground, mainly transmitting telemetry data and mission payload data such as aircraft attitude information and video.

[0003] Existing technologies for long-range drone communication mainly include satellite communication, cellular network communication, ad hoc network communication, and millimeter-wave communication. Ad hoc network technology builds its own communication network through point-to-point integrated link equipment, enabling autonomous networking, dynamic routing, and data transmission between nodes. It features self-organization, self-configuration, and self-healing, and can adapt to complex and ever-changing communication environments. 5G public network technology utilizes existing cellular networks as data transmission links. 5G public networks have low latency and high bandwidth, enabling beyond-line-of-sight control of drones. Satellite communication technology uses satellites as relay stations to achieve long-distance communication between drones and ground stations. This technology can overcome geographical limitations, has a wide coverage area, and is suitable for remote areas, oceans, and other areas where ground communication networks cannot cover. It is often used for drone missions such as long-range reconnaissance and global logistics delivery. However, most existing large drones are equipped with a single communication link, resulting in signal coverage blind spots and susceptibility to interference, which cannot meet real-time control requirements. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a multi-modal communication switching method and related device for large unmanned aerial vehicles (UAVs), which solves the problems of signal coverage blind spots and susceptibility to interference in single links, thereby meeting the real-time control requirements of large UAVs and improving the reliability and stability in long-distance communication scenarios.

[0005] To address the aforementioned technical problems, this invention provides a multimodal communication switching method for large unmanned aerial vehicles (UAVs), applied to multimodal communication between the airborne end and the ground end of a large UAV. The airborne end and the ground end have one main communication link and at least one auxiliary communication link, and the radio frequency bands of each communication link are isolated from each other. The method includes:

[0006] After the airborne terminal of the large UAV establishes a communication connection with the ground terminal via the main communication link, the auxiliary communication link is set to hot standby mode, and the current communication link is monitored and processed in real time to obtain the real-time monitoring results corresponding to the current communication link.

[0007] When the real-time monitoring result indicates that the current communication link is experiencing a communication anomaly, the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot backup mode, and controls the primary communication link to enter diagnostic mode.

[0008] After the main communication link performs diagnostic mode and returns to normal, the main communication link is controlled to enter hot standby state, and the airborne terminal switches the communication connection from the auxiliary communication link to the main communication link.

[0009] Optionally, the main communication link is a map-data integrated link formed by the self-organizing network of the airborne terminal and the ground terminal, and the wireless propagation frequency of the map-data integrated link is 1.4 GHz; the auxiliary communication link is a 5G public network link and / or a satellite communication link.

[0010] Optionally, after the airborne terminal of the large UAV establishes a communication connection with the ground terminal via the main communication link, it further includes:

[0011] The airborne terminal collects the large UAV's own status information, image and video data, and command data based on the flight control system;

[0012] The main communication link encapsulates the large UAV's own status information, image and video data, and command data based on a checksum to form encapsulated data.

[0013] The airborne terminal modulates the packaged data into a first carrier signal of 1350-1450MHz, amplifies the first carrier signal via radio frequency signal, and transmits it to the ground terminal through the airborne terminal antenna; simultaneously...

[0014] The airborne terminal receives a second carrier signal transmitted by the ground terminal through the ground terminal antenna via a signal receiver. The second carrier signal is formed by the ground terminal encapsulating and modulating operation control commands based on check codes.

[0015] Optionally, the step of performing real-time monitoring processing on the current communication link to obtain the real-time monitoring result corresponding to the current communication link includes:

[0016] The airborne terminal demodulates the second carrier signal transmitted by the ground terminal to form an encapsulated command signal;

[0017] By performing verification on the encapsulated instruction signal based on the check code, the current communication link is monitored in real time to obtain the real-time monitoring result corresponding to the current communication link.

[0018] Optionally, after the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, it further includes:

[0019] When the auxiliary communication link is a 5G public network link, the 5G public network link encodes the large UAV's own status information, image and video data, and command data into a transmission signal through a 5G module.

[0020] The transmitted signal is accessed through a multi-antenna array into a cellular network, uploaded to a cloud server via the cellular network, and then loaded onto the ground station via the cloud server.

[0021] Optionally, after the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, it further includes:

[0022] When the auxiliary communication link is a satellite communication link, the airborne terminal automatically tracks the satellite based on the EKF fusion algorithm, and accesses the target satellite at high speed according to the automatic tracking results. It then sends the large UAV's own status information and command data to the ground station through the accessed target satellite, and triggers an alarm to be sent to the ground station.

[0023] Optionally, the method further includes:

[0024] When the main communication link and at least one auxiliary communication link between the airborne terminal and the ground terminal are both interrupted, the airborne terminal controls the large UAV to enter a fixed-point hovering or circling standby state and triggers the highest level alarm.

