Multi-node satellite cooperative unmanned aerial vehicle communication relay path scheduling method and system

Abstract

The invention is suitable for the technical field of satellite communication and unmanned aerial vehicle cooperative communication, and provides a multi-node satellite cooperative unmanned aerial vehicle communication relay path scheduling method and system. And determining the deterioration influence degree of each candidate relay path on the unmanned aerial vehicle cooperative communication task in the specific cooperative communication scene, and generating a correction factor according to the deterioration influence degree so as to correct the initial adaptation score of each candidate relay path and obtain a final score reflecting the comprehensive adaptability of each candidate relay path. According to the method, the problem that a short path is not always optimal in a multi-unmanned aerial vehicle cooperative obstacle avoidance scene is effectively solved, cooperative decision-making deviation caused by unstable communication rhythm or inconsistent information arrival is avoided, the scheduling reliability is improved while the communication safety margin is ensured, and the method has good engineering implementability and application and popularization value.

Description

A method and system for scheduling UAV communication relay paths using multi-node satellite collaboration Technical Field

[0001] This invention belongs to the field of satellite communication and UAV collaborative communication technology, and particularly relates to a multi-node satellite collaborative UAV communication relay path scheduling method and system. Background Technology

[0002] With the development of low-Earth orbit satellite communication technology and unmanned aerial vehicle (UAV) technology, utilizing multi-node satellites to provide communication relay support for UAVs has become an important means of achieving UAV communication over large areas, long distances, and complex environments. In existing technologies, UAVs typically access multiple communication relay paths composed of different satellite nodes during mission execution. These different relay paths vary in terms of link stability, path length, and resource load. To ensure communication reliability, existing communication relay path scheduling methods generally prioritize link stability as the primary selection criterion. When link stability is comparable, indicators such as relay path length are introduced for further screening, aiming to reduce communication latency and forwarding complexity while ensuring communication continuity.

[0003] The aforementioned scheduling methods have a certain degree of rationality in ordinary communication tasks and have been applied in practical engineering. However, as UAV applications gradually evolve towards multi-UAV collaborative tasks, especially in scenarios requiring multiple UAVs to make collaborative decisions based on real-time communication information, existing scheduling strategies are gradually revealing their limitations. For example, in specific collaborative communication scenarios such as multi-UAV collaborative obstacle avoidance, UAVs need to continuously share pose information, motion status information, or trajectory intention information, placing higher demands on the timeliness consistency and transmission rhythm stability of communication information. In such scenarios, latency fluctuations, sudden delays, or inconsistent data arrival times that occur during the operation of the communication link, even if not statistically serious, can be amplified into collaborative decision-making biases, thereby leading to obstacle avoidance failures or collision risks.

[0004] However, existing technologies in communication relay path scheduling primarily focus on link stability and path length, typically assuming that shorter relay paths improve communication performance under consistent link stability. They lack an evaluation mechanism for the amplification effect of communication link operation states in specific collaborative communication scenarios. Because the relationship between communication relay path length and link operation states is often complex and non-linear, existing scheduling methods struggle to identify situations where "shorter paths are not necessarily better" in scenarios such as collaborative obstacle avoidance. They typically attribute resulting communication anomalies to environmental complexity or instantaneous fluctuations, failing to effectively mitigate these issues at the scheduling level. Therefore, a technical solution is urgently needed that can combine the characteristics of specific collaborative communication scenarios to perform more refined evaluation and scheduling of communication relay paths, thereby improving communication reliability and security in multi-UAV collaborative missions. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for scheduling unmanned aerial vehicle (UAV) communication relay paths using multi-node satellite collaboration, aiming to solve the problems mentioned in the background art.

[0006] This invention is implemented as follows: a multi-node satellite-coordinated UAV communication relay path scheduling method, the method comprising:

[0007] When scheduling communication relay paths for a drone group in a specific collaborative communication scenario, if several candidate relay paths with consistent link stability are matched, the initial adaptation score of each candidate relay path is obtained, and the drone group is connected to the target candidate relay path with the shortest relay path length.

[0008] After the UAV group accesses the target candidate relay path, the communication traffic is controlled and adjusted so that the target candidate relay path presents a communication state equivalent to the relay path length of different candidate relay paths during the communication process without changing the physical access relationship, so as to obtain the link operation performance of each candidate relay path under the corresponding communication state.

[0009] Based on the obtained link operation performance, the degree of degradation of each candidate relay path on the UAV cooperative communication task in a specific cooperative communication scenario is determined, and a correction factor is generated according to the degree of degradation to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path.

[0010] Based on the final score, the candidate relay path with the best final score is selected from all candidate relay paths as the communication access relay path for the UAV group.

[0011] As a further limitation of the technical solution of the present invention, the specific collaborative communication scenario refers to the collaborative communication scenario in which multiple UAVs need to make collaborative decisions based on real-time shared pose information, motion status information or flight path intention information during the execution of collaborative obstacle avoidance tasks, in order to avoid collisions or avoid environmental obstacles.

[0012] As a further limitation of the technical solution of this embodiment of the invention, the method of controlling and adjusting communication service traffic refers to:

[0013] After the UAV group accesses the target candidate relay path, the communication service traffic carried on the target candidate relay path is adjusted in a targeted manner according to the difference in relay path length corresponding to each candidate relay path, so that the target candidate relay path presents an equivalent communication state that matches the communication delay, load or transmission rhythm corresponding to different candidate relay path lengths during the communication process.

[0014] As a further limitation of the technical solution of the present invention, the link operation performance refers to a set of parameters used to characterize the operating status of the communication link in carrying UAV collaborative communication services. The set of parameters includes at least: the latency fluctuation amplitude or latency sudden change characteristics corresponding to the communication latency, the instantaneous change characteristics of the link load or the degree of load concentration corresponding to the communication load, and the data arrival time consistency or data transmission rhythm stability corresponding to the transmission rhythm.

[0015] As a further limitation of the technical solution of this embodiment of the invention, based on the obtained link operation performance, the steps of determining the degree of degradation of each candidate relay path on the UAV cooperative communication task in a specific cooperative communication scenario, and generating a correction factor according to the degree of degradation to correct the initial adaptation score of each candidate relay path, and obtaining a final score reflecting the comprehensive adaptability of each candidate relay path, include:

[0016] After obtaining the link operation performance of each candidate relay path, the historical communication operation data of the UAV group is retrieved, and several historical samples that are consistent with the current communication task type and communication requirements but do not belong to the specific collaborative communication scenario are selected. The relay path length corresponding to the different historical samples is the same as or within the preset allowable deviation range of the relay path length of the different candidate relay paths to be evaluated, and the link operation performance of each historical sample is determined respectively.

