Unmanned aerial vehicle all-weather landing guiding system and method based on dynamic encryption light stripes

Abstract

The invention discloses an all-weather landing guidance system and method for an unmanned aerial vehicle based on dynamic encrypted light streaks, and relates to the technical field of unmanned aerial vehicles, and the system comprises a ground light streak projection device which is used for generating and projecting encrypted and coded dynamic light streaks; the unmanned aerial vehicle end processing module is used for capturing the dynamic light streaks projected on the ground through an airborne visual sensor, performing image processing, decryption verification and relative pose calculation on the dynamic light streaks, and finally sending pose data to a flight control system of the unmanned aerial vehicle end to execute a landing instruction; and the control instruction issuing equipment comprises a cloud service platform and a mobile terminal Bluetooth direct connection unit and is used for issuing a user instruction. According to the invention, through combination of dynamic encryption light streak and verification positioning, the defects of the existing unmanned aerial vehicle landing technology in the aspects of safety and environmental adaptability are effectively solved, accurate and safe landing in a complex environment is realized, a dynamic encryption and verification mechanism is adopted, instruction counterfeiting and replay attack are effectively prevented, and it is ensured that only an authorized unmanned aerial vehicle can land.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an all-weather UAV landing guidance system and method based on dynamic encrypted light patterns. Background Technology

[0002] With the widespread application of drone technology in logistics, inspection, emergency response, and military fields, the reliability and safety of its autonomous landing technology have become a key bottleneck, but existing mainstream technologies have obvious limitations: 1. While Global Navigation Satellite System (GNSS) technology can achieve centimeter-level accuracy, it becomes completely ineffective in areas where satellite signals are obstructed, such as urban canyons, indoors, and under trees. It is also susceptible to electromagnetic interference and deception. 2. Visual marker recognition technology relies on static patterns, which are easily copied, damaged, or covered, reducing security. It is also severely affected by lighting conditions, causing a sharp drop in recognition rate at night, in rain, snow, or in backlight. 3. LiDAR SLAM technology is expensive, making it difficult to apply on a large scale in consumer or industrial scenarios. It may also fail in environments with sparse features.

[0003] Based on this, we now provide an all-weather landing guidance system and method for UAVs based on dynamic encrypted light patterns, which can eliminate the drawbacks of existing technical solutions. Summary of the Invention

[0004] The purpose of this invention is to provide an all-weather landing guidance system and method for unmanned aerial vehicles based on dynamic encrypted light patterns, so as to solve the problem of the limitations of the prior art in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The all-weather landing guidance system for drones based on dynamic encrypted light patterns includes: Ground-based light pattern projection equipment, used to generate and project encrypted dynamic light patterns; The UAV-side processing module is used to capture the dynamic light patterns projected on the ground through an airborne vision sensor, perform image processing, decryption verification, and relative pose calculation on the patterns, and finally send the pose data to the flight control system on the UAV side to execute landing commands. The control command issuing device includes a cloud service platform and a mobile terminal Bluetooth direct connection unit. The cloud service platform is used to receive user commands and remotely issue them to the ground light pattern projection device. The mobile terminal Bluetooth direct connection unit is used to issue user commands directly to the ground light pattern projection device via Bluetooth communication in close-range scenarios. The ground-based light pattern projection device generates a dynamic verification code based on a pre-shared key and time parameters, and encodes the instruction data containing the dynamic verification code into a light pattern for projection. The UAV terminal processing module performs pose calculation and landing control operations based on the light pattern only after verifying the validity of the dynamic verification code.

[0006] Furthermore, the ground light pattern projection device includes: The main control processor is used to execute the light pattern generation and system control logic; An encryption chip, connected to the main control processor, is used to implement the encryption algorithm; A digital micromirror device, connected to the main control processor, is used to modulate light patterns; Multispectral LED arrays are used to provide light sources in the visible and infrared bands; An optical lens group is used to project the light pattern modulated by the digital micromirror device onto the target area.