[0025] In addition, this embodiment of the invention also provides a multimodal communication switching device for a large unmanned aerial vehicle (UAV), applied to multimodal communication between the airborne end and the ground end of the UAV, wherein the airborne end and the ground end have a main communication link and at least one auxiliary communication link, and the wireless frequency bands of each communication link are isolated from each other; the device includes:

[0026] Monitoring module: After the airborne end of the large UAV establishes a communication connection with the ground end through the main communication link, it sets the auxiliary communication link to a hot standby state, performs real-time monitoring and processing of the current communication link, and obtains the real-time monitoring results corresponding to the current communication link;

[0027] First switching module: When the real-time monitoring result indicates that the current communication link is experiencing a communication anomaly, the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, and controls the main communication link to enter diagnostic mode;

[0028] The second switching module is used to control the main communication link to enter a hot standby state after the main communication link performs a diagnostic mode and returns to normal, and the airborne terminal switches the communication connection from the auxiliary communication link to the main communication link.

[0029] In addition, embodiments of the present invention also provide an electronic device, including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement the multimodal communication switching method as described in any of the above.

[0030] In addition, embodiments of the present invention also provide a computer-readable storage medium for storing a computer program or code, which, when executed by a processor, implements the multimodal communication switching method as described above.

[0031] In this embodiment of the invention, by setting up multiple communication links between the airborne end and the ground end of a large UAV, and during the communication process between the airborne end and the ground end, the system detects in real time whether there are any abnormalities in the communication links, and then switches to backup communication links in a timely manner, and controls the communication links with abnormalities to execute diagnostic mode, thereby solving the signal coverage blind spots and susceptibility to interference problems of a single link, thus meeting the real-time control requirements of large UAVs and improving the reliability and stability in long-distance communication scenarios. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating the multimodal communication switching method for large unmanned aerial vehicles in an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of a multimodal communication network architecture for a large unmanned aerial vehicle (UAV) in an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the data flow of the large UAV map and data integrated link in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the data flow of a large drone's 5G public network link in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the data flow of a large UAV satellite link in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the structural composition of the multi-mode communication switching device for a large unmanned aerial vehicle in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the structural composition of the electronic device in an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1, please refer to Figure 1 , Figure 1 This is a flowchart illustrating the multimodal communication switching method for large unmanned aerial vehicles (UAVs) in an embodiment of the present invention.

[0042] like Figure 1 As shown, a multimodal communication switching method for a large unmanned aerial vehicle (UAV) is applied to multimodal communication between the airborne end and the ground end of the UAV. The airborne end and the ground end have one main communication link and at least one auxiliary communication link, and the radio frequency bands of each communication link are isolated from each other. The method includes:

[0043] S101: After the airborne end of the large UAV establishes a communication connection with the ground end through the main communication link, the auxiliary communication link is set to hot standby state, and the current communication link is monitored and processed in real time to obtain the real-time monitoring result corresponding to the current communication link.

[0044] In the specific implementation of this invention, the main communication link is a map-data integrated link formed by the self-organizing network of the airborne terminal and the ground terminal, and the wireless propagation frequency of the map-data integrated link is 1.4 GHz; the auxiliary communication link is a 5G public network link and / or a satellite communication link.

[0045] Furthermore, after the airborne terminal of the large UAV establishes a communication connection with the ground terminal via the main communication link, the process further includes: the airborne terminal collecting the large UAV's own status information, image and video data, and command data based on the flight control system; the main communication link encapsulating the large UAV's own status information, image and video data, and command data based on a checksum to form encapsulated data; the airborne terminal modulating the encapsulated data into a first carrier signal of 1350-1450MHz, amplifying the first carrier signal through a radio frequency signal, and transmitting it to the ground terminal through the airborne terminal antenna; simultaneously, the airborne terminal receiving a second carrier signal transmitted by the ground terminal through the ground terminal antenna via a signal receiver, the second carrier signal being formed by the ground terminal encapsulating and modulating the operation control commands based on the checksum.

[0046] Furthermore, the real-time monitoring and processing of the current communication link to obtain the real-time monitoring result corresponding to the current communication link includes: the airborne terminal demodulating the second carrier signal transmitted by the ground terminal to form an encapsulation command signal; and performing real-time monitoring and processing of the current communication link based on the verification code to obtain the real-time monitoring result corresponding to the current communication link.

[0047] Specifically, such as Figure 2 The multimodal communication network architecture shown features multiple communication links on both the airborne and ground ends of a large UAV. This embodiment includes three communication links: a self-organizing network link for both image and data transmission, a 5G public network link, and a satellite communication link. The airborne end includes hardware devices such as a flight control computer, a mission computer, recording sensors, motion mechanisms, and video image acquisition. The video image acquisition is connected to the mission computer; the airborne sensors and motion mechanisms are connected to the flight control computer; the image and data transmission link and the 5G public network link are connected to the mission computer and the flight control computer, respectively; and the satellite communication link is connected to the flight control computer. The ground end includes the image and data transmission link, the 5G public network link, the satellite communication link, and a ground control station (GCS). These links establish wireless connections with their corresponding links on the airborne end and are connected to the ground control station (GCS). The image and data transmission link is a 1.4GHz self-organizing network link. The power supply to the three links is independent and isolated, and their wireless frequency bands are isolated to avoid interference and common-mode interference.

