Low-altitude unmanned aerial vehicle formation system and unmanned aerial vehicle formation performance method

Abstract

The present application relates to the technical field of unmanned aerial vehicle control, in particular to a low-altitude unmanned aerial vehicle formation system and an unmanned aerial vehicle formation performance method, wherein the low-altitude unmanned aerial vehicle formation system comprises an interaction module, a control module, a supervision module and an execution module; the interaction module, the supervision module and the execution module are in communication connection with the control module; the present application integrates core technologies such as formation control AI algorithm module, positioning and navigation module, communication redundancy backup module, combines with AIGC content creation module, effectively solves the technical pain points of insufficient unmanned aerial vehicle formation control precision and low content creation efficiency, improves the intelligent level and operation efficiency of the system; the present application constructs a perfect supervision layer and safety guarantee system, through a one-key stop module, a four-examination mechanism module and the like, ensures flight safety and content compliance, and the technical scheme of the present application has good localization adaptation ability and replicability, and has a wide application prospect.

Description

Technical Field

[0001] This invention relates to the field of technology, and in particular to a low-altitude unmanned aerial vehicle (UAV) formation system and a method for UAV formation performance. Background Technology

[0002] In the current media field, traditional media are limited by the print media format, resulting in insufficient information reach and visual impact. Existing drone performance technologies mostly rely on single-site deployment and require targeted commercial customization, which presents challenges for large-scale application. At the same time, the development of low-altitude airspace as a new communication carrier is relatively low, and there is a lack of mature technical solutions to transform airspace below 1,000 meters into a programmable intelligent communication platform. The "air-ground integrated" communication system has not yet been formed.

[0003] With the rapid development of the low-altitude economy and the converged media industry, the market urgently needs an innovative solution that integrates low-altitude technology, AI algorithms, and converged media technology to address core pain points such as safety management and efficiency improvement, achieve standardized and large-scale application of large-scale drone formations, and simultaneously meet the needs of C-end omnichannel reach and B-end customized services, thereby promoting the synergistic transformation of commercial and social value. Against this backdrop, the research and development and breakthroughs of related core technologies have significant practical significance and application value. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a low-altitude unmanned aerial vehicle (UAV) formation system and a UAV formation performance method to solve the above problems.

[0005] To achieve the above objectives, the present invention provides a low-altitude unmanned aerial vehicle (UAV) formation system, including an interaction module, a control module, a monitoring module, and an execution module;

[0006] The interaction module, the monitoring module, and the execution module are all communicatively connected to the control module, and the interaction module and the execution module are also communicatively connected to the monitoring module.

[0007] The interaction module is used to enable human-computer interaction between the user and the control module, obtain user input information, provide feedback on the review results to the user, and display the content preview results generated from the input information when the review is approved.

[0008] The control module is deployed on a cloud server and is used to realize the overall management of flight plans and the generation of formation control commands within the region. It includes a formation control AI algorithm module, a positioning and navigation module, a communication redundancy backup module, and an AIGC content creation module. The AIGC content creation module is used to generate an initial two-dimensional image based on the text or image information input by the user, perform feature extraction processing on the initial two-dimensional image to obtain feature pixels, map the feature pixels to a preset three-dimensional spatial coordinate system, and generate initial dot matrix data containing spatial coordinate matrix and temporal information. This initial dot matrix data can be directly restored to the content preview result.

[0009] The execution module is used to receive instructions from the control module to complete formation flight, which includes a swarm of drones;

[0010] The monitoring module includes a one-click shutdown module, a four-review mechanism module, and a full-process control module. The one-click shutdown module can trigger a global shutdown command in an emergency. The four-review mechanism module is used to conduct compliance review of the disseminated content. The full-process control module monitors the status of the execution module during flight.

[0011] Preferably, in the control module:

[0012] The formation control AI algorithm module is used to generate a smooth flight trajectory based on the initial dot matrix data using the B-spline curve interpolation algorithm, and to perform multi-drone obstacle avoidance planning in combination with the artificial potential field method, thereby generating corresponding UAV formation control commands.

[0013] The positioning and navigation module uses RTK carrier phase differential technology and inertial measurement unit data fusion, and uses extended Kalman filter algorithm to make optimal estimation of the UAV's position to ensure the positioning accuracy of the UAV in flight.

[0014] The communication redundancy backup module adopts a dual-path communication link design, including a 5G public network link and a microwave image transmission link, and monitors the link quality through a heartbeat packet detection mechanism. When the packet loss rate of the main link exceeds a preset threshold, it automatically switches to the backup link.

