Bionic compound eye wide-area sensing system for unmanned cluster

Abstract

The application relates to a kind of unmanned cluster-oriented bionic compound eye wide-area sensing system, including coordinated light signal modulation and transmitting unit, wide-area bionic compound eye photoelectric sensing unit and spatial light communication and positioning calculation unit. Through the structural coding of control instruction and the use of frequency shift keying modulation, digital information is converted into near-infrared modulated light signal, realizing information space propagation; the receiving end uses bionic compound eye structure to realize wide-area field of view light signal convergence, and completes photoelectric conversion through spatial position sensor, combined with multi-channel signal processing to realize communication signal demodulation and feature extraction; on this basis, multi-dimensional features are constructed and spatial position is calculated, realizing the integration of information interaction and relative position perception between nodes. The application does not depend on radio frequency communication link and satellite navigation system, and can realize stable communication and cooperative sensing of unmanned cluster in complex electromagnetic countermeasure and navigation limited environment, with the advantages of strong anti-interference ability, good concealment and high environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic sensing technology for unmanned swarms, and particularly to a bionic compound eye wide-area sensing system for unmanned swarms. Background Technology

[0002] With the rapid development of UAV technology, UAV swarm systems, which enable multi-UAV collaborative operations, have shown broad application prospects in fields such as reconnaissance, target surveillance, disaster relief, and complex environment exploration. UAV swarms achieve task division, formation maintenance, and collaborative decision-making through information exchange and collaborative control among nodes, thereby improving the overall mission execution efficiency and environmental adaptability of the system. Existing UAV swarms typically rely primarily on radio frequency communication links and Global Navigation Satellite Systems (GNSS) for information exchange and collaborative control. Radio frequency communication links are used to enable command transmission and status information sharing among UAVs, while GNSS provides UAVs with position, velocity, and time information, forming a crucial technological foundation for collaborative control and formation flight in current UAV swarms.

[0003] However, in complex electromagnetic warfare environments, radio frequency communication signals are susceptible to electromagnetic suppression, interference, and deception, leading to decreased stability of communication links between UAV nodes and even communication outages. Simultaneously, Global Navigation Satellite Systems (GNSS) are often difficult to receive stably or are even unusable in navigation-restricted areas such as underground spaces, tunnels, building interiors, and complex urban environments. This causes UAV swarms to experience problems such as hindered information exchange, reduced positioning capabilities, and failed collaborative control, severely impacting the stable operation of the swarm system in complex environments.

[0004] To address the aforementioned issues, existing research has focused on enhancing the collaborative capabilities of UAV swarms in communication-constrained environments through visual perception or multi-source perception fusion. For instance, invention patent CN115576359A proposes a visual perception-based UAV swarm behavior control method, achieving collaborative behavior control of the swarm by acquiring visual information from neighboring UAVs; invention patent CN119743773A proposes enhancing the collaborative capabilities of UAV systems in complex environments through multi-source perception information fusion and a distributed collaborative mechanism. However, these methods largely rely on traditional vision and radio frequency communication, and their perception range and information acquisition capabilities are still limited by factors such as field of view and environmental conditions, making it difficult to achieve stable, wide-area information interaction and spatial positioning in complex adversarial environments. Therefore, there is an urgent need to explore a collaborative perception and communication technology for UAV swarms that does not rely on radio frequency communication and satellite navigation and can achieve wide-area perception and stable information interaction. Summary of the Invention

[0005] To address the problems of communication links being easily interfered with and satellite navigation signals being difficult to obtain stably in existing unmanned swarm systems under strong electromagnetic interference and navigation denial environments, which leads to obstructed information interaction and reduced collaborative control capabilities, a biomimetic compound eye wide-area sensing system for unmanned swarms is proposed. By constructing an information interaction mechanism based on the fusion of photoelectric sensing and optical communication, the system enables stable information transmission and collaborative sensing capabilities of unmanned swarms under conditions without radio frequency communication and satellite navigation.