[0017] The link operation performance of the candidate relay path in the current specific collaborative communication scenario is compared with the link operation performance of historical samples with the corresponding relay path length to determine the decline in link operation performance under the same relay path length.

[0018] The decrease is determined as the degree of degradation of the corresponding candidate relay path in the specific cooperative communication scenario; a correction factor is generated based on the degree of degradation to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path.

[0019] As a further limitation of the technical solution of this invention, the step of generating a correction factor based on the degree of degradation to correct the initial adaptation score of each candidate relay path and obtaining a final score reflecting the comprehensive adaptability of each candidate relay path includes:

[0020] Based on the degree of degradation of each candidate relay path and in combination with the preset correction strength coefficient, a correction factor for the corresponding candidate relay path is generated.

[0021] The initial adaptation scores of the corresponding candidate relay paths are corrected using the correction factor to obtain a final score that reflects the comprehensive adaptability of each candidate relay path to the specific collaborative communication scenario.

[0022] As a further limitation of the technical solution of this embodiment of the invention, when determining the candidate relay path with the best score from each candidate relay path as the communication access relay path of the UAV group based on the final score, if the relay path with the best score is different from the target candidate relay path currently being accessed, the UAV group is controlled to switch from the target candidate relay path to the relay path with the best score to complete the communication access.

[0023] A multi-node satellite-coordinated UAV communication relay path scheduling system, the system comprising:

[0024] The relay path initial selection module is used to schedule communication relay paths for UAV groups in a specific cooperative communication scenario. If several candidate relay paths with consistent link stability are matched, the module obtains the initial adaptation score of each candidate relay path and enables the UAV group to access the target candidate relay path with the shortest relay path length.

[0025] The equivalent communication state construction module is used to make the target candidate relay path present a communication state equivalent to the relay path length of different candidate relay paths during the communication process by controlling the communication service traffic after the UAV group accesses the target candidate relay path, without changing the physical access relationship, so as to obtain the link operation performance of each candidate relay path in the corresponding communication state.

[0026] The degradation impact assessment module is used to determine the degree of degradation impact of each candidate relay path on the UAV cooperative communication task in a specific cooperative communication scenario based on the obtained link operation performance, and generate a correction factor based on the degree of degradation impact to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path.

[0027] The relay path switching module is used to select the candidate relay path with the best final score from among the candidate relay paths as the communication access relay path for the UAV group.

[0028] As a further limitation of the technical solution of the present invention, the specific collaborative communication scenario refers to the collaborative communication scenario in which multiple UAVs need to make collaborative decisions based on real-time shared pose information, motion status information or flight path intention information during the execution of collaborative obstacle avoidance tasks, in order to avoid collisions or avoid environmental obstacles.

[0029] As a further limitation of the technical solution of the present invention, the controlled adjustment of communication service traffic refers to: after the UAV group accesses the target candidate relay path, the communication service traffic carried on the target candidate relay path is adjusted in a targeted manner according to the difference in relay path length corresponding to each candidate relay path, so that the target candidate relay path presents an equivalent communication state that matches the communication delay, load or transmission rhythm corresponding to different candidate relay path lengths during the communication process.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The multi-node satellite-coordinated UAV communication relay path scheduling method and system provided by this invention introduces an operational evaluation mechanism for specific cooperative communication scenarios, building upon existing scheduling logic that primarily relies on link stability and relay path length. By constructing an equivalent communication state without interrupting physical access, it obtains link performance that reflects the amplified effect of cooperative obstacle avoidance scenarios. Combined with historical communication operation data, it determines the degree of degradation and makes a reasoned correction to the initial adaptation score, ensuring that the relay path selection result truly reflects the comprehensive adaptability of the communication link in cooperative obstacle avoidance tasks.

[0032] This solution effectively addresses the issue that "shortest path is not necessarily optimal" in multi-UAV collaborative obstacle avoidance scenarios. It avoids collaborative decision-making deviations caused by unstable communication rhythms or inconsistent information delivery, and improves scheduling reliability while ensuring communication security margins. It has good engineering feasibility and application promotion value. Attached Figure Description

[0033] Figure 1 is a flowchart of the method provided in an embodiment of the present invention;

[0034] Figure 2 is a flowchart of determining the degree of degradation in the method provided in the embodiment of the present invention;

[0035] Figure 3 is a flowchart of the method for calculating the final score provided in the embodiment of the present invention;

[0036] Figure 4 is an application architecture diagram of the system provided in an embodiment of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] Figure 1 shows a flowchart of the method provided by an embodiment of the present invention.

[0039] Specifically, a multi-node satellite collaborative UAV communication relay path scheduling method includes the following steps:

[0040] In step S100, when scheduling communication relay paths for a drone group in a specific collaborative communication scenario, if several candidate relay paths with consistent link stability are matched, the initial adaptation score of each candidate relay path is obtained, and the drone group is connected to the target candidate relay path with the shortest relay path length.

[0041] The specific collaborative communication scenario refers to a collaborative communication scenario in which multiple drones need to make collaborative decisions based on real-time shared pose information, motion status information, or flight path intention information during the execution of collaborative obstacle avoidance tasks, in order to avoid collisions or avoid environmental obstacles.

[0042] In this embodiment of the invention, the communication relay path scheduling refers to the process by which a UAV group selects at least one of multiple available communication relay paths as the current communication access path during the execution of a communication task, in order to complete data transmission between UAVs and between UAVs and external nodes. In practical applications, since the nodes involved in communication include satellite nodes with different orbital positions and different load states, the communication relay paths formed between different satellite nodes and UAVs differ in terms of physical distance, number of forwarding nodes, link load, and link stability. Therefore, multiple different communication relay paths will objectively be formed.

[0043] The communication relay path described in this invention specifically refers to the data forwarding path formed between the UAV and different satellite nodes. Different communication relay paths may have significant differences in path length. For example, some relay paths require fewer satellite forwarding nodes and have a shorter overall path length, while some relay paths require more forwarding nodes and have a longer overall path length. At the same time, the link stability of different communication relay paths may also vary. This difference is usually affected by a variety of objective factors such as satellite operating status, coverage angle, link load, and wireless propagation environment. The above differences inevitably exist in actual communication systems.