[0048] Among them, the integrated map and data link and the 5G public network link both have large bandwidth and low latency, supporting the transmission of large amounts of information such as high-definition images and videos, as well as the transmission of control commands with high real-time requirements. Both links transmit the same data copy. The value of the satellite communication link lies in its beyond-line-of-sight and global coverage capabilities, making up for the blind spots of terrestrial network coverage. In particular, it has an emergency backup function. When the terrestrial network (4G / 5G) and the integrated map and data link (1.4GHz) are interrupted, the satellite communication link serves as the last communication guarantee. Critical commands are sent to the satellite communication link as a backup, while high-definition video is dynamically allocated to the link according to demand.

[0049] The flight control computer is connected to the airborne terminals of the integrated map and data link, the 5G public network link, and the satellite communication link via a serial bus. The photoelectric payload data generated by the video acquisition system is parsed and compressed by the mission computer and then synchronously distributed to the integrated map and data link and the 5G public network link to achieve dual-channel hot redundancy transmission. The satellite communication link independently carries key flight parameters and commands. The three links form a physically isolated transmission channel, and their ground terminals are integrated into the ground control station to realize bidirectional data stream transmission between the aircraft and the ground.

[0050] The intelligent switching strategy ensures data integrity through data verification, and the independent decision-making unit dynamically switches based on the main link and dual-link hot backup mechanism to ensure communication stability and reliability.

[0051] In this embodiment, the integrated map and data link is used as the main communication link; after the airborne end establishes a communication connection with the ground end through the main communication link, please refer to... Figure 3 The airborne terminal will collect data through hardware devices such as recording sensors, action mechanisms, and video image acquisition, so that the flight control system can collect its own status information (such as attitude, position, speed, power parameters), image video and command data; then the airborne terminal will process and encapsulate the data, process and encapsulate the original data, encode and compress to improve efficiency, and add check codes and serial numbers to ensure transmission integrity; that is, by adding check codes or serial numbers to the large UAV's own status information, image video data and command data, encapsulate the data to form encapsulated data; then through the modulation and transmission of the airborne terminal, the encapsulated data will be modulated and modulated into a 1350-1450MHz carrier signal; the modulated radio frequency signal will be amplified and radiated out through the antenna to enter the wireless space; wireless propagation (4), the radio frequency signal will propagate wirelessly in space at 1350-1450MHz, with a two-way channel, there is a downlink from the UAV to the ground, and there is also an uplink from the ground to the UAV.

[0052] At the ground end, the system receives and demodulates the radio frequency signal. The antenna at the ground end captures the signal, amplifies it to compensate for propagation loss, filters out noise and interference, and demodulates it to extract the raw data stream. The ground end then processes and decapsulates the data stream, performing a CRC check. If the check fails, the data is discarded; if it passes, the data is decompressed to restore the original data volume and converted into a format usable by the ground control station. Finally, the processed data is delivered to the ground control station. Based on the received information, the control station performs situational awareness and decision-making, and may generate new commands to send back to the UAV via the uplink, completing closed-loop control.

[0053] Simultaneously, the airborne terminal also receives the second carrier signal sent by the ground terminal, and then demodulates the received second carrier signal to form an encapsulation command signal; then, the encapsulation command signal is verified by a check code, thereby realizing real-time monitoring and processing of the current communication link and obtaining the real-time monitoring result corresponding to the current communication link; in this embodiment, if a verification failure or serial number out of order occurs for 0.5 seconds consecutively, it can be determined that there is a communication anomaly in the communication link, and it is necessary to switch to another communication link.

[0054] S102: When the real-time monitoring result indicates that the current communication link is experiencing a communication anomaly, the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup mode, and controls the main communication link to enter diagnostic mode.

[0055] In a specific implementation of the present invention, after the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, the method further includes: when the auxiliary communication link is a 5G public network link, the 5G public network link encodes the large UAV's own status information, image and video data, and command data into a transmission signal through a 5G module; the transmission signal is accessed through a multi-antenna array to the cellular network, uploaded to the cloud server through the cellular network, and loaded to the ground station through the cloud server.

[0056] Furthermore, after the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, it also includes: when the auxiliary communication link is a satellite communication link, the airborne terminal performs automatic tracking processing on the satellite based on the EKF fusion algorithm, and accesses the target satellite at high speed according to the automatic tracking processing result, sends the large UAV's own status information and command data to the ground station through the accessed target satellite, and triggers the sending of alarms to the ground station.

