Communication method and device based on unmanned aerial vehicle cluster, and storage medium

Abstract

The invention relates to an unmanned aerial vehicle communication technology, in particular to a communication method and device based on an unmanned aerial vehicle cluster and a storage medium, and the method comprises the steps: in a coding stage, important information is converted into a binary information stream, and the binary information stream is segmented and then jointly coded to the flight direction and relative speed of an unmanned aerial vehicle. Wherein the direction is subjected to multi-bit mapping by dividing a horizontal motion plane into sector pairs, and the speed represents single-bit information through a fast and slow difference by taking a reference machine as a reference. Coding action is executed through the unmanned aerial vehicle, and information is transmitted in a physical space in a visual signal mode. And finally, in a decoding stage, the ground station accurately identifies a motion track through visual sensing and static position detection, and performs reverse solution according to a mapping rule to restore original information, so that robust communication independent of electromagnetic waves is realized. The problems that emergency communication in current complex electromagnetic environments such as battlefields and disaster rescue is high in hardware dependence, and system reliability and maneuverability are affected are solved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) communication technology, and in particular to communication methods, devices, and storage media based on UAV swarms. Background Technology

[0002] Currently, emergency communication for drones in complex electromagnetic environments such as battlefields and disaster relief is a critical issue that urgently needs to be addressed. Existing technologies mainly rely on non-electromagnetic wave communication methods, primarily including acoustic communication and visible light communication. Acoustic communication transmits information by modulating it into sound waves, such as audio steganography communication methods based on wavelet transform and singular value decomposition; visible light communication utilizes the high-speed flickering of light sources such as LEDs to transmit information, such as anti-interference communication schemes based on LEDs and photodiodes.

[0003] However, both acoustic and visible light communication require dedicated external hardware (acoustic transducers or optoelectronic devices), making them unsuitable for direct application to unmodified commercial drone platforms, thus limiting the technology's versatility and emergency deployment capabilities. Adding extra communication modules would significantly increase the complexity, weight, and power consumption of the drone system, while also introducing new points of failure and reducing the overall system's reliability and maneuverability. Summary of the Invention

[0004] To address the issues of strong hardware dependence and reduced system reliability and mobility in emergency communications under complex electromagnetic environments such as battlefields and disaster relief, this application provides a communication method, device, and storage medium based on unmanned aerial vehicle (UAV) swarms.

[0005] Firstly, this application provides a communication method based on a drone swarm, applied to the drone swarm side, the method comprising: The key information to be transmitted is obtained, the key information is converted into a binary stream, and the length of valid data that the drone cluster can encode in one flight cycle is determined based on the number of drones N in the drone cluster and the preset direction encoding bit length D. Based on the length of valid data that can be encoded, the binary stream is divided into at least one binary substream. The horizontal motion plane of each drone in the drone swarm is divided into multiple sector pairs, and the number of sector pairs is equal to 2. D Assign a unique D-bit binary code to each sector pair; control each drone to fly along the centerline direction of its assigned sector pair based on the direction code bits corresponding to each drone in the current binary substream to be transmitted. One drone is selected from the drone swarm as a reference drone, and the reference drone maintains a preset reference speed. Based on the speed code bits corresponding to each non-reference machine in the currently transmitted binary substream, control each non-reference machine to operate at a speed relative to the reference speed. The aircraft flies at a preset relative speed, wherein the speed of the non-reference aircraft is greater than the reference speed. The corresponding speed code bit is "1", indicating that the non-reference machine speed is less than the reference speed. The corresponding speed code bit is "0"; Under the control of a synchronized clock, each UAV performs coordinated flight according to its corresponding flight direction and speed. Each flight cycle includes a motion phase and a stationary phase. The motion phase is used to transmit the encoded information corresponding to the current binary substream, and the stationary phase is used for the ground receiving station to identify the motion state of the UAV cluster.

[0006] By adopting the above technical solution, the key information to be transmitted is converted into a binary stream and divided into segments of a specific length. Direction encoding is achieved by combining the horizontal motion plane sector of the UAV and speed encoding is achieved by using a reference machine. Then, the UAV swarm is controlled to perform coordinated flight by using a synchronous clock. This enables UAVs to communicate in emergency scenarios (especially when communication is interrupted or there is severe electromagnetic interference) without relying on the dedicated external hardware required for acoustic or visible light communication. Communication links can be built using only the UAV's own mobility. This effectively solves the problem of dependence on modified UAV platforms in existing technologies. At the same time, based on the combination of direction and speed encoding and synchronous motion execution, it ensures that information can be stably transmitted in physical space in the form of visual signals. It also provides a basis for the ground receiving station to accurately identify the motion state and reconstruct the information, significantly improving the robustness and universality of emergency communication in complex electromagnetic environments.

[0007] Optionally, before the key information is converted into a binary stream, the key information is first organized according to a data packet structure that includes a start flag STX, a message length LEN, a message type MSGID, and a payload PAYLOAD.

[0008] By adopting the above technical solution, and by organizing key information through a pre-defined data packet structure that includes a start flag, message length, message type, and payload, the integrity and standardization of binary stream information can be ensured, and field loss or parsing misalignment can be avoided during transmission.