[0006] The technical solution of this invention is: a biomimetic compound eye wide-area sensing system for unmanned swarms, comprising:

[0007] The transmitting node is equipped with a cooperative optical signal modulation and transmission unit, which is used to receive control commands, perform structured encoding and frequency shift keying modulation on the control commands, generate a modulated electrical signal, and drive the near-infrared light source to emit a modulated optical signal;

[0008] The receiver is configured with a wide-area bionic compound eye photoelectric sensing unit and a spatial optical communication and positioning calculation unit. The wide-area bionic compound eye photoelectric sensing unit includes a wide-area bionic compound eye optical device and a spatial position sensor. The wide-area bionic compound eye optical device is used to receive the modulated light signal propagating in free space within a wide field of view and to converge light signals from different incident directions to the spatial position sensor. The spatial position sensor converts the converged light signal into a multi-channel analog electrical signal related to the incident position of the light spot.

[0009] The spatial optical communication and positioning calculation unit is used to perform analog-to-digital conversion on the multiple analog electrical signals and simultaneously perform communication demodulation and spatial position calculation: the communication demodulation is used to recover the control command from the multiple analog electrical signals; the spatial position calculation is used to extract the envelope features of the multiple analog electrical signals to construct a multi-dimensional signal feature vector, and input the multi-dimensional signal feature vector into a lightweight neural network model to predict the spatial position of the transmitting node relative to the receiving demodulation point;

[0010] The modulated optical signal simultaneously carries communication control information and the spatial orientation information of the transmitting node, and the receiving demodulation point completes command parsing and relative positioning based on the same incident optical signal.

[0011] Preferably, the wide-area bionic compound eye optical device is semi-ellipsoidal and integrates a multi-channel conical waveguide array inside, with a maximum sensing angle of 160°; the multi-channel conical waveguide array is used to converge incident light signals from different spatial directions in parallel and transmit them to the receiving target surface of the spatial position sensor; the wide-area bionic compound eye photoelectric sensing unit also includes an infrared filter film disposed on the light-incident side for near-infrared band filtering of the incident light signal.

[0012] Preferably, the spatial position sensor is a four-quadrant position-sensitive detector that outputs four analog voltage signals V. X1 V X2 V Y1 V Y2 The spatial optical communication and positioning calculation unit amplifies, filters, and converts the four analog voltage signals to digital, then selects one of the digital signals to perform frequency shift keying demodulation to recover the communication data frame. At the same time, it performs envelope extraction processing on the four digital signals to construct the multidimensional signal feature vector.

[0013] Preferably, the communication data frame constructed by the collaborative optical signal modulation and transmission unit includes, in sequence, a start bit, a node identifier bit, a reverse node identifier bit, a control command bit, a reverse control command bit, a check bit, and a stop bit; the frequency shift keying modulation adopts the 2FSK method, and by setting the first modulation frequency and the second modulation frequency to map the digital signals "0" and "1" respectively, the data frame is converted into a continuous time modulation signal.

[0014] Preferably, the lightweight neural network model is an end-to-end mapping network deployed on an embedded processing unit, with multi-channel envelope feature data as its training input and corresponding real spatial location as its training label; the model is used to replace the traditional geometric centroid calculation algorithm to achieve direct prediction of nonlinear spot distribution features to three-dimensional relative spatial coordinates.

[0015] Preferably, the transmitting node and the receiving demodulation point are configured independently or in combination as independent transmitting units, independent receiving demodulation units, or integrated transceiver units according to mission requirements. Each node interacts with information in free space through the modulated optical signal, forming a distributed unmanned cluster sensing network that does not rely on radio frequency communication links and satellite navigation systems.