[0057] Specifically, after the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, please refer to... Figure 4When the auxiliary communication link is a 5G public network link, the data source on the UAV end is the flight control system, which collects UAV status information data, images, videos, and control commands to generate a data stream. The UAV end's 5G communication module encodes the raw data and transmits or receives it through the antenna, accessing the cellular network through a multi-antenna array (4 antennas). After accessing the cellular network, it establishes communication with nearby base stations and sends the data to the cloud server. On the ground end, it accesses the cloud server through the Internet. The ground control station control center analyzes the telemetry data, displays the flight status, decodes the video, makes autonomous decisions, automatically identifies anomalies, and generates control commands.

[0058] After the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, please refer to... Figure 5 When the auxiliary communication link is a satellite communication link, the value of satellite communication in UAV applications lies in its beyond-line-of-sight and global coverage capabilities, making up for the blind spots of ground network coverage, especially the emergency backup function. When the ground network and self-organizing network channels are interrupted, the satellite link serves as the last communication guarantee, and critical commands are sent via satellite as a backup. In this embodiment, the satellite communication link uses a two-dimensional phased array antenna to achieve an extremely low profile, and the installation process is simplified through an integrated design. Automatic satellite tracking is achieved based on the EKF fusion algorithm, supporting Ka-band synchronization and high-speed access to low-orbit satellites such as ChinaSat 16 and 26. It has the ability to automatically align with satellites upon power-on, continuous communication during movement, and rapid recovery from obstruction.

[0059] S103: After the main communication link executes the diagnostic mode and returns to normal, the main communication link is controlled to enter the hot standby state, and the airborne terminal switches the communication connection from the auxiliary communication link to the main communication link.

[0060] In the specific implementation of this invention, the main communication link is controlled to execute a diagnostic mode, and after the main communication link returns to normal after executing the diagnostic mode, the main communication link is controlled to enter a hot standby state, and then the airborne end switches the communication connection from the auxiliary communication link to the main communication link.

[0061] Furthermore, the method also includes: when the main communication link and at least one auxiliary communication link between the airborne terminal and the ground terminal are interrupted, the airborne terminal controls the large UAV to enter a fixed-point hovering or circling standby state and triggers the highest level alarm.

[0062] Specifically, the UAV multimodal communication network architecture integrates a map-data integrated link, a 5G public network link, and a satellite communication link in parallel, and ensures spectrum isolation through frequency offset design; during the link data transmission process, the following dual mechanisms are used to ensure data integrity.

[0063] To detect whether the communication link is abnormal, a checksum is added to the transmitted data signal at the sending end, and the receiving end verifies the validity of the data through the checksum. When receiving link data, it is first determined whether the data constitutes a complete frame. If it is incomplete, it waits to receive a complete frame. If it is complete, the data frame is parsed to obtain the serial number. Then it is determined whether the serial number is continuous or has been received. If it has not been received, the data is accepted and the serial number is recorded. If it has been received, the data frame is discarded and the serial number is checked to see if it is complete.

[0064] Management is based on a dual-link hot backup mechanism. In the default working mode, the 1.4GHz integrated map and data link serves as the primary communication link, while the 5G public network provides hot backup by transmitting complete data copies in parallel. The satellite link is dedicated to transmitting critical commands and parameters. The execution process based on the dynamic switching strategy is as follows:

[0065] Scenario 1 (Main Link Anomaly): When the integrated map and data link experiences CRC check failure or serial number disorder for 0.5 seconds consecutively, the 5G public network is switched to the main link, while the satellite link remains in backup mode. The self-organizing network enters diagnostic mode. If the self-organizing network communication returns to normal, it switches back to the integrated map and data link as the main link, and the 5G public network link is downgraded to a backup channel. Scenario 2 (Dual Link Anomaly): If both the integrated map and data link and the 5G public network experience check failure or serial number disorder for 0.5 seconds consecutively, the satellite link is activated as the main communication link. Both the self-organizing network and the 5G public network enter diagnostic mode and send an alarm to the control console. Scenario 3 (Full Link Interruption): The flight control system monitors the two-way communication status in real time. When all three links are interrupted for more than 0.5 seconds, the UAV enters a fixed-point hovering or circling standby state and triggers a high-level alarm.

[0066] In this embodiment of the invention, by setting up multiple communication links between the airborne end and the ground end of a large UAV, and during the communication process between the airborne end and the ground end, the system detects in real time whether there are any abnormalities in the communication links, and then switches to backup communication links in a timely manner, and controls the communication links with abnormalities to execute diagnostic mode, thereby solving the signal coverage blind spots and susceptibility to interference problems of a single link, thus meeting the real-time control requirements of large UAVs and improving the reliability and stability in long-distance communication scenarios.

[0067] Example 2, please refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of the multi-modal communication switching device for a large unmanned aerial vehicle in an embodiment of the present invention.

[0068] like Figure 6 As shown, a multimodal communication switching device for a large unmanned aerial vehicle (UAV) is used for multimodal communication between the airborne end and the ground end of the UAV. The airborne end and the ground end have one main communication link and at least one auxiliary communication link, and the wireless frequency bands of each communication link are isolated from each other. The device includes:

[0069] Monitoring module 601: After the airborne end of the large UAV establishes a communication connection with the ground end through the main communication link, it sets the auxiliary communication link to a hot standby state and performs real-time monitoring and processing on the current communication link to obtain the real-time monitoring result corresponding to the current communication link.

