A method and system for unmanned aerial vehicle data cross-platform intercommunication and format conversion

Abstract

This invention discloses a method and system for cross-platform interoperability and format conversion of UAV data, relating to the field of cross-platform UAV data exchange technology. The method includes: acquiring the raw data stream and platform identifier from a first UAV platform; acquiring a forward abstract representation rule; performing a forward abstract transformation operation based on the forward abstract representation rule to determine data indistinguishable byte state representation; assigning a data index identifier to the data indistinguishable byte state representation; acquiring a data acquisition request from a second UAV platform; acquiring a reverse restoration rule corresponding to the second UAV platform based on the platform identifier of the second UAV platform; and performing a reverse restoration transformation operation based on the reverse restoration rule to output the restored data stream to the second UAV platform. By introducing forward abstract representation rules and forward abstract transformation operations, when adding a new UAV platform, only the platform's forward abstract representation rule needs to be registered to complete the access.

Description

Technical Field

[0001] This invention relates to the field of cross-platform data exchange technology for unmanned aerial vehicles (UAVs), specifically to a method and system for cross-platform data interoperability and format conversion for UAVs. Background Technology

[0002] With the increasing expansion of drone application scenarios, different types of drone platforms have been widely deployed in fields such as aerial surveying and mapping, agricultural plant protection, logistics transportation, and security inspection. Since each drone platform is developed by different manufacturers, there are significant differences in data format definitions, data frame encapsulation methods, and communication protocol designs in their flight control systems, mission payloads, and ground station software. When data collected by one drone needs to be handed over to another drone platform of a different model or manufacturer for processing, analysis, or forwarding, the heterogeneity of data formats between different platforms becomes a key bottleneck restricting the collaborative operation of drone systems.

[0003] In existing cross-platform interoperability technologies for UAV data, the commonly used approach is a data conversion method based on intermediate formats. This method first performs semantic parsing on the raw data stream output by the first UAV platform to identify the various data fields and their values. Then, it remaps the parsed structured data to the field arrangement order and field encapsulation format required by the second UAV platform, ultimately generating a target data stream that conforms to the specifications of the second UAV platform. This method heavily relies on prior knowledge and accurate modeling of the data format specifications of each UAV platform. For each new UAV platform model connected, developers must write dedicated data parsing and data encapsulation programs for the data interface documentation of that UAV platform. As the number of UAV platforms increases, the number of parsing and encapsulation programs that need to be maintained grows exponentially, leading to a sharp increase in system expansion and maintenance costs. Summary of the Invention

[0004] (a) Technical problems to be solved Existing methods require the development of dedicated data parsing and encapsulation programs for each access platform. As the number of platforms increases, the program maintenance workload increases significantly, and the system scalability is poor. To address the shortcomings of existing technologies, this invention provides a method and system for cross-platform interoperability and format conversion of UAV data.

[0005] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a method for cross-platform interoperability and format conversion of UAV data, specifically including the following steps: S1. Obtain the raw data stream and platform identifier from the first UAV platform. Based on the platform identifier, obtain the positive abstract representation rule corresponding to the first UAV platform from the rule storage unit. S2. Based on the forward abstraction representation rule, perform a forward abstraction transformation operation on the original data stream to determine the undifferentiated byte state representation data, wherein the undifferentiated byte state representation data is structurally completely decoupled from the original data format of the first UAV platform; S3. Store the data of the undifferentiated byte state representation into a unified data pool and assign a data index identifier to the undifferentiated byte state representation data; S4. Obtain a data acquisition request from the second UAV platform, wherein the data request carries the platform identifier of the second UAV platform and the data index identifier of the data to be acquired; S5. Based on the platform identifier of the second UAV platform, retrieve the reverse restoration rules corresponding to the second UAV platform from the rule storage unit; S6. Based on the reverse restoration rules, perform reverse restoration transformation on the data in the unified data pool that is represented by the indistinguishable byte state corresponding to the data index identifier, determine the restored data stream that conforms to the format specification of the second UAV platform, and output the restored data stream to the second UAV platform.

[0006] Preferably, in step S1, an interconnection establishment request initiated by the first UAV platform is received, wherein the interconnection establishment request carries the platform identifier of the first UAV platform, and a platform identity verification operation is performed on the first UAV platform based on the platform identifier carried in the interconnection establishment request. After verification, a data transmission channel is established with the first UAV platform. The raw data stream sent by the first UAV platform is received through the data transmission channel. Data integrity verification is performed on the raw data stream. After verification, the raw data stream is stored in the data access buffer. The platform identifier is extracted from the interconnection establishment request, and the platform identifier is associated with the original data stream. The platform identifier is used as the query index to perform a rule query operation on the rule storage unit. It is determined whether there is a positive abstract representation rule corresponding to the platform identifier in the rule storage unit. If there is, the positive abstract representation rule corresponding to the platform identifier is read from the rule storage unit. If there is no, a rule registration prompt message is sent to the first UAV platform, and the platform capability declaration file submitted by the first UAV platform during the registration stage is received. A parsing operation is performed on the platform capability declaration file to extract the data frame structure description information of the first UAV platform. The data frame structure description information includes the data frame start identifier sequence attached by the first UAV platform at the start position of each data frame, the data frame end identifier sequence attached by the first UAV platform at the end position of each data frame, the fixed byte length occupied by the frame header region, and the fixed byte length occupied by the frame tail region. Based on the data frame structure description information, a positive abstract representation rule is constructed, and the positive abstract representation rule is associated with the platform identifier and stored in the rule storage unit. Based on the data frame structure description information, positive abstract representation rules are constructed, specifically including the following steps: Read the byte pattern of the data frame start identifier sequence from the data frame structure description information, where the data frame start identifier sequence is a fixed byte sequence appended by the first UAV platform at the start position of each data frame; Read the byte pattern of the data frame end identifier sequence from the data frame structure description information, where the data frame end identifier sequence is a fixed byte sequence appended by the first UAV platform at the end position of each data frame; Read the fixed-byte length of the frame header region from the data frame structure description information. The fixed-byte length represents the byte span from the end of the data frame start identifier sequence to the start of the payload. Read the fixed byte length of the frame tail region from the data frame structure description information. The fixed byte length represents the byte span from the end position of the payload to the start position of the data frame end identifier sequence. The data frame start identifier sequence, data frame end identifier sequence, fixed byte length of the frame header region, and fixed byte length of the frame tail region are combined into a structure, and the structure is defined as a positive abstract representation rule.

[0007] Preferably, in step S2, the data frame start identifier sequence and data frame end identifier sequence are read from the positive abstract representation rules, the original data stream is read from the data access buffer, and a byte sequence matching operation is performed in the original data stream using the data frame start identifier sequence as the matching template. Each successfully matched byte position is marked as a frame start boundary position. The data frame end identifier sequence is used as the matching template, and a byte sequence matching operation is performed in the original data stream. Each successfully matched byte position is marked as a frame end boundary position. The byte interval between each pair of adjacent frame start boundary positions and frame end boundary positions is determined as an independent data frame. For each defined data frame, read the fixed byte length of the frame header region and the fixed byte length of the frame tail region as defined in the forward abstract representation rule, and offset the fixed byte length of the frame header region backward from the start position of the data frame to determine the start position of the payload; The end position of the payload is determined by offsetting the end position of the data frame forward by a fixed number of bytes from the end position of the data frame. The byte interval between the start position and the end position of the payload is extracted as the payload part of the data frame. The payload portions of all extracted data frames are concatenated sequentially according to the order in which each data frame appears in the original data stream to obtain the payload concatenation sequence. An abstract representation header identifier is appended to the header of the payload splicing sequence. The abstract representation header identifier includes the data source platform identifier, the total byte length of the payload, and the transformation timestamp. After appending, the indistinguishable byte-state representation data is obtained.

[0008] Preferably, in step S3, the data source platform identifier of the data representing the indiscriminate byte state is obtained, which is the platform identifier of the first UAV platform, and the timestamp when the data representing the indiscriminate byte state is generated is obtained, which is read from the clock unit; The data source platform identifier and timestamp are combined in a preset concatenation order to generate a character sequence. A one-way transformation is performed on the character sequence to obtain a transformation result of fixed length. The transformation result is used as the data index identifier. Write the data index identifier into the abstract representation header identifier of the data in the undifferentiated byte state, allocate a contiguous storage space in the unified data pool, write the data in the undifferentiated byte state to the storage space, establish a mapping relationship between the data index identifier and the storage location of the storage space, and record the mapping relationship in the index mapping table of the unified data pool.

[0009] Preferably, in step S4, a data acquisition request initiated by the second UAV platform is received, a request format verification operation is performed on the data acquisition request to determine whether the request conforms to the preset request format specification. After the verification is passed, the platform identifier of the second UAV platform is extracted from the request header area of ​​the data acquisition request, and the data index identifier of the data to be acquired is extracted from the request payload area of ​​the data acquisition request. The extracted platform identifier and data index identifier are associated and temporarily stored in the request processing buffer.

