Dual-band master-slave unmanned aerial vehicle cluster measurement and control communication and data transmission system

Abstract

The invention belongs to the technical field of unmanned aerial vehicle measurement and control communication, and discloses a dual-band master-slave unmanned aerial vehicle cluster measurement and control communication and data transmission system. The system comprises a ground control master station and a plurality of unmanned aerial vehicle slave stations, wherein the ground control master station and the unmanned aerial vehicle slave stations are in communication connection through a measurement and control wireless communication link and a data transmission wireless communication link; the measurement and control wireless communication link is used for bidirectionally transmitting a control instruction and state information between the ground control master station and the unmanned aerial vehicle slave station; the data transmission wireless communication link is used for transmitting image data acquired by the unmanned aerial vehicle slave station back to the ground control master station; the system adopts a master-slave working mode, the ground control master station serves as a master station to uniformly schedule all the unmanned aerial vehicle slave stations, and the unmanned aerial vehicle slave stations execute operation and feed back information when receiving instructions of the master station. The limitation of a single frequency band is broken through, and independent optimization of communication and data transmission links is realized; the master-slave architecture strengthens the reliability of the system, simplifies the operation and maintenance cost, expands the application boundary of the system, and improves the task execution efficiency.

Description

Technical Field

[0001] This invention belongs to the field of UAV telemetry, control and communication technology, and in particular relates to a design method for UAV array (cluster) telemetry, control and communication and data transmission system suitable for wide-area visual perception scenarios. It is applicable to multi-UAV collaborative operation scenarios such as large-scale environmental monitoring, emergency rescue and disaster relief, and military reconnaissance. Background Technology

[0002] With the widespread application of drones in aerial photography, surveying, logistics, agriculture, and wide-area reconnaissance, multi-drone swarm collaborative operations have become an important means to improve mission efficiency and coverage. In such applications, the system must simultaneously meet two core communication requirements: first, highly reliable, long-distance transmission of telemetry and control commands to ensure swarm flight safety and mission scheduling; and second, high-throughput, low-latency image data feedback to support real-time situational awareness and decision-making. However, existing technologies have significant shortcomings in addressing both of these requirements.

[0003] Traditional drone control systems mostly use a single frequency band for command transmission, such as the common 2.4GHz band. However, this band presents several problems in practical use. Regarding communication reliability, with the widespread use of various wireless devices, the 2.4GHz band is becoming increasingly congested. Drone command signals are easily interfered with by other devices, leading to unstable signal transmission and even command loss or erroneous execution. This can have serious consequences in applications requiring high drone control precision, such as complex formation flight performances or precise logistics delivery. Furthermore, the command control distance of this band is limited, making it unsuitable for applications requiring long-range control of drone arrays, such as wide-area border patrols or marine monitoring. In terms of high-speed data transmission, a single frequency band suffers from coupling issues between control signaling and image transmission data, making it difficult to simultaneously meet the business development and data transmission growth demands of both control commands and image transmission data. This is especially true in low-altitude visual perception missions, where drones need to collect large amounts of high-resolution image and video data. This large-scale visual perception data poses significant challenges to data transmission bandwidth and anti-interference capabilities.

[0004] To extend communication distance, existing Chinese patent 201610393175.2, entitled "A Self-Organizing Wireless Local Area Network and Data Transmission and Reception Method Based on an Autonomous Protocol and Networking Method," published on November 9, 2016, proposes using a 433MHz carrier frequency band and multi-level multi-path network links to meet the wireless networking requirements within a 3km range, but does not consider data transmission requirements. Existing Chinese patent 202010634931.2, entitled "A Master-Slave Intelligent Device Networking Scheme Based on RF433 Wireless Communication," published on January 4, 2022, also uses a 433MHz carrier frequency band, but adopts a half-duplex working mode. It divides the communication cycle into two parts to realize the communication process between master and slave devices. This invention only considers the master-slave communication networking requirements and does not address high-speed data transmission scenarios. To meet the demand for high-speed data transmission, the literature “Wang Liping. UAV Measurement and Control and High-Speed ​​Data Transmission System [J]. Measurement and Control Technology, 2022, 41(08):122-126.DOI:10.19708 / j.ckjs.2022.03.246” designed a high-speed data transmission system with a rate of up to 800 Mbit / s for single-unit UAVs. However, this system is not only a single-unit working device, but also has a complex structure, limiting its promotional value. Existing Chinese patent 202410705462.7, entitled "A UAV Swarm Communication Networking System," published on September 6, 2024, discloses a UAV swarm communication networking system. This system uses a 5G communication network from an operator as its foundation to construct the UAV swarm networking architecture, balancing the stability of command transmission with the efficiency of data transmission. However, this solution is highly dependent on the coverage of the operator's base stations. Limited by the deployment range and application restrictions of base stations, it is difficult to implement in remote mountainous areas, deserts, and other areas where base stations are scarce. Furthermore, restrictions on spectrum resource applications also raise the implementation threshold of the system, failing to fundamentally solve the communication problems in complex scenarios. In addition, existing Chinese patent 202411852808.2, entitled "A Low-Altitude UAV Swarm Dual-Frequency Link Emergency Networking Method and System," published on March 18, 2025, proposes using a dual-frequency communication structure for command control (840.5MHz-845MHz) and data transmission (2.4GHz) respectively. However, the system adopts a fully distributed networking approach, resulting in a complex network structure and significant difficulties in path optimization.

[0005] In summary, existing technological solutions exhibit a fragmented and unbalanced state: either they prioritize reliable communication at the expense of data transmission capabilities (such as low-frequency solutions), or they pursue high-speed data transmission while neglecting cluster control and applicability (such as single-unit high-speed solutions), or they build the system on uncontrollable external infrastructure (such as public network solutions), or they introduce unbearable network complexity (such as distributed dual-frequency solutions). Therefore, existing technologies lack a simple, efficient, and autonomously controllable UAV swarm communication system that can simultaneously meet the requirements of high reliability and long-distance control command transmission, high-throughput and low-latency multi-unit parallel image data backhaul, effective physical and logical isolation and coordination between control and data transmission, applicability to complex and remote environments without public network coverage, and a simple system architecture that is easy to deploy, manage, and maintain.

[0006] Based on the above analysis, the problems and shortcomings of the existing technology are as follows:

[0007] (1) Existing single-band schemes have inherent defects such as severe spectrum congestion and interference, resulting in low communication reliability; limited transmission distance and high loss, making it difficult to meet the needs of wide-area and long-distance monitoring tasks; service coupling and resource competition may cause critical control signaling to be blocked or delayed by large-scale image transmission.

[0008] (2) Existing low-frequency solutions (such as 433MHz) are designed without integrating high-speed data transmission capabilities, which cannot meet the needs of image back transmission for reconnaissance, mapping and other tasks; they are single-function and focus on networking or communication protocols themselves, which cannot meet the integrated needs of communication and data transmission in UAV swarm operations.

[0009] (3) Existing high-speed data transmission solutions are only applicable to single machines and are difficult to extend to clusters. They do not solve the problems of channel allocation, multiple access and data aggregation when multiple machines cooperate. They are complex in structure and have low cluster promotion value. They are independent of the control system and separated from the control link. They are not designed for system-level integration with reliable command links.

[0010] (4) Existing public network-dependent solutions (such as 5G public network-based solutions) have strong coverage dependence and cannot be used in areas with weak infrastructure or where base stations cannot be deployed, such as oceans, mountains, and borders; the implementation threshold and cost are high and the system has poor autonomy and controllability; while the network management of distributed / mesh dual-frequency solutions is complex, the system has poor robustness, the management difficulty under dynamic topology increases exponentially, and the real-time performance is difficult to guarantee. Summary of the Invention

[0011] To address the coupling problem in command and image data transmission inherent in existing single-band communication for UAV arrays, and the shortcomings of data transmission systems in specific application scenarios, this invention discloses a dual-band master-slave UAV swarm telemetry, control, and data transmission system. This system aims to provide a simple, efficient, highly reliable, and high-speed communication solution for UAV arrays, meeting their communication and data transmission needs in various complex tasks. The technical solution is as follows:

[0012] The present invention is implemented as follows: a dual-band master-slave UAV swarm telemetry, control and communication and data transmission system, which includes a ground control master station and multiple UAV slave stations. The ground control master station and each UAV slave station are separated by a physical layer, as well as telemetry and control wireless communication links and data transmission wireless communication links.

[0013] The telemetry and control wireless communication link operates in the first frequency band and is used to transmit control commands and status information bidirectionally between the ground control master station and the UAV slave station to ensure reliable cluster scheduling.

[0014] The data transmission wireless communication link operates in a second frequency band higher than the first frequency band and is configured to include at least two sub-channels for parallel data transmission, used to transmit image data collected by each UAV from the station back to the ground control master station.