[0016] A communication and spatial positioning method based on the system includes:

[0017] S1: The transmitting node receives control commands, performs structured coding and frequency shift keying modulation, and drives the near-infrared light source to emit modulated light signals;

[0018] S2: The receiving demodulation point receives the modulated light signal in a wide field of view through a wide-area bionic compound eye optical device. After optical convergence, it is converted into multiple analog electrical signals by a spatial position sensor and then converted from analog to digital.

[0019] S3: Parallel processing of the converted multi-channel digital signals: Select one channel to perform frequency shift keying demodulation to recover the communication data frame and parse the control command; Simultaneously extract the envelope features of the multi-channel signals and construct a multi-dimensional signal feature vector;

[0020] S4: Input the multidimensional signal feature vector into a pre-trained lightweight neural network model to calculate the spatial position of the transmitting node relative to the receiving demodulation point;

[0021] S5: Output the control commands and spatial location information to the unmanned platform control system for collaborative decision-making.

[0022] The beneficial effects of this invention are as follows: This invention is a biomimetic compound eye wide-area sensing system for unmanned swarms. It does not rely on radio frequency communication links and satellite navigation systems. In complex electromagnetic countermeasures and navigation-restricted environments, it can achieve stable communication and collaborative sensing of unmanned swarms. It has the advantages of strong anti-interference ability, good concealment and high environmental adaptability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall hardware structure of the bionic compound eye wide-area sensing system of the present invention;

[0024] Figure 2 For the present invention Figure 1 Schematic diagram of the hardware structure of the launch node in China;

[0025] Figure 3 For the present invention Figure 1 Schematic diagram of the hardware structure of the receiving and adjustment point;

[0026] Figure 4A This is a front view of the bionic compound eye optical device of the present invention;

[0027] Figure 4B This is a top view of the bionic compound eye optical device of the present invention;

[0028] Figure 5 This is a schematic diagram illustrating the process of UAV swarm communication and spatial positioning in the bionic compound eye wide-area sensing system of the present invention;

[0029] Figure 6 This is a structural block diagram of the structured encoding and modulation processing of communication data during UAV swarm communication and spatial positioning in this invention;

[0030] Figure 7 This is a schematic diagram of the modulation output waveform of the signal encoding and modulation module for UAV swarm communication and spatial positioning in this invention;

[0031] Figure 8 This is a schematic diagram of the optical signal reception experiment of the biomimetic compound eye optical device during UAV swarm communication and spatial positioning according to the present invention;

[0032] Figure 9 This is a schematic diagram of the signal reception and demodulation waveforms of the wide-area bionic compound eye photoelectric sensing unit and the spatial optical communication and positioning calculation unit during UAV swarm communication and spatial positioning in this invention.

[0033] Figure labels: 10. Transmitting node; 11. Optical signal driven transmitting module; 12. Signal encoding and modulation module; 13. Light source power supply port; 14. Cooling fan power supply port; 15. Bottom cooling fan; 16. Liner plate; 17. Top cooling fan; 18. Transmitting light source; 19. Serial communication port; 20. Receiving demodulation point; 21. Signal conditioning circuit; 22. Bionic compound eye optical device; 23. Bionic compound eye socket; 24. Infrared filter film; 25. Spatial position sensor (PSD); 26. Analog signal output port; 27. Module power supply input port; 31. Communication and positioning demodulation circuit; 32. Signal demodulation and positioning module; 33. ADC analog-to-digital converter module; 34. Power supply output port; 35. Analog signal input port; 36. Demodulated signal output port. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0035] This invention provides a biomimetic compound eye wide-area sensing system for unmanned swarms in complex adversarial environments. For example... Figure 1 The unmanned cluster collaborative sensing and optical communication system architecture shown includes multiple transmitting nodes 10 and multiple receiving demodulation points 20, and the nodes work together to form an unmanned cluster sensing and communication network.

[0036] Figure 1 Transmitter Node 10 is an unmanned aerial vehicle (UAV) platform equipped with a collaborative optical signal modulation and transmission unit, used to generate control commands and transmit information outward via optical signals. The number of transmitter nodes can be one or more, and their specific number and deployment method can be configured according to actual mission requirements, and are not limited thereto.