[0009] Optionally, determining the length of valid data that the drone swarm can encode in one flight cycle based on the number of drones N in the drone swarm and the preset directional encoding bit depth D includes: Calculate the segment length using the following formula. : The length of valid data that the drone swarm can encode in one flight cycle is equal to the segment length lmove minus 1.

[0010] By adopting the above technical solution, the number of UAVs and the number of directional encoding bits can be accurately matched by segmenting the long binary stream for transmission. This ensures that each binary sub-stream can be transmitted completely in a single flight cycle, avoiding the problems of excessively long segments causing insufficient capacity for a single flight or excessively short segments causing resource waste. It also provides standardized information input for subsequent encoding steps, further improving the efficiency and accuracy of information transmission.

[0011] Optionally, the formula for calculating the relative speed ratio (RVR) of the non-reference machine relative to the reference machine includes: in, This indicates the flight speed of the non-reference aircraft. The reference speed of the reference machine is indicated; the relative speed ratio (RVR) is set to a range of 0.25 to 0.85.

[0012] By adopting the above technical solution and clarifying the range of relative speed ratios, on the one hand, it can ensure that the ground receiving station can clearly distinguish the state of non-reference aircraft being faster or slower than the reference aircraft through visual sensing, thus meeting the identifiability requirements of speed coding. On the other hand, it can effectively avoid the problems of drone swarms dispersing and disrupting coordination due to excessive speed differences, or speed states being indistinguishable due to small differences, thus significantly improving the reliability of speed coding and the flight safety of drone swarms.

[0013] Optionally, the synchronization clock is used to ensure that the flight start time, motion phase duration, and stationary phase duration of all UAVs are kept consistent; the motion phase duration is not less than the minimum time required for the ground receiving station's visual sensor to capture the motion trajectory of the UAV cluster, and the stationary phase duration is not less than the minimum time required for the ground receiving station to identify the static position of the UAV cluster.

[0014] By adopting the above technical solution, the consistency of the start time of the UAV swarm flight and the duration of the motion and stationary phases is controlled by a synchronized clock. This completely eliminates the confusion of encoded information caused by the asynchronous actions of UAVs, ensuring that the ground receiving station captures complete encoded actions within a unified period. At the same time, by limiting the duration of the motion phase to be no less than the minimum duration of trajectory capture and the duration of the stationary phase to be no less than the minimum duration of static position recognition, the ground receiving station has sufficient time to complete trajectory tracking and static position detection. This avoids missed or misidentified motion states due to insufficient time, providing time assurance for the subsequent decoding phase to accurately analyze the encoded information and restore the original data. This further improves the stability and decoding success rate of the entire communication process.

[0015] Secondly, this application provides a method based on unmanned aerial vehicle (UAV) swarms, applied to the ground receiving station side, the method comprising: Motion video of a drone swarm performing synchronized flight is captured using a visual sensor. The synchronized flight cycle of the drone swarm includes a motion phase for transmitting coded information and a stationary phase for state identification. The target tracking algorithm is used to process the continuous video frames of the motion video to locate the position of each drone in each video frame and generate the motion trajectory sequence of each drone. Based on the motion trajectory sequence, the stationary phase of the drone cluster in the synchronous flight cycle is identified, and the video frame interval corresponding to the motion phase is determined. Based on the video frame intervals corresponding to the motion phase, the displacement vector of each drone is calculated. The direction encoding is analyzed by the direction of the displacement vector, and the speed encoding is analyzed by the relative displacement distance between the non-reference drone and the reference drone. The reference drone is a preset speed reference drone in the drone swarm. The parsed direction and velocity codes are recombined into a binary substream, and then the multiple binary substreams are spliced ​​together into a complete binary stream according to the segmentation order of the UAV cluster, thus restoring the original key information transmitted by the UAV cluster.

[0016] By adopting the above technical solution, there is no need to rely on dedicated receiving hardware required for acoustic and optical communication. Decoding can be completed solely through visual sensors and algorithm processing. It precisely corresponds to the direction and speed joint encoding and synchronous flight cycle design of the UAV swarm, effectively solving the problem of traditional wireless communication failure in environments with strong electromagnetic interference. At the same time, by first locating the motion trajectory and then identifying the stationary phase to lock the effective encoding interval, it ensures that decoding is only for the motion phase of the UAV swarm transmitting information, avoiding invalid frame interference, and significantly improving the decoding robustness and integrity of emergency communication in complex environments.

[0017] Optionally, identifying the stationary phase of the drone swarm during the synchronous flight cycle based on the motion trajectory sequence includes: Select consecutive C using a sliding window f Frame video, calculate the continuous C f Average position change of all drones in adjacent frames within a frame When the average value of all the said position changes All are less than the preset jitter threshold θ jitter When, determine the continuous C f The drone state corresponding to the frame is static, and the corresponding video frame interval is the stationary phase, while the other video frame intervals are the moving phase.