[0015] The ground control master station, as the sole master node, adopts a master-slave architecture. It uniformly schedules the flight and mission execution of UAV slave stations through the telemetry and control wireless communication link, and receives and aggregates parallel image data streams from multiple UAV slave stations through the data transmission wireless communication link, thereby achieving decoupled coordination between control and data transmission.

[0016] Furthermore, the first frequency band is a 433MHz frequency band, and the second frequency band is a 5GHz frequency band; the sub-channels for parallel data transmission are implemented by occupying different non-overlapping sub-frequency bands within the 5GHz frequency band.

[0017] Furthermore, the ground control master station includes:

[0018] The central control console is used to coordinate the flow of instructions and data between various modules within the system.

[0019] The 433MHz wireless communication module is used to send and receive commands and status information via the measurement and control wireless communication link.

[0020] The 5G image transmission module is equipped with independent receivers at multiple frequencies in the 5G band, which are used to receive image data streams transmitted in parallel through the data transmission wireless communication link;

[0021] The image fusion processing computer is used to stitch and fuse images received from multiple UAV slave stations and send the stitched image to the human-computer interaction and image display interface.

[0022] The human-computer interaction and image display interface is used to provide an instruction operation interface and display the fused image.

[0023] Furthermore, the drone slave station includes:

[0024] The control and data processing center is used for the coordinated control of various functional modules, and performs compression encoding and framing operations on the acquired high-definition images.

[0025] High-definition camera equipment adjusts the image acquisition frame rate, angle, and focal length according to control information and performs image acquisition.

[0026] The 433MHz wireless communication module receives control commands through the measurement and control wireless communication link, performs command parsing, and transmits the command content to the control and data processing center.

[0027] The 5G image transmission transmitter is used to modulate the data return command frame onto three frequency points and send it to the ground simultaneously.

[0028] The airborne sensor array is used to collect UAV status information and feed it back to the control and data processing center.

[0029] Furthermore, the communication mechanism adopted by the telemetry and control wireless communication link includes at least one of the following: high-order modulation for modulation and demodulation; forward error correction coding technology; automatic repeat request mechanism; dynamic power control technology based on the distance between the UAV and the ground station and channel conditions; through the coordinated deployment of the above technologies, a communication mechanism for UAV swarm telemetry and control is constructed.

[0030] The introduction of higher-order modulation methods significantly increases the information carrying capacity of a single carrier symbol under limited spectrum resources, solving the requirements for long-distance telemetry and control commands and high-speed data transmission between the UAV swarm master station and multiple slave stations. Forward error correction coding technology and automatic repeat request mechanism can form a two-layer protection system: forward error correction coding can directly correct random errors introduced by multipath fading and blockage in long-distance transmission at the receiver, reducing the probability of invalid retransmissions; automatic repeat request, on the other hand, addresses sudden errors that forward error correction cannot correct, and realizes data retransmission scheduling based on the command feedback link of the master-slave architecture. The two work together to ensure the efficient and reliable transmission of telemetry and control commands in complex airspace channels. Dynamic power control technology is integrated with the master-slave scheduling architecture to deeply optimize system communication power consumption: as the swarm control center, the master station can obtain the location information and channel quality parameters of each slave station in real time. For slave stations close to the master station and with good channel conditions, their transmit power is dynamically reduced; for slave stations far away and with severe channel fading, their power is appropriately increased to ensure link connectivity. Compared to traditional fixed power or single UAV autonomous power adjustment modes, this solution can reduce the total power consumption of master-slave station communication within the cluster and extend the UAV's endurance while ensuring the overall reliability of the cluster's telemetry and control.

[0031] Furthermore, the 5GHz band channel specifically uses three frequency bands—5.15GHz, 5.35GHz, and 5.75GHz—for parallel transmission, with each frequency band equipped with an independent image data processing and transmission link.

[0032] Furthermore, in the 5G image transmission module of the ground control master station, the front end of each independent receiver includes a low-noise amplifier and a high-selectivity filter; and / or forward error correction coding technology is used on each data transmission frequency band.

[0033] Furthermore, the control and data processing center uses the HEVC / H.265 encoding algorithm to compress the image data; and / or the 5G image transmission transmitter uses orthogonal frequency division multiplexing modulation technology to transmit the image data.

[0034] Furthermore, the 5G image transmission transmitter is connected to a high-power amplifier and / or a high-gain directional antenna; and / or the 5G image transmission transmitter has automatic frequency correction and automatic gain control functions.

[0035] Furthermore, the data transmission wireless communication link adopts time-division multiple access technology to allocate different transmission time slots for different UAV slave stations to send image data.

[0036] The flight control system integrates a control and data processing center, high-definition camera equipment, a 433MHz wireless communication module, a 5G image transmission transmitter, and an onboard sensor array. The control and data processing center is responsible for the coordinated operation of each functional module and for compressing, encoding, and framing the acquired high-definition images. Ground master station control commands are parsed via the 433MHz wireless communication module and transmitted to the control and data processing center. The control center then sends control information to the relevant functional modules to complete the specified operations. The high-definition camera equipment adjusts the image acquisition frame rate, angle, and focal length based on the control information and performs image acquisition. The onboard sensor array provides timely feedback on the UAV's status, including battery status, tilt, and position. The 5G image transmission transmitter modulates the data transmission command frames onto three frequencies and transmits them simultaneously to the ground station.

[0037] Firstly, this invention provides a command communication system that adopts a master-slave working mode, namely a single ground control master station and multiple UAV slave stations. A bidirectional command communication link is established between the ground control master station and the UAV array slave stations using the 433MHz frequency band as the control command transmission channel. This frequency band has excellent penetration and a long transmission distance, ensuring stable and reliable command transmission between the ground control station and the UAV array over long distances.

[0038] The ground control master station is equipped with a high-power, high-efficiency 433MHz wireless communication module. Its output power is precisely controlled to meet long-distance transmission requirements while strictly adhering to relevant radio management regulations. This communication module integrates advanced digital modulation and demodulation technology, employing high-order modulation methods such as 16QAM (quadrature amplitude modulation) or 64QAM, enabling higher data transmission rates within limited spectrum resources and ensuring faster and more timely command transmission. Furthermore, this frequency band communication module is connected to a high-performance omnidirectional antenna with wide beam coverage and good directionality. Figure 1 Consistency is ensured to guarantee uniform signal radiation in all directions, thereby covering a large area of ​​the drone's flight path. The antenna gain is optimized to maximize signal transmission distance and anti-interference capability while maintaining coverage.

[0039] The ground control system includes a central control console, and corresponding 433MHz wireless communication modules and directional antennas at the UAV slave stations. Based on the aforementioned modulation method, it can synchronize, demodulate, decode, and parse command frames sent by the ground control master station. Furthermore, the slave station's wireless communication module can send ACK handshake response commands, status feedback commands, and uplink command execution result feedback commands. In addition, the slave antennas possess excellent multipath resistance, effectively reducing interference from multipath propagation such as signal reflection and refraction in complex terrain and environments, ensuring clear transmission of command signals.

[0040] The command communication system follows a strict master-slave communication architecture. The ground control station acts as the master station, responsible for the unified management and scheduling of flight missions and operational commands for the entire UAV array. Slave stations only transmit status and mission information when requested by the master station. In the uplink (master to slave), the master station can send control commands to any slave station (UAV) at any time according to the preset command frame format and mission requirements. Control commands include broadcast commands, status self-check commands, position adjustment commands, emergency avoidance commands, and priority adjustment commands. Upon receiving uplink control commands, the designated target executes the corresponding command operation and reports the execution result.

[0041] To improve the reliability and anti-interference capability of command transmission, the system also employs Forward Error Correction (FEC) technology. At the transmitting end, the command data is encoded, adding redundant information so that even if some data is corrupted, the receiving end can correct the errors and recover the original command data through decoding algorithms. Furthermore, the system incorporates an Automatic Repeat Request (ARQ) mechanism. When the receiving end detects an error in a received command frame, it immediately sends a retransmission request to the transmitting end. Upon receiving the request, the transmitting end quickly retransmits the command frame, ensuring the accuracy of the returned command information.

[0042] During command transmission, the system also employs dynamic power control technology, automatically adjusting the transmitter's output power based on the real-time distance between the UAV and the ground control station and channel conditions. When the UAV is close and the channel quality is good, the transmission power is reduced to minimize energy consumption and electromagnetic interference to the surrounding environment; conversely, when the UAV is far away or the channel quality is poor, the transmission power is appropriately increased to ensure reliable transmission of command signals to the UAV.