[0015] Preferably, the interaction module is integrated into the APP application, and realizes functions including information publishing, order submission, displaying content preview results, and displaying review results;

[0016] The APP application interface has a general interactive entry for C-end users and a customized interactive entry for B-end users.

[0017] Preferably, the specific workflow of the AIGC content creation module includes:

[0018] S101. Receive the text description input by the user, extract keywords using a pre-trained large language model, and generate an initial two-dimensional image based on the keywords using a text-to-image model.

[0019] S102. Perform grayscale processing and Gaussian filtering to remove noise from the initial two-dimensional image. Use image binarization and dithering algorithm or edge detection algorithm to extract the feature pixels of the image and calculate the depth value of each pixel in the image.

[0020] S103. Based on the maximum size of the UAV formation and the preset display resolution, downsample the feature pixels, convert the pixel coordinates into three-dimensional spatial coordinates (x, y, z) relative to the origin of the ground station, and assign the corresponding color value C(R, G, B) and time t to generate initial dot matrix data.

[0021] Preferably, the data fusion process of the positioning and navigation module includes a prediction step and an update step, wherein the update step is represented by X. k|k =X k|k-1 +K k (Z k -HX k|k-1 ), where X k|k Let X be the optimal estimated state at time k. k|k-1 Z represents the predicted state at time k. k Here are the RTK positioning observations at time k, where H is the observation matrix and K is the value of the RTK positioning. k The Kalman gain is used to fuse RTK positioning data with angular velocity and acceleration data from the inertial measurement unit, thereby outputting real-time high-precision position information of the UAV.

[0022] Preferably, the link switching logic of the communication redundancy backup module is as follows: the control module sends a heartbeat packet to the execution module at a preset frequency f and counts the response rate of the execution module. If the response rate of the main link is lower than α or the RSSI signal strength indicator is lower than the threshold β within the time window T, the main link is determined to be abnormal, the backup link is immediately started to establish a connection, and the data stream is seamlessly switched to the backup link.

[0023] Preferably, the four-level compliance review mechanism module includes a four-level compliance review process, which includes, in sequence:

[0024] Content compliance review: Based on a sensitive word database and image recognition algorithms, detect whether the input information contains illegal or non-compliant content;

[0025] Safety risk assessment: Analyze whether the flight path crosses no-fly zones, restricted flight zones, or poses a risk of collision with buildings;

[0026] Image quality review: Evaluate the consistency and visual expressiveness of the initial pixel data, and remove invalid noise;

[0027] Flight compatibility verification: Verify whether the generated trajectory curvature exceeds the drone's maneuverability limits, and whether the power battery capacity meets the flight mission requirements.

[0028] Preferably, in the drone swarm in the execution module, each drone is equipped with a display component, an attitude sensing component, and an attitude controller. The display component is a high-brightness RGB full-color LED. The attitude sensing component is communicatively connected to the airborne flight control unit. The airborne flight control unit is communicatively connected to the control module and the monitoring module, and is used to collect real-time attitude data and position data of the drone, and transmit the data back to the monitoring module through a wireless communication link.

[0029] A method for drone formation performance based on a low-altitude drone formation system includes:

[0030] S201, Task Creation and Content Generation: The user inputs text or image commands to the control module through the APP application. The AIGC content creation module converts the commands into initial dot matrix data. The initial dot matrix data is sequentially reviewed by the four-review mechanism module for content compliance, security risk, visual effects, and flight compatibility. After all reviews are passed, the final formation performance task and content preview result are generated and displayed in the APP application, or the result of failure to pass the review is output.

[0031] S202, Performance Demonstration: Users submit orders through the APP application. The control module generates the flight trajectory of each drone based on the formation performance task using the B-spline curve interpolation algorithm and sends it to the execution module.

[0032] The drone swarm of the execution module takes off according to the received instructions. During the flight, the positioning and navigation module uses the extended Kalman filter algorithm to calculate the position in real time, and the communication redundancy backup module ensures the stability of the link. The drone swarm performs formation flight and displays converged media images.