[0018] By adopting the above technical solution, the average value of the UAV position change within consecutive frames is calculated using the sliding window method and compared with the jitter threshold, thus accurately identifying the stationary phase. This effectively overcomes the random jitter interference commonly encountered during target tracking, avoiding situations where a moving phase is mistakenly identified as stationary or vice versa due to single-frame position fluctuations. This accurately locks the video frame range carrying the encoded information of the moving phase, avoiding information misalignment or loss caused by invalid static frame data mixed in during decoding. It significantly improves the accuracy of the decoding base data (moving phase frames) and lays the foundation for the reliability of subsequent state analysis.

[0019] Thirdly, this application provides a communication device based on a drone swarm; the device includes modules for performing the drone swarm-based communication method in any possible implementation of the first aspect: The communication device based on drone swarms includes: The processing module is used to acquire key information to be transmitted, convert the key information into a binary stream, and determine the length of valid data that the drone cluster can encode in one flight cycle based on the number of drones N in the drone cluster and the preset direction encoding bit length D, and divide the binary stream into at least one binary sub-stream based on the length of valid data that can be encoded. The direction encoding module is used to divide the horizontal motion plane of each drone in the drone swarm into multiple sector pairs, the number of sector pairs being equal to 2. D Assign a unique D-bit binary code to each sector pair; control each drone to fly along the centerline direction of its assigned sector pair based on the direction code bits corresponding to each drone in the current binary substream to be transmitted. The speed encoding module is used to select one drone from the drone swarm as a reference drone, which maintains a preset reference speed. Based on the speed code bits corresponding to each non-reference machine in the currently transmitted binary substream, control each non-reference machine to operate at a speed relative to the reference speed. The aircraft flies at a preset relative speed, wherein the speed of the non-reference aircraft is greater than the reference speed. The corresponding speed code bit is "1", indicating that the non-reference machine speed is less than the reference speed. The corresponding speed code bit is "0"; The control module is used to enable each UAV to perform coordinated flight according to the corresponding flight direction and speed under the control of a synchronous clock. Each flight cycle includes a motion phase and a stationary phase. The motion phase is used to transmit the encoded information corresponding to the current binary substream, and the stationary phase is used for the ground receiving station to identify the motion state of the UAV cluster.

[0020] Fourthly, this application provides a communication device based on a drone swarm; the device includes modules for performing the drone swarm-based communication method in any possible implementation of the second aspect: The communication device based on drone swarms includes: The acquisition module is used to capture motion videos of a drone swarm performing synchronized flight through a visual sensor. The synchronized flight cycle of the drone swarm includes a motion phase for transmitting coded information and a stationary phase for state identification. The tracking module is used to process the continuous video frames of the motion video using a target tracking algorithm, locate the position of each drone in each video frame, and generate a motion trajectory sequence for each drone. The identification module is used to identify the stationary phase of the drone cluster in the synchronous flight cycle based on the motion trajectory sequence, and determine the video frame interval corresponding to the motion phase; The decoding module is used to calculate the displacement vector of each drone based on the video frame interval corresponding to the motion phase, and to parse the direction encoding through the direction of the displacement vector and the velocity encoding through the relative displacement distance between the non-reference drone and the reference drone, where the reference drone is a preset speed reference drone in the drone swarm; the parsed direction encoding and velocity encoding are recombined into a binary substream, and then multiple segments of the binary substream are spliced ​​together into a complete binary stream according to the segmentation order of the drone swarm, restoring the original key information transmitted by the drone swarm.

[0021] Fifthly, this application provides a computer device including a processor, a memory, and a communication bus. The communication bus is used to realize a communication connection between the processor and the memory. The processor is used to execute a computer program stored in the memory to realize the communication method based on UAV swarm as described in either the first or second aspect above.

[0022] Sixthly, this application also provides a computer-readable storage medium storing a computer program; the computer program can be executed by a processor to implement the communication method based on UAV swarm as described in any one of the first or second aspects above.

[0023] In a seventh aspect, this application also provides a computer program product, including a computer program that can be executed by a processor to implement the communication method based on unmanned aerial vehicle (UAV) swarms as described in any of the first or second aspects above.

[0024] This application includes at least the following beneficial technical effects: In the encoding phase, crucial information is converted into a binary information stream, segmented, and jointly encoded to determine the UAV's flight direction and relative speed. The direction is determined by dividing the horizontal motion plane into sector pairs and mapping multiple bits, while the speed is represented by the difference between fast and slow bits, using a reference machine. The UAV executes the encoding action, transmitting the information in physical space as visual signals. Finally, in the decoding phase, the ground station accurately identifies the motion trajectory through visual sensing and static position detection, and reverse-engineers the original information according to the mapping rules, thus achieving robust communication independent of electromagnetic waves. This solves the problems of strong hardware dependence and reduced system reliability and mobility in current emergency communications in complex electromagnetic environments such as battlefields and disaster relief. Attached Figure Description

[0025] Figure 1 A communication system architecture diagram based on a drone swarm is provided for embodiments of this application; Figure 2 A schematic diagram of the communication method architecture based on UAV swarm provided in this application embodiment; Figure 3 A flowchart illustrating a communication method for unmanned aerial vehicle (UAV) swarms provided in this application embodiment; Figure 4 A schematic diagram of a data packet structure provided in an embodiment of this application; Figure 5 A flowchart illustrating a communication method applied to a ground receiving station, as provided in an embodiment of this application; Figure 6 This is a schematic flowchart of a method for recognizing the motion state of an unmanned aerial vehicle (UAV) provided in an embodiment of this application. Figure 7 A schematic diagram of a communication device structure based on a drone swarm provided in this application embodiment; Figure 8 A schematic diagram of another communication device structure based on a drone swarm provided in this application embodiment; Figure 9 This is a schematic diagram of a computer device structure provided in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items. The term “exemplary” means “serving as an example, embodiment, or illustration,” and any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. The terms “first” and “second” are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, “a plurality” means two or more.