[0044] In existing technologies, communication relay path scheduling typically follows the basic principle of "stability priority," meaning that the communication relay path with the highest link stability is prioritized as the communication access path to reduce the risk of communication interruption or data loss. When multiple communication relay paths exist with link stability within the same acceptable range, existing technologies usually employ a scoring-based selection method to further filter the candidate relay paths. The main basis for this scoring is typically the path length of the communication relay path. Existing technologies generally believe that, given comparable link stability, the shorter the communication relay path, the lower its corresponding communication latency, the simpler the forwarding process, and the higher the overall communication efficiency, making it more suitable as a communication access path for UAVs.

[0045] The scheduling logic described above is acceptable in most conventional communication tasks and is widely used in practical engineering applications. However, those skilled in the art have gradually discovered through long-term research and practice that in the specific cooperative communication scenario of multi-UAV cooperative obstacle avoidance, even if the link stability of multiple communication relay paths is within the same allowable range, different communication relay path lengths can still lead to significant differences in the operational status of the communication links. This difference may not be significant in ordinary communication tasks, but it will be significantly amplified in cooperative obstacle avoidance tasks.

[0046] Specifically, in multi-UAV cooperative obstacle avoidance missions, multiple UAVs need to make collaborative decisions based on real-time shared pose, motion status, or flight intention information to ensure that each UAV can adjust its flight path in a timely manner in complex environments, avoiding collisions or obstacles. This type of cooperative communication task places high demands on the timeliness and consistency of communication information and the stability of transmission rhythm. This means not only that the communication link must be available overall, but also that the key information received by different UAVs must be highly consistent in time. If the communication link experiences latency fluctuations, sudden delays, or inconsistent data arrival times during operation, even if these problems are not statistically serious, they may lead to different UAVs making inconsistent obstacle avoidance decisions based on information at different points in time, thus significantly increasing obstacle avoidance risks.

[0047] In this specific collaborative communication scenario, the differences in communication link operation caused by different relay path lengths often have an amplifying effect. For example, on shorter relay paths with relatively concentrated link loads, sudden changes in communication latency or unstable transmission rhythms are more likely to occur; while on longer relay paths with more even load distribution, although the overall latency is slightly higher, the communication rhythm may be more stable. In ordinary data backhaul or non-collaborative communication tasks, the above differences have limited impact on task completion. However, in multi-UAV collaborative obstacle avoidance tasks, these differences are further amplified, leading to a more serious risk of task degradation.

[0048] Those skilled in the art have further discovered that this type of amplification effect does not strictly exhibit a linear relationship with the length of the communication relay path; that is, it is not a simple matter of "the shorter the path, the better the effect" or "the longer the path, the worse the effect." Because communication relay paths involve multi-node forwarding, dynamic load changes, and the uncertainty of the wireless propagation environment, the relationship between the length of the communication relay path and the deteriorating effects in cooperative obstacle avoidance tasks often presents a complex nonlinear relationship, making it difficult to directly identify and quantify such problems in existing technologies. In practical engineering applications, existing technologies typically attribute such phenomena to the complexity of the field environment or fluctuations in communication conditions, lacking targeted evaluation and scheduling mechanisms.

[0049] Therefore, the communication relay path scheduling process described in step S100 essentially constitutes the practical basis and research background for the subsequent technical solutions proposed in this invention. The scheduling logic of "stability priority, path length scoring" adopted in this step is a communication scheduling method that has been practically applied and widely accepted in the prior art. This invention is based on the shortcomings exposed by the prior art logic in the specific cooperative communication scenario of multi-UAV cooperative obstacle avoidance, and further proposes a targeted improvement scheme.

[0050] In this embodiment of the invention, the specific cooperative communication scenario can be specifically a cooperative obstacle avoidance operation scenario in densely built-up urban areas. For example, in the vicinity of complex structures such as high-rise buildings, overpasses, or interchanges, UAV groups need to fly simultaneously in formation within a small airspace to perform tasks such as emergency reconnaissance, fire monitoring, or traffic situation data collection. Due to significant building obstruction, reflection, and multipath effects, and the rapid changes in the communication environment when the UAV group travels between different altitude layers, multiple UAVs must continuously share pose information, motion status information, or flight path intention information to quickly make cooperative decisions when encountering obstacles, temporary no-fly zones, or other approaching UAVs, thereby achieving avoidance, detour, or formation adjustment. In this scenario, if there are delay fluctuations in the communication link or inconsistent data arrival times, it may lead to inconsistent judgments of the obstacle avoidance time windows of each UAV for the same obstacle, thereby increasing the risk of cooperative obstacle avoidance.

[0051] The specific collaborative communication scenario can also be defined as a collaborative obstacle avoidance scenario for low-altitude power line inspection or communication tower inspection. For example, when a drone group performs multi-point synchronous inspections along power transmission lines or communication tower groups, some drones fly near the power lines, while others fly near the tower structures, and their flight paths frequently need to traverse dense obstacle areas such as power lines, insulator strings, and tower materials. To avoid collisions between drones and power lines, tower materials, or each other, the drone group needs to make collaborative decisions based on real-time shared pose information, motion status information, or flight path intention information, dynamically adjust its flight path, and perform obstacle avoidance coordination. In this scenario, the instability of the communication link's operating rhythm can be amplified into asynchronous obstacle avoidance actions, increasing the risk that while individual drones may successfully avoid obstacles, collaborative obstacle avoidance may fail.

[0052] The specific collaborative communication scenario can also be defined as a collaborative obstacle avoidance scenario in disaster emergency search and rescue. For example, in the post-earthquake urban ruins, landslides, or forest fire smoke environments, UAV teams need to perform tasks such as search, positioning, heat source identification, and material delivery guidance under low-altitude complex terrain and poor visibility conditions. In this situation, UAV teams often need to maneuver rapidly in areas with dense obstacles and rely on real-time shared pose information, motion status information, or flight path intention information to achieve collaborative obstacle avoidance, in order to avoid collisions between UAVs or with temporarily appearing obstacles (such as undulating smoke columns, suspended cables, and collapsed components). In this scenario, if there is a sudden delay in the communication link or inconsistent data arrival times, it can easily cause differences in the UAVs' obstacle avoidance priorities, detour directions, or speed adjustment strategies, thereby causing collaborative obstacle avoidance decision-making deviations and amplifying them into mission degradation risks.