[0007] Furthermore, the dynamic verification code is generated using a time-based one-time password algorithm.

[0008] Furthermore, the data carried by the dynamic light pattern follows a predefined light pattern interaction protocol frame structure, which includes at least a header identifier, version number, function code, serial number, dynamic verification code, payload length, payload data area, and check code.

[0009] Furthermore, the multispectral LED array includes a high-brightness white LED and an infrared LED of at least one wavelength.

[0010] Furthermore, the cloud service platform provides a web control interface and a mobile app interface, and the mobile terminal Bluetooth direct connection unit provides a cloud control interface and a Bluetooth direct connection interface, which together realize user authentication, device selection, command configuration, status monitoring and task management functions.

[0011] The method for all-weather landing guidance of UAVs based on dynamic encrypted light patterns, applied to an all-weather landing guidance system for UAVs based on dynamic encrypted light patterns, specifically includes the following steps: Step S1: The ground-based light pattern projection device receives control commands from the cloud service platform or the mobile terminal Bluetooth direct connection unit. Step S2: The ground light pattern projection device generates a dynamic verification code based on the pre-shared key and the current time; Step S3: The ground light pattern projection device encodes the instruction data containing the dynamic verification code into a light pattern and projects it. Step S4: The drone-side processing module captures the light pattern and performs decoding and verification operations. Step S5: If the dynamic verification code is verified, the UAV-side processing module calculates the relative pose of the light pattern and the ground end. Step S6: The flight control system on the UAV terminal controls the corresponding UAV to complete a precise landing based on the relative attitude.

[0012] Furthermore, step S5 also includes: if the dynamic verification code fails to verify, the flight control system on the drone terminal controls the drone to terminate the landing process and trigger an alarm.

[0013] Furthermore, the execution steps of the UAV-side processing module include: Perform image capture and preprocessing operations; Perform light pattern region detection and extraction operations; Perform ray decoding and protocol parsing operations; Perform dynamic verification code verification; After verification, the relative pose is calculated using the PnP algorithm based on the geometric features of the light pattern, and the calculated pose data and landing command are sent to the flight control system of the UAV. If the verification fails, the landing process will be terminated and an alarm command will be sent to the flight control system.

[0014] Furthermore, the ground terminal detects ambient lighting conditions in real time and automatically switches the projection light source band of the light pattern according to the ambient lighting conditions to ensure the light pattern recognition effect under different environments.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention sets up an all-weather landing guidance system for drones based on dynamic encrypted light patterns. The ground light pattern projection device generates a dynamic verification code based on a pre-shared key and time, and encodes it into a light pattern for projection. After the drone captures the light pattern, it first performs dynamic code verification. Only after the verification is successful can the relative pose be calculated and the landing be performed. This invention effectively solves the shortcomings of existing drone landing technology in terms of safety, environmental adaptability and anti-interference ability by combining dynamic encrypted light patterns with visual verification positioning, and achieves accurate and safe landing in complex environments. 2. This invention adopts a dynamic encryption and verification mechanism to effectively prevent command forgery and replay attacks, ensuring that only authorized drones can land. Through multispectral light source switching, it can effectively cope with complex environments such as night, rain, snow, fog, haze, and strong light, and can work reliably in indoor areas, canyons, and other areas with signal obstruction. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the system structure of the present invention.

[0017] Figure 2This is a schematic diagram of the structure of the ground light pattern projection device of the present invention.

[0018] Figure 3 This is a schematic diagram of the hardware components of the ground light pattern projection device of the present invention.

[0019] Figure 4 This is a functional diagram of the Web control interface of the present invention.

[0020] Figure 5 This is a schematic diagram of the method steps of the present invention.

[0021] Figure 6 This is a schematic diagram of the method flow of the present invention.