[0028] like Figure 1 As shown, the communication scheme based on UAV swarms involves two core roles: the UAV swarm itself and the ground receiving station. The UAV swarm acts as the signal transmitter, used for signal encoding; the ground receiving station acts as the receiver, used for signal reception and decoding. Optionally, the UAV swarm consists of... The system consists of a fleet of commercial drones, requiring no dedicated communication hardware. The ground receiving station is equipped with visual sensors (such as cameras) and an image processing and decoding unit, responsible for acquiring motion video and analyzing information, respectively. This solution mainly includes two processes: motion state design and encoding / motion state recognition / decoding. The former maps the key information to be transmitted to the flight direction and relative speed of the drone swarm at the transmitting end, while the latter extracts motion features from the analyzed video stream and reconstructs the transmitted information at the ground station. The overall process architecture of the solution is as follows: Figure 2 As shown.

[0029] The communication scheme proposed in this invention will be described in detail below for both the transmitting end (UAV swarm) and the receiving end (ground receiving station).

[0030] First, for the sending end, this embodiment provides a communication method based on a drone swarm, which can be referred to... Figure 3 This communication method is applied to the UAV swarm side and mainly includes motion state design and coding. The specific steps are as follows: S31: Information preprocessing; Specifically, the key information to be transmitted (such as battlefield intelligence, location coordinates, etc.) is divided into... Figure 4The data packet structure shown is organized and includes a start flag (STX), message length (LEN), message type (MSGID), and payload (PAYLOAD) field. After the data packet is converted into a binary stream, the segment length is calculated according to formula (1). Subtract 1 (i.e., l) move -1) Segmentation is performed, which determines the total number of valid information bits that all UAVs in the swarm can transmit within a single flight cycle (the speed bits of the baseline unit cannot carry speed encoding and must be used as reference identifier bits for easy decoding and identification by the ground receiving station), to ensure that complete encoded information can be transmitted in each motion cycle. The number of bits used to encode the direction of a single drone (e.g., D=2, meaning that the direction of one drone can be transmitted in 2 bits). This refers to the number of drones.

[0031] Each drone can simultaneously carry D bits of direction code + 1 bit of speed code (a total of D+1 bits). N drones can transmit (D+1)×N bits at a time (it should be understood that the actual effective information bits transmitted are D×N). Therefore, in this embodiment, the long binary code is divided into segments of this length. Subtract 1 (i.e., l) move -1) It is divided into multiple segments, each segment corresponding to a transmission task in one flight cycle.

[0032] S32: Direction encoding; Directional encoding fully utilizes the spatial maneuverability of UAVs, enabling parallel transmission of multi-bit information. The horizontal motion plane of a single UAV is divided into... Each sector forms Each sector pair can be assigned a unique sector pair. In this embodiment, two adjacent sectors can be considered as a sector pair. Bit-bit binary codewords; the drone transmits encoded information by flying along the centerline of a specified sector pair. For example, when... At this time, four sector pairs are formed, corresponding to the four code words "00", "01", "10", and "11" respectively.

[0033] S33: Speed ​​encoding; Designate one drone in the cluster as the baseline, and the rest... The drone transmits information through its speed relative to a reference drone: a speed greater than the reference speed represents "1", and a speed less than the reference speed represents "0". (Relative speed ratio) The result is obtained according to formula (2), where For the speed of the remaining drones, The speed of the reference machine. Through optimization... exist Within this range, the ability to identify speed differences is ensured while maintaining the integrity of the cluster is maintained.

[0034] S34: Motion execution; Will The -1-bit segmented binary code is divided into N parts. Each non-reference UAV is responsible for one part (D-bit direction code + 1-bit velocity code), while the reference UAV is responsible for the D-bit direction code, with the velocity bit serving as a reference identifier. Then, the UAV swarm, under the control of a synchronized clock, performs coordinated flight based on the encoded result. Each motion cycle includes a motion phase and a stationary phase. The motion phase is used to transmit encoded information, while the stationary phase facilitates state recognition at the receiving end. Precise time synchronization and trajectory control ensure that the motion state can be accurately observed and decoded.