[0043] On the other hand, for the data transmission system of the UAV array, this invention innovatively selects three frequency bands—5.15GHz, 5.35GHz, and 5.75GHz—as data transmission channels and employs parallel transmission technology to simultaneously transmit image data. These three frequency bands have a maximum communication bandwidth of 80MHz and a parallel transmission bandwidth of 240MHz, which can meet the transmission requirements of the large amounts of high-definition image data collected by the UAV. Each frequency band is equipped with an independent image data processing and transmission module, realizing parallel processing and transmission of image data, greatly improving the efficiency and speed of data transmission.

[0044] On the drone side, the image acquisition equipment uses an advanced high-definition camera with high resolution, high frame rate, and wide dynamic range imaging capabilities, enabling it to capture clear and detailed images in real time. The acquired image data first undergoes image compression encoding, employing a high-efficiency video coding algorithm (HEVC / H.265) to compress the images. This algorithm significantly reduces the amount of image data while maintaining image quality, improving data transmission efficiency. The compressed image data is then divided into multiple data streams, which are transmitted in parallel through three data transmission frequency bands.

[0045] Each transmitter in each data transmission band employs a high-power amplifier (HPA) and a high-gain directional antenna to ensure reliable transmission of image data over long distances. The transmitter integrates advanced digital modulation and demodulation technologies, such as OFDM (Orthogonal Frequency Division Multiplexing) modulation. OFDM modulation decomposes a high-speed data stream into multiple low-speed sub-data streams, which are transmitted on multiple orthogonal subcarriers, effectively improving the signal's resistance to multipath fading and spectral efficiency. Furthermore, the transmitter features automatic frequency correction (AFC) and automatic gain control (AGC) functions, enabling real-time monitoring and compensation for frequency offsets and amplitude variations in the signal, ensuring the stability and accuracy of image data transmission.

[0046] The ground receiving station is equipped with three independent data transmission band receivers, each employing advanced signal reception and processing technologies. The receiver front-end utilizes low-noise amplifiers (LNAs) and highly selective filters, enabling the extraction of image data signals from weak radio signals and effectively suppressing out-of-band interference. The internal digital signal processors run efficient demodulation and decoding algorithms, quickly and accurately demodulating and decoding the received image data to recover the original image information. To further improve data transmission reliability, the system employs forward error correction coding technology on each data transmission band, effectively correcting erroneous symbols that occur during transmission and reducing image data loss and corruption.

[0047] Regarding data transmission protocols, the data transmission system employs time-division multiple access technology. Time-division multiplexing divides the transmission time of each data transmission frequency band into multiple time slots, with each time slot allocated to a different drone. This allows multiple drones to transmit image data on the same frequency band in a time-division manner, avoiding data conflicts and collisions.

[0048] Combining all the above technical solutions, the beneficial effects of this invention are as follows:

[0049] First, to address the increasingly diverse communication and data transmission needs of UAV arrays, this invention proposes a dual-band master-slave UAV array (cluster) telemetry, command, and data transmission system. This system uses 433MHz as the communication frequency band and 5.15GHz, 5.35GHz, and 5.75GHz as parallel data transmission frequency bands, enabling independent operation of the command transmission link and the data transmission link. To simplify the system workflow and improve command transmission reliability, the system adopts a strict master-slave interaction mode. The ground station is the sole control master station, responsible for sending control commands and receiving data feedback. The UAV array completes designated tasks based on the ground station's commands.

[0050] Secondly, this invention addresses the communication and data transmission bottlenecks in collaborative operations of UAV arrays in wide-area visual perception scenarios by employing a dual-band separation design and a master-slave architecture. Compared to existing technologies, it achieves multi-dimensional performance leaps, with the following specific benefits:

[0051] (1) Breaking through the limitations of a single frequency band, achieving independent optimization of communication and data transmission links. Solving the problem of coupling between control and data transmission: This invention allocates a dedicated 433MHz frequency band to the telemetry and control communication link, and uses multiple frequency bands of 5.15GHz, 5.35GHz, and 5.75GHz in parallel to carry data transmission, so that command signals and massive business data are completely separated for transmission. This avoids the problem of control signaling being squeezed out by image transmission data in traditional single-frequency band systems, ensuring the real-time performance of command transmission, and providing sufficient bandwidth for the transmission of large amounts of data such as high-resolution images and videos, meeting the needs of high-definition and detailed operations of multi-UAV collaborative operations. On the one hand, this invention ensures the real-time performance, accuracy, and reliability of control command transmission, avoiding command loss or delay; on the other hand, it expands the total bandwidth of data transmission through multi-frequency band parallel operation, providing sufficient transmission channels for the massive data generated by multi-UAV collaborative operations. Taking a high-definition inspection scenario with multiple drones as an example, under the same data transmission bandwidth conditions, the dual-band multi-frequency point transmission system proposed in this invention improves upon the traditional single-band system by 3-5 times, and controls the command response delay to within 50ms, fully meeting the requirements of high-definition and detailed collaborative operations.

[0052] Improved anti-interference and communication range performance: The 433MHz band has strong diffraction capability and low propagation loss. Compared with the congested 2.4GHz band, it can effectively reduce the interference of urban wireless signals and industrial electromagnetic environments. In addition, the free space propagation loss of 433MHz is significantly lower than that of the 2.4GHz band. According to the free space propagation formula:

[0053]

[0054] in: Here, d represents free space loss, d represents propagation distance, and f represents signal frequency. At the same distance, the 433MHz band loss is approximately 15dB lower than that of the 2.4GHz band. This allows for a wider communication coverage range under the same transmission loss conditions, more than five times that of the traditional 2.4GHz system, solving the problem of limited control distance in wide-area border patrols and desert monitoring using the traditional 2.4GHz system. The data transmission band uses a dedicated frequency band near 5GHz to further reduce the risk of co-channel interference, and, in conjunction with a dedicated communication protocol, ensures the stability of video streams, spectral data, and other transmissions.

[0055] (2) The master-slave architecture enhances system reliability and simplifies operation and maintenance costs. A zero-fault-tolerant command closed loop is constructed: a strict master-slave interaction mode is adopted, with the ground station as the sole control master station and the UAV array as the slave node executing commands. This avoids the problems of multi-node command conflicts and complex path optimization in distributed networking. The ground station is centrally responsible for command issuance and data aggregation, while the UAVs only need to focus on task execution and data collection, making the command-feedback-coordination process simpler and more efficient. Command response latency is controlled at the millisecond level. In scenarios such as large-scale event security target encirclement and tracking, and real-time data transmission from emergency rescue sites, it can effectively avoid the problems of target loss of control and decision-making delays caused by command disorder.

[0056] Reduced system complexity and deployment threshold: Compared to the complex routing configuration of fully distributed networking, the master-slave architecture significantly simplifies network topology and communication protocol design. Drone nodes do not need to undertake routing calculation tasks, eliminating the need for routing calculation modules and supporting auxiliary hardware, reducing system energy consumption by about 30% and effectively controlling system deployment costs. At the same time, it avoids the limitations of relying on operator 5G base stations. In remote mountainous areas, forest fire monitoring, and other areas where base stations are scarce, it can be deployed independently without applying for additional spectrum resources, solving the problems of limited deployment and high implementation costs of existing 5G networking solutions.

[0057] (3) Multi-dimensional adaptation to scenario requirements, expanding the application boundaries of the system. Intelligent adaptation of data transmission: Based on the multi-band parallel data transmission design, the system can dynamically allocate transmission resources according to data type—high-priority position and attitude data and emergency commands are transmitted first through the 433MHz band, while large-volume 3D land surveying data and agricultural plant protection images are transmitted in parallel through 5GHz multi-band (5.15GHz, 5.35GHz and 5.75GHz). At the same time, combined with efficient coding technology, the transmission efficiency and data integrity are balanced to meet the differentiated needs of different services. In addition, the multi-band parallel design of data transmission can ensure uninterrupted data transmission and realize adaptive adjustment of data transmission rate.

[0058] (4) Compatible with the needs of multiple fields and improves task execution efficiency. Through the coordinated optimization of communication reliability and data transmission efficiency, this system can seamlessly adapt to multiple scenarios such as large-scale environmental monitoring, reconnaissance, and agricultural pest and disease control. In surveying and mapping, the terrain data collected by multiple UAVs simultaneously is summarized in real time through high-speed data transmission on multiple frequency bands. The ground station can quickly complete data splicing and processing to generate high-precision terrain maps. The operation efficiency is 5-8 times higher than that of traditional single UAV surveying and mapping, and the surveying range can be flexibly expanded according to the scale of the UAV array. In the agricultural field, the small volume priority data of spectral detection is prioritized for back transmission, supporting the real-time adjustment of plant protection plans. High-definition field images are transmitted completely through parallel data transmission, realizing the synergy of accurate monitoring and efficient operation. Its anti-interference, long-distance, and low-cost characteristics enable it to play a stable role in various complex environments, significantly improving the mission success rate and operation efficiency of the UAV array.

