A multi-mode link switching method for a heterogeneous unmanned aerial vehicle cluster and related products

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) control, specifically to a multi-mode link switching method and related products for heterogeneous UAV swarms. The method includes acquiring current task mode information and link status information of each node in the heterogeneous UAV swarm; dynamically selecting and activating corresponding link switching strategies from a preset strategy set based on the task mode information; this invention dynamically selects different link switching strategy sets according to different task modes, resolving resource contention conflicts within heterogeneous UAV swarms under the constraint of strictly limited communication resources, and improving the communication resilience and efficiency of the swarm system.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control, specifically to a multi-mode link switching method for heterogeneous UAV swarms and related products. Background Technology

[0002] With the rapid development of drone technology, especially heterogeneous swarms composed of drones, smart munitions, and ground-based collaborative equipment, their applications in reconnaissance, strike, and collaborative operations are becoming increasingly widespread. Typically, swarms use links in different frequency bands to meet diverse communication needs.

[0003] In existing UAV communication systems, link switching is a common technique for addressing long-distance communication coverage issues to ensure continuous communication. Currently, common link switching solutions mainly fall into two categories:

[0004] The first type is a hard handover strategy based on a single threshold. This method continuously monitors the signal strength index (RSSI) or signal-to-noise ratio (SNR) of the current link. When the monitored parameter falls below a preset fixed threshold, the system triggers a link handover. Although this method is simple to implement, in situations where signal coverage is at the edge or the channel environment is complex and variable, it is prone to repeated handovers between two links due to instantaneous signal fluctuations, resulting in a "ping-pong effect." This severely consumes network resources and also affects the continuity and stability of communication.

[0005] The second type borrows from the hysteresis handover strategy of traditional mobile communication (cellular networks), introducing signal strength lag margin or relative threshold comparison to reduce the ping-pong effect to some extent. However, this type of algorithm is usually designed for scenarios where ground user terminals move regularly between base stations. It cannot be applied to diverse platforms such as drones, ground-based devices, and smart munitions, and traditional cellular handover algorithms are difficult to adapt to high-speed movement scenarios.

[0006] Currently, there is a lack of intelligent link switching strategies that can comprehensively consider platform heterogeneity (drones, smart munitions), link resource constraints (C-link 1 station 2 drones), and dynamic changes in multi-task modes. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a multi-mode link switching method and related products for heterogeneous UAV clusters. Through mode awareness and resource scheduling, it solves the link collaborative management problem of heterogeneous platforms under strict communication resource constraints.

[0008] This invention is achieved through the following technical solution:

[0009] A multi-mode link switching method for heterogeneous UAV swarms includes the following steps:

[0010] Obtain information on the current task modes of the heterogeneous drone cluster and the link status information of each node;

[0011] Based on the task mode information, a corresponding link switching strategy is dynamically selected and activated from a preset strategy set; the link switching strategy includes:

[0012] When the task mode is near-field mode, a threshold- and priority-based collaborative handover strategy is implemented: real-time monitoring of link quality, triggering a handover request when the link quality is lower than a preset threshold, and conducting access arbitration based on the occupancy of limited link resources and the dynamic priority of nodes;

[0013] When the task mode is anti-interference link selection mode, a forced directional switching strategy based on link quality ranking is executed: the quality of all available links in the network is globally scanned and ranked, critical nodes are forced to switch to the current communication link with the best quality, and non-critical nodes are forced to release resources according to resource constraints.

[0014] When the mission mode is pre-loaded, an event-triggered tolerable interruption switching strategy is implemented: communication interruptions are tolerated while the node is flying along the pre-loaded route, and a connection to the restricted link is requested only when a specific mission event is detected.

[0015] Optionally, the cooperative handover strategy includes the following steps:

[0016] A preset switching threshold is set. When a node detects that the quality of the currently connected primary link is lower than the switching threshold, it sends a request to switch to the restricted link.

[0017] Determine whether the current number of connected nodes on the restricted link has reached the preset resource limit;

[0018] If the resource limit has not been reached, approve the request and execute the switchover instruction;

[0019] If the resource limit has been reached, a priority arbitration mechanism is activated: the priority of the requesting node is compared with the priority of the currently connected nodes in the restricted link;

[0020] If the priority of the requesting node is higher than the lowest priority among the connected nodes, the node with the lowest priority will execute the instruction to forcibly release the restricted link resources and connect the requesting node to the restricted link.