[0070] In the specific implementation of this invention, the main communication link is a map-data integrated link formed by the self-organizing network of the airborne terminal and the ground terminal, and the wireless propagation frequency of the map-data integrated link is 1.4 GHz; the auxiliary communication link is a 5G public network link and / or a satellite communication link.

[0071] Furthermore, after the airborne terminal of the large UAV establishes a communication connection with the ground terminal via the main communication link, the process further includes: the airborne terminal collecting the large UAV's own status information, image and video data, and command data based on the flight control system; the main communication link encapsulating the large UAV's own status information, image and video data, and command data based on a checksum to form encapsulated data; the airborne terminal modulating the encapsulated data into a first carrier signal of 1350-1450MHz, amplifying the first carrier signal through a radio frequency signal, and transmitting it to the ground terminal through the airborne terminal antenna; simultaneously, the airborne terminal receiving a second carrier signal transmitted by the ground terminal through the ground terminal antenna via a signal receiver, the second carrier signal being formed by the ground terminal encapsulating and modulating the operation control commands based on the checksum.

[0072] Furthermore, the real-time monitoring and processing of the current communication link to obtain the real-time monitoring result corresponding to the current communication link includes: the airborne terminal demodulating the second carrier signal transmitted by the ground terminal to form an encapsulation command signal; and performing real-time monitoring and processing of the current communication link based on the verification code to obtain the real-time monitoring result corresponding to the current communication link.

[0073] Specifically, such as Figure 2The multimodal communication network architecture shown features multiple communication links on both the airborne and ground ends of a large UAV. This embodiment includes three communication links: a self-organizing network link for both image and data transmission, a 5G public network link, and a satellite communication link. The airborne end includes hardware devices such as a flight control computer, a mission computer, recording sensors, motion mechanisms, and video image acquisition. The video image acquisition is connected to the mission computer; the airborne sensors and motion mechanisms are connected to the flight control computer; the image and data transmission link and the 5G public network link are connected to the mission computer and the flight control computer, respectively; and the satellite communication link is connected to the flight control computer. The ground end includes the image and data transmission link, the 5G public network link, the satellite communication link, and a ground control station (GCS). These links establish wireless connections with their corresponding links on the airborne end and are connected to the ground control station (GCS). The image and data transmission link is a 1.4GHz self-organizing network link. The power supply to the three links is independent and isolated, and their wireless frequency bands are isolated to avoid interference and common-mode interference.

[0074] Among them, the integrated map and data link and the 5G public network link both have large bandwidth and low latency, supporting the transmission of large amounts of information such as high-definition images and videos, as well as the transmission of control commands with high real-time requirements. Both links transmit the same data copy. The value of the satellite communication link lies in its beyond-line-of-sight and global coverage capabilities, making up for the blind spots of terrestrial network coverage. In particular, it has an emergency backup function. When the terrestrial network (4G / 5G) and the integrated map and data link (1.4GHz) are interrupted, the satellite communication link serves as the last communication guarantee. Critical commands are sent to the satellite communication link as a backup, while high-definition video is dynamically allocated to the link according to demand.

[0075] The flight control computer is connected to the airborne terminals of the integrated map and data link, the 5G public network link, and the satellite communication link via a serial bus. The photoelectric payload data generated by the video acquisition system is parsed and compressed by the mission computer and then synchronously distributed to the integrated map and data link and the 5G public network link to achieve dual-channel hot redundancy transmission. The satellite communication link independently carries key flight parameters and commands. The three links form a physically isolated transmission channel, and their ground terminals are integrated into the ground control station to realize bidirectional data stream transmission between the aircraft and the ground.

[0076] The intelligent switching strategy ensures data integrity through data verification, and the independent decision-making unit dynamically switches based on the main link and dual-link hot backup mechanism to ensure communication stability and reliability.

[0077] In this embodiment, the integrated map and data link is used as the main communication link; after the airborne end establishes a communication connection with the ground end through the main communication link, please refer to... Figure 3The airborne terminal will collect data through hardware devices such as recording sensors, action mechanisms, and video image acquisition, so that the flight control system can collect its own status information (such as attitude, position, speed, power parameters), image video and command data; then the airborne terminal will process and encapsulate the data, process and encapsulate the original data, encode and compress to improve efficiency, and add check codes and serial numbers to ensure transmission integrity; that is, by adding check codes or serial numbers to the large UAV's own status information, image video data and command data, encapsulate the data to form encapsulated data; then through the modulation and transmission of the airborne terminal, the encapsulated data will be modulated and modulated into a 1350-1450MHz carrier signal; the modulated radio frequency signal will be amplified and radiated out through the antenna to enter the wireless space; wireless propagation (4), the radio frequency signal will propagate wirelessly in space at 1350-1450MHz, with a two-way channel, there is a downlink from the UAV to the ground, and there is also an uplink from the ground to the UAV.