[0033] Meanwhile, the attitude controller inside the UAV uses a PID closed-loop control algorithm to compare the deviation e(t) between the actual position of the UAV and the target position in real time and calculate the correction amount. Dynamically adjust the motor speed of the drone to correct deviations in flight path and timing;

[0034] S203, Safety Supervision: The full-process control module of the supervision module monitors the airspace compliance, individual aircraft status, and formation synchronization of the entire flight process in real time. If an abnormal risk is identified, the corresponding safety handling instruction is triggered, that is, adaptive adjustment or shutdown alarm. When an emergency stop instruction is received, a global shutdown safety instruction is issued through the one-click stop module to control the shutdown adjustment of the entire cluster or return to the nest.

[0035] The beneficial effects of this invention are as follows: This invention breaks through the limitations of traditional media's "planar dissemination" and transforms the urban sky into a programmable "aerial screen." It pioneers a large-scale drone-linked dissemination mode, solving the problems of existing drone performances being limited to a single venue and relying on commercial customization, thereby enhancing the coverage and influence of information dissemination.

[0036] This invention effectively solves the technical pain points of insufficient control precision, low content creation efficiency, and high operating costs of large-scale drone formations by integrating core technologies such as formation control AI algorithm module, positioning and navigation module, and communication redundancy backup module, combined with AIGC content creation module, thereby improving the system's intelligence level and operational efficiency.

[0037] This invention establishes a comprehensive regulatory and security system, ensuring flight safety and content compliance through a one-click shutdown module and a four-stage review mechanism. Furthermore, the technical solution of this invention has good localization adaptability and replicability, and has broad application prospects. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a block diagram of the overall architecture of a low-altitude unmanned aerial vehicle (UAV) formation system according to the present invention;

[0040] Figure 2 This is a flowchart illustrating the AIGC content creation module in this invention;

[0041] Figure 3 This is a flowchart illustrating a method for drone formation performance in this invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0043] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0044] like Figure 1 , Figure 2 As shown, a low-altitude unmanned aerial vehicle (UAV) formation system consists of an interaction module, a control module, a monitoring module, and an execution module.

[0045] The interaction module is used to enable human-computer interaction between the user and the control module, obtain user input information, provide feedback on the review results to the user, and display the content preview results generated by the input information when the review is approved. Specifically, it is installed in the APP application and realizes functions including information publishing, order submission, displaying content preview results, and displaying review results.

[0046] The APP application interface has a general interaction entry for C-end users and a customized interaction entry for B-end users. The customized interaction entry allows users to upload complex logos, vector graphics or detailed scripts and supports fine-tuning of parameters.

[0047] The control module is deployed on a cloud server and is used to realize the overall management of flight plans and the generation of formation control commands within the region. Specifically, it includes a formation control AI algorithm module, a positioning and navigation module, a communication redundancy backup module, and an AIGC content creation module.

[0048] The AIGC content creation module integrates text-to-graph models such as Stable Diffusion or FLUX.1, as well as a large language model. Specifically, the workflow of the AIGC content creation module includes:

[0049] S101. Receive the text description input by the user, extract keywords using a pre-trained large language model, and generate an initial two-dimensional image based on the keywords using a text-to-image model such as Stable Diffusion or FLUX.1.

[0050] S102. The system calls the OpenCV library to perform grayscale processing and Gaussian filtering to denoise the initial two-dimensional image. It uses image binarization and dithering algorithm or edge detection algorithm to extract the feature pixels of the image. At the same time, the system calls the depth estimation model to calculate the depth value of each pixel in the image.

[0051] S103. Based on the maximum size of the UAV formation and the preset display resolution, downsample the feature pixels to extract key feature points (i.e., UAV position points). Convert the key feature points into three-dimensional spatial coordinates (x, y, z) relative to the origin of the ground station, and assign corresponding color values ​​C(R, G, B) and timestamps t to generate initial dot matrix data. This initial dot matrix data can be directly restored to the content preview result and displayed through the interactive module.

[0052] The transformation logic for the three-dimensional spatial coordinates (x, y, z) is as follows:

[0053] The image pixel coordinate system is mapped to the geographic plane coordinate system to obtain (x, y); the z-axis coordinate is determined as follows: if it is a planar display mode, the z-axis coordinate is the preset fixed safe flight altitude value H. safe If it is a stereoscopic display mode, then based on the depth value D output by the depth estimation model, D is linearly mapped to a preset height variation range [z]. min ,z max This generates three-dimensional dot matrix data with a sense of depth. The allocation mode of t is as follows: for static images, the timestamp t of all drones is set to the start time of the performance; for dynamic images, the system assigns the time t of arrival at the target position to each key feature point according to the preset animation frame rate and trajectory length.