[0059] Third, this invention simplifies the system architecture and reduces reliance on multiple communication devices or external networks (such as 5G base stations) through dual-band physical isolation and master-slave centralized scheduling, thereby lowering hardware deployment and subsequent maintenance costs. Simultaneously, its highly reliable telemetry and control and high-throughput data transmission capabilities provide a technical foundation for the large-scale application of UAVs in high-value scenarios such as precision agriculture (e.g., multi-drone collaborative variable fertilization) and emergency command (reconnaissance in disaster areas without public networks). While existing technologies have attempted to adopt dual-band or master-slave architectures, no solution has yet achieved the organic integration of physical layer link isolation, master-slave centralized scheduling, multi-sub-channel parallel data transmission, and autonomous networking without public network dependence. This invention overcomes the shortcomings of dual-band integrated networking technology with multi-dimensional coupled dynamic scheduling in base station-free environments, effectively resolving the core contradiction of balancing cluster control and high-speed data transmission, demonstrating significant innovation and advancement in its technical approach.

[0060] In the field of drone swarms, simultaneously achieving long-distance, highly reliable control and high-bandwidth data backhaul from multiple drones without relying on external infrastructure or significantly increasing system complexity has long been a technical bottleneck for the industry. Traditional solutions either sacrifice control reliability for bandwidth or forgo high-speed data transmission for stability, making it difficult to achieve both. This invention, through frequency band design and master-slave centralized scheduling, and through a three-way parallel sub-channel design and intelligent scheduling algorithm (combining task priority, location, and data volume for time slot calculation), coordinates and resolves this contradiction within a single system, overcoming this long-standing technical challenge.

[0061] This solution successfully overcomes the technical bias that general-purpose networking solutions in the field of UAV swarm communication cannot meet the high-performance requirements of special missions, providing a new approach for industry technology development. The industry generally tends to achieve multiplexing within a single frequency band through complex protocols. This means that the telemetry, control, and high-speed data transmission functions of UAV swarms must be implemented through multiplexing within the same frequency band (such as TDMA / FDMA), otherwise, system complexity and cost will become uncontrollable. As a result, most commercial systems still use a single-frequency shared architecture, leading to performance limitations. This invention adopts a dual-frequency architecture with physical layer separation and reduces networking complexity through master-slave scheduling, improving overall performance with controllable cost increases, and achieving a better balance between performance, reliability, and economy through superior system design. Attached Figure Description

[0062] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure;

[0063] Figure 1 This is a structural diagram of a dual-band master-slave UAV cluster telemetry, control, communication and data transmission system provided in an embodiment of the present invention;

[0064] Figure 2 This is a diagram illustrating the structure and command processing route of the ground control system provided in this embodiment of the invention.

[0065] Figure 3 This is a diagram illustrating the structure and command processing route of the flight control system provided in this embodiment of the invention;

[0066] Figure 4 This is a flowchart of the instruction processing during the startup phase of the UAV array provided in an embodiment of the present invention;

[0067] Figure 5 This is a flowchart of the uplink (master station to slave station) control command processing during the task execution phase provided in an embodiment of the present invention;

[0068] Figure 6 This is a flowchart of the uplink broadcast command processing during the power-off phase provided in an embodiment of the present invention. Detailed Implementation

[0069] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0070] The innovation of this invention lies in:

[0071] 1. Dual-band heterogeneous link architecture: For the first time in a UAV swarm system, the telemetry and control link and the data transmission link are deployed in completely independent frequency bands (e.g., 433MHz for telemetry and control, and 5.15, 5.35, and 5.75GHz for data transmission), which fundamentally avoids the bandwidth competition, latency jitter, and signal interference problems caused by the sharing of channels between control commands and image data in traditional single-frequency systems.

[0072] 2. Construct a collaborative mechanism of master-slave centralized scheduling and multi-sub-channel parallel backhaul: The ground control master station acts as the sole master control node, and uniformly schedules the task execution and flight status of all UAV slave stations through the low-frequency telemetry and control link; at the same time, the high-frequency data transmission link is divided into multiple non-overlapping parallel sub-channels, which supports multiple UAVs to transmit high-resolution images concurrently and without conflict, significantly improving the overall system throughput and task response efficiency.

[0073] 3. Achieve system integration of high-reliability control, high-throughput data transmission, and autonomous networking: Without relying on public networks or complex distributed routing, it can complete wide-area, multi-drone collaborative operations solely through the topology of ground master stations and UAV slave stations. It can still operate stably in remote or emergency areas without infrastructure coverage, thus solving the shortcomings of existing solutions in terms of autonomy, ease of deployment, and environmental adaptability.

[0074] The ground master control station is the control center of the UAV swarm. Its scheduling unit innovatively integrates three core parameters—task priority, UAV location, and the amount of data to be transmitted—to construct an adaptive time slot allocation mechanism for parallel sub-channels. Its technical logic and creative advantages are as follows:

[0075] 1. A dynamic time slot allocation mechanism based on multi-dimensional decision parameter quantification; the scheduling unit presets priority classification standards (e.g., emergency tasks > routine tasks > status reporting tasks) and assigns weighting coefficients to tasks of different priorities (e.g., emergency tasks have a coefficient of 1.0, routine tasks have a coefficient of 0.6, and status reporting tasks have a coefficient of 0.3). For example, for data transmission tasks, an emergency rescue area scanning task (emergency task) performed by a slave in the cluster has a higher priority than the daily inspection tasks of other slaves and can occupy a flexible time slot. In addition, the scheduling unit can combine the GPS positioning information of each slave to calculate its straight-line distance and relative azimuth to the master station, and predict parameters such as channel signal-to-noise ratio (SNR) and path loss of each slave channel quality. For slaves that are farther away from the master station and have more severe fading, the allocated time slot length is longer. The scheduling unit classifies and statistically analyzes the data to be transmitted by each slave, distinguishing between three categories: telemetry and control command feedback data (small data volume), task payload data (large data volume), and status monitoring data (medium and small data volume), and calculates the transmission delay requirement threshold.

[0076] 2. Flexible time slot allocation based on parallel data transmission channels: The scheduling unit pre-divides multiple parallel data transmission channels of the UAV slave station into resource pools with the smallest time slot granularity (e.g., 1ms / time slot). The total number of time slots in the resource pool is dynamically adjusted according to the cluster size and channel bandwidth to ensure the flexible supply of time slot resources.

[0077] 3. Multi-objective optimized dynamic time slot allocation algorithm and execution logic: Based on the above quantization parameters, the scheduling unit runs a multi-objective optimized time slot allocation algorithm to achieve three-dimensional precise scheduling based on priority > location adaptation > data volume matching. Its core execution steps are as follows: The scheduling unit selects slave devices corresponding to high-priority tasks according to task priority and allocates exclusive time slots to them. For example, for a slave device performing an emergency rescue task, the scheduling unit allocates multiple consecutive time slot resources to ensure high-speed, uninterrupted transmission of its high-definition payload data; simultaneously, it locks the exclusivity of this time slot segment, prohibiting low-priority task slave devices from preempting it, thus avoiding transmission delays for high-priority tasks.

[0078] Furthermore, for slave devices that have completed priority pre-allocation, the scheduling unit dynamically adjusts the time slot length based on their distance from the master station and channel quality. For slave devices with long distances and low signal-to-noise ratios, the scheduling unit adds redundant time slots on top of the allocated basic time slots to match their low transmission rate caused by channel fading and to avoid data truncation or retransmission due to insufficient time slots. For slave devices with short distances and high signal-to-noise ratios, the scheduling unit adopts a compact time slot allocation strategy to compress the time slot length of a single data block, freeing up more time slot resources for other slave devices and improving the utilization rate of data transmission channel time slots.

[0079] For tasks with different data volumes, the scheduling unit adopts differentiated time slot allocation logic: for large data volume tasks (such as high-definition image data), the scheduling unit can allocate continuous time slot blocks and calculate the required number of time slots based on the total data volume to ensure that data transmission is completed in one go and reduce data loss caused by data transmission delay; for small data volume tasks, the scheduling unit allocates basic time slots.

[0080] The dynamic adjustment of time slot allocation is triggered by slave task adjustment or sudden changes in channel quality of a slave: if the task priority of a slave is increased due to a change in task stage (such as from routine monitoring to emergency positioning), or if a sudden change in its position causes a decrease in channel quality, the scheduling unit will immediately trigger time slot reallocation. Through the time slot preemption and compensation mechanism, the time slot resources for the slave will be adjusted. For low-priority slaves whose time slots are preempted, the scheduling unit will allocate compensation time slots for them in subsequent cycles to ensure the fairness and reliability of the overall transmission.