[0010] Preferably, in step S5, the platform identifier of the second UAV platform is used as the query index to perform a rule query operation on the rule storage unit, and it is determined whether there is a reverse restoration rule corresponding to the platform identifier in the rule storage unit. If there is, the reverse restoration rule corresponding to the platform identifier is read from the rule storage unit. If there is, a rule registration prompt message is sent to the second UAV platform, and the platform capability declaration file submitted by the second UAV platform during the registration stage is received. The platform capability declaration file is parsed to extract the data frame structure description information of the second UAV platform. The data frame structure description information includes the data frame header template required by the second UAV platform, the data frame tail template required by the second UAV platform, and the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame. Based on the data frame structure description information, reverse restoration rules are constructed and stored in the rule storage unit in association with the platform identifier of the second UAV platform. Based on the data frame structure description information, reverse reconstruction rules are constructed, which specifically include the following steps: Read the data frame header template from the data frame structure description information. The data frame header template contains the frame start identifier and frame header fields required by the second UAV platform. The frame start identifier is a fixed byte sequence specified by the second UAV platform. The frame header fields include the frame type field, frame sequence number field, and payload length field. Read the data frame tail template from the data frame structure description information. The data frame tail template contains the frame check field and frame end identifier required by the second UAV platform. The frame check field is used to store the check value obtained after error checking of the data frame. The frame end identifier is a fixed byte sequence specified by the second UAV platform. Read the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame from the data frame structure description information. The data frame header template, data frame tail template, and maximum number of bytes to carry are combined into a structure, and the structure is defined as the reverse restoration rule. The reverse restoration rule specifies how to repackage the data represented by the undifferentiated byte state into a data frame that conforms to the format specification of the second UAV platform.

[0011] Preferably, in step S6, the data index identifier is used as the query index to find the storage location corresponding to the data index identifier in the index mapping table of the unified data pool, and based on the found storage location, the undifferentiated byte-state representation data corresponding to the data index identifier is read from the unified data pool. Read the abstract representation header identifier of the undifferentiated byte state representation data, extract the total byte length of the payload from the abstract representation header identifier, locate the starting position of the payload data sequence from the undifferentiated byte state representation data based on the total byte length of the payload, and continuously read byte data of the total byte length of the payload from the starting position as the payload data sequence; Read the data frame header template, data frame tail template, and maximum number of bytes to carry from the reverse restoration rules, obtain the total byte length of the payload data sequence, divide the total byte length by the maximum number of bytes to carry, and get the number of complete data frames to be generated. Starting from the beginning of the payload data sequence, each payload segment is extracted sequentially, taking the maximum number of bytes as the unit. When the payload data sequence ends and the number of remaining bytes is less than the maximum number of bytes, the remaining bytes are treated as a separate payload segment, and padding bytes are used to fill the payload segment to the maximum number of bytes. The value of the padding bytes is zero. For each payload segment, perform the following data frame assembly operation: update the payload length field in the data frame header template to the actual byte length of the payload segment, and concatenate the data frame header template, payload segment, and data frame tail template in the order of header first, payload in the middle, and tail last to form a complete data frame. After completing the data frame assembly operation of all payload segments, all the data frames are arranged in the order of generation to obtain the restored data stream. Establish a data transmission channel with the second UAV platform, perform data integrity protection operations on the restored data stream, and append an integrity verification field to the end of the restored data stream. The integrity verification field is obtained by performing verification operations on all bytes of the restored data stream. The restored data stream with the integrity verification field attached is sent to the second UAV platform through the data transmission channel. The data reception confirmation response is received from the second UAV platform. After confirming that the second UAV platform has fully received the restored data stream, the resources occupied by the data transmission channel are released. It receives multiple raw data streams from several different UAV platforms, obtains the platform identifier corresponding to each raw data stream, obtains the corresponding positive abstract representation rule based on each platform identifier, performs positive abstract transformation operation on each raw data stream in parallel, and generates undifferentiated byte state representation data corresponding to each raw data stream. Each undifferentiated byte-state representation data is assigned a unique data index identifier. The undifferentiated byte-state representation data is stored in parallel to different storage partitions of a unified data pool. After obtaining a data acquisition request from the second UAV platform, based on the data index identifier carried in the request, the undifferentiated byte-state representation data corresponding to the data index identifier is extracted from the unified data pool and a reverse restoration transformation operation is performed. The restored data stream is then output to the second UAV platform.

[0012] This invention also provides a cross-platform data interoperability and format conversion system for unmanned aerial vehicles (UAVs), comprising: Data access module: acquires the raw data stream and platform identifier from the first UAV platform, and based on the platform identifier, retrieves the positive abstract representation rule corresponding to the first UAV platform from the rule storage unit; Forward Transformation Module: Based on the forward abstract representation rules, it performs a forward abstract transformation operation on the original data stream to determine the data represented by undifferentiated byte states, wherein the data represented by undifferentiated byte states is structurally completely decoupled from the original data format of the first UAV platform; Data storage module: Stores indistinguishable byte-state data into a unified data pool and assigns data index identifiers to indistinguishable byte-state data; Data request acquisition module: Acquires data acquisition requests from the second UAV platform, wherein the data request carries the platform identifier of the second UAV platform and the data index identifier of the data to be acquired; Reverse engineering module: Based on the platform identifier of the second UAV platform, retrieve the reverse engineering rules corresponding to the second UAV platform from the rule storage unit; Data output module: Based on the reverse restoration rules, it performs reverse restoration transformation on the data in the unified data pool that is represented by the same byte state corresponding to the data index identifier, determines the restored data stream that conforms to the format specification of the second UAV platform, and outputs the restored data stream to the second UAV platform.

[0013] (III) Beneficial Effects This invention provides a method and system for cross-platform data interoperability and format conversion for unmanned aerial vehicles (UAVs), which has the following beneficial effects: This invention introduces forward abstract representation rules and forward abstract transformation operations to convert the raw data stream from a first UAV platform into undifferentiated byte-state representation data. The undifferentiated byte-state representation data is structurally completely decoupled from the native data format of the first UAV platform, retaining only the payload splicing sequence extracted from each data frame and the abstract representation header identifier used to describe the data source and basic attributes. For any type of UAV platform, regardless of how its native data format is defined, its data is unified into the same undifferentiated byte-state representation after forward abstract transformation. When adding a new UAV platform, no modifications are required to the storage logic and data processing flow of the existing platform; only the forward abstract representation rules of the platform need to be registered to complete the access. Attached Figure Description

[0014] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a flowchart of the forward abstract transformation operation of the present invention; Figure 3 This is a flowchart of the reverse restoration operation of the present invention; Figure 4 Flowchart for concurrent processing of multi-source data; Figure 5 This is a system block diagram of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figures 1-4 This invention provides a method for cross-platform data interoperability and format conversion for unmanned aerial vehicles (UAVs), comprising the following steps: S1. Obtain the raw data stream and platform identifier from the first UAV platform. Based on the platform identifier, obtain the positive abstract representation rule corresponding to the first UAV platform from the rule storage unit. Furthermore, in S1, an interconnection establishment request initiated by the first UAV platform is received, wherein the interconnection establishment request carries the platform identifier of the first UAV platform, and a platform identity verification operation is performed on the first UAV platform based on the platform identifier carried in the interconnection establishment request. After verification, a data transmission channel is established with the first UAV platform. The raw data stream sent by the first UAV platform is received through the data transmission channel. Data integrity verification is performed on the raw data stream. After verification, the raw data stream is stored in the data access buffer. The platform identifier is extracted from the interconnection establishment request, and the platform identifier is associated with the original data stream. The platform identifier is used as the query index to perform a rule query operation on the rule storage unit. It is determined whether there is a positive abstract representation rule corresponding to the platform identifier in the rule storage unit. If there is, the positive abstract representation rule corresponding to the platform identifier is read from the rule storage unit. If there is no, a rule registration prompt message is sent to the first UAV platform, and the platform capability declaration file submitted by the first UAV platform during the registration stage is received. A parsing operation is performed on the platform capability declaration file to extract the data frame structure description information of the first UAV platform. The data frame structure description information includes the data frame start identifier sequence attached by the first UAV platform at the start position of each data frame, the data frame end identifier sequence attached by the first UAV platform at the end position of each data frame, the fixed byte length occupied by the frame header region, and the fixed byte length occupied by the frame tail region. Based on the data frame structure description information, a positive abstract representation rule is constructed, and the positive abstract representation rule is associated with the platform identifier and stored in the rule storage unit. Based on the data frame structure description information, positive abstract representation rules are constructed, specifically including the following steps: Read the byte pattern of the data frame start identifier sequence from the data frame structure description information, where the data frame start identifier sequence is a fixed byte sequence appended by the first UAV platform at the start position of each data frame; Read the byte pattern of the data frame end identifier sequence from the data frame structure description information, where the data frame end identifier sequence is a fixed byte sequence appended by the first UAV platform at the end position of each data frame; Read the fixed-byte length of the frame header region from the data frame structure description information. The fixed-byte length represents the byte span from the end of the data frame start identifier sequence to the start of the payload. Read the fixed byte length of the frame tail region from the data frame structure description information. The fixed byte length represents the byte span from the end position of the payload to the start position of the data frame end identifier sequence. The data frame start identifier sequence, data frame end identifier sequence, fixed byte length of the frame header region, and fixed byte length of the frame tail region are combined into a structure, and the structure is defined as a positive abstract representation rule.