[0022] Figure label annotations: Ground light pattern projection device 10, main control processor 11, encryption chip 12, digital micromirror device 13, multispectral LED array 14, optical lens group 15, UAV terminal processing module 20, control command issuing device 30, cloud service platform 31, mobile terminal Bluetooth direct connection unit 32. Detailed Implementation

[0023] 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. Example

[0024] In this embodiment, as Figures 1-4 As shown, the all-weather landing guidance system for drones based on dynamic encrypted light patterns uses dynamic encrypted light patterns generated in real time based on a preset algorithm. These patterns contain location codes and time-series verification information and are designed for single use only, are resistant to copying, and are tamper-proof. The system specifically includes: The ground light pattern projection device 10 is used to generate and project encrypted dynamic light patterns. According to the received instructions and the pre-stored key, it generates light pattern data containing dynamic verification codes and modulates the data into visible light or infrared light pattern for projection. The ground light pattern projection device 10 is located at the ground end. The principle of light pattern encoding specifically includes: generating a dynamic encryption sequence through the encryption chip 12 of the ground light pattern projection device 10 (ground transmitter), converting the landing point coordinates and verification information into a specific arrangement of light pattern, with each frame of light pattern containing a unique timing identifier to avoid signal confusion; The UAV-side processing module 20 is used to capture dynamic light patterns projected on the ground through an airborne visual sensor, perform image processing, decryption verification, and relative pose calculation on the images, and finally send the pose data to the flight control system on the UAV side to execute landing commands. Image preprocessing includes noise reduction, enhancement, and filtering operations. The UAV side uses its existing or added global shutter camera (or other camera equipment or sensing equipment) as a visual sensor, and the UAV-side processing module 20 performs recognition, decryption, and pose calculation. Specifically, the process includes: capturing the light pattern projected from the ground; after image preprocessing, dynamic light pattern region extraction and decoding, restoring the data stream; then, the module verifies the dynamic verification code in the data stream; after successful verification, the relative pose of the UAV and the landing platform is calculated using the geometric features of the light pattern; finally, the pose data is sent to the flight control system to execute the landing; the UAV-side processing module 20 determines whether it is within the effective recognition range by real-time detection of the integrity and distortion of the light pattern; if the light pattern is incomplete or the distortion is too large, the system will adjust the UAV hovering position or request the ground light pattern projection device 10 to adjust the projection angle until the recognition conditions are met. The control command issuing device 30 includes a cloud service platform 31 and a mobile terminal Bluetooth direct connection unit 32. The cloud service platform 31 is used to receive user commands and remotely send them to the ground light pattern projection device 10. The mobile terminal Bluetooth direct connection unit 32 is used to send user commands directly to the ground light pattern projection device 10 via Bluetooth communication in close-range scenarios. Among them, the ground light pattern projection device 10 generates a dynamic verification code based on the pre-shared key and time parameters, and encodes the instruction data containing the dynamic verification code into a light pattern for projection. The UAV terminal processing module 20 performs pose calculation and landing control operations based on the light pattern only after verifying the validity of the dynamic verification code. Specifically, the pre-shared key is an encryption key pre-agreed and stored between the ground light pattern projection device 10 and the UAV terminal, used for the generation and