[0054] The formation control AI algorithm module is used to connect discrete target points to generate a smooth flight trajectory based on the initial point matrix data using the B-spline curve interpolation algorithm, and to perform multi-aircraft obstacle avoidance planning using the artificial potential field method, so that the target point generates an attractive force on the UAV, while neighboring UAVs or obstacles generate a repulsive force, and generates corresponding UAV formation control commands.

[0055] Specifically, the formation control AI algorithm module adopts a hierarchical control strategy. In the offline stage, it uses B-spline curves to generate a global reference trajectory. In the online flight stage, it uses the artificial potential field method to calculate the repulsive force between the environment and the UAVs. The repulsive force vector is superimposed on the velocity vector of the global reference trajectory to generate the corrected desired velocity vector, which is then input to the attitude controller (within the UAV) to achieve dynamic obstacle avoidance and formation maintenance of the UAVs.

[0056] The positioning and navigation module adopts RTK carrier phase differential technology. Specifically, a base station is set up on the ground to send differential correction data to the UAV. The UAV receives GPS and Beidou dual-mode satellite signals as well as inertial measurement unit data. The extended Kalman filter algorithm is used to make the optimal estimate of the UAV's position to ensure the positioning accuracy of the UAV in flight.

[0057] The data fusion logic of the positioning and navigation module is divided into two steps: prediction and update. The formula for the update step is expressed as X. k|k =X k|k-1 +K k (Z k -HX k|k-1 ), where X k|k Let X be the optimal estimated state at time k. k|k-1 Z represents the predicted state at time k. k Here are the RTK positioning observations at time k, where H is the observation matrix and K is the value of the RTK positioning. k The Kalman gain is used to fuse RTK positioning data with angular velocity and acceleration data from the inertial measurement unit, thereby outputting real-time high-precision position information of the UAV.

[0058] The communication redundancy backup module adopts a dual-path communication link design, specifically including a 5G public network link and a microwave image transmission link. The 5G link has a large bandwidth and is used to transmit high-definition video and complex control commands; the microwave link has low latency and strong penetration, serving as a backup link. During operation, it also monitors the link quality through a heartbeat packet detection mechanism. When the packet loss rate of the primary link exceeds a preset threshold, it automatically switches to the backup link. The link switching logic of the communication redundancy backup module is as follows: the control module sends heartbeat packets to the execution module at a preset frequency f and counts the response rate of the execution module. If the response rate of the primary link is lower than α or the RSSI signal strength indicator is lower than the threshold β within the time window T, the primary link is determined to be abnormal, and the backup link is immediately started to establish a connection and the data stream is seamlessly switched to the backup link.

[0059] In this embodiment, the control module sends a heartbeat packet every 100ms. If no heartbeat response is received from the drone for three consecutive times, or if the 5G signal strength RSSI is detected to be below -90dBm, the system automatically switches the control flow to the microwave link.

[0060] The execution module is used to receive instructions from the control module to complete formation flight. It includes a drone swarm, in which each drone is equipped with a display component, an attitude sensing component, and an attitude controller. The display component is a high-brightness RGB full-color LED. The attitude sensing component is communicatively connected to the airborne flight control unit. The airborne flight control unit is communicatively connected to the control module and the monitoring module. It is used to collect real-time attitude and position data of the drones and transmit the data back to the monitoring module through a wireless communication link. The attitude controller is used to control the flight of the drones.

[0061] Specifically, the attitude sensing component includes an IMU (Inertial Measurement Unit) and a barometer, which communicate with the airborne flight control unit via UART or CAN bus, with a data transmission frequency of not less than 50Hz.

[0062] The monitoring module includes a one-click shutdown module, a four-review mechanism module, and a full-process control module. The one-click shutdown module can trigger a global shutdown command in an emergency and has the highest priority. The four-review mechanism module is used to conduct compliance review of the disseminated content. The full-process control module monitors the status of the execution module during flight.

[0063] The four-level review mechanism module includes a four-level compliance review process, which includes:

[0064] Content compliance review: Based on a sensitive word database and image recognition algorithms, detect whether the input information contains illegal or non-compliant content;

[0065] Safety risk assessment: Analyze whether the flight path crosses no-fly zones, restricted flight zones, or poses a risk of collision with buildings;

[0066] Image quality review: Evaluate the consistency and visual expressiveness of the initial pixel data, and remove invalid noise;

[0067] Flight compatibility review: Verify whether the curvature of the generated trajectory exceeds the maneuverability limit of the drone, and whether the power battery capacity meets the flight mission requirements. Specifically, calculate the total power consumption based on the total trajectory length and flight time, and compare it with the current battery capacity. If the remaining power is lower than the safety threshold, it is judged as failing.