[0078] At the ground end, the system receives and demodulates the radio frequency signal. The antenna at the ground end captures the signal, amplifies it to compensate for propagation loss, filters out noise and interference, and demodulates it to extract the raw data stream. The ground end then processes and decapsulates the data stream, performing a CRC check. If the check fails, the data is discarded; if it passes, the data is decompressed to restore the original data volume and converted into a format usable by the ground control station. Finally, the processed data is delivered to the ground control station. Based on the received information, the control station performs situational awareness and decision-making, and may generate new commands to send back to the UAV via the uplink, completing closed-loop control.

[0079] Simultaneously, the airborne terminal also receives the second carrier signal sent by the ground terminal, and then demodulates the received second carrier signal to form an encapsulation command signal; then, the encapsulation command signal is verified by a check code, thereby realizing real-time monitoring and processing of the current communication link and obtaining the real-time monitoring result corresponding to the current communication link; in this embodiment, if a verification failure or serial number out of order occurs for 0.5 seconds consecutively, it can be determined that there is a communication anomaly in the communication link, and it is necessary to switch to another communication link.

[0080] First switching module 602: When the real-time monitoring result indicates that the current communication link has a communication abnormality, the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, and controls the main communication link to enter diagnostic mode.

[0081] In a specific implementation of the present invention, after the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, the method further includes: when the auxiliary communication link is a 5G public network link, the 5G public network link encodes the large UAV's own status information, image and video data, and command data into a transmission signal through a 5G module; the transmission signal is accessed through a multi-antenna array to the cellular network, uploaded to the cloud server through the cellular network, and loaded to the ground station through the cloud server.

[0082] Furthermore, after the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, it also includes: when the auxiliary communication link is a satellite communication link, the airborne terminal performs automatic tracking processing on the satellite based on the EKF fusion algorithm, and accesses the target satellite at high speed according to the automatic tracking processing result, sends the large UAV's own status information and command data to the ground station through the accessed target satellite, and triggers the sending of alarms to the ground station.

[0083] Specifically, after the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, please refer to... Figure 4 When the auxiliary communication link is a 5G public network link, the data source on the UAV end is the flight control system, which collects UAV status information data, images, videos, and control commands to generate a data stream. The UAV end's 5G communication module encodes the raw data and transmits or receives it through the antenna, accessing the cellular network through a multi-antenna array (4 antennas). After accessing the cellular network, it establishes communication with nearby base stations and sends the data to the cloud server. On the ground end, it accesses the cloud server through the Internet. The ground control station control center analyzes the telemetry data, displays the flight status, decodes the video, makes autonomous decisions, automatically identifies anomalies, and generates control commands.

[0084] After the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, please refer to... Figure 5 When the auxiliary communication link is a satellite communication link, the value of satellite communication in UAV applications lies in its beyond-line-of-sight and global coverage capabilities, making up for the blind spots of ground network coverage, especially the emergency backup function. When the ground network and self-organizing network channels are interrupted, the satellite link serves as the last communication guarantee, and critical commands are sent via satellite as a backup. In this embodiment, the satellite communication link uses a two-dimensional phased array antenna to achieve an extremely low profile, and the installation process is simplified through an integrated design. Automatic satellite tracking is achieved based on the EKF fusion algorithm, supporting Ka-band synchronization and high-speed access to low-orbit satellites such as ChinaSat 16 and 26. It has the ability to automatically align with satellites upon power-on, continuous communication during movement, and rapid recovery from obstruction.

[0085] The second switching module 603 is used to control the main communication link to enter a hot standby state after the main communication link performs a diagnostic mode and returns to normal, and the airborne terminal switches the communication connection from the auxiliary communication link to the main communication link.

[0086] In the specific implementation of this invention, the main communication link is controlled to execute a diagnostic mode, and after the main communication link returns to normal after executing the diagnostic mode, the main communication link is controlled to enter a hot standby state, and then the airborne end switches the communication connection from the auxiliary communication link to the main communication link.

[0087] Furthermore, the device also includes: a drone control module: used to control the large drone to enter a fixed-point hovering or circling standby state and trigger the highest level alarm when the main communication link and at least one auxiliary communication link between the airborne terminal and the ground terminal are interrupted.

[0088] Specifically, the UAV multimodal communication network architecture integrates a map-data integrated link, a 5G public network link, and a satellite communication link in parallel, and ensures spectrum isolation through frequency offset design; during the link data transmission process, the following dual mechanisms are used to ensure data integrity.

[0089] To detect whether the communication link is abnormal, a checksum is added to the transmitted data signal at the sending end, and the receiving end verifies the validity of the data through the checksum. When receiving link data, it is first determined whether the data constitutes a complete frame. If it is incomplete, it waits to receive a complete frame. If it is complete, the data frame is parsed to obtain the serial number. Then it is determined whether the serial number is continuous or has been received. If it has not been received, the data is accepted and the serial number is recorded. If it has been received, the data frame is discarded and the serial number is checked to see if it is complete.