[0053] The above examples are only used to illustrate typical forms of the specific cooperative communication scenario and do not constitute a limitation on the specific cooperative communication scenario. The technical solution of this invention can be applied to any cooperative communication scenario that requires UAV groups to make cooperative decisions based on real-time shared pose information, motion state information, or trajectory intention information in order to avoid mutual collisions or avoid environmental obstacles.

[0054] Furthermore, the multi-node satellite-coordinated UAV communication relay path scheduling method also includes the following steps:

[0055] Step S200: During a preset time period after the UAV group accesses the target candidate relay path, the communication service traffic is controlled and adjusted so that the target candidate relay path presents a communication state equivalent to the relay path length of different candidate relay paths during the communication process without changing the physical access relationship, so as to obtain the link operation performance of each candidate relay path under the corresponding communication state.

[0056] The controlled adjustment of communication service traffic refers to the following: after the UAV group accesses the target candidate relay path, the communication service traffic carried on the target candidate relay path is adjusted in a targeted manner according to the difference in relay path length corresponding to each candidate relay path, so that the target candidate relay path presents an equivalent communication state that matches the communication delay, load or transmission rhythm corresponding to different candidate relay path lengths during the communication process.

[0057] The link operation performance refers to a set of parameters used to characterize the operating status of the communication link during the process of carrying UAV collaborative communication services. The set of parameters includes at least: the latency fluctuation amplitude or latency sudden change characteristics corresponding to the communication latency, the instantaneous change characteristics of the link load or the degree of load concentration corresponding to the communication load, and the data arrival time consistency or data transmission rhythm stability corresponding to the transmission rhythm.

[0058] In this embodiment of the invention, step S200 is a further execution based on step S100. Specifically, after the UAV group has connected to the target candidate relay path with the shortest relay path length, the present invention does not immediately use the target candidate relay path as the final communication access path. Instead, within a preset time period after connection, a controlled adjustment operation of the communication service traffic is performed on the target candidate relay path to obtain the link operation performance of the target candidate relay path under different equivalent communication states.

[0059] The reason this invention still uses the shortest candidate relay path as the initial access path at this stage is based on the rationality judgment of existing communication relay path scheduling logic. In most cases, the target candidate relay path not only has a short relay path length, but also usually has a high level in the initial adaptation score. Therefore, using it as the initial access path can ensure that the UAV group has a basically reliable communication capability when entering a specific cooperative communication scenario, thereby providing a stable communication foundation for subsequent controlled adjustment operations.

[0060] Within a preset time period after the UAV group accesses the target candidate relay path, this embodiment of the invention, through controlled adjustment of communication service traffic, ensures that the target candidate relay path exhibits a communication state equivalent to that of different candidate relay paths with varying relay path lengths, without altering the physical access relationship. This controlled adjustment does not involve actual switching of the communication relay path, but rather targeted adjustment of the communication service traffic carried on the target candidate relay path, ensuring that the target candidate relay path exhibits an operating state matching that of different relay path lengths in terms of communication latency, communication load, or transmission rhythm.

[0061] A key premise for adopting this controlled adjustment method in this embodiment of the invention is that the initial stage of a specific cooperative communication scenario typically has not yet entered a high-density obstacle avoidance or high-risk cooperative decision-making state. For example, at the start of a multi-UAV cooperative obstacle avoidance mission, the UAV group is often still in a relatively open airspace or a low obstacle density area, and there is a certain safety distance and maneuver margin between each UAV. During this stage, slight changes in the operating status of the communication link will not immediately trigger serious obstacle avoidance risks, thus providing realistic conditions for performing controlled adjustment operations on communication service traffic within a safety margin.

[0062] Compared with existing technologies, the controlled adjustment method adopted in this invention is not used to improve current communication performance, but to actively construct multiple equivalent communication states to simulate the operational characteristics of the communication link under different candidate relay path lengths. Existing technologies typically passively observe changes in communication performance after a relay path switch, while this invention, through controlled adjustment on the same physical access path, allows the target candidate relay path to sequentially exhibit multiple equivalent communication states. This enables the acquisition of link operational characteristics that different candidate relay paths may exhibit in specific cooperative communication scenarios without interrupting communication or introducing additional switching risks. This method has significant innovation and practical value in dealing with multi-UAV cooperative obstacle avoidance scenarios.

[0063] In this embodiment of the invention, the link operation performance obtained through the above-described controlled adjustment method is measured and statistically analyzed based on the actual communication state under a specific collaborative communication scenario, rather than being an offline simulation result detached from the actual communication process. The link operation performance is a set of parameters characterizing the operating state of the communication link during the process of carrying UAV collaborative communication services. It includes at least the latency fluctuation amplitude or latency burst change characteristics corresponding to communication latency, the instantaneous change characteristics of the link load or the degree of load concentration corresponding to communication load, and the consistency of data arrival time or the stability of data transmission rhythm corresponding to transmission rhythm.

[0064] The aforementioned link operation performance can be obtained using mature monitoring and statistical methods already available in existing communication systems. For example, communication latency and its fluctuations can be obtained by statistically analyzing the round-trip time or arrival timestamp of data packets; link load variation characteristics can be calculated by monitoring the instantaneous bandwidth occupancy, queue length, or service congestion of the communication link; data arrival time consistency or transmission rhythm stability can be obtained by analyzing the time deviation of multiple drones receiving the same type of data. This invention does not limit the specific calculation algorithm for the aforementioned link operation performance, but rather, by introducing the aforementioned parameter set, enables the potential impact of the communication link operation status on collaborative obstacle avoidance tasks in specific collaborative communication scenarios to be effectively characterized and quantified.

[0065] By implementing step S200, this invention transforms the research problem raised in step S100 from a conceptual level into a concrete and operable communication scheduling process. Step S100 reveals that in specific cooperative communication scenarios, relay path selection based solely on link stability and relay path length may not fully reflect the true impact of the communication link on the cooperative obstacle avoidance task. Step S200 addresses this issue by proactively constructing equivalent communication states under different relay path lengths through controlled adjustment. This makes the differences in the communication link's operating state in specific cooperative communication scenarios explicit and observable, providing a direct basis for subsequently determining the degree of degradation.