[0081] The innovation of this dynamic time slot allocation mechanism lies in its breakthrough from the single-dimensional limitations of traditional scheduling strategies. Through deep coupling of multiple parameters, it balances the requirements of high transmission rate, low latency, and high reliability in a master-slave cluster architecture. Priority-weighted pre-allocation logic ensures that the transmission time slots of urgent tasks are not interfered with by low-priority tasks, solving the technical pain point of urgent task blocking in traditional clusters. Time slot length adaptation based on location-channel quality provides redundant time slots for slaves operating at long distances and in poor channel conditions, avoiding increased retransmissions due to insufficient time slots and reducing the overall transmission power consumption of the cluster. The elastic time slot allocation strategy matching data volume significantly improves the time slot utilization of parallel data transmission channels, adapting to the application requirements of large-scale UAV swarms.

[0082] Example 1: Application of UAV Swarm Networking in Forest Fire Emergency Reconnaissance Scenarios; This example focuses on emergency reconnaissance missions covering a 30km² area of ​​mountainous forests. UAVs form a swarm array of slave stations, primarily performing tasks such as fire location, fire spread monitoring, fire line length measurement, and search for trapped personnel. The core technical requirements for this scenario include: 1) stable long-distance command transmission, penetrating forest vegetation to ensure reliable swarm scheduling in areas without public network coverage; 2) high-throughput, low-latency data transmission, requiring real-time transmission of high-definition fire images and thermal imaging data to support emergency command and decision-making; and 3) a closed-loop data processing system to achieve efficient coordination of command, acquisition, transmission, processing, and feedback. The applicable technical solutions are as follows:

[0083] 1. Frequency band configuration: It adopts a heterogeneous architecture of "433MHz telemetry and control band and three data transmission bands of 5.15GHz, 5.35GHz and 5.75GHz". The 433MHz band, with its strong diffraction capability and low propagation loss, meets the needs of long-distance command transmission in mountainous areas. The three 5GHz sub-bands transmit in parallel, with a total bandwidth of 240MHz, which is suitable for high-definition visible light and thermal imaging dual data stream transmission.

[0084] 2. Network scheduling: The ground control master station is the only master control node. Time division multiplexing (TDMA) technology is used to dynamically allocate time slots. Each UAV is equipped with an independent command time slot and data time slot to avoid conflicts in command and data transmission between multiple UAVs.

[0085] 3. Equipment and data preprocessing adaptation: The UAV airborne terminal integrates a control and data processing center, high-definition camera equipment, dual-band communication module, and airborne sensor group (including GPS positioning module, infrared thermal imaging module, temperature and humidity sensor, etc.); the ground main station is equipped with a control console, image fusion processing computer, and dual-band receiving module.

[0086] II. Specific application process;

[0087] Power-on and networking phase: Device initialization and link establishment;

[0088] 1. Power-on Self-Test: The ground control master station broadcasts a power-on self-test command via the 433MHz wireless communication module. After the UAV powers on, the control and data processing center completes the initialization of the flight control system, driving the 433MHz wireless communication module, 5G image transmission transmitter, high-definition camera equipment, infrared thermal imaging module, and onboard sensor group to complete functional self-tests. The GPS positioning module acquires initial latitude and longitude coordinates, the temperature and humidity sensors collect environmental parameters, the battery management system provides feedback on remaining power, and all status data is aggregated to the control and data processing center and encapsulated into a self-test feedback command frame.

[0089] 2. System Initialization: The UAV control and data processing center transmits self-test status frames back to the ground master station via the 433MHz module, according to the pre-allocated time slots by the scheduling unit. The ground control master station's central control console scheduling unit counts the number of valid UAVs and, based on this, completes the design of parameters such as target ID, initial position, working time slot, and flight path, and frames system initialization commands, which are then broadcast to the UAV cluster via the 433MHz wireless communication module. Simultaneously, the master station's image fusion processing computer preloads fire image stitching and thermal imaging temperature calibration algorithms, and the 5G image transmission module activates three independent receivers (including low-noise amplifiers and high-selectivity filters) on three frequency bands. After receiving the system initialization commands, the UAV's 433MHz module performs high-order modulation and demodulation (64QAM) and decoding, transmitting the command content to the control and data processing center. The control and data processing center synchronously calibrates the timestamps of the high-definition camera equipment and the thermal imager, completing the dual establishment of the control link and data link.

[0090] Task execution phase: Command interaction and end-to-end data processing

[0091] Command issuance and onboard equipment response:

[0092] Ground personnel input mission commands (emergency evacuation, status monitoring, image acquisition, position adjustment, priority change) through an interactive interface. The central control console modulates and transmits the commands (including the target UAV ID, shooting parameters, and GPS cruise path) via a 433MHz wireless communication module. The target UAV's 433MHz module receives the command frames, demodulates and decodes them, and then transmits them to the control and data processing center. After parsing the commands, the center sends a start signal to the high-definition camera equipment or infrared thermal imaging module, and simultaneously issues real-time status acquisition commands to the airborne sensor group. The GPS module continuously outputs positioning data, and the temperature and humidity sensors monitor the environmental parameters around the fire site in real time.

[0093] 2. Airborne data acquisition, preprocessing, and transmission:

[0094] Data Acquisition: High-definition camera equipment captures visible light images of the fire scene, and infrared thermal imagers generate thermal images of the fire. Both types of data are transmitted in real time to the control and data processing center in RAW format. The airborne sensor group simultaneously collects the UAV's flight attitude (pitch angle, roll angle), positioning coordinates, and environmental temperature and humidity data.

[0095] Data preprocessing: The control and data processing center uses the HEVC / H.265 encoding algorithm to compress visible light imagery and thermal imaging data separately. At the same time, according to the bandwidth allocation rules of the three 5GHz sub-bands (5.15GHz, 5.35GHz and 5.75GHz), the compressed dual-type data streams are divided into three parallel sub-data streams. Frame headers (including UAV ID, timestamp, data type identifier, and positioning coordinates) and FEC error correction codes are added to form a data return command frame.

[0096] Data transmission: The UAV control and data processing center sends three data return command frames to the 5G image transmission transmitter, which is modulated to three frequency points of 5.15GHz, 5.35GHz and 5.75GHz respectively. After being amplified by a high-power amplifier, the data is transmitted synchronously through a high-gain directional antenna. At the same time, AFC (Automatic Frequency Correction) and AGC (Automatic Gain Control) functions are activated to compensate for signal attenuation caused by complex terrain.

[0097] 3. Main station reception: The three independent receivers of the 5G image transmission module of the ground main station receive the data streams of the corresponding frequency bands respectively. The front-end low-noise amplifier amplifies the weak signal, and the high-selectivity filter suppresses forest electromagnetic interference. After demodulation, the receiver extracts the three parallel data frames and transmits them to the central control station.

[0098] Data processing: The central control console synchronizes and aligns the data streams according to timestamps and UAV IDs. After correcting transmission errors using FEC technology and removing invalid frames, it forwards visible light images, thermal imaging data, and related parameters to the image fusion processing computer. The computer calls the fire image stitching algorithm to stitch together the partitioned images transmitted back by the UAVs, generating a panoramic fire map of the entire area. At the same time, it performs temperature calibration on the thermal imaging data, identifies high-temperature fire points (≥100℃) and marks their coordinates, and overlays them onto the visible light panoramic image.

[0099] Results feedback: The integrated panoramic fire situation map, fire point coordinates, and fire spread trend analysis results are displayed in real time through the interactive interface. Commanders can issue instructions such as fire point location and flight path adjustment, and repeat the above instruction interaction and data processing process.

[0100] Shutdown and recycling phase

[0101] After the reconnaissance mission is completed, the ground master station issues a recovery preparation command frame, including the recovery formation order and the coordinates of the safe recovery point. Upon receiving the command, the control and data processing center terminates data acquisition, shuts down the camera equipment and thermal imager, integrates information such as remaining battery power and untransmitted data buffer status, and generates a priority adjustment command to be sent back to the master station. The master station's central control console confirms the status of all drones, and the image fusion processing computer completes the final fire data archiving (including original images, stitched images, and fire analysis reports) and stores it on the emergency data server. The master station issues a shutdown and recovery command, and the drones fly to the recovery point in formation. The control and data processing center shuts down all onboard equipment, and the ground master station simultaneously shuts down the corresponding receivers, completing the closed loop of the entire emergency reconnaissance data processing process.

[0102] III. Technical Problems Solved and Positive Effects

[0103] Technical problems solved: the challenge of cluster communication in forests without public network coverage, avoiding the response delay problem caused by the coupling of command and data transmission in traditional single-frequency solutions through dual-band heterogeneous architecture and master-slave scheduling; the pain point of low data processing efficiency in multi-aircraft emergency reconnaissance, breaking through the bottleneck of transmission and processing of massive fire data through efficient encoding on the airborne end, parallel transmission of three frequency bands, and real-time fusion processing at the master station.