[0068] A method for drone formation performance based on the aforementioned low-altitude drone formation system, such as... Figure 3 As shown, it includes:

[0069] S201, Task Creation and Content Generation: The user inputs text or image commands to the control module through the APP application. The AIGC content creation module converts the commands into initial dot matrix data. The initial dot matrix data is sequentially reviewed by the four-review mechanism module for content compliance, security risk, visual effects, and flight compatibility. After all reviews are passed, the final formation performance task and content preview result are generated and displayed in the APP application, or the result of failure to pass the review is output.

[0070] S202, Performance Demonstration: Users submit orders through the APP application. The control module generates the flight trajectory of each drone based on the formation performance task using the B-spline curve interpolation algorithm and sends it to the execution module.

[0071] The drone swarm of the execution module takes off according to the received instructions. During the flight, the positioning and navigation module uses the extended Kalman filter algorithm to calculate the position in real time, and the communication redundancy backup module ensures the stability of the link. The drone swarm performs formation flight and displays converged media images.

[0072] Meanwhile, the attitude controller inside the UAV uses a PID closed-loop control algorithm to compare the deviation e(t) between the actual position of the UAV and the target position in real time and calculate the correction amount. Dynamically adjust the motor speed of the drone to correct deviations in flight path and timing;

[0073] S203, Safety Supervision: The full-process control module of the supervision module monitors the airspace compliance, individual aircraft status, and formation synchronization of the entire flight process in real time. If an abnormal risk is identified, the corresponding safety handling instruction is triggered, that is, adaptive adjustment or shutdown alarm. When an emergency stop instruction is received, a global shutdown safety instruction is issued through the one-click stop module to control the shutdown adjustment of the entire cluster or return to the nest.

[0074] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in the details for the sake of brevity.

[0075] This invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A low-altitude unmanned aerial vehicle (UAV) formation system, characterized in that: It includes an interaction module, a control module, a monitoring module, and an execution module; The interaction module, the monitoring module, and the execution module are all communicatively connected to the control module, and the interaction module and the execution module are also communicatively connected to the monitoring module. The interaction module is used to enable human-computer interaction between the user and the control module, obtain user input information, provide feedback on the review results to the user, and display the content preview results generated from the input information when the review is approved. The control module is deployed on a cloud server and is used to realize the overall management of flight plans and the generation of formation control commands within the region. It includes a formation control AI algorithm module, a positioning and navigation module, a communication redundancy backup module, and an AIGC content creation module. The AIGC content creation module is used to generate an initial two-dimensional image based on the text or image information input by the user, perform feature extraction processing on the initial two-dimensional image to obtain feature pixels, map the feature pixels to a preset three-dimensional spatial coordinate system, and generate initial dot matrix data containing spatial coordinate matrix and temporal information. This initial dot matrix data can be directly restored to the content preview result. The execution module is used to receive instructions from the control module to complete formation flight, which includes a swarm of drones; The monitoring module includes a one-click shutdown module, a four-review mechanism module, and a full-process control module. The one-click shutdown module can trigger a global shutdown command in an emergency. The four-review mechanism module is used to conduct compliance review of the disseminated content. The full-process control module monitors the status of the execution module during flight.

2. The low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: In the control module: The formation control AI algorithm module is used to generate a smooth flight trajectory based on the initial dot matrix data using the B-spline curve interpolation algorithm, and to perform multi-drone obstacle avoidance planning in combination with the artificial potential field method, thereby generating corresponding UAV formation control commands. The positioning and navigation module uses RTK carrier phase differential technology and inertial measurement unit data fusion, and uses extended Kalman filter algorithm to make optimal estimation of the UAV's position to ensure the positioning accuracy of the UAV in flight. The communication redundancy backup module adopts a dual-path communication link design, including a 5G public network link and a microwave image transmission link, and monitors the link quality through a heartbeat packet detection mechanism. When the packet loss rate of the main link exceeds a preset threshold, it automatically switches to the backup link.

3. A low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: The interactive module is integrated into the APP application and enables functions including information publishing, order submission, displaying content preview results, and displaying review results. The APP application interface has a general interactive entry for C-end users and a customized interactive entry for B-end users.