[0066] Furthermore, the multi-node satellite-coordinated UAV communication relay path scheduling method also includes the following steps:

[0067] Step S300: Based on the obtained link operation performance, determine the degree of degradation of each candidate relay path on the UAV collaborative communication task in a specific collaborative communication scenario, and generate a correction factor according to the degree of degradation to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path.

[0068] Specifically, Figure 2 shows a flowchart for determining the degree of degradation.

[0069] The process involves determining the degree of degradation of each candidate relay path on the UAV collaborative communication task in a specific collaborative communication scenario based on the obtained link operation performance. A correction factor is then generated based on the degree of degradation to adjust the initial adaptation score of each candidate relay path, resulting in a final score reflecting the comprehensive adaptability of each candidate relay path. This process includes the following steps:

[0070] Step S301: After obtaining the link operation performance of each candidate relay path, retrieve the historical communication operation data of the UAV group, and filter out a number of historical samples that are consistent with the current communication task type and communication requirements but do not belong to the specific collaborative communication scenario. The relay path length corresponding to the different historical samples is the same as or within the preset allowable deviation range of the relay path length of the different candidate relay paths to be evaluated, and determine the link operation performance of each historical sample respectively.

[0071] Step S302: Compare the link operation performance of the candidate relay path in the current specific cooperative communication scenario with the link operation performance of historical samples with the corresponding relay path length to determine the decrease in link operation performance under the same relay path length.

[0072] Step S303: The decrease magnitude is determined as the degree of degradation of the corresponding candidate relay path in the specific cooperative communication scenario; a correction factor is generated based on the degree of degradation to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path.

[0073] In this embodiment of the invention, step S300 is a core technical step of the invention, which is used to further transform the link operation performance obtained in step S200 into a quantitative basis that can be used for relay path scheduling decisions, thereby making a reasonable and well-founded correction to the initial adaptation score of each candidate relay path, and obtaining a final score that reflects the comprehensive adaptability of each candidate relay path.

[0074] It should be noted that while step S200 can make the target candidate relay path present a communication state equivalent to the relay path lengths of different candidate relay paths without changing the physical access relationship, and thereby obtain the link operation performance of each candidate relay path under the corresponding communication state, the link operation performance alone is insufficient to directly judge the merits of each candidate relay path in a specific cooperative communication scenario. This is because link operation performance is affected by multiple factors such as communication service load, node forwarding status, and wireless propagation environment, and its changes are usually complex and nonlinear. That is, it is not simply a matter of "shorter relay path is always better" or "longer relay path is always worse." Without a benchmark, selecting based solely on different link operation performances can easily misjudge differences that should be within the normal fluctuation range as changes in task risk caused by scenario amplification effects, resulting in incomplete or inaccurate relay path scheduling results. This point aligns with the research background revealed in step S100, namely, that in specific collaborative communication scenarios, the traditional method of selecting based solely on link stability and relay path length has limitations, and an evaluation mechanism that can reflect the scenario amplification effect needs to be introduced.

[0075] Therefore, the significance of step S300 lies in introducing a comparable benchmark for link operation performance, thereby transforming the "difference in link operation performance" into the "degree of deterioration relative to the normal state." To this end, this embodiment of the invention utilizes historical communication operation data of the UAV group to find historical samples for each candidate relay path that have the same or similar relay path length, consistent communication task type and requirements, but do not belong to a specific cooperative communication scenario, thus forming a reference benchmark comparable to the current evaluation object. The link operation performance under the current specific cooperative communication scenario is then compared with this reference benchmark to obtain the rate of decline, and this rate of decline is determined as the degree of deterioration. In this way, while controlling the key variable of relay path length, the additional impact of a specific cooperative communication scenario on the link operation state can be more accurately characterized, thus providing a clear basis for subsequent scoring corrections and avoiding subjective judgments based solely on instantaneous differences.

[0076] In this embodiment of the invention, step S301 is used to obtain historical samples and their link operation performance for comparison. Specifically, after obtaining the link operation performance of each candidate relay path, the historical communication operation data of the UAV group is retrieved, and several historical samples that are consistent with the current communication task type and communication requirements but do not belong to the specific collaborative communication scenario are selected. To ensure the comparability of the comparison, the relay path length corresponding to the historical sample is the same as or within a preset allowable deviation range as the relay path length of the candidate relay path to be evaluated. The above selection can be implemented using data retrieval and conditional filtering methods in the prior art, such as combining and selecting based on communication task tags, service type identifiers, communication quality requirement parameters, and relay path length record information, and deduplicating and validating the selection results. Subsequently, for each historical sample, the corresponding link operation performance is determined according to the same statistical caliber as in step S200, so that the link operation performance of the historical sample has a consistent measurement method with the current link operation performance.

[0077] Step S302 is used to compare the current link performance with the link performance of historical samples to determine the magnitude of the performance decline. Specifically, the link performance of the candidate relay path in the current specific cooperative communication scenario is compared with the link performance of historical samples of the corresponding relay path length to determine the magnitude of the performance decline under the same relay path length. This comparison can be achieved using existing statistical comparison methods, such as calculating the difference, ratio, or normalized deviation of parameters like latency fluctuation amplitude, latency burst change characteristics, instantaneous link load change characteristics, load concentration, data arrival time consistency, and data transmission rhythm stability. When multiple historical samples exist, the link performance corresponding to the historical samples can be averaged or weighted to obtain a more stable reference value, which is then compared with the current link performance. The above statistical comparison methods are all mature and implementable data analysis techniques in the existing technology and can be completed in engineering implementation using existing monitoring data and computing resources.