[0017] It should be noted that the interoperability connection establishment request initiated by the first UAV platform is received. The interoperability connection establishment request is a data packet actively constructed and sent by the first UAV platform when it needs to send data to the interoperability system. Its request header area carries the platform identifier of the first UAV platform. The platform identifier is a unique identity identifier assigned to the first UAV platform when it registers with the interoperability system. It consists of three parts: platform type code, platform manufacturer code, and platform serial number. The platform identifier is extracted from the received interoperability connection establishment request, and the platform identity verification operation is performed on the first UAV platform based on the platform identifier. The extracted platform identifier is compared item by item with the list of authorized platform registrations. The list of authorized platform registrations records the platform identifiers of all drone platforms that have been authorized to access this interconnection system. If the extracted platform identifier can be found to be a completely matching record in the list of authorized platform registrations, the platform identity verification operation is deemed to have passed. If no matching record is found, the first drone platform is determined to be an unauthorized platform, the interconnection connection establishment process is immediately terminated, and a connection refusal response is returned to the first drone platform. After the platform identity verification operation is completed, a data transmission channel is established between the platform and the first UAV platform. Once the data transmission channel is established, the first UAV platform begins to send raw data streams through the data transmission channel. The raw data stream is a continuous byte sequence generated by the first UAV platform in its own native data format without any conversion processing. It contains all the data content to be exchanged that the first UAV platform has collected or generated. During the process of receiving the raw data stream, the count of each received byte is accumulated synchronously. After the raw data stream is completely received, a data integrity verification operation is performed on the raw data stream. Before sending the raw data stream, the first UAV platform performs a cyclic redundancy check operation on all bytes of the raw data stream to obtain a fixed-length check code, and appends the check code to the end of the raw data stream and sends it together. After receiving the data, the same type of cyclic redundancy check operation is performed on the main part of the received original data stream. The check code obtained by the local operation is compared bit by bit with the received check code. If the two check codes are completely consistent, the data integrity check operation is determined to be successful, indicating that no byte errors or byte loss occurred in the original data stream during transmission. If they are inconsistent, a request is made to the first UAV platform to resend the original data stream. After the verification is passed, the original data stream is written completely into the data access buffer for temporary storage. The data access buffer is a temporary storage area in memory used to store the original data stream that has passed the integrity verification but has not yet entered the subsequent processing stage. The platform identifier is extracted again from the interconnection establishment request, and an association record is established between the platform identifier and the original data stream in the data access buffer. An association record structure is created in memory, which contains a pointer to the storage start position of the original data stream, the total byte length of the original data stream, and the corresponding platform identifier. After receiving and temporarily storing the raw data stream, the process of obtaining the forward abstract representation rules is initiated. The platform identifier in the associated record is used as the query index to perform rule query operations on the rule storage unit. The rule storage unit is a storage unit used to persistently store the rule information corresponding to each access drone platform. It contains a rule index table. Each record in the rule index table contains a platform identifier field and a rule storage location field. The platform identifier is matched and compared with the platform identifier field in the rule index table. If there is a record in the rule index table that is completely consistent with the platform identifier, it means that the rule storage unit has already stored the positive abstract representation rule corresponding to the first UAV platform. Based on the rule storage location field in the record, the positive abstract representation rule is read from the corresponding storage area of ​​the rule storage unit. If there is no record matching the platform identifier in the rule index table, it indicates that the first UAV platform has not yet completed rule registration in this system. In this case, a rule registration prompt message is sent to the first UAV platform. The rule registration prompt message is used to notify the first UAV platform that it has not yet completed rule registration and needs to submit a platform capability declaration file to complete the registration. After receiving the platform capability declaration file, a parsing operation is performed on the platform capability declaration file. The platform capability declaration file is a piece of structured text data written by the first UAV platform in accordance with the prescribed format, which contains the data frame structure description information of the first UAV platform. By reading line by line and matching keywords, the following four items were extracted from the platform capability declaration file: data frame start identifier sequence, data frame end identifier sequence, fixed byte length of the frame header area, and fixed byte length of the frame tail area. The data frame start identifier sequence is a fixed byte sequence appended by the first UAV platform at the start position of each data frame, and the data frame end identifier sequence is a fixed byte sequence appended by the first UAV platform at the end position of each data frame. Its function is to mark the end boundary of a data frame in a continuous byte stream. The fixed byte length of the frame header region represents the byte span from the end of the data frame start identifier sequence to the start of the payload. The bytes contained within the byte span are the header fields of the data frame, which are used to carry auxiliary information such as frame type, frame sequence number, and data length. The fixed byte length of the frame tail region represents the byte span from the end position of the payload to the start position of the data frame end identifier sequence. The bytes contained within the byte span are the tail fields of the data frame, used to carry auxiliary information such as the frame checksum. After extracting the above four pieces of information, the positive abstract representation rules are constructed. The construction process is as follows: the byte pattern of the data frame start identifier sequence, the byte pattern of the data frame end identifier sequence, the fixed byte length of the frame header region, and the fixed byte length of the frame tail region read from the platform capability declaration file are combined into a structure according to the specified field order. The first field of the structure stores the data frame start identifier sequence, the second field stores the data frame end identifier sequence, the third field stores the fixed byte length of the frame header region, and the fourth field stores the fixed byte length of the frame tail region. After the combination is completed, the structure is determined as the positive abstract representation rule. The positive abstract representation rule is used to guide the subsequent positive abstract transformation operation and can accurately identify the data frame boundaries in the original data stream of the first UAV platform. The constructed positive abstract representation rule is associated with the platform identifier of the first UAV platform. That is, a new record is added to the rule index table of the rule storage unit. The platform identifier field of the record is filled with the platform identifier of the first UAV platform, and the rule storage location field is filled with the physical storage address of the positive abstract representation rule in the rule storage unit. Then, the positive abstract representation rule is completely written into the storage area corresponding to the storage address to complete the rule storage operation.

[0018] S2. Based on the forward abstraction representation rule, perform a forward abstraction transformation operation on the original data stream to determine the undifferentiated byte state representation data, wherein the undifferentiated byte state representation data is structurally completely decoupled from the original data format of the first UAV platform; Furthermore, in S2, the data frame start identifier sequence and data frame end identifier sequence are read from the positive abstract representation rules, the original data stream is read from the data access buffer, the data frame start identifier sequence is used as the matching template, the byte sequence matching operation is performed in the original data stream, and the byte position of each successful match is marked as a frame start boundary position. The data frame end identifier sequence is used as the matching template, the byte sequence matching operation is performed in the original data stream, and the byte position of each successful match is marked as a frame end boundary position. The byte interval between each pair of adjacent frame start boundary positions and frame end boundary positions is determined as an independent data frame. For each defined data frame, read the fixed byte length of the frame header region and the fixed byte length of the frame tail region as defined in the forward abstract representation rule, and offset the fixed byte length of the frame header region backward from the start position of the data frame to determine the start position of the payload; The end position of the payload is determined by offsetting the end position of the data frame forward by a fixed number of bytes from the end position of the data frame. The byte interval between the start position and the end position of the payload is extracted as the payload part of the data frame. The payload portions of all extracted data frames are concatenated sequentially according to the order in which each data frame appears in the original data stream to obtain the payload concatenation sequence. An abstract representation header identifier is appended to the header of the payload splicing sequence. The abstract representation header identifier includes the data source platform identifier, the total byte length of the payload, and the transformation timestamp. After appending, the indistinguishable byte-state representation data is obtained.