verification of dynamic verification codes. The pre-shared key is distributed through a secure channel to ensure that only authorized devices hold it. The relative pose refers to the position (three-dimensional coordinates) and attitude (pitch angle, roll angle, yaw angle) of the UAV terminal relative to the ground landing target area. Compared with static QR codes or fixed light beacons, this invention adopts a time-based one-time dynamic verification code. The light pattern changes in real time and cannot be copied or replayed, fundamentally eliminating the risk of illegal intrusion and command forgery. Among them, such as Figures 1-3 As shown, the ground light pattern projection device 10 includes: The main control processor 11 is used to execute the light pattern generation and system control logic; The encryption chip 12 is connected to the main control processor 11 and is used to implement the encryption algorithm. The digital micromirror device 13 (DMD) is connected to the main control processor 11 and is used to modulate light patterns; Multispectral LED array 14 is used to provide light sources in the visible and infrared bands; The optical lens group 15 is used to project the light pattern modulated by the digital micromirror device 13 onto the target area. The optical lens group 15 is a customized device that can form a clear and complete light pattern within a specified height range (such as 10 to 50 meters). The projection angle is adjustable to ensure that the light pattern completely covers the field of view of the airborne vision sensor when the UAV enters the target area. Specifically, the main control processor 11 uses an ARM Cortex-A chip with an NPU to run light pattern generation, encryption logic, and system scheduling. The encryption chip 12 uses a hardware security module that supports the national cryptographic SM2 / SM4 algorithm to ensure the security of key storage and operation. It uses a digital micromirror device 13 and a high-power multispectral LED array (such as white light and 850nm infrared LEDs) in conjunction with an optical lens group 15 to achieve high-brightness, low-distortion light pattern projection. The ground light pattern projection device 10 has a built-in communication module that supports Bluetooth 5.0, Wi-Fi, and 4G / 5G multimode communication to ensure reliable command reception. The ground light pattern projection device 10 is encapsulated in an IP67-rated protective shell to increase security. Specifically, such as Figure 3 As shown, the ground light pattern projection device 10 also includes a power management module, a communication module, an LED driver circuit, and a storage module. The power management module provides stable power to all components in the ground light pattern projection device 10. The main control processor 11 is responsible for coordinating the work of each module. The digital micromirror device 13 converts electrical signals (binary data) into light pattern through the flip state of the micromirror. The communication module is used to realize information interaction between the device and the outside world, and is used to receive landing commands, synchronization time, etc. The LED driver circuit is used to control the working state of the multispectral LED array 14 to adapt to different ambient lighting conditions. The storage module is used to store data such as the pre-shared key (PSK), device parameters, and light pattern encoding rules. The light pattern generation process is as follows: The communication module receives the landing command from the cloud / external source and transmits it to the main control processor 11. The main control processor 11 calls the encryption chip 12 to generate a dynamic verification code based on the pre-shared key (stored in the storage module). The main control processor 11 encodes the dynamic verification code and command data into binary signals and sends them to the digital micromirror device 13. The main control processor 11 controls the multispectral LED array 14 to turn on the light source of the corresponding band / power through the LED driving circuit, modulates the binary signal into a light pattern, and combines the light from the LED light source with the light from the optical lens group 15. After focusing and correction, the dynamic encrypted light pattern is finally projected.