[0021] If the priority of the requesting node is not higher than the lowest priority among the connected nodes, the request is added to the waiting queue.

[0022] Optionally, the cooperative handover strategy further includes the following steps:

[0023] A preset back-off threshold is defined, wherein the link quality index corresponding to the back-off threshold is higher than the handover threshold.

[0024] Real-time monitoring of the primary link quality of nodes currently connected to restricted links;

[0025] When it is detected that the quality of the primary link corresponding to the node currently connected to the restricted link has recovered to a level higher than the switchback threshold, a switchback command is issued;

[0026] The requesting node connected to the restricted link executes the switchback command, disconnects from the restricted link and restores the connection to the primary link, updates the restricted link resource allocation table, and releases the restricted link resources.

[0027] Optionally, after adding the request to the waiting queue, the current ad hoc network links of the heterogeneous drone cluster are analyzed;

[0028] Determine whether a third-party node exists in the cluster, and that the third-party node maintains primary link connectivity with both the requesting node and the ground control station.

[0029] If the third-party node exists, a relay suggestion instruction is sent to the requesting node, instructing the requesting node to perform data relay transmission through the primary link of the third-party node.

[0030] Optionally, the forced targeted handover strategy includes the following steps:

[0031] All nodes in the cluster detect the global link quality and obtain real-time quality information of the primary and restricted links of each node;

[0032] Perform a global quality ranking of available links across all nodes and identify critical nodes in the current task;

[0033] Determine whether the interference resistance or link quality of the restricted link is better than the quality of the primary link currently connected to the critical node;

[0034] If the quality is better than that of the primary link and the resources of the restricted link have reached their limit, force a switchover to the primary link for the lowest priority non-critical node in the restricted link.

[0035] After the restricted link resources are released, the critical node is forced to connect to the restricted link.

[0036] Optionally, the interruption-tolerant switching strategy includes the following steps:

[0037] Define the critical task events that trigger the handover, and the critical task events include at least the deployment event, the emergency instruction sending event, and the terminal guidance event;

[0038] When a delivery event is detected, the node enters an interruption-tolerant state, only periodically sending status beacons through the primary link, and does not actively request restricted link resources;

[0039] When an emergency command needs to be received but a connection cannot be established with the primary link, an emergency command sending event is triggered.

[0040] Check the restricted link resources. If there are idle resources, temporarily switch to the restricted link to receive emergency instructions.

[0041] After the emergency command transmission is completed, the node disconnects from the restricted link and releases the restricted link resources;

[0042] When a terminal guidance event is detected, the node shuts down all communication links and enters a silent state.

[0043] Optionally, the priority of a node is determined based on its task role and data transmission status, wherein the task role includes lead aircraft and wingman aircraft, and the data transmission status includes data in transmission and data not being transmitted.

[0044] The lead aircraft has higher priority than the wingman.

[0045] Nodes that are currently transmitting data have higher priority than nodes that are not transmitting data.

[0046] A multi-mode link switching system for heterogeneous unmanned aerial vehicle (UAV) swarms includes:

[0047] The ground control station is equipped with a multi-mode link switching controller, which is used to obtain the task mode information of the cluster, dynamically activate the corresponding link switching strategy according to the task mode information, maintain the restricted link resource allocation table, and perform global arbitration and scheduling of link resources.

[0048] Multiple execution units are deployed on various heterogeneous node platforms within the cluster to monitor the quality of local primary and restricted links, identify task events, report status information to the ground control station, and execute link switching commands issued by the ground control station.

[0049] The ground control station works in conjunction with the execution unit to execute the multi-mode link switching method for heterogeneous UAV clusters as described above.

[0050] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the multi-mode link switching method for heterogeneous unmanned aerial vehicle (UAV) swarms as described above.

[0051] A computer program product includes a computer program / instructions that, when executed by a processor, implement the multi-mode link switching method for heterogeneous drone swarms as described above.