[0037] like Figure 2 As shown, this is the present invention. Figure 1 A schematic diagram of the hardware structure of the transmitting node 10. The cooperative optical signal modulation and transmission unit mainly includes core functional modules such as an optical signal driving transmission module 11, a signal encoding modulation module 12, a transmitting light source 18, and a serial communication port 19.

[0038] The signal encoding and modulation module 12 receives control commands transmitted by the UAV main control system through the serial communication port 19, and outputs them to the optical signal driving and transmitting module 11 after completing data encoding and modulation processing. The optical signal driving and transmitting module 11 drives and amplifies the modulated signal and controls the transmitting light source 18 to emit optical signals according to a predetermined modulation waveform. The transmitting light source 18 emits a near-infrared light source. In this example, the wavelength used is 960nm, but this application does not limit the specific wavelength used, and light sources in the near-infrared range can be selected according to actual application requirements.

[0039] The signal encoding and modulation module 12 is used to perform structured encoding and modulation processing on the communication data of the UAV node. The encoding involves constructing a communication data frame by structuring the communication information of the UAV node. The data frame structure sequentially includes a start bit (Header), a node identifier bit (ID), a reverse node identifier bit (reverse ID), a control command bit (Instruction), a reverse control command bit (reverse Instruction), a check bit (Check), and a stop bit (Stop). The modulation process involves modulating the encoded digital signal using binary frequency shift keying (2-Frequency Shift Keying, 2FSK). By setting two different modulation frequencies corresponding to digital signal "0" and digital signal "1" respectively, the encoded digital information is converted into modulated signals with different frequency characteristics.

[0040] The optical signal driving transmission module 11 is used to load the 2FSK modulated signal into the light source driving circuit and drive the near-infrared light source emitting device to emit modulated optical signals outward, so that the UAV node can realize the propagation of information in space and communication between nodes through the near-infrared modulated optical signals.

[0041] In addition, the collaborative optical signal modulation and transmission unit also includes a light source power supply port 13, a cooling fan power supply port 14, a bottom cooling fan 15, a top cooling fan 17, and a liner 16, which are used to realize the system power supply, heat dissipation and structural support functions, thereby ensuring the stable operation of the transmission node.

[0042] Figure 1 The receiving demodulation point 20 is an unmanned aerial vehicle platform equipped with a wide-area bionic compound eye photoelectric sensing unit, a spatial optical communication and positioning calculation unit, used to receive spatial optical signals and complete information demodulation and spatial position estimation. The number of the receiving demodulation points 20 can be one or more, and each receiving demodulation point can work independently or cooperate to form a distributed sensing network. This application does not limit this.

[0043] like Figure 3 As shown, this is the present invention. Figure 1A schematic diagram of the hardware structure of the receiving demodulation point 20. The receiving demodulation point 20 mainly includes the bionic compound eye optical device 22, the spatial position sensor 25, the signal conditioning circuit 21 in the wide-area bionic compound eye photoelectric sensing unit, and the communication and positioning demodulation circuit 31 in the spatial optical communication and positioning calculation unit.

[0044] The bionic compound eye optical device 22 is fixedly installed by the bionic compound eye bracket 23, and combined with the infrared filter film 24 to optically filter and converge the incident light signal.

[0045] like Figure 4A , 4B As shown, the bionic compound eye optical device 22 has a semi-ellipsoidal structure with dimensions a=b=7.3 mm and c=4.5 mm. A wide-field-of-view optical signal receiving array is constructed by setting up multi-channel optical units, wherein the multi-channel optical structure consists of 255 conical optical waveguides, enabling optical signals from different spatial directions to be effectively converged and transmitted to the spatial position sensor 25. The wide-field-of-view refers to the maximum sensing angle of the bionic compound eye optical device 22 for free-space optical signals; the maximum sensing angle described in this invention is 160°.