[0025] In this embodiment, the dynamic verification code is generated using a time-based one-time cryptography algorithm (TOTP) to ensure the uniqueness and timeliness of each communication. The verification process of the dynamic verification code includes: a ground-based light pattern projection device 10 is provided on the ground end; the ground-based light pattern projection device 10 and the UAV end pre-share a key K; the ground-based light pattern projection device 10 generates a 6-byte dynamic verification code based on the pre-shared key K and the current time window T using a time-based one-time cryptography algorithm such as the TOTP algorithm, and encodes it into the light pattern interaction protocol frame structure (LIP protocol frame); after decoding, the UAV end uses the same pre-shared key K and the current time window T to calculate the TOTP value and compare it; if they match, the verification is passed and subsequent operations are performed. In this embodiment, the data carried by the dynamic light ripple follows a predefined light ripple interaction protocol frame structure. The light ripple interaction protocol frame structure includes at least a header identifier, version number, function code, sequence number, dynamic verification code, payload length, payload data area, and checksum. The light ripple interaction protocol refers to a structured data frame format designed for light ripple communication. An example is: header identifier (2 bytes, fixed at 0x4C49), version number (1 byte), function code (1 byte), sequence number (4 bytes), dynamic verification code (6 bytes, TOTP), payload length (1 byte), payload area (variable length), and checksum (1 byte, CRC8). In this embodiment, the multispectral LED array 14 includes a high-brightness white LED and an infrared LED of at least one wavelength. The multispectral LED array refers to an LED light source group that integrates multiple wavelengths such as visible light and infrared light, and supports automatic switching according to ambient light conditions. Among them, such as Figure 4 As shown, the cloud service platform 31 provides a Web control interface and a mobile App interface, and the mobile terminal Bluetooth direct connection unit 32 is used to provide a cloud control interface and a Bluetooth direct connection interface, which together realize user authentication, device selection, command configuration, status monitoring and task management functions. For example, when a user places an order through the Web control interface or mobile terminal, the system automatically dispatches the ground beacon, i.e. the ground light pattern projection device 10, on the roof of the target building. The ground beacon projects a dynamic encrypted light pattern. After the delivery drone flies to the roof of the target building, the drone terminal processing module 20 inside the drone captures and verifies the light pattern and calculates the pose. Finally, it accurately lands at the designated location to complete the airdrop. In this embodiment, several sensors are installed on the ground to detect real-time environmental parameters, enabling the system to have an adaptive mode switching function. It can switch the light pattern emission mode and complete the communication handshake with the UAV. In the night mode, the system automatically switches to infrared light source projection, and the UAV uses an infrared sensitive camera to capture the infrared light pattern projected on the ground. In the rain, snow, fog and haze mode, the system enables the high-brightness white light mode and combines image algorithms to perform rain and fog removal preprocessing. In the strong light environment mode, the system uses algorithms to improve image contrast and can send instructions to the ground light pattern projection device 10 to improve the projection brightness. Example