[0035] For the receiving end, this embodiment provides a communication method based on a drone swarm, which can be referred to... Figure 5 This communication method is applied to ground receiving stations and mainly includes motion state recognition and decoding. The specific steps are as follows: S51: Motion trajectory tracking; The ground receiving station captures video of the drone swarm's movement using high-definition visual sensors and continuously locates the precise position of each drone within consecutive video frames using advanced target tracking algorithms such as CSRT. By establishing the motion trajectory sequence of each drone, it provides foundational data for subsequent state analysis.

[0036] S52: Static position detection; To effectively overcome the problem of random jitter in target tracking and accurately identify the start and end times of motion, this embodiment employs the sliding window method. For example... Figure 6 As shown, this method analyzes continuous Average positional change of all drones in (integers greater than or equal to 3) frames of video. When the position of the drone changes in all adjacent frames within that consecutive frame All are less than the preset threshold When the drone swarm is in a static position, it is determined that the position changes. There are values ​​greater than the preset threshold. In this situation, it can be determined that the drone swarm is in a moving state, thereby accurately identifying the start and end times of the movement.

[0037] S53: Motion State Analysis; Based on the identified motion range, the displacement vector of each UAV during its motion is calculated. The direction code is obtained by resolving the direction of the displacement vector, and the velocity code is obtained by resolving the relative displacement distance.

[0038] S54: Decode to obtain the original transmitted information; Finally, the direction code and speed code obtained from decoding are recombined according to the split order to restore the complete binary data stream, and then the original transmission information is recovered based on the binary data stream.

[0039] To better understand this invention, the following description is provided with specific examples: Assume the number of drones N=3 (3 drones, numbered U1, U2, U3); the direction encoding bit depth D=2 (the direction of one drone can be transmitted in 2 bits, corresponding to 4 sector pairs, corresponding to 00 / 01 / 10 / 11" respectively); Calculate the segment length: l move = (2+1)×3 = 9 bits (that is, in each flight cycle, the 3 drones transmit a total of 9 bits of binary code, including 8 valid information bits and 1 reference identifier bit). Assuming the information to be transmitted (e.g., "There are 3 people trapped in disaster area A") is converted to binary code as: 10111000 11000111 01 (18 bits in total); since only 8 bits of valid binary code can be transmitted per flight cycle, it takes 3 flight cycles to transmit the complete information. Each process is exactly the same. The following mainly focuses on the first flight cycle.

[0040] The first 8 bits of the code 10111000 corresponding to the first flight cycle are split into 3 sub-codes (each sub-code is 3 bits) with a ratio of (D+1) bits per aircraft. Let's assume U1 is chosen as the reference aircraft here: U1 subcode: 10 * (the first two "10" bits are the direction code, and the third bit is the reference flag bit, which can be set according to preset rules, indicating that U1 is the reference machine). U2's subcode: 11 1 (the first two "11" bits are the direction code, and the third "1" bit is the speed code); U3 subcode: 00 0 (the first two "00" bits are the direction code, and the third "0" bit is the speed code).

[0041] Assign a directional task to each drone (corresponding to the first D bits of the subcode): The direction code for U1 is "10" → This controls U1 to fly along the centerline of the sector corresponding to "10"; The direction code for U2 is "11" → This controls U2 to fly along the centerline of the sector corresponding to "11". The direction code for U3 is “00” → This controls U3 to fly along the center line of the sector corresponding to “00”.

[0042] Assume that the velocity of U1 is constant at V.ref Assign a speed task to each drone (corresponding to the last bit of the subcode): U1 is the reference machine: it does not carry speed code (it only provides speed reference and does not carry speed encoding); The speed code for U2 is "1" → This controls the speed of U2 to be greater than V. ref (Faster than the reference machine); The speed code for U3 is "0" → This controls the speed of U3 to be less than V. ref (Slower than the reference machine).

[0043] Each UAV executes flight operations and transmits information according to the flight commands corresponding to the direction and speed codes. The ground receiving station first decodes the corresponding sub-code from the flight data of each UAV, then reassembles the segments according to the UAV order at the time of allocation, and finally reassembles all the segments into complete binary code in chronological order to restore the original information.

[0044] The ground receiving station first decodes the subcode (D+1 bit) of each UAV: Deciphering the direction code (D=2 bits): Based on the flight trajectory direction of U1, identify that it flies along the sector corresponding to "10" → Decipher the direction code "10" for U1; similarly, the direction code for U2 is "11", and the direction code for U3 is "00". Deciphering the speed code (1 bit): By comparing the speed of U2 with that of the reference machine U1 (U2 is faster) → the speed code "1" for U2 is deciphered; U3 is slower than U1 → the speed code "0" for U3 is deciphered; the reference machine U1 does not have a speed code, so its direction code and reference identifier code are directly used to match the subcode structure during allocation (the U1 subcode is "direction code 10 + reference identifier code *", which is deduced by reverse calculation using the allocation rules, or by synchronously recording the speed code position of the reference machine during encoding). Thus, the subcode for each UAV is deciphered: U1 subcode: 101 (direction 10 + reference identifier code); U2 subcode: 111 (direction 11 + speed 1); U3 subcode: 000 (direction 00 + speed 0).