[0052] Compared with the prior art, the present invention has the following features and beneficial effects:

[0053] This invention dynamically selects and enables different link switching strategies based on the different task modes currently being executed by the cluster, such as "near-field mode," "anti-interference link selection mode," or "pre-binding mode." This achieves a leap from "passive, isolated, and single-link-based" to "active, collaborative, and task- and resource-based." Under the constraint of strictly limited communication resources, it resolves the resource contention contradiction within heterogeneous UAV clusters and improves the communication resilience and efficiency of the cluster system.

[0054] This invention solves the resource contention problem at the signal coverage edge of a limited link by introducing a priority-based arbitration mechanism and hysteresis comparison logic in near-field mode. It not only suppresses the "ping-pong effect" caused by signal fluctuations, but also ensures that high-priority nodes can preempt communication resources, thus achieving efficient allocation of limited bandwidth resources.

[0055] This invention implements a forced directional handover and resource replacement strategy based on global quality ranking in anti-interference mode. This strategy can proactively sacrifice the link quality of non-critical nodes in strong electromagnetic interference environments to ensure access for critical command nodes, thereby enhancing robustness in extreme environments.

[0056] This invention implements an on-demand connection communication mode for low-power heterogeneous nodes by applying an event-triggered interrupt-tolerant and on-demand pulse connection strategy in a pre-binding mode, thereby reducing the long-term occupation of limited link resources. Attached Figure Description

[0057] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, but do not constitute a limitation on the embodiments of the present invention.

[0058] Figure 1 This is a flowchart illustrating the multi-mode link switching method for heterogeneous UAV clusters according to the present invention.

[0059] Figure 2 This is a schematic diagram of the process for implementing the collaborative switching strategy according to the present invention.

[0060] Figure 3 This is a schematic diagram of the process for implementing the forced targeted switching strategy according to the present invention.

[0061] Figure 4 This is a flowchart illustrating the execution of the interruption-tolerant switching strategy according to the present invention.

[0062] Figure 5 This is a schematic diagram of the architecture and networking of a multi-mode link switching system for heterogeneous unmanned aerial vehicle (UAV) clusters according to the present invention. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0064] It should also be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0065] Where there is no conflict, the embodiments and features described in this invention can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0066] Example 1

[0067] This embodiment is for the following: Figure 5 The heterogeneous swarm consisting of different platforms such as drones and smart munitions, shown in the diagram, demonstrates a multi-mode link switching method for heterogeneous drone swarms under limited communication resources. This method first identifies the current task mode of the swarm, and then calls the most suitable switching strategy based on the task mode. Figure 1 As shown, the specific steps include:

[0068] First, obtain information on the current task modes of the heterogeneous drone cluster and the link status information of each node.

[0069] Task mode information refers to the type of task currently being executed by the cluster.

[0070] Near-field mode: Formation and flight near the base / mission area.

[0071] Anti-jamming chain selection mode: Severe communication interference is detected, for example, when performing a mission in a strong electromagnetic countermeasures environment.

[0072] Pre-loaded mode: Targeting one-off attack platforms such as smart munitions, for example, smart missiles that have been launched and are flying along a predetermined trajectory.

[0073] Link status information includes the signal quality (such as signal-to-noise ratio SNR, signal strength RSSI) and connection status of each node's current primary link (such as S-band self-organizing network link, S-chain) and restricted link (such as C-band telemetry and control link, C-chain).

[0074] Secondly, based on the task mode information, the corresponding link switching strategy is dynamically selected and activated from the preset strategy set.

[0075] Finally, depending on the activation strategy, the following three different processing flows are executed:

[0076] Strategy 1: When the task mode is near-field mode, a threshold- and priority-based collaborative handover strategy is implemented: real-time monitoring of link quality, triggering a handover request when the link quality is lower than the preset threshold, and arbitrating access based on the occupancy of limited link resources and the dynamic priority of nodes.

[0077] This is typically used in scenarios where clusters assemble or fly in formation near a base or mission area. In this case, the S-chain is the primary link, but due to increased distance or obstruction, some nodes need to switch to the C-chain (restricted link).

[0078] Continuously monitor the quality of the primary link. Only when the quality falls below a preset "switching threshold" is the link considered unreliable, thus triggering a switching request.