[0026] The difference from Example 1 is that, as Figure 5 and Figure 6 As shown, the present invention also provides an all-weather landing guidance method for UAVs based on dynamic encrypted light patterns, applied to the aforementioned all-weather landing guidance system for UAVs based on dynamic encrypted light patterns, specifically including the following steps: Step S1: The ground-based light pattern projection device 10 receives control commands from the cloud service platform 31 or the mobile terminal Bluetooth direct connection unit 32. Specifically, the ground light pattern projection device 10 receives control commands in the following ways: receiving remote commands from the cloud service platform 31; and receiving short-range commands from the mobile terminal Bluetooth direct connection unit 32. The receiving process includes: the mobile terminal establishing a Bluetooth connection with the ground light pattern projection device 10 and completing pairing verification; the mobile terminal sending control commands containing landing parameters, which are transmitted via Bluetooth to the main control processor 11 of the ground light pattern projection device 10; the ground light pattern projection device 10 responding to Bluetooth commands first; and automatically switching to receiving cloud commands when the Bluetooth connection is lost. Step S2: The ground light pattern projection device 10 generates a dynamic verification code based on the pre-shared key and the current time; Step S3: The ground light pattern projection device 10 encodes the instruction data containing the dynamic verification code into a light pattern and projects it. Step S4: The drone terminal processing module 20 captures the light pattern and performs decoding and verification operations. Step S5: If the dynamic verification code is verified successfully, the UAV processing module 20 calculates the relative pose of the light pattern and the ground terminal. If the dynamic verification code is not verified successfully, the flight control system of the UAV terminal controls the UAV to terminate the landing process and triggers an alarm. Step S6: The flight control system on the UAV terminal controls the corresponding UAV to complete a precise landing based on the relative attitude. Among them, such as Figure 6 As shown, the execution steps of the UAV-side processing module 20 include: Perform image capture and preprocessing operations; Perform light pattern region detection and extraction operations; Perform ray decoding and protocol parsing operations; Perform dynamic verification code verification; After verification, the relative pose is calculated using the PnP algorithm based on the geometric features of the light pattern. The calculated pose data and landing command are sent to the flight control system of the UAV. The PnP algorithm calculates the relative pose relationship between the UAV and the ground light pattern projection area by identifying feature points (such as light spot vertices and intersections) in the light pattern and combining them with camera intrinsic parameters. This algorithm is the existing technology. If the verification fails, the landing process will be terminated and an alarm command will be sent to the flight control system. In this embodiment, the ground end detects the ambient lighting conditions in real time and automatically switches the projection light source band of the light pattern according to the ambient lighting conditions to ensure the light pattern recognition effect under different environments. In this embodiment, the system adopts the Network Time Protocol (NTP) based method to achieve high-precision time synchronization between the ground light pattern projection device 10 and the UAV terminal processing module 20. Both the ground light pattern projection device 10 and the UAV terminal have built-in real-time clock modules, which periodically perform time calibration through the control command sending device 30 or direct communication link to cope with communication delays or slight clock drift and ensure the validity of the dynamic verification code. The specific workflow of this system is as follows: Users can bind the ground light pattern projection device 10 to the authorized drone through the web control interface or mobile app of the cloud service platform 31. At the same time, a pre-shared key (PSK) is distributed to both parties. The key is stored in the storage module and the drone's secure storage area. The ground light pattern projection device 10 and the drone obtain the time through the cloud service platform 31 and complete the clock synchronization. Users can set parameters such as the landing target area coordinates, light pattern projection height range, and light adaptive threshold through the cloud service platform 31 and send them to the ground light pattern projection device 10. The ground-based light pattern projection device 10 receives landing guidance instructions (including target drone ID, landing time window, etc.) issued by the cloud service platform 31 via Bluetooth, Wi-Fi, or 4G / 5G communication modules. The ground-side main control processor 11 obtains the current timestamp, and the encryption chip 12 generates a dynamic verification code using PSK as the key and the TOTP algorithm. The dynamic verification code, landing target area coordinates, serial number, and other information are encapsulated according to the LIP protocol frame structure and converted into a binary matrix. The matrix is ​​then modulated into a light pattern by the digital micromirror device 13. Several ground-side sensors detect the ambient light intensity in real time and switch the band and power of the multispectral LED array 14 according to the threshold judgment result. The light is projected onto the target landing area through the optical lens group 15 to form a dynamic encrypted light pattern. The drone flies to a distance of 10-50 meters above the landing area. The onboard global shutter camera (or infrared camera) captures the dynamic light pattern projected on the ground in real time. The drone-side processing module 20 performs operations such as denoising, enhancement, and threshold segmentation on the captured image, extracts the light pattern area, restores the binary matrix from the light pattern area, converts it into light pattern interaction protocol frame (LIP protocol frame) data, and parses out the dynamic verification code and other content. The drone-side uses the pre-stored PSK as the key, calculates the verification code for the current time window according to the same algorithm, and compares it with the parsed verification code to verify whether it is an authorization guidance signal. If the dynamic verification code is successfully verified, the UAV-side processing module 20 extracts the preset feature points in the light pattern and calculates the relative pose of the UAV relative to the landing target area using the PnP algorithm. Then, the pose data and landing guidance instructions are sent to the UAV's flight control system. The flight control system adjusts the UAV's altitude, attitude, and horizontal position according to the pose data, gradually approaching the landing target area until a smooth landing. After the UAV lands, it sends a successful landing status feedback to the user through the cloud service platform 31. The ground light pattern projection device 10 stops projecting the light pattern and enters standby mode.