[0078] Step S303 is used to convert the decrease magnitude into the degree of degradation, and generate a correction factor based on the degree of degradation to correct the initial adaptation score. Specifically, the decrease magnitude is determined as the degree of degradation of the corresponding candidate relay path in the specific cooperative communication scenario. This degree of degradation can characterize the additional degradation introduced by the specific cooperative communication scenario compared to the non-specific cooperative communication scenario under the condition of controlling the relay path length, thereby reflecting the amplified risk level of the link operation status in the cooperative obstacle avoidance task. Further, a correction factor is generated based on the degree of degradation to correct the initial adaptation score of each candidate relay path, resulting in a final score reflecting the comprehensive adaptability of each candidate relay path. The generation of the correction factor and the score correction can be implemented using existing score adjustment methods, such as generating a weighting factor or deduction factor based on the degree of degradation and a preset correction intensity coefficient, and deducting or weighting the initial adaptation score, thereby reducing the final score of the candidate relay path with a higher degree of degradation and relatively increasing the final score of the candidate relay path with a lower degree of degradation. By using the above method, even when the candidate relay path links have consistent stability and the relay path lengths differ, a quantitative correction for the amplification effect of a specific cooperative communication scenario can be introduced, making the final score more reflective of the comprehensive adaptability of the candidate relay path to a specific cooperative communication scenario.

[0079] By implementing step S300, the present invention realizes the transformation from "link operation performance" to "degree of degradation" and then to "final score", so that relay path scheduling no longer depends solely on link stability and relay path length, but can re-evaluate and screen candidate relay paths by combining the amplification effect under specific cooperative communication scenarios, thereby improving the communication reliability and mission safety of UAV groups in cooperative obstacle avoidance tasks.

[0080] Specifically, Figure 3 shows a flowchart for calculating the final score.

[0081] The process of generating a correction factor based on the degree of degradation to adjust the initial adaptation score of each candidate relay path, and obtaining the final score reflecting the comprehensive adaptability of each candidate relay path, specifically includes the following steps:

[0082] Step S3031: Based on the degree of degradation of each candidate relay path and in combination with the preset correction strength coefficient, generate the correction factor for the corresponding candidate relay path.

[0083] Step S3032: The initial adaptation score of the corresponding candidate relay path is corrected using the correction factor to obtain the final score reflecting the comprehensive adaptability of each candidate relay path to the specific collaborative communication scenario.

[0084] In this embodiment of the invention, steps S3031 and S3032 are used to further apply the quantified degree of degradation to the initial adaptation score of each candidate relay path, so that the final score can truly reflect the comprehensive adaptability of each candidate relay path in a specific cooperative communication scenario.

[0085] Specifically, in step S3031, a correction factor for each candidate relay path is generated based on the degree of degradation impact corresponding to each candidate relay path and in conjunction with a preset correction intensity coefficient. The correction intensity coefficient is used to characterize the weight of the degree of degradation impact in the scoring correction process. Its function is to adjust the impact of the degree of degradation impact on the initial adaptation score, and to avoid over-correction of the score due to fluctuations in instantaneous link performance or extreme samples.

[0086] In this embodiment of the invention, the preset correction intensity coefficient is not arbitrarily set, but determined based on historical communication operation data and existing communication scheduling experience. On the one hand, by statistically analyzing the historical operation data of the UAV group under different communication tasks and different relay paths, the correlation between changes in link operation performance and changes in actual task risk can be analyzed, thereby determining the reasonable range of impact of the degree of degradation on the task result in most cases. On the other hand, a reasonable value range for the correction intensity coefficient can also be set by combining engineering experience or simulation test results. In order to ensure system stability and controllability of scheduling results, the correction intensity coefficient usually has preset upper and lower limits to limit the maximum and minimum impact of the correction factor on the initial adaptation score, thereby avoiding excessive amplification or excessive suppression of the score result.

[0087] In step S3032, the initial adaptation score of the corresponding candidate relay path is corrected using the correction factor to obtain a final score reflecting the comprehensive adaptability of each candidate relay path to the specific cooperative communication scenario. The correction can be implemented using commonly used scoring adjustment methods in the prior art. For example, by multiplying, subtracting, or weighting the initial adaptation score with the correction factor, the final score of the candidate relay path with a higher degree of degradation is reduced accordingly, while the final score of the candidate relay path with a lower degree of degradation remains unchanged or is relatively improved. The specific mathematical form used is not limited by this invention, as long as it reflects the corrective effect of the degree of degradation on the scoring result.

[0088] The rationale behind the aforementioned correction method lies in the fact that it does not negate the merits and demerits of the communication relay path reflected in the initial adaptation score under normal conditions. Instead, it introduces compensatory corrections for specific cooperative communication scenarios, enabling the scoring results to simultaneously consider both the performance of normal communication and the amplification effect risks in cooperative obstacle avoidance tasks. By setting a correction intensity coefficient and its upper and lower limits, the impact of the degree of degradation on the final decision can be reflected, while ensuring the stability and controllability of the scoring correction process.

[0089] Meanwhile, the unique feature of this correction method is that it does not simply rebuild a new scoring system, but rather uses the initial adaptation score that has been maturely applied in existing technologies as a basis. It then introduces the degree of deterioration impact obtained based on historical comparison for secondary correction. This allows the relay path scheduling results to be more accurately adapted to specific collaborative communication scenarios, especially the special requirements for communication consistency and operational rhythm stability in multi-UAV collaborative obstacle avoidance scenarios, while maintaining the inheritability of the existing communication scheduling logic.

[0090] Furthermore, the multi-node satellite-coordinated UAV communication relay path scheduling method also includes the following steps:

[0091] Step S400: Based on the final score, select the candidate relay path with the best final score from all candidate relay paths as the communication access relay path for the UAV group. When determining the candidate relay path with the best score from all candidate relay paths based on the final score, if the relay path with the best score is different from the currently accessing target candidate relay path, control the UAV group to switch from the target candidate relay path to the relay path with the best score to complete the communication access.

[0092] In this embodiment of the invention, step S400 is used to convert the final scoring result obtained in the preceding steps into a specific communication relay path access behavior. Specifically, based on the final scores corresponding to each candidate relay path, the candidate relay path with the best final score is selected as the communication access relay path for the UAV group. When the candidate relay path with the best final score is consistent with the currently accessed target candidate relay path, the UAV group continues to maintain the current communication access state; when the candidate relay path with the best final score is different from the currently accessed target candidate relay path, the UAV group is controlled to switch from the target candidate relay path to the candidate relay path with the best final score to complete the communication access. Through the above method, without interrupting the overall communication process, the communication access path of the UAV group can be kept consistent with the optimal scheduling result obtained based on the evaluation of a specific cooperative communication scenario, thereby improving the effectiveness and adaptability of communication relay path scheduling.