[0045] Then, the sub-codes are concatenated according to the drone number sequence: U1 subcode (10) + U2 subcode (111) + U3 subcode (000) → concatenate the segment “10111000” (8 bits); similarly, the second segment “11000111” can be obtained through the second flight cycle; the second segment “01” can be obtained through the third flight cycle; finally, the complete binary code “10111000 11000111 01” (18 bits) is obtained by concatenation.

[0046] Finally, the complete binary code "101110001100011101" is converted into original information such as text and coordinates (e.g., "There are 3 people trapped in disaster area A"), thus completing the decoding.

[0047] It should be understood that when decoding, the ground station can directly determine which aircraft is the reference aircraft based on the reference identifier. When parsing the direction code, the reference aircraft and non-reference aircraft are treated equally; however, when parsing the speed code, only the state of the non-reference aircraft is extracted, and the speed of the reference aircraft is ignored.

[0048] It should be understood that if the length of the last segment of the binary stream after segmentation is less than l move -1 bits need to be padded with "0"s (or other preset padding markers) at the end to ensure that the padding bits and valid information can be distinguished during decoding. For example, in the above example, the binary code is "10111000 11000111 01". Its third segment "01" needs to be padded with 6 "0"s to make 8 bits, i.e. "01000000". During decoding, the padding marker is first identified, and then the padding bits are removed to restore the original information.

[0049] Based on the technical solution provided in this application, the reliability and environmental adaptability of emergency communication can be improved. By encoding information into the inherent flight direction and speed of the UAV, this solution completely avoids dependence on external acoustic and optical communication hardware, and only needs to utilize the UAV's own maneuverability and ground vision sensors to establish a communication link. On the other hand, the vision-based motion state decoding mechanism ensures effective information recovery in environments with strong electromagnetic interference, solving the failure problem of traditional wireless communication under extreme conditions. Compared with non-electromagnetic solutions such as acoustic and optical, this solution is less affected by environmental noise and obstruction, and its robustness is significantly enhanced. Through cluster cooperative coding, multiple bits of data can be transmitted within a single motion cycle, effectively improving communication efficiency. This helps to build a low-cost, highly available emergency communication system in scenarios such as military reconnaissance and disaster relief.

[0050] This technical solution is applicable to emergency communication scenarios in various electromagnetically sensitive environments, including but not limited to: Military reconnaissance and operations: In the electromagnetic warfare environment of the battlefield, provide a reliable and interference-resistant communication link between the UAV swarm and the command center to ensure the real-time transmission of critical intelligence; Disaster relief and emergency response: When natural disasters such as earthquakes and floods cause communication infrastructure to be paralyzed, establish temporary emergency communication systems to support rescue coordination and disaster information feedback; Industrial Inspection and Security Monitoring: In special environments such as industrial plants and substations with strong electromagnetic interference, ensure uninterrupted communication between inspection drones and the monitoring center.

[0051] Based on the above method embodiments, this embodiment also provides two communication devices based on UAV swarms: one for information encoding on the UAV swarm side and the other for information decoding on the ground receiving station side, which can be used to implement the steps of the above communication methods respectively.

[0052] refer to Figure 7 The communication device for the drone swarm, which can be used to implement the aforementioned communication method on the drone swarm side, includes: Processing module 71 is used to acquire key information to be transmitted, convert the key information into a binary stream, and determine the length of valid data that the drone cluster can encode in one flight cycle based on the number of drones N in the drone cluster and the preset direction encoding bit length D, and divide the binary stream into at least one binary sub-stream based on the length of valid data that can be encoded. Direction encoding module 72 is used to divide the horizontal motion plane of each UAV in the UAV swarm into multiple sector pairs, wherein the number of sector pairs is equal to 2. D Assign a unique D-bit binary code to each sector pair; control each drone to fly along the centerline direction of its assigned sector pair based on the direction code bits corresponding to each drone in the current binary substream to be transmitted. Speed ​​encoding module 73 is used to select one drone from the drone swarm as a reference drone, the reference drone maintaining a preset reference speed. Based on the speed code bits corresponding to each non-reference machine in the currently transmitted binary substream, control each non-reference machine to operate at a speed relative to the reference speed. The aircraft flies at a preset relative speed, wherein the speed of the non-reference aircraft is greater than the reference speed. The corresponding speed code bit is "1", indicating that the non-reference machine speed is less than the reference speed. The corresponding speed code bit is "0"; The control module 74 is used to enable each UAV to perform coordinated flight according to the corresponding flight direction and flight speed under the control of a synchronous clock. Each flight cycle includes a motion phase and a stationary phase. The motion phase is used to transmit the encoded information corresponding to the current binary substream, and the stationary phase is used for the ground receiving station to identify the motion state of the UAV cluster.