[0046] The infrared filter film 24 has the following dimensions: length L = 14.8 mm, width W = 16.8 mm, and its light transmission band range is 780–1200 nm.

[0047] The receiving target surface of the spatial position sensor 25 has a length L = 10 mm and a width W = 10 mm, and is used to convert the received optical signal into four analog electrical signals. The four analog electrical signals are amplified and filtered by the signal conditioning circuit 21 and then output through the analog signal output port 26. The module power supply input port 27 is used to provide power support for the spatial position sensor 25 and the signal conditioning circuit 21.

[0048] The power output port 34 provides power to the wide-area bionic compound eye photoelectric sensing unit. The analog signal input port 35 receives four analog voltage signals from the wide-area bionic compound eye photoelectric sensing unit and inputs them to the ADC analog-to-digital converter module 33 for sampling and analog-to-digital conversion. The converted digital signal is demodulated and its spatial position is calculated by the signal demodulation and positioning module 32, and then transmitted to the controlled UAV via serial communication through the demodulated signal output port 36. The controlled UAV is a UAV node configured with a receiving demodulation unit, used to perform corresponding operations based on the received control commands and position information.

[0049] The communication and positioning demodulation circuit 31 is used to perform communication signal demodulation and signal feature extraction processing on the digital signal after analog-to-digital conversion. The communication signal demodulation involves selecting one signal from the four signals for binary frequency shift keying modulation and demodulation. By identifying the digital signal states corresponding to different frequencies, the demodulated optical communication signal is demodulated, thereby recovering the communication data transmitted between UAV nodes. The signal feature extraction involves performing envelope extraction processing on each of the four signals to obtain the envelope features of the amplitude changes of each channel, and constructing a signal feature vector.

[0050] The signal demodulation and positioning module 32 is used to perform spatial position calculation based on the signal feature vector. The spatial position calculation involves inputting the extracted signal features into a lightweight neural network model for prediction calculation, thereby predicting the spatial position of the optical signal transmitter relative to the receiver, and realizing the relative spatial positioning between unmanned cluster nodes.

[0051] It should be noted that, in the embodiments of this application, each node can be configured with a transmitting unit and / or a receiving demodulation unit according to actual needs, thereby possessing the function of information transmission, reception, or integrated transmission and reception, and can construct a multi-node distributed optical communication and collaborative sensing network. The system is not only suitable for UAV swarms, but can also be extended to swarm systems composed of various types of unmanned platforms such as unmanned vehicles, robot dogs, and unmanned ships. The number of nodes and network structure can be configured according to actual application needs, and should not be construed as a limitation on the scope of protection of this application.

[0052] like Figure 5 As shown, the biomimetic compound eye wide-area sensing system of the present invention is applied to the communication and spatial positioning method between nodes of a UAV swarm, and is used to realize information interaction and relative position perception between nodes. Its specific process includes steps S01~S07:

[0053] Step S01: Generate control instructions according to task requirements and complete data encoding and transmission.

[0054] Specifically, during the collaborative task execution of a drone swarm, the master drone generates corresponding control commands based on preset task requirements and decomposes the task to form an executable command sequence. The master drone serves as a transmitting node within the swarm, and the generated control commands are transmitted to the collaborative optical signal modulation and transmission unit via serial communication. These control commands describe the collaborative behavior of the drone swarm, including but not limited to formation control, path adjustment, target following, and task allocation.

[0055] Step S02: Perform structured encoding and modulation processing on the control commands.

[0056] Specifically, after the collaborative optical signal modulation and transmission unit receives control commands through the serial communication port 19, the signal encoding and modulation module 12 performs structured encoding processing according to a preset data frame format. The data frame is as follows: Figure 6 As shown, it includes fields such as start code, node identifier, control command bit, check bit and stop bit. By introducing redundant check information, the reliability and anti-interference ability of data during transmission are improved.