[0079] Since the number of restricted link resources (such as the number of ground station channels) is fixed (1 station, 2 machines), when the number of requests exceeds the resource limit, the priority of the requesting node is compared with that of the currently occupying node. High-priority nodes (such as the primary machine or nodes transmitting critical data) can preempt the resources of low-priority nodes, and low-priority requests are added to the waiting queue.

[0080] Strategy 2: When the task mode is anti-interference link selection mode, execute a forced directional switching strategy based on link quality ranking: perform a global scan and ranking of the quality of all available links in the network, force critical nodes to switch to the current communication link with the best quality, and force non-critical nodes to release resources according to resource constraints.

[0081] Used in situations where there is strong electronic interference and communication links are unstable, the goal is to quickly establish stable links for the most critical platforms.

[0082] The system proactively scans the quality of all available links (including S-links and C-links) across the entire network and performs a global ranking. It ignores switching thresholds; that is, regardless of whether the current link has reached its threshold, if a higher-quality link is found, it forcibly switches critical nodes to that link and forces non-critical nodes to disconnect from restricted links.

[0083] Strategy 3: When the mission mode is pre-prepared, implement an event-triggered tolerable interruption switching strategy: tolerate communication interruptions while the node is flying along the pre-prepared route, and only request to establish a connection with the restricted link as needed when a specific mission event is detected.

[0084] For one-off attack platforms such as smart munitions, the communication requirements of smart munitions are reduced during their flight towards pre-loaded targets, and brief communication interruptions can be tolerated. This strategy is specifically designed for smart munitions, a low-power, heterogeneous node with unique communication requirements. By tolerating interruptions and using event-triggered mechanisms, it significantly reduces the pressure on globally constrained C-chain resources.

[0085] A connection request is triggered only when a specific "mission event" (such as a deployment event or a terminal guidance event) is detected. The system will quickly establish a connection and release the link immediately after transmitting the necessary data.

[0086] Example 2

[0087] This embodiment, based on Embodiment 1, describes the specific implementation process of the threshold- and priority-based collaborative switching strategy executed when the cluster is in "near-field mode," such as... Figure 2 As shown, it includes the following steps:

[0088] S11. A preset switching threshold is set to a low signal-to-noise ratio threshold (SNR<5dB). When the quality of the S-link is lower than this threshold, the link is considered to be about to be interrupted. When a node detects that the quality of the currently connected primary link is lower than the switching threshold, it sends a request to switch to the restricted link.

[0089] S12. Determine whether the current number of connected nodes on the restricted link has reached the preset resource limit.

[0090] After receiving the request, the ground control station first queries the C-link resource table to determine whether the number of connected nodes on the restricted link has reached the preset resource limit.

[0091] S13. Sufficient Resources: If the resource limit has not been reached, the request will be approved and the switching instruction will be executed. For example, if the current number of C-chain connections is less than 2, the request of drone A will be approved immediately and a switching instruction will be issued.

[0092] Resource conflict: If the resource limit has been reached, for example: Chain C has connected 2 nodes (let's say drones B and C).

[0093] Then, a priority arbitration mechanism is initiated: the priority of the requesting node is compared with the priority of the currently connected nodes in the restricted link; for example, the priorities of drones A, B, and C are compared.

[0094] S14. If the priority of the requesting node is higher than the lowest priority among the connected nodes, the node with the lowest priority executes the instruction to forcibly release the restricted link resources and connects the requesting node to the restricted link. For example, if the priority of drone A is higher than the lowest one among B and C (assuming it is C), the controller sends an instruction to drone C to switch back to the S chain (if the S chain is available) or enter a waiting state, and then approves drone A to connect to the C chain.

[0095] If the priority of the requesting node is not higher than the lowest priority among the connected nodes, the request is added to the waiting queue; for example, if drone A has a lower priority, its request is queued.

[0096] S15. In order to prevent the "ping-pong effect" and release the restricted link resources in a timely manner, a back-cut threshold is preset, which is a relatively high signal-to-noise ratio threshold (SNR>15dB). The link quality index corresponding to the back-cut threshold is higher than the handover threshold. The back-cut threshold and the handover threshold constitute a hysteresis interval.