[0090] Management is based on a dual-link hot backup mechanism. In the default working mode, the 1.4GHz integrated map and data link serves as the primary communication link, while the 5G public network provides hot backup by transmitting complete data copies in parallel. The satellite link is dedicated to transmitting critical commands and parameters. The execution process based on the dynamic switching strategy is as follows:

[0091] Scenario 1 (Main Link Anomaly): When the integrated map and data link experiences CRC check failure or serial number disorder for 0.5 seconds consecutively, the 5G public network is switched to the main link, while the satellite link remains in backup mode. The self-organizing network enters diagnostic mode. If the self-organizing network communication returns to normal, it switches back to the integrated map and data link as the main link, and the 5G public network link is downgraded to a backup channel. Scenario 2 (Dual Link Anomaly): If both the integrated map and data link and the 5G public network experience check failure or serial number disorder for 0.5 seconds consecutively, the satellite link is activated as the main communication link. Both the self-organizing network and the 5G public network enter diagnostic mode and send an alarm to the control console. Scenario 3 (Full Link Interruption): The flight control system monitors the two-way communication status in real time. When all three links are interrupted for more than 0.5 seconds, the UAV enters a fixed-point hovering or circling standby state and triggers a high-level alarm.

[0092] In this embodiment of the invention, by setting up multiple communication links between the airborne end and the ground end of a large UAV, and during the communication process between the airborne end and the ground end, the system detects in real time whether there are any abnormalities in the communication links, and then switches to backup communication links in a timely manner, and controls the communication links with abnormalities to execute diagnostic mode, thereby solving the signal coverage blind spots and susceptibility to interference problems of a single link, thus meeting the real-time control requirements of large UAVs and improving the reliability and stability in long-distance communication scenarios.

[0093] This invention provides a computer-readable storage medium storing a computer program. When executed by a processor, this program implements the multimodal communication switching method of any of the above embodiments. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, the storage device includes any medium that stores or transmits information in a readable form by a device (e.g., a computer, a mobile phone), and can be a read-only memory, a disk, or an optical disk, etc.

[0094] This invention also provides a computer application running on a computer, which is used to execute the multimodal communication switching method of any of the above embodiments.

[0095] also, Figure 7This is a schematic diagram of the structural composition of the electronic device in an embodiment of the present invention.

[0096] This invention also provides an electronic device, such as... Figure 7 As shown. The electronic device includes a processor 702, a memory 703, an input unit 704, and a display unit 705, among other devices. Those skilled in the art will understand that... Figure 7 The structural components of the illustrated electronic device do not constitute a limitation on all devices and may include more or fewer components than illustrated, or combine certain components. Memory 703 can be used to store application program 701 and various functional modules. Processor 702 runs application program 701 stored in memory 703, thereby performing various functional applications and data processing of the device. Memory can be internal memory or external memory, or both. Internal memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or random access memory. External memory may include hard disks, floppy disks, ZIP disks, USB flash drives, magnetic tapes, etc. The memory disclosed in this invention includes, but is not limited to, these types of memory. The memory disclosed in this invention is only an example and not a limitation.

[0097] Input unit 704 is used to receive signal input and user-input keywords. Input unit 704 may include a touch panel and other input devices. The touch panel can collect user touch operations on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel) and drive the corresponding connection device according to a pre-set program; other input devices may include, but are not limited to, one or more of physical keyboards, function keys (such as play control buttons, power buttons, etc.), trackballs, mice, joysticks, etc. Display unit 705 can be used to display user-input information or information provided to the user, as well as various menus of the terminal device. Display unit 705 may be in the form of a liquid crystal display, organic light-emitting diode, etc. Processor 702 is the control center of the terminal device, connecting various parts of the entire device through various interfaces and lines, and performing various functions and processing data by running or executing software programs and / or modules stored in memory 703, and calling data stored in memory.

[0098] As one embodiment, the electronic device includes: one or more processors 702, a memory 703, and one or more application programs 701, wherein the one or more application programs 701 are stored in the memory 703 and configured to be executed by the one or more processors 702, and the one or more application programs 701 are configured to execute the multimodal communication switching method corresponding to any of the above embodiments.

[0099] In this embodiment of the invention, by setting up multiple communication links between the airborne end and the ground end of a large UAV, and during the communication process between the airborne end and the ground end, the system detects in real time whether there are any abnormalities in the communication links, and then switches to backup communication links in a timely manner, and controls the communication links with abnormalities to execute diagnostic mode, thereby solving the signal coverage blind spots and susceptibility to interference problems of a single link, thus meeting the real-time control requirements of large UAVs and improving the reliability and stability in long-distance communication scenarios.