[0093] Through the coordinated implementation of steps S100 to S400, this invention effectively addresses the core research problem raised in step S100: in specific collaborative communication scenarios such as multi-UAV collaborative obstacle avoidance, selecting communication relay paths solely based on link stability and relay path length is insufficient to fully reflect the true impact of the communication link on the collaborative task. This invention does not negate the basic scheduling logic of prioritizing stability and scoring path length in existing technologies. Instead, it builds upon this by constructing an equivalent communication state through controlled adjustment, introducing quantitative analysis of link performance, and combining historical communication operation data to determine the degree of degradation, thereby making a basis-based correction to the initial adaptation score. This allows communication relay path scheduling to explicitly consider the amplification effect under specific collaborative communication scenarios.

[0094] Compared with the prior art, the beneficial effects of the present invention are as follows: without increasing the number of physical relay path switching or introducing additional hardware costs, the communication relay path scheduling results can simultaneously take into account the performance of conventional communication and the task security requirements in specific collaborative communication scenarios; especially in multi-UAV collaborative obstacle avoidance scenarios, it can effectively reduce the risk of collaborative decision deviation caused by unstable communication link operation rhythm or inconsistent information arrival, and improve the reliability of UAV group collaborative operation in complex environments.

[0095] From an application perspective, the multi-node satellite-coordinated UAV communication relay path scheduling method and system proposed in this invention are applicable to various application scenarios requiring UAV swarm operations, such as urban low-altitude operation management, emergency rescue, disaster monitoring, power and communication facility inspection, and large-scale UAV swarm operations. Because the technical solution of this invention can be deployed based on existing communication architectures and scheduling mechanisms, and the data acquisition, statistical analysis, and scoring correction processes involved can all be completed using existing communication monitoring and calculation methods, it has high engineering feasibility and promotional value, and can provide safer and more reliable communication relay path scheduling support for multi-UAV collaborative tasks.

[0096] In another embodiment of the present invention, the construction of the equivalent communication state described in step S200 is not limited to being achieved solely through controlled adjustment of communication service traffic. When it is determined that the UAV group is still in a stage with a certain safety margin in a specific cooperative communication scenario, such as when the distance between UAVs is large, the density of environmental obstacles is low, or the cooperative obstacle avoidance has not yet entered a high-risk stage, the UAV group can also be connected to different candidate relay paths in sequence by actually switching communication relay paths, thereby obtaining the link operation performance corresponding to each candidate relay path under real communication conditions.

[0097] In this implementation, the UAV group sequentially switches to different candidate relay paths within a preset time window, and runs a stable observation period after each switch to collect the link operation performance of the corresponding relay path under a specific cooperative communication scenario. The link operation performance obtained in this way is directly derived from the actual communication access process, and can more intuitively reflect the actual operating status of different candidate relay paths in the current cooperative communication scenario.

[0098] The advantages of the above implementation method are that it does not require the construction of an equivalent communication state model, the link operation performance is based entirely on the real communication environment, it can reduce the error caused by improper setting of equivalent adjustment parameters, and it has high evaluation accuracy when the number of candidate relay paths is small and the communication environment is relatively stable.

[0099] However, this implementation method also has certain limitations. For example, it may introduce brief communication fluctuations or additional switching overhead (including but not limited to signaling interaction overhead, access control processing overhead, and increased management complexity due to relay resource reallocation) during the communication relay path switching process. Furthermore, it is not advisable to frequently perform real switching operations when the cooperative obstacle avoidance task has entered a high-risk phase. Therefore, in practical applications, depending on the risk level of the specific cooperative communication scenario, the number of candidate relay paths, and the safety margin of the UAV group, one can choose to adopt a controlled adjustment-based equivalent communication state construction method, or a link operation performance acquisition method based on real relay path switching, or a combination of both.

[0100] Furthermore, Figure 4 shows the application architecture diagram of the system provided in the embodiment of the present invention.

[0101] In another preferred embodiment of the present invention, a multi-node satellite-coordinated UAV communication relay path scheduling system includes:

[0102] The relay path initial selection module 100 is used to schedule communication relay paths for UAV groups in a specific cooperative communication scenario. If several candidate relay paths with consistent link stability are matched, the module obtains the initial adaptation score of each candidate relay path and enables the UAV group to access the target candidate relay path with the shortest relay path length.

[0103] The specific collaborative communication scenario refers to a collaborative communication scenario in which multiple drones need to make collaborative decisions based on real-time shared pose information, motion status information, or flight path intention information during the execution of collaborative obstacle avoidance tasks, in order to avoid collisions or avoid environmental obstacles.

[0104] Furthermore, the multi-node satellite-coordinated UAV communication relay path scheduling system also includes:

[0105] The equivalent communication state construction module 200 is used to, after the UAV group accesses the target candidate relay path, adjust the communication service traffic in a controlled manner, so that the target candidate relay path presents a communication state equivalent to the relay path length of different candidate relay paths during the communication process without changing the physical access relationship, so as to obtain the link operation performance of each candidate relay path in the corresponding communication state.

[0106] The controlled adjustment of communication service traffic refers to the following: after the UAV group accesses the target candidate relay path, the communication service traffic carried on the target candidate relay path is adjusted in a targeted manner according to the difference in relay path length corresponding to each candidate relay path, so that the target candidate relay path presents an equivalent communication state that matches the communication delay, load or transmission rhythm corresponding to different candidate relay path lengths during the communication process.

[0107] Furthermore, the multi-node satellite-coordinated UAV communication relay path scheduling system also includes:

[0108] The degradation impact assessment module 300 is used to determine the degree of degradation impact of each candidate relay path on the UAV collaborative communication task in a specific collaborative communication scenario based on the obtained link operation performance, and generate a correction factor according to the degree of degradation impact to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path.

[0109] Furthermore, the multi-node satellite-coordinated UAV communication relay path scheduling system also includes:

[0110] The relay path switching module 400 is used to select the candidate relay path with the best final score from among the candidate relay paths as the communication access relay path for the UAV group based on the final score.