[0057] Furthermore, the signal encoding and modulation module 12 modulates the encoded data frame using binary frequency shift keying (2FSK) to map the encoded digital signal into a continuous time signal with different frequency characteristics.

[0058] Specifically, when the input bit is "0", the modulated signal is represented as: When the input bit is "1", the modulated signal is represented as: ;in, A The signal amplitude, t For the time of collection, f 0 and f 1 represents the modulation frequency corresponding to bits "0" and "1" respectively, and f 0≠ f 1, T b The duration of a single bit. Using the modulation method described above, a discrete digital signal is converted into a continuous frequency-modulated signal sequence.

[0059] Furthermore, for a length of N Encoded data sequence The corresponding modulation signal can be expressed as: ,in, Indicates the first i The modulation frequency corresponding to each bit.

[0060] Furthermore, the signal after encoding and modulation is as follows: Figure 6 The waveform is shown and output to the optical signal drive transmission module 11. The drive circuit converts the electrical signal into a drive current of corresponding amplitude, thereby controlling the near-infrared light source to perform strobe emission according to the modulated waveform, so as to realize the optical carrier transmission of information.

[0061] Furthermore, such as Figure 7 The diagram shown is a time-domain waveform diagram of the actual modulated signal in this invention. 41 represents the encoded data frame sequence waveform, with each black block corresponding to a complete data packet. A predetermined time interval is set between adjacent data packets to distinguish different data frames and avoid mutual interference.

[0062] Furthermore, Figure 7 In the diagram, 42 and 43 represent the modulated output waveforms for different node identifiers (IDs), corresponding to the actual signal forms for issuing control commands to different UAV nodes. Different data packets are distinguished by the node identifier bits they contain, thereby enabling selective communication among multiple nodes.

[0063] It should be noted that, Figure 7 In the example shown, the node identifier bit is 2 bits and the control command bit is 3 bits. However, these parameters are not limiting. In practical applications, the length of the node identifier bit, the length of the command bit, and the data packet interval can be flexibly configured and adjusted according to the system scale and communication requirements. Furthermore, the modulation frequencies corresponding to the numbers "0" and "1" in the 2FSK modulation can also be adaptively selected and optimized according to the system bandwidth, channel characteristics, and anti-interference requirements, and are not limited to fixed frequency parameters.

[0064] Step S03: Spatial propagation and photoelectric conversion processing of the modulated optical signal.

[0065] Specifically, the near-infrared light source driven by the optical signal driving and transmitting module 11 emits a modulated light signal, which propagates in free space and is received by a receiving and demodulating point within the light coverage area. The receiving and demodulating point is a UAV node equipped with a wide-area bionic compound eye photoelectric sensing unit.

[0066] Furthermore, the incident light signal is filtered by the infrared filter 24 before entering the bionic compound eye optical device 22, where it is converged by a multi-channel optical structure and transmitted to the spatial position sensor 25. The spatial position sensor 25 converts the light signal into four analog voltage signals related to the incident position. V X1 , V X2 , V Y1 , V Y2 The signal is then input to the signal conditioning circuit 21 for amplification and filtering before being output to the ADC analog-to-digital converter module 33.

[0067] Furthermore, such as Figure 8 As shown, when the incident light is incident normally along the direction of the normal of the bionic compound eye optical device 22, the following condition is satisfied: In this case, the light signal converged by the compound eye structure forms a symmetrically distributed light spot at its bottom, with its energy mainly concentrated in the central region. This distribution indicates that the incident light direction is basically consistent with the optical axis of the compound eye, and at this time, the four voltage signals output by the spatial position sensor 25 tend to be balanced. By analyzing the changes in the light spot distribution characteristics under different incident directions, a correspondence between the light spot distribution and the incident direction can be established.

[0068] Furthermore, the centroid position of the light spot on the sensor target surface can be calculated based on the four voltage signals, thus characterizing the spatial direction information of the incident light signal. If the position of the light spot in the target surface coordinate system is ( x , y If ), then its coordinates can be expressed as:

[0069] ,in, L The length of the square target surface of the spatial position sensor 25 (PSD).