[0027] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A UAV all-weather landing guidance system based on dynamic encrypted light patterns, characterized in that, include: Ground light pattern projection device (10) is used to generate and project encrypted dynamic light patterns; The UAV-side processing module (20) is used to capture the dynamic light pattern projected on the ground through the airborne visual sensor, perform image processing, decryption verification and relative pose calculation on it, and finally send the pose data to the flight control system on the UAV side to execute the landing command. The control command issuing device (30) includes a cloud service platform (31) and a mobile terminal Bluetooth direct connection unit (32). The cloud service platform (31) is used to receive user commands and remotely issue them to the ground light pattern projection device (10). The mobile terminal Bluetooth direct connection unit (32) is used to issue user commands directly to the ground light pattern projection device (10) via Bluetooth communication in close-range scenarios. The ground light pattern projection device (10) generates a dynamic verification code based on a pre-shared key and time parameters, and encodes the instruction data containing the dynamic verification code into a light pattern for projection. The UAV terminal processing module (20) performs pose calculation and landing control operations based on the light pattern only after verifying the validity of the dynamic verification code.

2. The all-weather landing guidance system for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 1, characterized in that, The ground light pattern projection device (10) includes: The main control processor (11) is used to execute the light pattern generation and system control logic; An encryption chip (12) is connected to the main control processor (11) and is used to implement an encryption algorithm; A digital micromirror device (13) is connected to the main control processor (11) and is used to modulate light patterns; A multispectral LED array (14) is used to provide light sources in the visible and infrared bands; An optical lens group (15) is used to project the light pattern modulated by the digital micromirror device (13) onto the target area.

3. The all-weather landing guidance system for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 1, characterized in that, The dynamic verification code is generated using a time-based one-time password algorithm.

4. The all-weather landing guidance system for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 1, characterized in that, The data carried by the dynamic light pattern follows a predefined light pattern interaction protocol frame structure, which includes at least a header identifier, version number, function code, serial number, dynamic verification code, payload length, payload data area, and verification code.

5. The all-weather landing guidance system for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 2, characterized in that, The multispectral LED array (14) includes a high-brightness white LED and an infrared LED of at least one wavelength.

6. The all-weather landing guidance system for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 1, characterized in that, The cloud service platform (31) provides a Web control interface and a mobile App interface, and the mobile terminal Bluetooth direct connection unit (32) is used to provide a cloud control interface and a Bluetooth direct connection interface, which together realize user authentication, device selection, command configuration, status monitoring and task management functions.

7. A method for all-weather landing guidance of unmanned aerial vehicles (UAVs) based on dynamic encrypted light patterns, applied to the all-weather landing guidance system for UAVs based on dynamic encrypted light patterns as described in any one of claims 1-6, characterized in that, Specifically, the following steps are included: Step S1: The ground light pattern projection device (10) at the ground end receives control commands from the cloud service platform (31) or the mobile terminal Bluetooth direct connection unit (32); Step S2: The ground light pattern projection device (10) generates a dynamic verification code based on the pre-shared key and the current time; Step S3: The ground light pattern projection device (10) encodes the instruction data containing the dynamic verification code into a light pattern and projects it. Step S4: The UAV terminal processing module (20) captures the light pattern and performs decoding and verification operations. Step S5: If the dynamic verification code is verified, the UAV terminal processing module (20) calculates the relative pose of the light pattern and the ground terminal. Step S6: The flight control system on the UAV terminal controls the corresponding UAV to complete a precise landing based on the relative attitude.

8. The all-weather landing guidance method for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 7, characterized in that, Step S5 further includes: if the dynamic verification code fails to verify, the flight control system on the drone terminal controls the drone to terminate the landing process and triggers an alarm.

9. The all-weather landing guidance method for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 7, characterized in that, The execution steps of the UAV terminal processing module (20) include: Perform image capture and preprocessing operations; Perform light pattern region detection and extraction operations; Perform ray decoding and protocol parsing operations; Perform dynamic verification code verification; After verification, the relative pose is calculated using the PnP algorithm based on the geometric features of the light pattern, and the calculated pose data and landing command are sent to the flight control system of the UAV. If the verification fails, the landing process will be terminated and an alarm command will be sent to the flight control system.

10. The all-weather landing guidance method for unmanned aerial vehicles based on dynamic encrypted light patterns according to claim 7, characterized in that, The ground terminal detects ambient lighting conditions in real time and automatically switches the projection light source band of the light pattern according to the ambient lighting conditions to ensure the light pattern recognition effect under different environments.

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