[0097] S16. Monitor the primary link quality of the node currently connected to the restricted link in real time; when the primary link quality of the node currently connected to the restricted link recovers to above the back-switch threshold, issue a back-switch command.

[0098] S17. The requesting node connected to the restricted link executes the switchback command, disconnects from the restricted link and restores the connection to the primary link, updates the restricted link resource allocation table, and releases the restricted link resources. For example: If the quality of the S-chain corresponding to UAV A is higher than the switchback threshold, UAV A switches back from the C-chain to the S-chain, releases the C-chain resources, and the ground station immediately updates the resource table, marking the C-chain as "idle" so that it can wait for other nodes in the queue to use it.

[0099] S18. For low-priority nodes added to the waiting queue, in order to prevent them from being disconnected, analyze the current self-organizing network links of the heterogeneous drone cluster.

[0100] Determine whether a third-party node exists in the cluster, and that the third-party node maintains primary link connectivity with both the requesting node and the ground control station.

[0101] If the third-party node exists, a relay suggestion instruction is sent to the requesting node, instructing the requesting node to perform data relay transmission through the primary link of the third-party node.

[0102] In addition, the priority of a node can be determined based on its task role and data transmission status. Task roles include lead and wingman, and data transmission status includes in progress and not yet transmitted.

[0103] The lead node (command node) has a higher priority than the wingman node (ordinary node); a node that is transmitting data has a higher priority than a node that is not transmitting data.

[0104] Example 3

[0105] This embodiment, based on Embodiment 1, describes the specific implementation process of the forced directional handover strategy based on link quality ranking when the cluster is in "anti-interference link selection mode," as follows: Figure 3 As shown, it includes the following steps:

[0106] S21. The system no longer waits for reports from individual nodes, but instructs all nodes in the cluster to detect the global link quality and obtain real-time quality information of the primary and restricted links of each node.

[0107] S22. Perform a global quality ranking of the available links of all nodes and identify the key nodes in the current mission; key nodes are usually high-value nodes that undertake command, guidance or transmission of core intelligence.

[0108] S23. The system no longer passively waits for node requests, but actively performs global optimization, that is, actively judges whether the anti-interference capability or link quality of the restricted link is better than the quality of the primary link currently connected to the critical node.

[0109] S24. If a restricted link is found that is superior to the primary link, switch directly to the restricted link. For example, even if the S-chain quality is acceptable, but the C-chain in a certain direction is detected to have excellent quality and strong anti-interference capability, the controller will force the critical node to switch to the C-chain to ensure unimpeded command and control.

[0110] However, if the quality is better than the primary link and the restricted link resources have reached their limit, a forced switchover to the primary link will be initiated, prioritizing the lowest-priority non-critical node among the restricted links. The system will then select the lowest-priority non-critical node from among the currently occupying restricted links. A command will be issued to this target node, instructing it to switch to the primary link. To avoid saturating C-chain resources, commands will be sent to non-critical nodes to switch back from C-chain to S-chain, prioritizing critical node links even if their S-chain quality is poor.

[0111] S25. After the restricted link resources are released, the critical node is forced to connect to the restricted link.

[0112] Example 4

[0113] This embodiment, based on Embodiment 1, describes the specific implementation process of the event-triggered, interruption-tolerant switching strategy executed when the cluster is in "pre-packaging mode," such as... Figure 4 As shown, it includes the following steps:

[0114] The system no longer uses parameters such as signal-to-noise ratio (SNR) as the basis for switching, but defines key mission events that trigger the switching. These key mission events include at least a delivery event (smart munitions are released from the belly of the UAV), an emergency command transmission event (emergency commands are sent to the smart munitions), and a terminal guidance event (smart munitions enter the terminal guidance phase).

[0115] Event 1: Upon detecting a deployment event, the node enters an interruption-tolerant state, periodically sending status beacons only through the primary link and not actively requesting restricted link resources. After the smart munition is deployed, its S-chain connection with the carrier aircraft (drone) may be rapidly interrupted due to low power. In this case, by default, it does not actively request C-chain resources for it. The smart munition flies along a pre-programmed route and periodically attempts to send brief status beacons on the S-chain.