4. A low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: The specific workflow of the AIGC content creation module includes: S101. Receive the text description input by the user, extract keywords using a pre-trained large language model, and generate an initial two-dimensional image based on the keywords using a text-to-image model. S102. Perform grayscale processing and Gaussian filtering to remove noise from the initial two-dimensional image. Use image binarization and dithering algorithm or edge detection algorithm to extract the feature pixels of the image and calculate the depth value of each pixel in the image. S103. Based on the maximum size of the UAV formation and the preset display resolution, downsample the feature pixels, convert the pixel coordinates into three-dimensional spatial coordinates (x,y,z) relative to the origin of the ground station, and assign the corresponding color value C(R,G,B) and timestamp t to generate initial dot matrix data.

5. A low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: The data fusion process of the positioning and navigation module includes a prediction step and an update step, wherein the update step is denoted as X. k|k =X k|k-1 +K k (Z k -HX k|k-1 ), where X k|k Let X be the optimal estimated state at time k. k|k-1 Z represents the predicted state at time k. k Here are the RTK positioning observations at time k, where H is the observation matrix and K is the value of the RTK positioning. k The Kalman gain is used to fuse RTK positioning data with angular velocity and acceleration data from the inertial measurement unit, thereby outputting real-time high-precision position information of the UAV.

6. A low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: The link switching logic of the communication redundancy backup module is as follows: the control module sends a heartbeat packet to the execution module at a preset frequency f and counts the response rate of the execution module. If the response rate of the main link is lower than α or the RSSI signal strength indicator is lower than the threshold β within the time window T, the main link is determined to be abnormal, the backup link is immediately started to establish a connection, and the data stream is seamlessly switched to the backup link.

7. A low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: The four-level compliance review mechanism module includes a four-level compliance review process, which includes: Content compliance review: Based on a sensitive word database and image recognition algorithms, detect whether the input information contains illegal or non-compliant content; Safety risk assessment: Analyze whether the flight path crosses no-fly zones, restricted flight zones, or poses a risk of collision with buildings; Image quality review: Evaluate the consistency and visual expressiveness of the initial pixel data, and remove invalid noise; Flight compatibility verification: Verify whether the generated trajectory curvature exceeds the drone's maneuverability limits, and whether the power battery capacity meets the flight mission requirements.

8. A low-altitude unmanned aerial vehicle (UAV) formation system according to claim 1, characterized in that: In the drone swarm within the execution module, each drone is equipped with a display component, an attitude sensing component, and an attitude controller. The display component is a high-brightness RGB full-color LED. The attitude sensing component is communicatively connected to the onboard flight control unit. The onboard flight control unit is communicatively connected to the control module and the monitoring module, and is used to collect real-time attitude and position data of the drone, and transmit the data back to the monitoring module via a wireless communication link.

9. A method for drone formation performance based on a low-altitude drone formation system according to any one of claims 1-8, characterized in that, Include: S201, Task Creation and Content Generation: The user inputs text or image commands to the control module through the APP application. The AIGC content creation module converts the commands into initial dot matrix data. The initial dot matrix data is sequentially reviewed by the four-review mechanism module for content compliance, security risk, visual effects, and flight compatibility. After all reviews are passed, the final formation performance task and content preview result are generated and displayed in the APP application, or the result of failure to pass the review is output. S202, Performance Demonstration: Users submit orders through the APP application. The control module generates the flight trajectory of each drone based on the formation performance task using the B-spline curve interpolation algorithm and sends it to the execution module. The drone swarm of the execution module takes off according to the received instructions. During the flight, the positioning and navigation module uses the extended Kalman filter algorithm to calculate the position in real time, and the communication redundancy backup module ensures the stability of the link. The drone swarm performs formation flight and displays converged media images. Meanwhile, the attitude controller inside the UAV uses a PID closed-loop control algorithm to compare the deviation e(t) between the actual position of the UAV and the target position in real time and calculate the correction amount. Dynamically adjust the motor speed of the drone to correct deviations in flight path and timing; S203, Safety Supervision: The full-process control module of the supervision module monitors the airspace compliance, individual aircraft status, and formation synchronization of the entire flight process in real time. If an abnormal risk is identified, the corresponding safety handling instruction is triggered, that is, adaptive adjustment or shutdown alarm. When an emergency stop instruction is received, a global shutdown safety instruction is issued through the one-click stop module to control the shutdown adjustment of the entire cluster or return to the nest.

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