[0104] Positive effects: Airborne HEVC / H.265 encoding reduces data volume by 60%, and the parallel transmission rate of the three frequency bands reaches over 220Mbps, reducing the overall process time by 67% compared to the traditional 2.4GHz frequency band solution; data transmission reliability is high, and through technologies such as FEC error correction, dynamic power control, and AFC / AGC, the success rate of command transmission is improved, and there is no data loss due to terrain obstruction or interference.

[0105] Example 2: Application of UAV swarm networking in urban high-precision surveying scenarios (20-40 UAVs)

[0106] I. Application Scenarios and Technology Adaptation

[0107] This example focuses on a high-precision 3D mapping task in a core urban area. A swarm of 30 drones completes tasks such as precise acquisition of the outlines of core buildings within a 20km² area, topographic elevation data measurement, and topographic surveying along urban pipeline networks. The core requirements of the scenario include: first, high data transmission rate, requiring real-time transmission of ultra-high resolution (4K) images and point cloud data to meet the accuracy and efficiency requirements of the mapping data; second, strong transmission stability, ensuring data transmission integrity in the dense electronic environment of the city to avoid data loss; and third, efficient coding and modulation coordination, overcoming the bottlenecks of traditional channel transmission through technical optimization. The adapted technical solutions are as follows:

[0108] 1. A heterogeneous architecture is adopted, consisting of a 433MHz telemetry and control band and three data transmission bands of 5.15GHz / 5.35GHz / 5.75GHz. The 433MHz band ensures stable transmission of cluster scheduling commands, while the three 5GHz sub-bands serve as parallel transmission channels. H.265 encoding is used to improve the data transmission rate.

[0109] 2. Time Division Multiple Access (TDMA) technology is adopted to allocate independent command and data time slots to each UAV, avoiding conflicts in concurrent transmission between multiple UAVs;

[0110] 3. The instruction set adds a new high-precision surveying instruction set, including surveying parameter calibration instructions, point cloud density adjustment instructions, and building edge focusing instructions; data transmission adopts a collaborative strategy of encoding, modulation, and parallel transmission, compressing data volume through H.265 encoding, improving anti-interference ability by combining OFDM modulation technology, and improving bandwidth utilization through three-band parallel transmission.

[0111] II. Specific Application Process

[0112] Power-on and network setup phase (≤40 seconds)

[0113] The ground master station broadcasts a power-on self-test command via the 433MHz module. After the UAV powers on, it automatically activates the onboard 433MHz wireless communication module, 5G image transmission transmitter, and mapping equipment. The control and data processing center completes system initialization and equipment self-test. The onboard high-precision GPS acquires initial coordinates, and all status data is aggregated to the control and data processing center, which then sequentially transmits self-test feedback commands according to the allocated command time slots. The master station completes UAV identity authentication, counts, and channel quality assessment through the protection time slots, and broadcasts time slot allocation commands, including time slot allocation rules, H.265 encoding parameters (quantization parameter QP=28), OFDM modulation parameters (number of subcarriers 1024), initial position, and flight path. After receiving the commands, each UAV completes power-on networking and establishes control and data links according to its assigned dedicated command time slot, data time slot, and preset mapping partition and flight path.

[0114] During the mission execution phase, 30 drones were simultaneously launched according to the preset mapping zones. Drones 1-15 were responsible for collecting building outlines and terrain data in the core area, while drones 16-30 were responsible for supplementary surveys in the edge areas and reconnaissance along pipelines, forming a mapping network covering the entire 20km² area. The ground master station sent dedicated commands to the target drones via a 433MHz telemetry and control link. For example, it sent building edge focusing commands and point cloud density adjustment commands to drone 3. After receiving the commands, the drone's onboard 433MHz module transmitted them to the control and data processing center through high-order modulation and demodulation (64QAM) and decoding. This drove the 4K high-definition mapping camera to adjust its focus and the lidar module to optimize the point cloud density. At the same time, dynamic power control technology was used to adaptively adjust the transmission power to ensure stable transmission of commands through tall buildings. The 4K images and point cloud data collected by the drones were compressed by H.265 encoding and divided into three parallel data streams. These streams were transmitted simultaneously in the 5.15GHz, 5.35GHz, and 5.75GHz frequency bands using OFDM modulation technology via a 5G image transmission transmitter. The 5G image transmission module of the ground main station receives data streams synchronously through three independent receivers. After demodulation, FEC error correction, and H.265 decoding, the data is transmitted to the surveying and mapping data processing server, which calls the 3D modeling algorithm to generate a high-precision 3D urban model, which is then displayed in real time on the human-computer interaction interface.

[0115] During the shutdown and recovery phase: After the mission is completed, the ground master station sends a broadcast recovery preparation command via a 433MHz module, including the recovery formation order and the coordinates of the safe recovery point. After each UAV receives the command, the control and data processing center terminates data acquisition, integrates the remaining battery power and untransmitted data buffer information, and the UAV swarm squadrons fly sequentially to the designated recovery location to complete the shutdown and recovery.

[0116] III. Technical problems solved and positive results;

[0117] 1. Technical problem to be solved: In high-precision urban surveying, command transmission is susceptible to electromagnetic interference, and the traditional single-frequency solution suffers from command loss.

[0118] 2. Positive Effects: The anti-interference design and master-slave centralized scheduling of the 433MHz band enable a command transmission success rate of over 99.95%, eliminating command loss and delay issues caused by electromagnetic interference or building obstructions; the parallel transmission rate of the three bands reaches 240Mbps, more than twice the rate of traditional single-channel systems; H.265 encoding maintains edge detail clarity even with high compression ratios, and the transmission error rate is low, ensuring the integrity and accuracy of surveying data;

[0119] The dual-band master-slave UAV swarm telemetry, telemetry, and data transmission system provided in this embodiment of the invention includes two parts: a ground control master station and a UAV slave station. The 5G image transmission module and command processing module are shared by both, used to complete all interactive command processing and image data transmission. The system adopts a dual-band communication system: the 5GHz band is used for image data backhaul, and the 433MHz band is used for command interaction. The system structure diagram is shown below. Figure 1 .

[0120] The ground control system includes a central control console, an image fusion processing computer, a 433MHz wireless communication module, a human-machine interface and image display interface, and a 5G image transmission module. For specific structure and data transmission lines, see [link to documentation]. Figure 2 The central control console is responsible for command and data transmission between modules. The 5G image transmission module is equipped with independent receivers for three frequency bands to improve information transmission quality under high-speed image transmission conditions. The image fusion processing computer is responsible for implementing the stitching and fusion algorithm for images transmitted from multiple UAVs and sending the stitched image to the human-machine interface. The human-machine interface and image display interface provide a rich command operation interface, simplifying the command issuance process and displaying the image stitching effect. The 433MHz wireless communication module is used for control command transmission between the ground control master station and the UAV slave station.

[0121] The flight control system integrates a control and data processing center, high-definition camera equipment, a 433MHz wireless communication module, a 5G image transmission transmitter, and an onboard sensor array. For specific structure and data transmission lines, please refer to [link / details]. Figure 3 The control and data processing center is responsible for the coordinated operation of various functional modules and for compressing, encoding, and framing the acquired high-definition images. Ground master station control commands are parsed via a 433MHz wireless communication module and transmitted to the control and data processing center. The control center then sends control information to the relevant functional modules to complete the specified operations. High-definition camera equipment adjusts the image acquisition frame rate, angle, and focal length based on the control information and performs image acquisition. The airborne sensor group provides timely feedback on the UAV's status information, including battery status, tilt, and position. The 5G image transmission transmitter modulates the data transmission command frames onto three frequencies and transmits them simultaneously to the ground station.

[0122] Example 2: This embodiment of the invention provides a command communication system that adopts a master-slave working mode, namely a single ground control master station and multiple UAV slave stations. A bidirectional command communication link is established between the ground control master station and the UAV array slave stations using the 433MHz frequency band as the control command transmission channel. This frequency band has excellent penetration and a long transmission distance, ensuring stable and reliable command transmission between the ground control station and the UAV array over long distances.

[0123] The ground control master station is equipped with a high-power, high-efficiency 433MHz wireless communication module. Its output power is precisely controlled to meet long-distance transmission requirements while strictly adhering to relevant radio management regulations. This communication module integrates advanced digital modulation and demodulation technology, employing high-order modulation methods such as 16QAM (quadrature amplitude modulation) or 64QAM, enabling higher data transmission rates within limited spectrum resources and ensuring faster and more timely command transmission. Furthermore, this frequency band communication module is connected to a high-performance omnidirectional antenna with wide beam coverage and good directionality. Figure 1 Consistency is ensured to guarantee uniform signal radiation in all directions, thereby covering a large area of ​​the drone's flight path. The antenna gain is optimized to maximize signal transmission distance and anti-interference capability while maintaining coverage.