[0053] refer to Figure 8 The communication device for the drone swarm, which can be used to implement the communication method on the ground receiving station side, includes: The acquisition module 81 is used to capture motion video of a drone swarm performing synchronized flight through a visual sensor. The synchronized flight cycle of the drone swarm includes a motion phase for transmitting coded information and a stationary phase for state identification. The tracking module 82 is used to process the continuous video frames of the motion video using a target tracking algorithm, locate the position of each drone in each video frame, and generate a motion trajectory sequence for each drone. The identification module 83 is used to identify the stationary phase of the drone cluster in the synchronous flight cycle based on the motion trajectory sequence, and determine the video frame interval corresponding to the motion phase. The decoding module 84 is used to calculate the displacement vector of each UAV based on the video frame interval corresponding to the motion phase, and to parse the direction encoding through the direction of the displacement vector and the speed encoding through the relative displacement distance between the non-reference UAV and the reference UAV, wherein the reference UAV is a preset speed reference UAV in the UAV cluster; the parsed direction encoding and speed encoding are recombined into a binary substream, and then multiple segments of the binary substream are spliced ​​together into a complete binary stream according to the segmentation order of the UAV cluster to restore the original key information transmitted by the UAV cluster.

[0054] Various variations and specific examples of the methods provided in the above embodiments are also applicable to the apparatus of this embodiment. Through the foregoing detailed description of the methods, those skilled in the art can clearly understand the implementation method of the apparatus in this embodiment. For the sake of brevity, they will not be described in detail here.

[0055] To better execute the above methods, embodiments of this application also provide a computer device, such as... Figure 9 As shown, the computer device includes a processor, a memory, and a communication bus for enabling communication between the processor and the memory.

[0056] Computer devices can be implemented in various forms, including but not limited to mobile phones, tablets, PDAs, laptops, and desktop computers.

[0057] The memory can be used to store instructions, programs, code, code sets, or instruction sets. The memory may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the methods provided in the above embodiments; the data storage area may store data involved in the methods provided in the above embodiments.

[0058] Optionally, the memory may be a read-only memory (ROM), random access memory (RAM), electrically erasable programmable read-only memory (EEPROM), optical disc (including compact disc read-only memory (CD-ROM), compressed optical disc, laser disc, digital versatile optical disc, Blu-ray disc, etc.), magnetic disk storage medium, or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited to these. The memory exists independently and is connected to the processor via a communication bus, or the memory is integrated with the processor.

[0059] A processor may include one or more processing cores. The processor executes instructions, programs, code sets, or instruction sets stored in memory, and calls data stored in memory to perform various functions and process data as described in this application. The processor may be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, and microprocessor. It is understood that, for different devices, the electronic devices used to implement the above-described processor functions may also be other types, and the embodiments of this application do not specifically limit this.

[0060] The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0061] In an alternative embodiment, the computer device may also include a communication interface (not shown) for communication with other devices.

[0062] This application provides a computer-readable storage medium, including, for example, various media capable of storing program code such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. This computer-readable storage medium stores a computer program that can be loaded by a processor and execute the methods of the above embodiments.

[0063] This application also provides a computer program product comprising a computer program tangibly embodied on a readable medium thereof, the computer program containing program code for performing any of the methods described in any of the embodiments of this application, the computer program being downloadable and installable over a network, and / or installed from a removable medium (such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc.).

[0064] The above description of the embodiments is only used to provide a detailed introduction to the technical solutions of this application. However, the description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of this application, and should not be construed as a limitation of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A communication method based on unmanned aerial vehicle (UAV) swarms, characterized in that, The method, applied to the drone swarm side, includes: The key information to be transmitted is obtained, the key information is converted into a binary stream, and the length of valid data that the drone cluster can encode in one flight cycle is determined based on the number of drones N in the drone cluster and the preset direction encoding bit length D. Based on the length of valid data that can be encoded, the binary stream is divided into at least one binary substream. The horizontal motion plane of each drone in the drone swarm is divided into multiple sector pairs, and the number of sector pairs is equal to 2. D Assign a unique D-bit binary code to each sector pair; control each drone to fly along the centerline direction of its assigned sector pair based on the direction code bits corresponding to each drone in the current binary substream to be transmitted. One drone is selected from the drone swarm as a reference drone, and the reference drone maintains a preset reference speed. Based on the speed code bits corresponding to each non-reference machine in the currently transmitted binary substream, control each non-reference machine to operate at a speed relative to the reference speed. The aircraft flies at a preset relative speed, wherein the speed of the non-reference aircraft is greater than the reference speed. The corresponding speed code bit is "1", indicating that the non-reference machine speed is less than the reference speed. The corresponding speed code bit is "0"; Under the control of a synchronized clock, each UAV performs coordinated flight according to its corresponding flight direction and speed. Each flight cycle includes a motion phase and a stationary phase. The motion phase is used to transmit the encoded information corresponding to the current binary substream, and the stationary phase is used for the ground receiving station to identify the motion state of the UAV cluster.

2. The method as described in claim 1, characterized in that, Before the key information is converted into a binary stream, it is first organized according to a data packet structure that includes the start flag STX, message length LEN, message type MSGID, and payload PAYLOAD.

3. The method as described in claim 1, characterized in that, The determination of the length of valid data that the drone swarm can encode in one flight cycle, based on the number of drones N and the preset directional encoding bit length D, includes: Calculate the segment length l using the following formula. move : The length of valid data that the drone swarm can encode in one flight cycle is equal to the segmentation length l. move Subtract 1.