[0019] It should be noted that the data frame start identifier sequence is a fixed byte sequence appended by the first UAV platform at the start position of each data frame, for example, it is composed of two specific byte values ​​arranged consecutively. The data frame end identifier sequence is a fixed byte sequence appended by the first UAV platform at the end position of each data frame. The original data stream, which has passed integrity verification and is temporarily stored here, is read from the data access buffer. The original data stream exists in the data access buffer as a continuous byte array. By obtaining the starting memory address and total byte length of the byte array, the original data stream can be read completely. Using the data frame start identifier sequence as a matching template, a byte sequence matching operation is performed within the entire byte range of the original data stream. The specific steps of the byte sequence matching operation are as follows: Starting from the first byte of the original data stream, the current byte and the next few bytes are compared byte by byte with the data frame start identifier sequence. The length of the data frame start identifier sequence is a known fixed value. A sliding window is moved byte by byte on the original data stream. Every time the window is moved to a byte position, the byte sequence in the window is compared with the data frame start identifier sequence. When every byte in the window is completely consistent with the byte at the corresponding position in the data frame start identifier sequence, the match is considered successful, and the offset position of the starting byte of the current window in the original data stream is marked as a frame start boundary position. In the same way, using the data frame end identifier sequence as the matching template, the comparison operation is performed byte by byte in the original data stream. Whenever a match is successful, the starting byte offset position of the current window is marked as a frame end boundary position. After completing the matching operation on the entire segment of the original data stream, the frame start boundary position and frame end boundary position are obtained. According to the order in which each boundary position appears in the original data stream, the byte interval between each pair of adjacent frame start boundary positions and frame end boundary positions is determined as an independent data frame. A frame start boundary position and the first frame end boundary position that appears thereafter constitute a complete data frame boundary pair. The byte interval defined by the boundary pair is the entire content of a data frame. After dividing the original data stream into several independent data frames, a payload extraction operation is performed on each determined data frame. For a single data frame, the fixed byte length of the frame header region and the fixed byte length of the frame tail region defined in the forward abstract representation rule are read first. The fixed byte length of the frame header region represents the byte span from the end position of the data frame start identifier sequence to the start position of the payload. The bytes contained within the byte span are the header fields of the data frame. The fixed byte length of the frame tail region represents the byte span from the end of the payload to the start of the data frame end identifier sequence. The bytes within this span constitute the tail field of the data frame. Using the start boundary position of the data frame as a reference, which corresponds to the position of the first byte of the data frame start identifier sequence, the end position of the data frame start identifier sequence is determined first. This is calculated by adding the byte length of the data frame start identifier sequence to the offset of the start boundary position. Starting from the end position of the data frame start identifier sequence, the fixed byte length of the frame header region is shifted backward; the resulting offset is the start position of the payload. Using the end boundary position of the data frame as a reference, which corresponds to the position of the last byte of the data frame end identifier sequence, the data frame is then determined. The starting position of the end identifier sequence is calculated as follows: subtract the byte length of the data frame end identifier sequence from the offset of the end boundary position, and then add an offset unit to obtain the offset of the starting position of the data frame end identifier sequence. Starting from the starting position of the data frame end identifier sequence, shift forward by a fixed byte length of the frame tail region. The offset position reached is the end position of the payload. After determining the start and end positions of the payload, extract all byte intervals between these two offset positions as the payload part of the data frame. The payload part contains the actual data content carried by the data frame. Strip the frame header field, frame tail field, frame start identifier, and frame end identifier added by the first UAV platform. Perform payload extraction operation on all the divided data frames in sequence to obtain several payload parts equal to the number of data frames. After extracting the payloads of all data frames, the extracted payloads are concatenated in the order in which they appear in the original data stream. The specific steps of the concatenation operation are as follows: Allocate a contiguous output buffer in memory. The size of the output buffer is equal to the sum of the byte lengths of all payloads. Copy the payload of the first data frame to the beginning of the output buffer and record the number of bytes written. Then, copy the payload of the second data frame immediately after the end of the previous payload and update the number of bytes written. According to the order in which the data frames appear in the original data stream, all payload parts are copied sequentially end to end into the output buffer. When the last payload part is copied, the continuous byte sequence stored in the output buffer is the payload splicing sequence. The payload splicing sequence completely preserves all the valid data content sent by the first UAV platform, but has completely removed the frame boundary identifier, frame header field and frame tail field and other data format-related structural information in the original data format of the first UAV platform. After obtaining the payload splicing sequence, an abstract representation header identifier is appended to the beginning of the payload splicing sequence to form the final undifferentiated byte-state representation data. The abstract representation header identifier is a structured byte sequence with a fixed format, which contains three components: data source platform identifier, total payload byte length, and transformation timestamp. The data source platform identifier is directly taken from the platform identifier of the record associated with the original data stream, and is used to indicate which UAV platform the payload carried by the undifferentiated byte-state representation data comes from. The total payload byte length is the total number of bytes in the payload splicing sequence, which is obtained by calculating the number of bytes actually written in the output buffer. The transformation timestamp is the current time value read from the system clock when performing the forward abstract transformation operation. Following the order of data source platform identifier first, total payload byte length in the middle, and transformation timestamp last, these three parts of data are sequentially written into a new memory area to form an abstract representation header identifier. Then, the payload splicing sequence is appended immediately after the abstract representation header identifier. The two are combined to form a complete continuous byte sequence, which is the undifferentiated byte state representation data. The undifferentiated byte state representation data no longer retains any characteristics of the original data format of the first UAV platform in terms of structure. It only contains an abstract representation header identifier used to describe the data source and basic attributes, and a continuous payload splicing sequence.

[0020] S3. Store the data of the undifferentiated byte state representation into a unified data pool and assign a data index identifier to the undifferentiated byte state representation data; Furthermore, in S3, the data source platform identifier of the data representing the indiscriminate byte state is obtained, which is the platform identifier of the first UAV platform; the timestamp when the data representing the indiscriminate byte state is generated is obtained, and the timestamp is read from the clock unit. The data source platform identifier and timestamp are combined in a preset concatenation order to generate a character sequence. A one-way transformation is performed on the character sequence to obtain a transformation result of fixed length. The transformation result is used as the data index identifier. Write the data index identifier into the abstract representation header identifier of the data in the undifferentiated byte state, allocate a contiguous storage space in the unified data pool, write the data in the undifferentiated byte state to the storage space, establish a mapping relationship between the data index identifier and the storage location of the storage space, and record the mapping relationship in the index mapping table of the unified data pool.

[0021] It should be noted that in the process of generating the data index identifier, the abstract representation header identifier is first read from the undifferentiated byte state representation data. The abstract representation header identifier is located at the very beginning of the undifferentiated byte state representation data. The unified data pool module extracts the data source platform identifier from the starting offset position of the header identifier according to the fixed format of the abstract representation header identifier. The data source platform identifier is the platform identifier of the first UAV platform. The system reads the current timestamp, ensuring that the timestamp and the transformed timestamp written in the abstract representation header share the same clock source. After obtaining the data source platform identifier and timestamp, the system combines them according to a preset concatenation order to generate a character sequence. The preset concatenation order is determined during the initialization phase. For example, the character sequence of the data source platform identifier is placed first, followed by the character sequence of the timestamp. After the combination is complete, the character sequence undergoes a one-way transformation process. The specific execution method of the one-way transformation process is as follows: each character in the character sequence is converted into the corresponding byte value to obtain a byte array. Then, a round of compression and obfuscation operation is performed on the byte array. The compression and obfuscation operation starts from the first byte of the byte array, reads every four bytes to form a processing unit, and performs a cyclic shift and XOR operation on the values ​​of these four bytes to obtain an output byte. The output bytes generated by all processing units after the operation are arranged in the order of generation to form a new byte sequence. If the last processing unit is less than four bytes, it is padded with zero-valued bytes to make it four bytes before the operation is performed. The final byte sequence has a fixed length. The fixed-length byte sequence is the transformation result of the one-way transformation process. The transformation result is used as a data index identifier. After generating the data index identifier, the data index identifier is written into the abstract representation header identifier of the data in the undifferentiated byte state. The generated data index identifier is copied byte by byte to the corresponding field area of ​​the abstract representation header identifier, thus completing the binding between the data index identifier and the data in the undifferentiated byte state. A contiguous storage space is allocated on the physical storage medium managed by the unified data pool. The unified data pool consists of several storage devices. The storage space management unit maintains the free space distribution information of each storage device. Based on the total byte length of the data represented by the undifferentiated byte state, a continuous free area with a length not less than the total byte length is searched on the storage device. The search method is as follows: traverse the free area information recorded in the free space list, compare the starting address and area length of each free area with the total byte length of the data represented by the undifferentiated byte state. When the length of a free area is greater than or equal to the required length, the free area is selected as the target storage space for this storage. If the length of a single free area is insufficient to accommodate all the data, the data can be split and stored in multiple non-contiguous storage spaces. After the data is successfully written to the storage space in the undifferentiated byte state, a mapping relationship is established between the data index identifier and the storage location of the storage space. The storage location information includes the storage device number, the starting address of the storage space, and the length of bytes occupied by the data. An index mapping table is maintained in memory. The index mapping table is an associated data structure with the data index identifier as the key and the storage location information as the value. Add a new record to the index mapping table. Fill the data index identifier field of the new record with the previously generated data index identifier, fill the storage device number field with the number of the storage device to which the data is actually written, fill the storage space start address field with the first byte physical address of the allocated storage space, and fill the data length field with the total byte length of the data in the indistinguishable byte state. After the new record is successfully added to the index mapping table, the mapping relationship between the data index identifier and the storage location is successfully established. When a data retrieval request carrying a certain data index identifier is received, the corresponding record can be found in the index mapping table by using the data index identifier as the query index. This will obtain the storage device number and storage space start address where the data in the undifferentiated byte state representation is located, and then the corresponding undifferentiated byte state representation data can be read from the unified data pool.