[0124] The ground control system includes a central control console, and corresponding 433MHz wireless communication modules and directional antennas at the UAV slave stations. Based on the aforementioned modulation method, it can synchronize, demodulate, decode, and parse command frames sent by the ground control master station. Furthermore, the slave station's wireless communication module can send ACK handshake response commands, status feedback commands, and uplink command execution result feedback commands. In addition, the slave antennas possess excellent multipath resistance, effectively reducing interference from multipath propagation such as signal reflection and refraction in complex terrain and environments, ensuring clear transmission of command signals.

[0125] The command communication system follows a strict master-slave communication architecture. The ground control station acts as the master station, responsible for the unified management and scheduling of flight missions and operational commands for the entire UAV array. Slave stations only transmit status and mission information when requested by the master station. In the uplink (master to slave), the master station can send control commands to any slave station (UAV) at any time according to the preset command frame format and mission requirements. Control commands include broadcast commands, status self-check commands, position adjustment commands, emergency avoidance commands, and priority adjustment commands. Upon receiving uplink control commands, the designated target executes the corresponding command operation and reports the execution result.

[0126] To improve the reliability and anti-interference capability of command transmission, the system also employs Forward Error Correction (FEC) technology. At the transmitting end, the command data is encoded, adding redundant information so that even if some data is corrupted, the receiving end can correct the errors and recover the original command data through decoding algorithms. Furthermore, the system incorporates an Automatic Repeat Request (ARQ) mechanism. When the receiving end detects an error in a received command frame, it immediately sends a retransmission request to the transmitting end. Upon receiving the request, the transmitting end quickly retransmits the command frame, ensuring the accuracy of the returned command information.

[0127] During command transmission, the system also employs dynamic power control technology, automatically adjusting the transmitter's output power based on the real-time distance between the UAV and the ground control station and channel conditions. When the UAV is close and the channel quality is good, the transmission power is reduced to minimize energy consumption and electromagnetic interference to the surrounding environment; conversely, when the UAV is far away or the channel quality is poor, the transmission power is appropriately increased to ensure reliable transmission of command signals to the UAV.

[0128] In Example 3, for the data transmission system of an unmanned aerial vehicle (UAV) array, this invention innovatively selects three frequency bands—5.15 GHz, 5.35 GHz, and 5.75 GHz—as data transmission channels and employs parallel transmission technology to simultaneously transmit image data. These three frequency bands have a maximum communication bandwidth of 80 MHz and a parallel transmission bandwidth of 240 MHz, which can meet the transmission requirements of the large amounts of high-definition image data collected by the UAV. Each frequency band is equipped with an independent image data processing and transmission module, realizing parallel processing and transmission of image data, greatly improving the efficiency and speed of data transmission.

[0129] On the drone side, the image acquisition equipment uses an advanced high-definition camera with high resolution, high frame rate, and wide dynamic range imaging capabilities, enabling it to capture clear and detailed images in real time. The acquired image data first undergoes image compression encoding, employing a high-efficiency video coding algorithm (HEVC / H.265) to compress the images. This algorithm significantly reduces the amount of image data while maintaining image quality, improving data transmission efficiency. The compressed image data is then divided into multiple data streams, which are transmitted in parallel through three data transmission frequency bands.

[0130] Each transmitter in each data transmission band employs a high-power amplifier (HPA) and a high-gain directional antenna to ensure reliable transmission of image data over long distances. The transmitter integrates advanced digital modulation and demodulation technologies, such as OFDM (Orthogonal Frequency Division Multiplexing) modulation. OFDM modulation decomposes a high-speed data stream into multiple low-speed sub-data streams, which are transmitted on multiple orthogonal subcarriers, effectively improving the signal's resistance to multipath fading and spectral efficiency. Furthermore, the transmitter features automatic frequency correction (AFC) and automatic gain control (AGC) functions, enabling real-time monitoring and compensation for frequency offsets and amplitude variations in the signal, ensuring the stability and accuracy of image data transmission.

[0131] The ground receiving station is equipped with three independent data transmission band receivers, each employing advanced signal reception and processing technologies. The receiver front-end utilizes low-noise amplifiers (LNAs) and highly selective filters, enabling the extraction of image data signals from weak radio signals and effectively suppressing out-of-band interference. The internal digital signal processors run efficient demodulation and decoding algorithms, quickly and accurately demodulating and decoding the received image data to recover the original image information. To further improve data transmission reliability, the system employs forward error correction coding technology on each data transmission band, effectively correcting erroneous symbols that occur during transmission and reducing image data loss and corruption.

[0132] Regarding data transmission protocols, the data transmission system employs time-division multiple access technology. Time-division multiplexing divides the transmission time of each data transmission frequency band into multiple time slots, with each time slot allocated to a different drone. This allows multiple drones to transmit image data on the same frequency band in a time-division manner, avoiding data conflicts and collisions.

[0133] To further demonstrate the positive effects of the above embodiments, the present invention conducts the following experiments based on the above technical solutions.

[0134] I. Implementation of the Command Communication System: At the ground control station, the 433MHz command transmitter was first installed and debugged. Technicians fixed the transmitter in a suitable position at the control station, ensuring its antenna could radiate signals unobstructed into the UAV's flight area. A high-speed data transmission cable was used to connect the transmitter to the control computer to ensure stable transmission of command signals. The transmitter was then turned on, and parameters such as transmission frequency and power were precisely set using dedicated software to ensure optimal operation.

[0135] Simultaneously, a 433MHz command receiver was installed and debugged on the UAV. The receiver was installed inside the UAV's fuselage, with the antenna extending outside to ensure good reception of ground signals. The receiver's driver was integrated into the UAV's flight control system, enabling the system to recognize and process received command signals. Before each command transmission, the master station first sends a handshake signal to the UAV, informing it of the type and length of the upcoming command. Upon receiving the handshake signal, the UAV immediately responds, providing its own status information (such as battery level, flight attitude, and communication link quality) and whether it is ready to receive commands. This handshake mechanism effectively avoids misreception and conflicts during command transmission, improving the reliability of command transmission.

[0136] The drone control process can be divided into three stages: the startup and networking stage, the mission execution stage, and the shutdown and recovery stage. The specific implementation process is as follows:

[0137] During the power-on and networking phase, the UAV power is first turned on, and the system enters the ground testing and system initialization process. The ground control station's 433MHz wireless communication module broadcasts takeoff self-test and time slot allocation commands. Upon receiving the commands, the flight control system performs a self-test and, based on the equipment's status, feeds back the execution results to the ground control station via the onboard wireless communication module within the allocated time slot, preparing for takeoff. Then, the ground control station uses its wireless communication module to cyclically broadcast commands containing the UAV array's initial position, formation, and terminal priority information. After receiving the commands from the station, the UAV flies to the designated position and reports the command execution results. Based on the feedback, technicians fine-tune receiver parameters, such as gain and filter bandwidth, to improve the sensitivity and accuracy of command reception. For detailed networking procedures, see [link to details]. Figure 4 .

[0138] During mission execution, ground control station operators input specific commands via dedicated control software, such as commands for adjusting the formation of the UAV array, status self-check commands, handshake commands, position adjustment commands, emergency avoidance commands, and priority adjustment commands. The software encapsulates the commands according to a preset command frame format, adds necessary information such as frame headers and checksums, and then sends them to a 433MHz command transmitter. The transmitter modulates the command information onto a 433MHz carrier wave for transmission.

[0139] During flight, each UAV array's 433MHz receiver continuously scans this frequency band. Once a command signal is detected, the UAV control system immediately demodulates and analyzes it to extract the command information. The flight control system first needs to determine the command target. If it is not a master station command target but a slave station, the command frame is discarded; otherwise, the control command is responded to. The response process requires determining the command type and executing corresponding operations based on the command information. Taking formation adjustment commands as an example, the flight control system will coordinate the UAV's power system and control surfaces to execute corresponding flight maneuvers, such as adjusting speed and changing flight direction, to complete the formation change. For handshake commands, the UAV needs to promptly report its own status and prepare for mission execution. For position adjustment commands, the master station sends position adjustment commands according to mission requirements, and the UAV must adjust to the target position as required by the command and report the execution result. For emergency avoidance commands, when an emergency occurs, the master station sends an emergency avoidance command to the involved UAV, and the UAV must complete the avoidance operation as required by the command. For image acquisition commands, the ground control station inputs image acquisition parameters according to image acquisition requirements, which are then frame-encapsulated and sent to the designated UAV via the 433MHz wireless communication module. The corresponding UAV flight control system adjusts the high-definition camera image acquisition frame rate, focal circle, and viewing angle according to the received command information and performs image acquisition operations. See the detailed execution process below. Figure 5 .

[0140] During the shutdown and recovery phase, the ground control station sends a recovery preparation broadcast command via the wireless communication module, which includes information on the recovery formation and recovery time.