[0116] Event 2: When an emergency command needs to be received but a connection cannot be established with the primary link, an emergency command sending event is triggered;

[0117] Check the restricted link resources. If there are idle resources, temporarily switch to the restricted link to receive emergency instructions. After the emergency instructions are transmitted, the node disconnects from the restricted link and releases the restricted link resources.

[0118] When the ground station has an urgent command to send, the ground controller actively searches for the smart munition. If the S-chain cannot be established and the C-chain resources are available, the controller will instruct the smart munition to switch to the C-chain for brief communication, and then quickly release the C-chain resources after the communication ends.

[0119] Event 3: When a terminal guidance event is detected, the node shuts down all communication links and enters a silent state.

[0120] If a smart munition enters the terminal guidance phase, its communication link is completely shut down, and no further switching occurs, thus achieving a silent attack.

[0121] Example 5

[0122] like Figure 5 As shown, this embodiment provides a multi-mode link switching system for heterogeneous drone swarms, including:

[0123] The ground control station is equipped with a multi-mode link switching controller, which is used to obtain the task mode information of the cluster, dynamically activate the corresponding link switching strategy according to the task mode information, maintain the restricted link resource allocation table, and perform global arbitration and scheduling of link resources.

[0124] Multiple execution units are deployed on various heterogeneous node platforms (such as lead aircraft, wingmen, and smart munitions) within the cluster to monitor the quality of the local primary and restricted links, identify mission events, report status information to the ground control station, and execute link switching commands issued by the ground control station.

[0125] The ground control station works in conjunction with the execution unit to execute the multi-mode link switching method for heterogeneous UAV clusters as described above.

[0126] Example 6

[0127] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the multi-mode link switching method for heterogeneous unmanned aerial vehicle (UAV) swarms as described above.

[0128] Without loss of generality, computer-readable media can include computer storage media and communication media. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instruction data structures, program modules, or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid-state storage technologies, CD-ROM, DVD or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the above-mentioned types. The aforementioned system memories and mass storage devices can be collectively referred to as memory.

[0129] A computer program product includes a computer program / instructions that, when executed by a processor, implement the multi-mode link switching method for heterogeneous drone swarms as described above.

[0130] Computer program products include computer programs or instruction sets used to perform specific tasks or achieve specific functions. These programs or instructions are designed to be executed by a processor to implement a series of predefined steps or operations. The program product may be stored in various forms of computer storage media, such as memory, hard disks, solid-state drives, optical discs, or other forms of digital storage devices. It may exist in the form of compiled binary code or in the form of scripts or bytecode that can be executed by an interpreter. Through carefully designed algorithms and logical instructions, the program product enables the processor to process data in a specific order and manner, performing various functions such as data analysis, user interaction, and device control.

[0131] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0132] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0133] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above invention, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A multi-mode link switching method for heterogeneous unmanned aerial vehicle (UAV) swarms, characterized in that, Includes the following steps: Obtain information on the current task modes of the heterogeneous drone cluster and the link status information of each node; Based on the task mode information, the corresponding link switching strategy is dynamically selected and activated from the preset strategy set; The link switching strategy includes: When the task mode is near-field mode, a threshold- and priority-based collaborative handover strategy is implemented: real-time monitoring of link quality, triggering a handover request when the link quality is lower than a preset threshold, and conducting access arbitration based on the occupancy of limited link resources and the dynamic priority of nodes; When the task mode is anti-interference link selection mode, a forced directional switching strategy based on link quality ranking is executed: the quality of all available links in the network is globally scanned and ranked, critical nodes are forced to switch to the current communication link with the best quality, and non-critical nodes are forced to release resources according to resource constraints. When the mission mode is pre-loaded, an event-triggered tolerable interruption switching strategy is implemented: communication interruptions are tolerated while the node is flying along the pre-loaded route, and a connection to the restricted link is requested only when a specific mission event is detected.