[0022] S4. Obtain a data acquisition request from the second UAV platform, wherein the data request carries the platform identifier of the second UAV platform and the data index identifier of the data to be acquired; Furthermore, in step S4, a data acquisition request initiated by the second UAV platform is received, and a request format verification operation is performed on the data acquisition request to determine whether the request conforms to the preset request format specification. After the verification is passed, the platform identifier of the second UAV platform is extracted from the request header area of ​​the data acquisition request, and the data index identifier of the data to be acquired is extracted from the request payload area of ​​the data acquisition request. The extracted platform identifier and data index identifier are associated and temporarily stored in the request processing buffer.

[0023] It should be noted that while continuously monitoring data acquisition requests from various drone platforms, when a data acquisition request is received from a second drone platform, the request content is not immediately processed. Instead, a request format verification operation is first performed on the data acquisition request. The specific steps of the request format verification operation are as follows: A set of data acquisition request format specifications is predefined. The format specifications clarify the byte-level organization structure of the data acquisition request. According to the format specifications, a valid data acquisition request consists of three parts: a request start identifier, a request header area, a request payload area, and a request end identifier. The request start identifier is a fixed byte sequence used to mark the beginning boundary of a data acquisition request. The request header area follows the request start identifier and has a fixed length. It is used to store metadata information related to the request, including the platform identifier field and the request type field. The request payload area follows the request header area and is used to store the specific parameter content of this request, including the data index identifier of the data to be acquired. The request end identifier is a fixed byte sequence following the request payload area and is used to mark the end boundary of a data acquisition request. Upon receiving the byte stream of the data acquisition request sent by the second UAV platform, the system first checks whether the total length of the byte stream is greater than or equal to the sum of the fixed length of the request header, the length of the request start identifier, and the length of the request end identifier as defined in the request format specification. If the total length is less than the minimum length requirement, the request format verification is directly determined to have failed. Then, starting from the beginning of the byte stream, a byte sequence with the length of the request start identifier is read. The byte sequence is compared byte by byte with the request start identifier defined in the request format specification. If they do not match, the request format verification is determined to have failed. If they match, the system continues to jump to the end of the byte stream and reads a byte sequence with the length of the request end identifier. The byte sequence is compared byte by byte with the request end identifier defined in the request format specification. If they do not match, the request format verification is also determined to have failed. Only when both the request start identifier and the request end identifier match is the data acquisition request determined to have passed the request format verification operation. After the request format validation operation passes, the platform identifier of the second UAV platform and the data index identifier of the data to be acquired are extracted from the data acquisition request. The starting position of the request header area in the data acquisition request byte stream is fixed, that is, it is immediately after the request start identifier. The order of the fields and the length of the bytes occupied by each field in the request header area are also fixed. The platform identifier field is located at the first field position in the request header area. The request type field follows the platform identifier field. Starting from the beginning of the request header area, a byte sequence of the same length as the platform identifier field is read. This byte sequence is used as the platform identifier of the second UAV platform and extracted. The byte sequence content of the platform identifier is the unique identifier obtained by the second UAV platform during registration. The content of the request payload area is then read. The request payload area follows the request header area. In the request payload area, the data index identifier is stored as the first parameter item. Read the parameter type identifier and the parameter length identifier to obtain the byte length of the data index identifier. Then, read the number of subsequent bytes according to the byte length to obtain the complete byte sequence of the data index identifier of the data to be acquired. Associate the platform identifier and data index identifier of the extracted second UAV platform in memory, that is, put the two into the same associated data structure and temporarily store the associated data structure in the request processing buffer. The request processing buffer is a dedicated storage area in memory used to temporarily store request information that has passed format validation and field extraction. Each record in the request processing buffer contains a platform identifier field, a data index identifier field, and a request receipt timestamp field.

[0024] S5. Based on the platform identifier of the second UAV platform, retrieve the reverse restoration rules corresponding to the second UAV platform from the rule storage unit; Furthermore, in S5, the platform identifier of the second UAV platform is used as the query index to perform a rule query operation on the rule storage unit, and it is determined whether there is a reverse restoration rule corresponding to the platform identifier in the rule storage unit. If there is, the reverse restoration rule corresponding to the platform identifier is read from the rule storage unit. If there is, the rule registration prompt information is sent to the second UAV platform, and the platform capability declaration file submitted by the second UAV platform during the registration stage is received. The platform capability declaration file is parsed to extract the data frame structure description information of the second UAV platform. The data frame structure description information includes the data frame header template required by the second UAV platform, the data frame tail template required by the second UAV platform, and the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame. Based on the data frame structure description information, reverse restoration rules are constructed and stored in the rule storage unit in association with the platform identifier of the second UAV platform. Based on the data frame structure description information, reverse reconstruction rules are constructed, which specifically include the following steps: Read the data frame header template from the data frame structure description information. The data frame header template contains the frame start identifier and frame header fields required by the second UAV platform. The frame start identifier is a fixed byte sequence specified by the second UAV platform. The frame header fields include the frame type field, frame sequence number field, and payload length field. Read the data frame tail template from the data frame structure description information. The data frame tail template contains the frame check field and frame end identifier required by the second UAV platform. The frame check field is used to store the check value obtained after error checking of the data frame. The frame end identifier is a fixed byte sequence specified by the second UAV platform. Read the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame from the data frame structure description information. The data frame header template, data frame tail template, and maximum number of bytes to carry are combined into a structure, and the structure is defined as the reverse restoration rule. The reverse restoration rule specifies how to repackage the data represented by the undifferentiated byte state into a data frame that conforms to the format specification of the second UAV platform.

[0025] It should be noted that the platform identifier of the second UAV platform is used as the query index to perform rule query operations on the rule storage unit. The rule storage unit maintains two rule index tables, one is a forward rule index table and the other is a reverse rule index table. Each record in the reverse rule index table contains a platform identifier field and a reverse rule storage location field. The platform identifier of the second UAV platform is matched and compared item by item with the platform identifier field in the reverse rule index table. If a record that is completely consistent with the platform identifier is found in the reverse rule index table, it indicates that the rule storage unit has already stored the reverse restoration rule corresponding to the second UAV platform. Based on the reverse rule storage location field in the record, the structure data of the reverse restoration rule is read from the corresponding storage area of ​​the rule storage unit and loaded into memory for subsequent reverse restoration transformation operations. If there is no record in the reverse rule index table that matches the platform identifier of the second UAV platform, it indicates that the second UAV platform has not yet completed the registration of the reverse restoration rule. In this case, a rule registration prompt message is sent to the second UAV platform. The rule registration prompt message is a response message in a specific format, which contains a rule registration request identifier and a data transmission port number for receiving the platform capability declaration file. After receiving the rule registration prompt, the second UAV platform sends the pre-prepared platform capability declaration file through the designated data transmission port. Upon receiving the second UAV platform capability declaration file, the system performs a parsing operation on the platform capability declaration file. The platform capability declaration file is a piece of structured text data written by the second UAV platform in a specified format. By recognizing the preset field tag keywords, the system extracts the following from the platform capability declaration file: the data frame header template required by the second UAV platform, the data frame tail template required by the second UAV platform, and the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame. When the frame header template tag is read, the field values ​​following the tag are extracted into the data frame header template. The data frame header template contains two components: the frame start identifier required by the second UAV platform and the frame header fields. The frame start identifier is a fixed byte sequence specified by the second UAV platform to mark the start boundary of a data frame. The byte sequence of the data frame start identifier is determined by the second UAV platform during the design phase, for example, it is composed of two or four specific byte values ​​arranged in a fixed order. The frame header field follows the start of frame identifier and contains three subfields: frame type field, frame sequence number field, and payload length field. The frame type field identifies the service type of the data carried by the data frame and occupies one byte. The frame sequence number field identifies the sequential number of the data frame in the transmission of multiple consecutive frames and occupies two bytes. The payload length field identifies the number of bytes occupied by the payload part in the data frame and occupies two bytes. It needs to be padded according to the actual byte length of the payload during actual encapsulation. When the frame tail template tag is read, the field values ​​following the tag are extracted as the data frame tail template. The data frame tail template contains two components: the frame check field and the frame end identifier required by the second UAV platform. The frame check field is located after the payload and is used to store the check value obtained after error checking of the data frame header and payload. The check field occupies two bytes, and its specific value needs to be obtained and filled in during actual encapsulation by performing cyclic redundancy check on all bytes of the data frame header field and payload. The frame end identifier follows the frame check field and is a fixed byte sequence specified by the second UAV platform to indicate the end boundary of a data frame. When the maximum payload byte count tag is read, the data output module extracts the subsequent field values ​​of the tag as the maximum payload byte count of the second UAV platform in a single data frame. The maximum payload byte count specifies the maximum byte length of the payload portion in a single data frame that the second UAV platform can receive. If the total byte length of the payload splicing sequence exceeds the maximum payload byte count, the payload splicing sequence must be divided into multiple payload segments and encapsulated into multiple independent data frames for transmission. After extracting the above three pieces of information, a structure is created in memory. The structure contains three members: the first member is used to store the data frame header template, the second member is used to store the data frame trailer template, and the third member is used to store the maximum number of bytes to carry. The complete byte sequence of the data frame header template extracted from the platform capability declaration file is copied into the first member of the structure, the complete byte sequence of the data frame tail template extracted from the platform capability declaration file is copied into the second member of the structure, and the value of the maximum number of bytes to carry extracted from the platform capability declaration file is written into the third member of the structure. After the combination is completed, the structure is determined as the reverse restoration rule. The reverse restoration rule can correctly segment and encapsulate the effective payload splicing sequence in the data represented by the indiscriminate byte state into one or more data frames that conform to the format specification of the second UAV platform. The constructed reverse restoration rule is associated with the platform identifier of the second UAV platform, that is, a new record is added to the reverse rule index table of the rule storage unit. The platform identifier field of the record is filled with the platform identifier of the second UAV platform, and the reverse rule storage location field is filled with the physical storage address of the reverse restoration rule structure in the rule storage unit. The reverse restoration rule structure is completely written into the storage area corresponding to the storage address to complete the persistent storage of the reverse restoration rule.