[0070] Step S04: Signal digitization processing and communication demodulation.

[0071] Specifically, the multiple digital signals processed by the ADC analog-to-digital conversion module 33 are input to the signal demodulation and positioning module 32, where frequency domain filtering and demodulation processing are performed on the signals.

[0072] Furthermore, based on the filtering, one of the signals is selected for binary frequency shift keying (2FSK) demodulation to recover the original digital bit sequence.

[0073] Furthermore, such as Figure 9 As shown, 44 and 45 represent the received signal and its demodulation result under interference-free conditions, respectively, while 46 and 47 represent the received signal and its demodulation result under interference conditions, respectively. Here, "interference-free" means the received signal mainly contains only the modulation frequency component corresponding to the bit information, while "interference-present" means the received signal contains frequency components other than the frequency corresponding to the bit. It should be noted that the modulation frequency corresponding to the bit is not limited to two frequency forms and can be extended to a multi-frequency mapping relationship according to the actual encoding method. By comparison, it can be seen that even under interference conditions, the target frequency component can still be effectively extracted after filtering and demodulation processing, achieving stable recovery of the original signal.

[0074] Step S05: Data frame synchronization and instruction parsing.

[0075] Specifically, after signal demodulation, the received signal is first checked for start bit to achieve data frame synchronization. After frame synchronization, the node identifier bits in the data frame are parsed sequentially.

[0076] Furthermore, if the parsed node identifier does not match the currently received demodulation point identifier, the subsequent processing flow is terminated. If the node identifier matches, the control command information in the data frame is parsed again to obtain the corresponding control command content.

[0077] Step S06: Signal feature extraction and spatial location calculation.

[0078] Specifically, while completing communication demodulation, the four digital signals after ADC analog-to-digital conversion are processed synchronously to extract the envelope feature information of each channel signal.

[0079] Furthermore, a multi-dimensional feature vector is constructed based on the four signals. The feature vector is composed of various feature parameters obtained by processing the signals, and its specific form is not limited.

[0080] Furthermore, the multidimensional feature vector is input into a pre-trained spatial location prediction model, which is then used to estimate the spatial location of the transmitter relative to the receiver. The spatial location prediction model is a lightweight neural network model deployed on an embedded processing unit.

[0081] Step S07: Control information output and collaborative execution.

[0082] Specifically, the demodulated control commands and the predicted relative position information are transmitted to the UAV control system via serial communication through the demodulated signal output port 36.

[0083] Furthermore, the UAV control system completes corresponding flight control and collaborative decision-making based on the received control commands and relative position information, thereby realizing collaborative control and mission execution among multiple nodes.

[0084] The embodiments described above merely illustrate specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the invention patent. 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 all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A biomimetic compound eye wide-area sensing system for unmanned swarms, characterized in that, include: The transmitting node is equipped with a cooperative optical signal modulation and transmission unit for receiving control commands, performing structured encoding and frequency shift keying modulation on the control commands, generating a modulated electrical signal, and driving a near-infrared light source to emit a modulated optical signal. The receiving and demodulation point is equipped with a wide-area bionic compound eye photoelectric sensing unit and a spatial optical communication and positioning calculation unit. The wide-area bionic compound eye photoelectric sensing unit includes a wide-area bionic compound eye optics and a spatial position sensor. The wide-area bionic compound eye optics are used to receive the modulated optical signal propagating in free space within a wide field of view and converge optical signals from different incident directions to the spatial position sensor. The spatial position sensor converts the converged optical signal into a signal with respect to the incident position of the light spot. The system comprises multiple analog electrical signals; the spatial optical communication and positioning calculation unit is used to perform analog-to-digital conversion on the multiple analog electrical signals and simultaneously perform communication demodulation and spatial position calculation: the communication demodulation is used to recover the control command from the multiple analog electrical signals; the spatial position calculation is used to extract the envelope features of the multiple analog electrical signals to construct a multi-dimensional signal feature vector, and input the multi-dimensional signal feature vector into a lightweight neural network model to predict the spatial position of the transmitting node relative to the receiving demodulation point; the modulated optical signal simultaneously carries communication control information and the spatial orientation information of the transmitting node, and the receiving demodulation point completes command parsing and relative positioning based on the same incident optical signal.