4. The method according to any one of claims 1-3, characterized in that, The formula for calculating the relative speed ratio (RVR) of the non-reference machine relative to the reference machine includes: in, This indicates the flight speed of the non-reference aircraft. The reference speed of the reference machine is indicated; the relative speed ratio (RVR) is set to a range of 0.25 to 0.

85.

5. The method according to any one of claims 1-3, characterized in that, The synchronization clock is used to ensure that the flight start time, motion phase duration, and stationary phase duration of all UAVs are kept consistent; the motion phase duration is not less than the minimum time required for the ground receiving station's visual sensors to capture the motion trajectory of the UAV cluster, and the stationary phase duration is not less than the minimum time required for the ground receiving station to identify the static position of the UAV cluster.

6. A communication method based on unmanned aerial vehicle (UAV) swarms, characterized in that, Applied to the ground receiving station side, the method includes: Motion video of a drone swarm performing synchronized flight is captured using a visual sensor. The synchronized flight cycle of the drone swarm includes a motion phase for transmitting coded information and a stationary phase for state identification. The motion video is processed using a target tracking algorithm to locate the position of each drone in each video frame and generate a motion trajectory sequence for each drone. Based on the motion trajectory sequence, the stationary phase of the drone cluster in the synchronous flight cycle is identified, and the video frame interval corresponding to the motion phase is determined. Based on the video frame intervals corresponding to the motion phase, the displacement vector of each drone is calculated. The direction encoding is analyzed by the direction of the displacement vector, and the speed encoding is analyzed by the relative displacement distance between the non-reference drone and the reference drone. The reference drone is a preset speed reference drone in the drone swarm. The parsed direction and velocity codes are recombined into a binary substream, and then the multiple binary substreams are spliced ​​together into a complete binary stream according to the segmentation order of the UAV cluster, thus restoring the original key information transmitted by the UAV cluster.

7. The method as described in claim 6, characterized in that, The step of identifying the stationary phase of the drone swarm during the synchronous flight cycle based on the motion trajectory sequence includes: Select consecutive C using a sliding window f Frame video, calculate the continuous C f Average position change of all drones in adjacent frames within a frame When the average value of all the said position changes All are less than the preset jitter threshold θ jitter When, determine the continuous C f The drone state corresponding to the frame is static, and the corresponding video frame interval is the stationary phase, while the other video frame intervals are the moving phase.

8. A communication device based on unmanned aerial vehicle (UAV) swarms, characterized in that, include: The processing module is used to acquire key information to be transmitted, convert the key information into a binary stream, and determine the length of valid data that the drone cluster can encode in one flight cycle based on the number of drones N in the drone cluster and the preset direction encoding bit length D, and divide the binary stream into at least one binary sub-stream based on the length of valid data that can be encoded. The direction encoding module is used to divide the horizontal motion plane of each drone in the drone swarm into multiple sector pairs, the number of sector pairs being equal to 2. D Assign a unique D-bit binary code to each sector pair; control each drone to fly along the centerline direction of its assigned sector pair based on the direction code bits corresponding to each drone in the current binary substream to be transmitted. The speed encoding module is used to select one drone from the drone swarm as a reference drone, which maintains a preset reference speed. Based on the speed code bits corresponding to each non-reference machine in the currently transmitted binary substream, control each non-reference machine to operate at a speed relative to the reference speed. The aircraft flies at a preset relative speed, wherein the speed of the non-reference aircraft is greater than the reference speed. The corresponding speed code bit is "1", indicating that the non-reference machine speed is less than the reference speed. The corresponding speed code bit is "0"; The control module is used to enable each UAV to perform coordinated flight according to the corresponding flight direction and speed under the control of a synchronous clock. Each flight cycle includes a motion phase and a stationary phase. The motion phase is used to transmit the encoded information corresponding to the current binary substream, and the stationary phase is used for the ground receiving station to identify the motion state of the UAV cluster.

9. A communication device based on unmanned aerial vehicle (UAV) swarms, characterized in that, include: The acquisition module is used to capture motion videos of a drone swarm performing synchronized flight through a visual sensor. The synchronized flight cycle of the drone swarm includes a motion phase for transmitting coded information and a stationary phase for state identification. The tracking module is used to process the continuous video frames of the motion video using a target tracking algorithm, locate the position of each drone in each video frame, and generate a motion trajectory sequence for each drone. The identification module is used to identify the stationary phase of the drone cluster in the synchronous flight cycle based on the motion trajectory sequence, and determine the video frame interval corresponding to the motion phase; The decoding module is used to calculate the displacement vector of each drone based on the video frame interval corresponding to the motion phase, and to parse the direction encoding through the direction of the displacement vector and the velocity encoding through the relative displacement distance between the non-reference drone and the reference drone, where the reference drone is a preset speed reference drone in the drone swarm; the parsed direction encoding and velocity encoding are recombined into a binary substream, and then multiple segments of the binary substream are spliced ​​together into a complete binary stream according to the segmentation order of the drone swarm, restoring the original key information transmitted by the drone swarm.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program; the computer program can be executed by a processor to implement the communication method based on unmanned aerial vehicle swarms as described in any one of claims 1-5 or 6-7.

Images