[0026] S6. Based on the reverse restoration rules, perform reverse restoration transformation on the data in the unified data pool that is represented by the indistinguishable byte state corresponding to the data index identifier, determine the restored data stream that conforms to the format specification of the second UAV platform, and output the restored data stream to the second UAV platform.

[0027] Furthermore, in step S6, the data index identifier is used as the query index to find the storage location corresponding to the data index identifier in the index mapping table of the unified data pool. Based on the found storage location, the data in the undifferentiated byte state representation corresponding to the data index identifier is read from the unified data pool. Read the abstract representation header identifier of the undifferentiated byte state representation data, extract the total byte length of the payload from the abstract representation header identifier, locate the starting position of the payload data sequence from the undifferentiated byte state representation data based on the total byte length of the payload, and continuously read byte data of the total byte length of the payload from the starting position as the payload data sequence; Read the data frame header template, data frame tail template, and maximum number of bytes to carry from the reverse restoration rules, obtain the total byte length of the payload data sequence, divide the total byte length by the maximum number of bytes to carry, and get the number of complete data frames to be generated. Starting from the beginning of the payload data sequence, each payload segment is extracted sequentially, taking the maximum number of bytes as the unit. When the payload data sequence ends and the number of remaining bytes is less than the maximum number of bytes, the remaining bytes are treated as a separate payload segment, and padding bytes are used to fill the payload segment to the maximum number of bytes. The value of the padding bytes is zero. For each payload segment, perform the following data frame assembly operation: update the payload length field in the data frame header template to the actual byte length of the payload segment, and concatenate the data frame header template, payload segment, and data frame tail template in the order of header first, payload in the middle, and tail last to form a complete data frame. After completing the data frame assembly operation of all payload segments, all the data frames are arranged in the order of generation to obtain the restored data stream. Establish a data transmission channel with the second UAV platform, perform data integrity protection operations on the restored data stream, and append an integrity verification field to the end of the restored data stream. The integrity verification field is obtained by performing verification operations on all bytes of the restored data stream. The restored data stream with the integrity verification field attached is sent to the second UAV platform through the data transmission channel. The data reception confirmation response is received from the second UAV platform. After confirming that the second UAV platform has fully received the restored data stream, the resources occupied by the data transmission channel are released. It receives multiple raw data streams from several different UAV platforms, obtains the platform identifier corresponding to each raw data stream, obtains the corresponding positive abstract representation rule based on each platform identifier, performs positive abstract transformation operation on each raw data stream in parallel, and generates undifferentiated byte state representation data corresponding to each raw data stream. Each undifferentiated byte-state representation data is assigned a unique data index identifier. The undifferentiated byte-state representation data is stored in parallel to different storage partitions of a unified data pool. After obtaining a data acquisition request from the second UAV platform, based on the data index identifier carried in the request, the undifferentiated byte-state representation data corresponding to the data index identifier is extracted from the unified data pool and a reverse restoration transformation operation is performed. The restored data stream is then output to the second UAV platform.

[0028] It should be noted that the payload data sequence is repackaged into a data frame conforming to the format specification of the second UAV platform, and the encapsulated data frame sequence is output to the second UAV platform as a restored data stream. First, the data index identifier obtained from the request processing buffer is used as the query index to perform a lookup operation on the index mapping table of the unified data pool. The index mapping table is a mapping table that is maintained synchronously each time data in the undifferentiated byte state is stored. It uses the data index identifier as the key and the storage location information as the value. The data index identifier is compared item by item with the data index identifier field of each record in the index mapping table. When a record is found whose data index identifier field is completely consistent with the query index, the storage device number field and the storage space start address field are read from the record. The storage device number is used to determine which physical storage device the data is stored on, and the storage space start address is used to determine the physical offset position of the first byte of the data on the storage device. Select the corresponding storage device access interface according to the storage device number, and start reading the data content of the total byte length of the undifferentiated byte state representation data continuously from the starting address of the storage space. The total byte length of the undifferentiated byte state representation data can be obtained from the data length field of the same record in the index mapping table, or it can be calculated by extracting the total byte length of the payload from the abstract representation header identifier of the undifferentiated byte state representation data itself and adding the fixed length of the abstract representation header identifier. After the read operation is completed, a copy of the undifferentiated byte state representation data is obtained in memory. After obtaining the undifferentiated byte-state representation data, the payload data sequence is extracted from it. First, the abstract representation header identifier of the undifferentiated byte-state representation data is read. The abstract representation header identifier is located at the beginning of the undifferentiated byte-state representation data and includes the data source platform identifier field, the total byte length of the payload field, the transformation timestamp field, and the data index identifier field in sequence. According to the predetermined offset position and predetermined byte length of each field, the value of the total byte length field of the payload is extracted from the abstract representation header identifier. The total byte length field of the payload records the total number of bytes of the payload splicing sequence generated in the forward abstract transformation operation stage. Based on the total byte length of the payload, the starting position of the payload data sequence in the undifferentiated byte state representation data is determined. Since the payload data sequence is stored immediately after the abstract representation header identifier, the starting position of the payload data sequence is the ending position of the abstract representation header identifier. Starting from the starting position, bytes of the total payload length are read continuously, and the read continuous byte sequence is used as the payload data sequence. The payload data sequence contains all the valid data content originally sent by the first UAV platform, and all frame boundary identifiers and frame header and tail fields in the original format of the first UAV platform have been removed. After extracting the payload data sequence, the data frame header template, data frame tail template, and maximum payload bytes are read sequentially from the previously obtained reverse restoration rules. The data frame header template is a byte sequence that contains the frame start identifier required by the second UAV platform and the template of the frame header field. The payload length field in the frame header field is a placeholder in the template. The data frame tail template is also a byte sequence that contains the placeholder of the frame check field required by the second UAV platform and the frame end identifier. The maximum payload bytes is an integer value that specifies the maximum number of payload bytes that a single data frame of the second UAV platform can carry. Obtain the total byte length of the payload data sequence, divide the total byte length by the maximum number of bytes to carry, and perform an integer division operation. The quotient value obtained by the division operation is the number of complete data frames to be generated. If there is a remainder after the division operation, it indicates that there is a remaining payload segment in addition to the complete data frames. The actual total number of data frames to be generated is one more than the quotient value. If there is no remainder, the actual total number of data frames to be generated is the quotient value. Based on the calculated total number of data frames, allocate the corresponding number of data frame assembly buffers in memory. Using the maximum number of bytes to carry as the unit, starting from the beginning of the payload data sequence, each payload segment is extracted sequentially. In the first extraction, starting from the first byte of the payload data sequence, bytes of data up to the maximum number of bytes to carry are read and taken as the first payload segment. Then, the reading position is moved forward by the maximum number of bytes to carry, and the next maximum number of bytes to carry are extracted and taken as the second payload segment. The above steps are repeated until the reading position reaches or exceeds the end of the payload data sequence. When the end of the payload data sequence is reached and the number of remaining unread bytes is less than the maximum number of bytes to carry, all remaining bytes are taken as a separate payload segment. Since the actual byte length of the payload segment is less than the maximum number of bytes it can carry, padding bytes are needed to fill it to the maximum number of bytes it can carry. The padding operation is as follows: calculate the difference between the maximum number of bytes it can carry and the actual byte length of the payload segment, and append padding bytes with a value of zero to the end of the payload segment so that the total byte length of the payload segment after padding is equal to the maximum number of bytes it can carry, and the value of the padding bytes is zero. After the second UAV platform receives the data frame, it can correctly identify the actual boundary of the payload based on the value recorded in the payload length field, and thus ignore the padding bytes. For each processed payload segment, a data frame assembly operation is performed. The data frame header template is copied to the assembly buffer of the current data frame. Then, the actual byte length of the payload segment is obtained, the actual byte length is converted into a two-byte binary representation, and written to the corresponding offset position of the payload length field in the data frame header template according to the byte order specified by the second UAV platform, thus completing the update of the payload length field. The updated data frame header template, the payload segment, and the data frame tail template are sequentially concatenated into the assembly buffer in the order of header first, payload in the middle, and tail last. During concatenation, all bytes of the data frame header template are written first, followed by all bytes of the payload segment, and finally all bytes of the data frame tail template. Before writing the data frame tail template, error checking operations need to be performed on the data frame header and payload to generate the specific value of the frame check field. All bytes of the data frame header template and all bytes of the payload segment are sequentially sent to the cyclic redundancy check unit. The unit performs shift and XOR operations on each input byte sequentially, and finally outputs a check value of two bytes. The check value is written to the corresponding offset position of the frame check field in the data frame tail template to complete the filling of the frame check field. After completing the data frame assembly operation of all payload segments, a series of data frames are obtained. According to the generation order of these data frames, that is, the data frame corresponding to the first payload segment is in the first place, the data frame corresponding to the second payload segment is in the middle, and the data frame corresponding to the last payload segment is in the last place, the data frames are arranged end to end to form a continuous byte sequence, which is the restored data stream. After obtaining the restored data stream, the restored data stream is sent to the second UAV platform. First, a data transmission channel is established between the restored data stream and the second UAV platform. A channel establishment request is sent to the second UAV platform. After the second UAV platform returns a confirmation response, a bidirectional byte stream transmission channel is established. After the data transmission channel is established, a data integrity protection operation is performed on the restored data stream. All bytes of the restored data stream are sequentially input into the verification operation unit. The verification operation unit performs an accumulation operation or a cyclic redundancy check operation on all bytes to generate a fixed-length integrity check field. The integrity check field is appended to the end of the restored data stream to form the final data block to be sent. The final data block is sent byte by byte to the second UAV platform through the data transmission channel. After receiving the data, the second UAV platform performs the same verification operation on the received restored data stream and compares the local operation result with the received integrity verification field. If the comparison is consistent, a data reception confirmation response is returned. After receiving the data reception confirmation response from the second UAV platform, it is confirmed that the second UAV platform has received the restored data stream completely and correctly. Then, the memory resources, port resources and connection session resources occupied by the data transmission channel are released, and the data output operation is completed. In actual operation, multiple UAV platforms may simultaneously send raw data streams to this interconnection system, or a second UAV platform may simultaneously request to obtain data from multiple different sources. When receiving multiple raw data streams from several different UAV platforms, platform identity verification, integrity verification, and platform identifier association record operations are performed independently for each raw data stream. Each raw data stream is allocated a different storage area in the data access buffer, and they do not interfere with each other. The corresponding positive abstract representation rules are obtained based on the platform identifier. If the rules of a certain platform have not yet been registered, an independent rule registration process is triggered, and the positive abstract transformation operation is performed in parallel on each raw data stream. Since the processing of each data stream is independent, multiple raw data streams can be converted into their respective undifferentiated byte-state representation data simultaneously through multi-threaded parallel processing. Each undifferentiated byte-state representation data is assigned a unique data index identifier, and they are stored in parallel in different storage partitions of a unified data pool. These partitions can be located on different physical storage devices, or in different directories or sectors of the same storage device, to achieve distributed storage load. When a data acquisition request is received from the second UAV platform, based on the data index identifier carried in the request, only the undifferentiated byte-state representation data that uniquely corresponds to the data index identifier is extracted from the unified data pool, and a reverse restoration transformation operation is performed on it separately. The restored data stream is then output to the second UAV platform. Other unrequested undifferentiated byte-state representation data remains in the unified data pool, waiting to be extracted and restored when other UAV platforms make data acquisition requests.