2. The biomimetic compound eye wide-area sensing system for unmanned swarms according to claim 1, characterized in that, The wide-area bionic compound eye optical device is semi-ellipsoidal and integrates a multi-channel conical waveguide array inside, with a maximum sensing angle of 160°. The multi-channel conical waveguide array is used to converge incident light signals from different spatial directions in parallel and transmit them to the receiving target surface of the spatial position sensor. The wide-area bionic compound eye photoelectric sensing unit also includes an infrared filter film disposed on the light-incident side for near-infrared band filtering of the incident light signal.

3. The biomimetic compound eye wide-area sensing system for unmanned swarms according to claim 1, characterized in that, The spatial position sensor is a four-quadrant position-sensitive detector that outputs four analog voltage signals V. X1 V X2 V Y1 V Y2 The spatial optical communication and positioning calculation unit amplifies, filters, and converts the four analog voltage signals to digital signals to obtain four digital signals. It selects one of the digital signals to perform frequency shift keying demodulation to recover the communication data frame. At the same time, it performs envelope extraction processing on the four digital signals to construct the multidimensional signal feature vector.

4. The biomimetic compound eye wide-area sensing system for unmanned swarms according to claim 3, characterized in that, The communication data frame constructed by the cooperative optical signal modulation and transmission unit includes, in sequence, a start bit, a node identifier bit, a reverse node identifier bit, a control command bit, a reverse control command bit, a check bit, and a stop bit; the frequency shift keying modulation adopts the 2FSK method, and by setting the first modulation frequency and the second modulation frequency to map the digital signals "0" and "1" respectively, the data frame is converted into a continuous time modulation signal.

5. The biomimetic compound eye wide-area sensing system for unmanned swarms according to claim 1, characterized in that, The lightweight neural network model is an end-to-end mapping network deployed on an embedded processing unit. Its training input is multi-channel envelope feature data, and its training label is the corresponding real spatial location. The model is used to replace the traditional geometric centroid calculation algorithm to achieve direct prediction of nonlinear spot distribution features to three-dimensional relative spatial coordinates.

6. The biomimetic compound eye wide-area sensing system for unmanned swarms according to claim 1, characterized in that, The transmitting node and the receiving demodulation point are configured independently or in combination as independent transmitting units, independent receiving demodulation units, or integrated transceiver units according to mission requirements. Each node interacts with information in free space through the modulated optical signal, forming a distributed unmanned cluster sensing network that does not rely on radio frequency communication links and satellite navigation systems.

7. A communication and spatial positioning method based on the system according to any one of claims 1 to 6, characterized in that, include: S1: The transmitting node receives control commands, performs structured coding and frequency shift keying modulation, and drives the near-infrared light source to emit modulated light signals; S2: The receiving demodulation point receives the modulated light signal in a wide field of view through a wide-area bionic compound eye optical device. After optical convergence, it is converted into multiple analog electrical signals by a spatial position sensor and then converted from analog to digital. S3: Parallel processing of the converted multi-channel digital signals: Select one channel to perform frequency shift keying demodulation to recover the communication data frame and parse the control command; Simultaneously extract the envelope features of the multi-channel signals and construct a multi-dimensional signal feature vector; S4: Input the multidimensional signal feature vector into a pre-trained lightweight neural network model to calculate the spatial position of the transmitting node relative to the receiving demodulation point; S5: Output the control command and spatial position information to the unmanned platform control system for collaborative decision-making.

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