[0111] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0112] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for scheduling UAV communication relay paths using multi-node satellite collaboration, characterized in that, The method includes: when scheduling communication relay paths for a drone group in a specific collaborative communication scenario, if several candidate relay paths with consistent link stability are matched, an initial adaptation score is obtained for each candidate relay path, and the drone group is connected to the target candidate relay path with the shortest relay path length; after the drone group is connected to the target candidate relay path, the communication service traffic is controlled and adjusted so that, without changing the physical access relationship, the target candidate relay path exhibits a communication state equivalent to the relay path lengths of different candidate relay paths during the communication process, thereby obtaining the link operation performance of each candidate relay path under the corresponding communication state; based on the obtained link operation performance, the degree of degradation impact of each candidate relay path on the drone collaborative communication task in the specific collaborative communication scenario is determined, and a correction factor is generated based on the degree of degradation impact to correct the initial adaptation score of each candidate relay path, resulting in a final score reflecting the comprehensive adaptability of each candidate relay path; based on the final score, the candidate relay path with the best final score is selected from among the candidate relay paths as the communication access relay path for the drone group.

2. The multi-node satellite collaborative UAV communication relay path scheduling method according to claim 1, characterized in that, The specific collaborative communication scenario refers to a collaborative communication scenario in which multiple drones need to make collaborative decisions based on real-time shared pose information, motion status information, or flight path intention information during the execution of collaborative obstacle avoidance tasks, in order to avoid collisions or avoid environmental obstacles.

3. The multi-node satellite collaborative UAV communication relay path scheduling method according to claim 1, characterized in that, The controlled adjustment of communication service traffic refers to the following: after the UAV group accesses the target candidate relay path, the communication service traffic carried on the target candidate relay path is adjusted in a targeted manner according to the difference in relay path length corresponding to each candidate relay path, so that the target candidate relay path presents an equivalent communication state that matches the communication delay, load or transmission rhythm corresponding to different candidate relay path lengths during the communication process.

4. The multi-node satellite collaborative UAV communication relay path scheduling method according to claim 3, characterized in that, The link operation performance refers to a set of parameters used to characterize the operating status of the communication link during the process of carrying UAV collaborative communication services. The set of parameters includes at least: the latency fluctuation amplitude or latency sudden change characteristics corresponding to the communication latency, the instantaneous change characteristics of the link load or the degree of load concentration corresponding to the communication load, and the data arrival time consistency or data transmission rhythm stability corresponding to the transmission rhythm.

5. The multi-node satellite collaborative UAV communication relay path scheduling method according to claim 1, characterized in that, Based on the acquired link performance, the steps of determining the degree of degradation impact of each candidate relay path on the UAV collaborative communication task in a specific collaborative communication scenario, and generating a correction factor based on the degree of degradation impact to correct the initial adaptation score of each candidate relay path, thus obtaining a final score reflecting the comprehensive adaptability of each candidate relay path, include: after obtaining the link performance of each candidate relay path, retrieving the historical communication operation data of the UAV group, and filtering out several historical samples that are consistent with the current communication task type and communication requirements but do not belong to the specific collaborative communication scenario, wherein the relay path length corresponding to the different historical samples is different from the value to be evaluated. Different candidate relay paths have the same relay path length or are within a preset allowable deviation range, and the link operation performance of each historical sample is determined. The link operation performance of the candidate relay path in the current specific cooperative communication scenario is compared with the link operation performance of the historical sample with the corresponding relay path length to determine the decline in link operation performance under the same relay path length. The decline is determined as the degree of degradation of the corresponding candidate relay path in the specific cooperative communication scenario. A correction factor is generated based on the degree of degradation to correct the initial adaptation score of each candidate relay path, and a final score reflecting the comprehensive adaptability of each candidate relay path is obtained.

6. The multi-node satellite collaborative UAV communication relay path scheduling method according to claim 5, characterized in that, The steps of generating a correction factor based on the degree of degradation to correct the initial adaptation score of each candidate relay path and obtain a final score reflecting the comprehensive adaptability of each candidate relay path include: generating a correction factor for the corresponding candidate relay path based on the degree of degradation of each candidate relay path and in combination with a preset correction intensity coefficient; and using the correction factor to correct the initial adaptation score of the corresponding candidate relay path to obtain a final score reflecting the comprehensive adaptability of each candidate relay path for the specific collaborative communication scenario.

7. The multi-node satellite collaborative UAV communication relay path scheduling method according to claim 1, characterized in that, When determining the candidate relay path with the best score from each candidate relay path based on the final score as the communication access relay path for the UAV group, if the relay path with the best score is different from the target candidate relay path currently being accessed, the UAV group is controlled to switch from the target candidate relay path to the relay path with the best score to complete the communication access.

8. A multi-node satellite-coordinated UAV communication relay path scheduling system, characterized in that, The system includes: a relay path initial selection module, used to, when scheduling communication relay paths for a UAV group in a specific cooperative communication scenario, if several candidate relay paths with consistent link stability are matched, obtain the initial adaptation score of each candidate relay path and enable the UAV group to access the target candidate relay path with the shortest relay path length; and an equivalent communication state construction module, used to, after the UAV group accesses the target candidate relay path, controllably adjust the communication service traffic to ensure that the target candidate relay path presents an equivalent relay path length to the corresponding relay paths of different candidate relay paths during communication, without changing the physical access relationship. The system assesses the communication status under various conditions to obtain the link performance of each candidate relay path under the corresponding communication status; the degradation impact assessment module is used to determine the degree of degradation impact of each candidate relay path on the UAV collaborative communication task in a specific collaborative communication scenario based on the obtained link performance, and generates a correction factor based on the degree of degradation impact to correct the initial adaptation score of each candidate relay path, so as to obtain the final score reflecting the comprehensive adaptability of each candidate relay path; the relay path switching module is used to select the candidate relay path with the best final score from each candidate relay path as the communication access relay path of the UAV group based on the final score.

9. The multi-node satellite-coordinated UAV communication relay path scheduling system according to claim 8, characterized in that, The specific collaborative communication scenario refers to a collaborative communication scenario in which multiple drones need to make collaborative decisions based on real-time shared pose information, motion status information, or flight path intention information during the execution of collaborative obstacle avoidance tasks, in order to avoid collisions or avoid environmental obstacles.

10. The multi-node satellite-coordinated UAV communication relay path scheduling system according to claim 9, characterized in that, The controlled adjustment of communication service traffic refers to the following: after the UAV group accesses the target candidate relay path, the communication service traffic carried on the target candidate relay path is adjusted in a targeted manner according to the difference in relay path length corresponding to each candidate relay path, so that the target candidate relay path presents an equivalent communication state that matches the communication delay, load or transmission rhythm corresponding to different candidate relay path lengths during the communication process.

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