[0029] Please see Figure 5 This invention also provides a cross-platform data interoperability and format conversion system for unmanned aerial vehicles (UAVs), comprising: Data access module: acquires the raw data stream and platform identifier from the first UAV platform, and based on the platform identifier, retrieves the positive abstract representation rule corresponding to the first UAV platform from the rule storage unit; Forward Transformation Module: Based on the forward abstract representation rules, it performs a forward abstract transformation operation on the original data stream to determine the data represented by undifferentiated byte states, wherein the data represented by undifferentiated byte states is structurally completely decoupled from the original data format of the first UAV platform; Data storage module: Stores indistinguishable byte-state data into a unified data pool and assigns data index identifiers to indistinguishable byte-state data; Data request acquisition module: Acquires data acquisition requests from the second UAV platform, wherein the data request carries the platform identifier of the second UAV platform and the data index identifier of the data to be acquired; Reverse engineering module: Based on the platform identifier of the second UAV platform, retrieve the reverse engineering rules corresponding to the second UAV platform from the rule storage unit; Data output module: Based on the reverse restoration rules, it performs reverse restoration transformation on the data in the unified data pool that is represented by the same byte state corresponding to the data index identifier, determines the restored data stream that conforms to the format specification of the second UAV platform, and outputs the restored data stream to the second UAV platform.

[0030] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0031] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0032] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0033] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0034] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the described technical solution.

Claims

1. A method for cross-platform data interoperability and format conversion for unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: S1. Obtain the raw data stream and platform identifier from the first UAV platform. Based on the platform identifier, obtain the positive abstract representation rule corresponding to the first UAV platform from the rule storage unit. S2. Based on the forward abstraction representation rule, perform a forward abstraction transformation operation on the original data stream to determine the undifferentiated byte state representation data, wherein the undifferentiated byte state representation data is structurally completely decoupled from the original data format of the first UAV platform; S3. Store the data of the undifferentiated byte state representation into a unified data pool and assign a data index identifier to the undifferentiated byte state representation data; S4. Obtain a data acquisition request from the second UAV platform, wherein the data request carries the platform identifier of the second UAV platform and the data index identifier of the data to be acquired; S5. Based on the platform identifier of the second UAV platform, retrieve the reverse restoration rules corresponding to the second UAV platform from the rule storage unit; S6. Based on the reverse restoration rules, perform reverse restoration transformation on the data in the unified data pool that is represented by the indistinguishable byte state corresponding to the data index identifier, determine the restored data stream that conforms to the format specification of the second UAV platform, and output the restored data stream to the second UAV platform.

2. The method for cross-platform interoperability and format conversion of UAV data according to claim 1, characterized in that, In step S1, an interconnection establishment request initiated by the first UAV platform is received, wherein the interconnection establishment request carries the platform identifier of the first UAV platform, and a platform identity verification operation is performed on the first UAV platform based on the platform identifier carried in the interconnection establishment request. After verification, a data transmission channel is established with the first UAV platform. The raw data stream sent by the first UAV platform is received through the data transmission channel. Data integrity verification is performed on the raw data stream. After verification, the raw data stream is stored in the data access buffer. The platform identifier is extracted from the interconnection establishment request, and the platform identifier is associated with the original data stream. The platform identifier is used as the query index to perform a rule query operation on the rule storage unit. It is determined whether there is a positive abstract representation rule corresponding to the platform identifier in the rule storage unit. If there is, the positive abstract representation rule corresponding to the platform identifier is read from the rule storage unit. If there is no, a rule registration prompt message is sent to the first UAV platform, and the platform capability declaration file submitted by the first UAV platform during the registration stage is received. A parsing operation is performed on the platform capability declaration file to extract the data frame structure description information of the first UAV platform. The data frame structure description information includes the data frame start identifier sequence attached by the first UAV platform at the start position of each data frame, the data frame end identifier sequence attached by the first UAV platform at the end position of each data frame, the fixed byte length occupied by the frame header region, and the fixed byte length occupied by the frame tail region. Based on the data frame structure description information, a positive abstract representation rule is constructed, and the positive abstract representation rule is associated with the platform identifier and stored in the rule storage unit.

3. The method for cross-platform interoperability and format conversion of UAV data according to claim 2, characterized in that, Based on the data frame structure description information, positive abstract representation rules are constructed, specifically including the following steps: Read the byte pattern of the data frame start identifier sequence from the data frame structure description information, where the data frame start identifier sequence is a fixed byte sequence appended by the first UAV platform at the start position of each data frame; Read the byte pattern of the data frame end identifier sequence from the data frame structure description information, where the data frame end identifier sequence is a fixed byte sequence appended by the first UAV platform at the end position of each data frame; Read the fixed-byte length of the frame header region from the data frame structure description information. The fixed-byte length represents the byte span from the end of the data frame start identifier sequence to the start of the payload. Read the fixed byte length of the frame tail region from the data frame structure description information. The fixed byte length represents the byte span from the end position of the payload to the start position of the data frame end identifier sequence. The data frame start identifier sequence, data frame end identifier sequence, fixed byte length of the frame header region, and fixed byte length of the frame tail region are combined into a structure, and the structure is defined as a positive abstract representation rule.