2. The multi-mode link switching method for heterogeneous UAV clusters according to claim 1, characterized in that, The coordinated handover strategy includes the following steps: A preset switching threshold is set. When a node detects that the quality of the currently connected primary link is lower than the switching threshold, it sends a request to switch to the restricted link. Determine whether the current number of connected nodes on the restricted link has reached the preset resource limit; If the resource limit has not been reached, approve the request and execute the switchover instruction; If the resource limit has been reached, a priority arbitration mechanism is activated: the priority of the requesting node is compared with the priority of the currently connected nodes in the restricted link; If the priority of the requesting node is higher than the lowest priority among the connected nodes, the node with the lowest priority will execute the instruction to forcibly release the restricted link resources and connect the requesting node to the restricted link. If the priority of the requesting node is not higher than the lowest priority among the connected nodes, the request is added to the waiting queue.

3. The multi-mode link switching method for heterogeneous UAV clusters according to claim 2, characterized in that, The coordinated handover strategy also includes the following steps: A preset back-off threshold is defined, wherein the link quality index corresponding to the back-off threshold is higher than the handover threshold. Real-time monitoring of the primary link quality of nodes currently connected to restricted links; When it is detected that the quality of the primary link corresponding to the node currently connected to the restricted link has recovered to a level higher than the switchback threshold, a switchback command is issued; The requesting node connected to the restricted link executes the switchback command, disconnects from the restricted link and restores the connection to the primary link, updates the restricted link resource allocation table, and releases the restricted link resources.

4. The multi-mode link switching method for heterogeneous UAV clusters according to claim 2, characterized in that, After adding the request to the waiting queue, analyze the current ad hoc network links of the heterogeneous drone cluster; Determine whether a third-party node exists in the cluster, and that the third-party node maintains primary link connectivity with both the requesting node and the ground control station. If the third-party node exists, a relay suggestion instruction is sent to the requesting node, instructing the requesting node to perform data relay transmission through the primary link of the third-party node.

5. The multi-mode link switching method for heterogeneous UAV clusters according to claim 1, characterized in that, The forced targeted handover strategy includes the following steps: All nodes in the cluster detect the global link quality and obtain real-time quality information of the primary and restricted links of each node; Perform a global quality ranking of available links across all nodes and identify critical nodes in the current task; Determine whether the interference resistance or link quality of the restricted link is better than the quality of the primary link currently connected to the critical node; If the quality is better than that of the primary link and the resources of the restricted link have reached their limit, force a switchover to the primary link for the lowest priority non-critical node in the restricted link. After the restricted link resources are released, the critical node is forced to connect to the restricted link.

6. The multi-mode link switching method for heterogeneous UAV clusters according to claim 1, characterized in that, The interruption-tolerant switching strategy includes the following steps: Define the critical task events that trigger the handover, and the critical task events include at least the deployment event, the emergency instruction sending event, and the terminal guidance event; When a delivery event is detected, the node enters an interruption-tolerant state, only periodically sending status beacons through the primary link, and does not actively request restricted link resources; When an emergency command needs to be received but a connection cannot be established with the primary link, an emergency command sending event is triggered. Check the restricted link resources. If there are idle resources, temporarily switch to the restricted link to receive emergency instructions. After the emergency command transmission is completed, the node disconnects from the restricted link and releases the restricted link resources; When a terminal guidance event is detected, the node shuts down all communication links and enters a silent state.

7. The multi-mode link switching method for heterogeneous UAV clusters according to claim 2 or 5, characterized in that, The priority of a node is determined based on its task role and data transmission status. The task role includes lead and wingman, and the data transmission status includes in-transmission and non-transmission. The lead aircraft has higher priority than the wingman. Nodes that are currently transmitting data have higher priority than nodes that are not transmitting data.

8. A multi-mode link switching system for heterogeneous unmanned aerial vehicle (UAV) swarms, characterized in that, include: The ground control station is equipped with a multi-mode link switching controller, which is used to obtain the task mode information of the cluster, dynamically activate the corresponding link switching strategy according to the task mode information, maintain the restricted link resource allocation table, and perform global arbitration and scheduling of link resources. Multiple execution units are deployed on various heterogeneous node platforms within the cluster to monitor the quality of local primary and restricted links, identify task events, report status information to the ground control station, and execute link switching commands issued by the ground control station. The ground control station works in conjunction with the execution unit to execute the multi-mode link switching method for heterogeneous UAV clusters as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the multi-mode link switching method for heterogeneous UAV clusters as described in any one of claims 1-7.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the multi-mode link switching method for heterogeneous UAV clusters as described in any one of claims 1-7.

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