[0141] Each UAV in the array receives the command via its wireless communication module. First, it verifies and judges the correctness, legality, and parameter rationality of the command. If the command is invalid, the UAV must report command rejection to the ground control station and wait for retransmission. If reception times out, a local emergency mechanism is triggered (e.g., returning to the nearest recovery point by default). If the command is valid, the UAV array responds to the command and enters recovery preparation mode, i.e., terminating the current task and saving the status, performing equipment self-checks, and transmitting status information. If necessary, it sends a priority adjustment request. The ground control master station adjusts the recovery priority list (i.e., formation information) based on the equipment status, generates a recovery start broadcast command, and initiates the recovery process. The UAVs, according to the received recovery priority list and the return order listed in the command, fly to the designated location within the specified time, completing recovery and shutdown step by step. See the detailed implementation process below. Figure 6 .

[0142] Throughout the entire command transmission and execution process, the system continuously monitors signal quality and automatically adjusts transmission power and frequency parameters based on changes in the distance between the UAV and the ground control station and the surrounding electromagnetic environment to ensure stable and reliable command transmission.

[0143] In addition, to improve the reliability and efficiency of command data transmission, Hybrid Automatic Repeat Request (HARQ) technology is adopted. HARQ technology combines the advantages of FEC and ARQ. When the receiving end detects an error in the received command data, it first attempts to correct the error using FEC. If the data cannot be recovered after error correction, it sends a retransmission request to the sending end.

[0144] II. Implementation of the Data Transmission System: An electrically adjustable / programmable high-definition camera is installed on the UAV as an image acquisition device. Technicians fix the camera to the bottom or side of the UAV fuselage and adjust the camera's angle of view and focal length according to mission requirements. The camera is connected to the image processing module on the UAV via a high-speed data interface. Upon receiving an image acquisition command, the camera acquires image data in real time at the set frame rate and imaging parameters and transmits it to the image processing module.

[0145] The onboard image processing module compresses and encodes the raw image data. It employs the advanced H.265 encoding algorithm, combining software optimization and hardware acceleration to improve encoding efficiency. The encoded image data is divided into three data streams, transmitted to three data transmitters at 5.15 GHz, 5.35 GHz, and 5.75 GHz respectively. Each transmitter is equipped with independent power supply and signal processing circuitry, installed inside the UAV's fuselage, and its antenna is designed as a directional antenna, pointing towards the ground control station. After receiving the image data, the transmitter performs digital modulation processing, modulating the image data onto the corresponding high-frequency carrier wave, and then transmits it through the antenna.

[0146] Compared to traditional H.264 encoding, the HEVC / H.265 encoding algorithm used in this invention improves compression efficiency by approximately 30% to 50% while maintaining the same image quality. It can carry more effective pixel information within the same physical bandwidth. Traditional single-channel systems typically occupy only a single 80MHz bandwidth; this invention utilizes three independent receivers and transmit links to simultaneously transmit in parallel across three frequency bands: 5.15GHz, 5.35GHz, and 5.75GHz, extending the total effective bandwidth from 80MHz to 240MHz.

[0147] To further optimize data transmission efficiency and ensure the real-time performance of critical tasks in multi-UAV scenarios, this invention integrates a scheduling unit into the 5G image transmission module of the ground control master station. Based on the real-time acquired status of each UAV slave station, dynamic resource scheduling is performed on the three parallel sub-channels. The specific strategy is as follows: Task Priority (Preset weights based on task type), geographical location (Distance is calculated by transmitting GPS coordinates back via a 433MHz telemetry and control link, and the modulation method is changed for long-range UAVs to ensure data quality.) and data volume. (Adjust the number of time slots allocated to a single machine flexibly according to the data transmission demand).

[0148] At the ground receiving station, three corresponding data receivers are installed in different locations to reduce mutual interference. Each receiver is connected to a high-gain directional antenna, aimed at the UAV's flight area. After startup, the receiver automatically searches for and locks onto signals from the UAV. Upon receiving the signal, it demodulates the signal, extracts the image data, and transmits it to the image processing server at the ground receiving station via a high-speed data bus. The image processing server runs specialized image fusion processing software. The software first performs timing calibration and feature matching on the image data from the three frequency bands, using an algorithm based on feature point extraction and matching to correct image misalignment caused by transmission delay differences and UAV attitude changes. Then, the three image data streams are weighted and fused, with the weighting coefficients dynamically adjusted according to the integrity and quality of each stream to generate the final high-definition image. The fused image is transmitted to a display device, such as a large-screen monitor or operating terminal, via a high-speed data interface for real-time viewing by ground operators.

[0149] In practical applications, such as large-scale forest patrols, drone swarms fly along pre-set routes to collect image data of the forest. Ground operators can then view the real-time transmitted images to promptly identify anomalies in the forest, such as fire hazards or illegal logging. Once an anomaly is detected, instructions are immediately sent to the drone swarm via the command communication system to adjust the flight path for detailed investigation. Simultaneously, the images and location information of the anomaly are recorded to provide a basis for subsequent handling.

[0150] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A dual-band master-slave unmanned aerial vehicle (UAV) swarm telemetry, control, communication, and data transmission system, characterized in that, The system includes a ground control master station and multiple UAV slave stations. The ground control master station and each UAV slave station are separated by a physical layer, as well as telemetry and control wireless communication links and data transmission wireless communication links. The telemetry and control wireless communication link operates in the first frequency band and is used to transmit control commands and status information bidirectionally between the ground control master station and the UAV slave station to ensure reliable cluster scheduling. The data transmission wireless communication link operates in a second frequency band higher than the first frequency band and is configured to include at least two sub-channels for parallel data transmission, used to transmit image data collected by each UAV from the station back to the ground control master station; The ground control master station, as the sole master node, adopts a master-slave architecture. It uniformly schedules the flight and mission execution of UAV slave stations through the telemetry and control wireless communication link, and receives and aggregates parallel image data streams from multiple UAV slave stations through the data transmission wireless communication link, thereby achieving decoupled coordination between control and data transmission.

2. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 1, characterized in that, The first frequency band is the 433MHz band, and the second frequency band is the 5GHz band; the sub-channels for parallel data transmission are implemented by occupying different non-overlapping sub-frequency bands in the 5GHz band.

3. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 2, characterized in that, The ground control master station includes: The central control console is used to coordinate the flow of instructions and data between various modules within the system. The 433MHz wireless communication module is used to send and receive commands and status information via the measurement and control wireless communication link. The 5G image transmission module is equipped with independent receivers at multiple frequencies in the 5G band, which are used to receive image data streams transmitted in parallel through the data transmission wireless communication link; The image fusion processing computer is used to stitch and fuse images received from multiple UAV slave stations and send the stitched image to the human-computer interaction and image display interface. The human-computer interaction and image display interface is used to provide an instruction operation interface and display the fused image.

4. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 3, characterized in that, The drone slave stations include: The control and data processing center is used for the coordinated control of various functional modules, and performs compression encoding and framing operations on the acquired high-definition images. High-definition camera equipment adjusts the image acquisition frame rate, angle, and focal length according to control information and performs image acquisition. The 433MHz wireless communication module receives control commands through the measurement and control wireless communication link, performs command parsing, and transmits the command content to the control and data processing center. The 5G image transmission transmitter is used to modulate the data return command frame onto three frequency points and send it to the ground simultaneously. The airborne sensor array is used to collect UAV status information and feed it back to the control and data processing center.

5. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 4, characterized in that, The communication mechanism adopted by the telemetry and control wireless communication link includes at least one of the following: high-order modulation for modulation and demodulation; forward error correction coding technology; automatic repeat request mechanism; and dynamic power control technology based on the distance between the UAV and the ground station and the channel conditions.

6. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 2, characterized in that, The 5GHz band channel specifically uses three frequency bands—5.15GHz, 5.35GHz, and 5.75GHz—for parallel transmission, with each band equipped with an independent image data processing and transmission link.

7. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 3, characterized in that, In the 5G image transmission module of the ground control master station, the front end of each independent receiver includes a low-noise amplifier and a high-selectivity filter; and / or forward error correction coding technology is used on each data transmission frequency band.

8. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 4, characterized in that, The control and data processing center uses the HEVC / H.265 encoding algorithm to compress image data; and / or the 5G image transmission transmitter uses orthogonal frequency division multiplexing modulation technology to transmit image data.

9. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to claim 4, characterized in that, The 5G image transmission transmitter is connected to a high-power amplifier and / or a high-gain directional antenna; and / or the 5G image transmission transmitter has automatic frequency correction and automatic gain control functions.

10. The dual-band master-slave UAV swarm telemetry, control, communication and data transmission system according to any one of claims 1-9, characterized in that, The data transmission wireless communication link adopts time-division multiple access technology to allocate different transmission time slots for different UAV slave stations to send image data.

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