4. The method for cross-platform interoperability and format conversion of UAV data according to claim 1, characterized in that, In step S2, the start identifier sequence and end identifier sequence of the data frame are read from the positive abstract representation rules, the original data stream is read from the data access buffer, the start identifier sequence of the data frame is used as the matching template, the byte sequence matching operation is performed in the original data stream, and the byte position of each successful match is marked as a frame start boundary position. The end identifier sequence of the data frame is used as the matching template, the byte sequence matching operation is performed in the original data stream, and the byte position of each successful match is marked as a frame end boundary position. The byte interval between each pair of adjacent frame start boundary positions and frame end boundary positions is determined as an independent data frame. For each defined data frame, read the fixed byte length of the frame header region and the fixed byte length of the frame tail region as defined in the forward abstract representation rule, and offset the fixed byte length of the frame header region backward from the start position of the data frame to determine the start position of the payload; The end position of the payload is determined by offsetting the end position of the data frame forward by a fixed number of bytes from the end position of the data frame. The byte interval between the start position and the end position of the payload is extracted as the payload part of the data frame. The payload portions of all extracted data frames are concatenated sequentially according to the order in which each data frame appears in the original data stream to obtain the payload concatenation sequence. An abstract representation header identifier is appended to the header of the payload splicing sequence. The abstract representation header identifier includes the data source platform identifier, the total byte length of the payload, and the transformation timestamp. After appending, the indistinguishable byte-state representation data is obtained.

5. The method for cross-platform interoperability and format conversion of UAV data according to claim 1, characterized in that, In step S3, the data source platform identifier of the data representing the indiscriminate byte state is obtained, which is the platform identifier of the first UAV platform. The timestamp when the data representing the indiscriminate byte state is generated is obtained, and the timestamp is read from the clock unit. The data source platform identifier and timestamp are combined in a preset concatenation order to generate a character sequence. A one-way transformation is performed on the character sequence to obtain a transformation result of fixed length. The transformation result is used as the data index identifier. Write the data index identifier into the abstract representation header identifier of the data in the undifferentiated byte state, allocate a contiguous storage space in the unified data pool, write the data in the undifferentiated byte state to the storage space, establish a mapping relationship between the data index identifier and the storage location of the storage space, and record the mapping relationship in the index mapping table of the unified data pool.

6. The method for cross-platform interoperability and format conversion of UAV data according to claim 1, characterized in that, In step S4, a data acquisition request initiated by the second UAV platform is received. A request format verification operation is performed on the data acquisition request to determine whether the request conforms to the preset request format specification. After the verification is passed, the platform identifier of the second UAV platform is extracted from the request header area of ​​the data acquisition request, and the data index identifier of the data to be acquired is extracted from the request payload area of ​​the data acquisition request. The extracted platform identifier and data index identifier are associated and temporarily stored in the request processing buffer.

7. The method for cross-platform interoperability and format conversion of UAV data according to claim 1, characterized in that, In step S5, the platform identifier of the second UAV platform is used as the query index to perform a rule query operation on the rule storage unit. It is determined whether there is a reverse restoration rule corresponding to the platform identifier in the rule storage unit. If there is, the reverse restoration rule corresponding to the platform identifier is read from the rule storage unit. If there is, the rule registration prompt information is sent to the second UAV platform, and the platform capability declaration file submitted by the second UAV platform during the registration stage is received. The platform capability declaration file is parsed to extract the data frame structure description information of the second UAV platform. The data frame structure description information includes the data frame header template required by the second UAV platform, the data frame tail template required by the second UAV platform, and the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame. Based on the data frame structure description information, reverse restoration rules are constructed and stored in the rule storage unit in association with the platform identifier of the second UAV platform.

8. A method for cross-platform data interoperability and format conversion for unmanned aerial vehicles (UAVs) according to claim 7, characterized in that, Based on the data frame structure description information, reverse reconstruction rules are constructed, which specifically include the following steps: Read the data frame header template from the data frame structure description information. The data frame header template contains the frame start identifier and frame header fields required by the second UAV platform. The frame start identifier is a fixed byte sequence specified by the second UAV platform. The frame header fields include the frame type field, frame sequence number field, and payload length field. Read the data frame tail template from the data frame structure description information. The data frame tail template contains the frame check field and frame end identifier required by the second UAV platform. The frame check field is used to store the check value obtained after error checking of the data frame. The frame end identifier is a fixed byte sequence specified by the second UAV platform. Read the maximum number of bytes that the second UAV platform can carry for the payload in a single data frame from the data frame structure description information. The data frame header template, data frame tail template, and maximum number of bytes to carry are combined into a structure, and the structure is defined as the reverse restoration rule. The reverse restoration rule specifies how to repackage the data represented by the undifferentiated byte state into a data frame that conforms to the format specification of the second UAV platform.

9. A method for cross-platform interoperability and format conversion of UAV data according to claim 1, characterized in that, In step S6, the data index identifier is used as the query index to find the storage location corresponding to the data index identifier in the index mapping table of the unified data pool. Based on the found storage location, the data in the undifferentiated byte state representation corresponding to the data index identifier is read from the unified data pool. Read the abstract representation header identifier of the undifferentiated byte state representation data, extract the total byte length of the payload from the abstract representation header identifier, locate the starting position of the payload data sequence from the undifferentiated byte state representation data based on the total byte length of the payload, and continuously read byte data of the total byte length of the payload from the starting position as the payload data sequence; Read the data frame header template, data frame tail template, and maximum number of bytes to carry from the reverse restoration rules, obtain the total byte length of the payload data sequence, divide the total byte length by the maximum number of bytes to carry, and get the number of complete data frames to be generated. Starting from the beginning of the payload data sequence, each payload segment is extracted sequentially, taking the maximum number of bytes as the unit. When the payload data sequence ends and the number of remaining bytes is less than the maximum number of bytes, the remaining bytes are treated as a separate payload segment, and padding bytes are used to fill the payload segment to the maximum number of bytes. The value of the padding bytes is zero. For each payload segment, perform the following data frame assembly operation: update the payload length field in the data frame header template to the actual byte length of the payload segment, and concatenate the data frame header template, payload segment, and data frame tail template in the order of header first, payload in the middle, and tail last to form a complete data frame. After completing the data frame assembly operation of all payload segments, all the data frames are arranged in the order of generation to obtain the restored data stream. Establish a data transmission channel with the second UAV platform, perform data integrity protection operations on the restored data stream, and append an integrity verification field to the end of the restored data stream. The integrity verification field is obtained by performing verification operations on all bytes of the restored data stream. The restored data stream with the integrity verification field attached is sent to the second UAV platform through the data transmission channel. The data reception confirmation response is received from the second UAV platform. After confirming that the second UAV platform has fully received the restored data stream, the resources occupied by the data transmission channel are released. It receives multiple raw data streams from several different UAV platforms, obtains the platform identifier corresponding to each raw data stream, obtains the corresponding positive abstract representation rule based on each platform identifier, performs positive abstract transformation operation on each raw data stream in parallel, and generates undifferentiated byte state representation data corresponding to each raw data stream. Each undifferentiated byte-state representation data is assigned a unique data index identifier. The undifferentiated byte-state representation data is stored in parallel to different storage partitions of a unified data pool. After obtaining a data acquisition request from the second UAV platform, based on the data index identifier carried in the request, the undifferentiated byte-state representation data corresponding to the data index identifier is extracted from the unified data pool and a reverse restoration transformation operation is performed. The restored data stream is then output to the second UAV platform.

10. A cross-platform interoperability and format conversion system for UAV data is used to execute a cross-platform interoperability and format conversion method for UAV data as described in any one of claims 1-9, characterized in that, include: Data access module: acquires the raw data stream and platform identifier from the first UAV platform, and based on the platform identifier, retrieves the positive abstract representation rule corresponding to the first UAV platform from the rule storage unit; Forward Transformation Module: Based on the forward abstract representation rules, it performs a forward abstract transformation operation on the original data stream to determine the data represented by undifferentiated byte states, wherein the data represented by undifferentiated byte states is structurally completely decoupled from the original data format of the first UAV platform; Data storage module: Stores indistinguishable byte-state data into a unified data pool and assigns data index identifiers to indistinguishable byte-state data; Data request acquisition module: Acquires data acquisition requests from the second UAV platform, wherein the data request carries the platform identifier of the second UAV platform and the data index identifier of the data to be acquired; Reverse engineering module: Based on the platform identifier of the second UAV platform, retrieve the reverse engineering rules corresponding to the second UAV platform from the rule storage unit; Data output module: Based on the reverse restoration rules, it performs reverse restoration transformation on the data in the unified data pool that is represented by the same byte state corresponding to the data index identifier, determines the restored data stream that conforms to the format specification of the second UAV platform, and outputs the restored data stream to the second UAV platform.

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