[0100] Furthermore, the above provides a detailed description of a multimodal communication switching method and related apparatus for a large unmanned aerial vehicle (UAV) provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A multimodal communication switching method for a large unmanned aerial vehicle (UAV), characterized in that, A multimodal communication method for use between an airborne terminal and a ground terminal of a large unmanned aerial vehicle (UAV), wherein the airborne terminal and the ground terminal have a main communication link and at least one auxiliary communication link, and the radio frequency bands of each communication link are isolated from each other; the method includes: After the airborne terminal of the large UAV establishes a communication connection with the ground terminal via the main communication link, the auxiliary communication link is set to hot standby mode, and the current communication link is monitored and processed in real time to obtain the real-time monitoring results corresponding to the current communication link. When the real-time monitoring result indicates that the current communication link is experiencing a communication anomaly, the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot backup mode, and controls the primary communication link to enter diagnostic mode. After the main communication link performs diagnostic mode and returns to normal, the main communication link is controlled to enter hot standby state, and the airborne terminal switches the communication connection from the auxiliary communication link to the main communication link.

2. The multimodal communication switching method according to claim 1, characterized in that, The main communication link is a map-data integrated link formed by the self-organizing network of the airborne terminal and the ground terminal, and the wireless propagation frequency of the map-data integrated link is 1.4 GHz; the auxiliary communication link is a 5G public network link and / or a satellite communication link.

3. The multimodal communication switching method according to claim 1, characterized in that, After the airborne terminal of the large UAV establishes a communication connection with the ground terminal via the main communication link, the process further includes: The airborne terminal collects the large UAV's own status information, image and video data, and command data based on the flight control system; The main communication link encapsulates the large UAV's own status information, image and video data, and command data based on a checksum to form encapsulated data. The airborne terminal modulates the packaged data into a first carrier signal of 1350-1450MHz, amplifies the first carrier signal via radio frequency signal, and transmits it to the ground terminal through the airborne terminal antenna; simultaneously... The airborne terminal receives a second carrier signal transmitted by the ground terminal through the ground terminal antenna via a signal receiver. The second carrier signal is formed by the ground terminal encapsulating and modulating operation control commands based on check codes.

4. The multimodal communication switching method according to claim 1, characterized in that, The step of performing real-time monitoring and processing on the current communication link to obtain the real-time monitoring results corresponding to the current communication link includes: The airborne terminal demodulates the second carrier signal transmitted by the ground terminal to form an encapsulated command signal; By performing verification on the encapsulated instruction signal based on the check code, the current communication link is monitored in real time to obtain the real-time monitoring result corresponding to the current communication link.

5. The multimodal communication switching method according to claim 1, characterized in that, After the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, it also includes: When the auxiliary communication link is a 5G public network link, the 5G public network link encodes the large UAV's own status information, image and video data, and command data into a transmission signal through a 5G module. The transmitted signal is accessed through a multi-antenna array into a cellular network, uploaded to a cloud server via the cellular network, and then loaded onto the ground station via the cloud server.

6. The multimodal communication switching method according to claim 1, characterized in that, After the airborne terminal switches the communication connection from the primary communication link to the secondary communication link in hot standby mode, it also includes: When the auxiliary communication link is a satellite communication link, the airborne terminal automatically tracks the satellite based on the EKF fusion algorithm, and accesses the target satellite at high speed according to the automatic tracking results. It then sends the large UAV's own status information and command data to the ground station through the accessed target satellite, and triggers an alarm to be sent to the ground station.

7. The multimodal communication switching method according to claim 1, characterized in that, The method further includes: When the main communication link and at least one auxiliary communication link between the airborne terminal and the ground terminal are both interrupted, the airborne terminal controls the large UAV to enter a fixed-point hovering or circling standby state and triggers the highest level alarm.

8. A multi-mode communication switching device for a large unmanned aerial vehicle (UAV), characterized in that, A multimodal communication system for airborne and ground-based communication of large unmanned aerial vehicles (UAVs), wherein the airborne and ground-based terminals have a main communication link and at least one auxiliary communication link, and the radio frequency bands of each communication link are isolated from each other; the device includes: Monitoring module: After the airborne end of the large UAV establishes a communication connection with the ground end through the main communication link, it sets the auxiliary communication link to a hot standby state, performs real-time monitoring and processing of the current communication link, and obtains the real-time monitoring results corresponding to the current communication link; First switching module: When the real-time monitoring result indicates that the current communication link is experiencing a communication anomaly, the airborne terminal switches the communication connection from the main communication link to the auxiliary communication link in hot backup state, and controls the main communication link to enter diagnostic mode; The second switching module is used to control the main communication link to enter a hot standby state after the main communication link performs a diagnostic mode and returns to normal, and the airborne terminal switches the communication connection from the auxiliary communication link to the main communication link.

9. An electronic device comprising a processor and a memory, characterized in that, The processor runs a computer program or code stored in the memory to implement the multimodal communication switching method as described in any one of claims 1 to 7.

10. A computer-readable storage medium for storing computer programs or code, characterized in that, When the computer program or code is executed by a processor, the multimodal communication switching method as described in any one of claims 1 to 7 is implemented.

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