A method and system for optimizing communication information transmission of a UAV

Abstract

The application provides a UAV communication information transmission optimization method and system, applied to the technical field of UAV communication. In the process of UAV communication service migration, the degradation state of the old relay and the ready state of the new relay are accurately judged, and the movable window is opened when the old relay degradation interval overlaps with the local ready state of the new relay. In the window, the old relay continues to carry the communication service, while the new relay performs the pre-establishment action in parallel to ensure that the new relay can establish a complete forwarding link and has data transmission confirmation capability. Then, according to the sending state of the communication service, the unconfirmed data packet or the newly arrived data packet is smoothly migrated from the old relay to the new relay, and the old relay is safely released after the migration is completed. Therefore, the application realizes the cooperative work of the new and old relays and the seamless switching of the service, and has the advantages of improving the continuity, reliability and data transmission efficiency of the UAV communication.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) communication technology, and in particular to a method and system for optimizing UAV communication information transmission. Background Technology

[0002] In the field of UAV communication and information transmission, when UAVs perform missions in urban low-altitude environments, direct line-of-sight communication with ground control stations is often impossible due to the dense obstruction of tall buildings. To maintain communication continuity, the conventional approach is to use other nearby UAVs as temporary relay nodes to establish a multi-hop forwarding link to transmit control commands and mission data. In actual flight, UAVs need to frequently adjust their flight paths and attitudes to avoid buildings or obstacles, which leads to dynamic changes in the relative spatial positions and obstruction conditions between nodes.

[0003] During multi-hop path reconstruction, the migration and handover of service flows from the original relay path to the new relay path directly determines the continuity of the multi-hop forwarding link. When the original relay UAV enters an obstructed area due to obstacle avoidance, causing its forwarding link to degrade rapidly, another UAV in a better position, although already within the forwarding range, will experience a break in the transmission chain if the original relay path is released prematurely or the new relay path takes over late, because the upstream and downstream nodes of the new path have not yet fully established the forwarding relationship. This will cause upstream nodes to continue sending packets to the failed original relay, while downstream nodes wait for data from the new relay, resulting in packet loss at intermediate nodes, broken transmission acknowledgment chains, and local retransmission queue accumulation, ultimately leading to a severe transient interruption in communication between the ground control station and the mission UAV.

[0004] Existing conventional multi-hop routing protocols primarily focus on path discovery and maintenance in static or slow-moving networks. In low-altitude environments with high-speed node maneuverability and rapidly changing obstructions, their topology update speed often lags behind the degradation speed of physical links, making it difficult to accurately align the upstream and downstream takeover processes of old and new relay nodes during path switching. Therefore, in relay rerouting scenarios involving obstacle avoidance in urban building clusters, when the original relay link rapidly degrades due to obstruction and location changes, and the replacement relay has just entered the acceptable range, the asynchronous release of the old relay path and the upstream and downstream takeover of the new relay path cause a gap in the multi-hop forwarding process, thus affecting the continuous data transmission between the mission UAV and the ground control station.

[0005] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0006] In view of the shortcomings of the prior art, this application provides a method and system for optimizing UAV communication information transmission, which aims to solve the problem that when UAVs perform missions in urban low-altitude environments, the dense obstruction of tall buildings causes a gap in the transfer of service flow from the original relay path to the new relay path during the multi-hop path reconstruction process, thus affecting the continuous data transmission between the mission UAV and the ground control station.

[0007] In a first aspect, a method for optimizing communication information transmission in unmanned aerial vehicles (UAVs) includes the following steps:

[0008] S1: Obtain the first acceptance status information of the old relay currently being communicated by the drone, and the second acceptance status information of the new relay waiting to be migrated;

[0009] S2: When the first acceptance status information indicates that the old relay has entered the degradation interval, and the second acceptance status information indicates that the new relay has reached the partial acceptance ready state, it is determined that the UAV has entered the migration window.

[0010] S3: Within the transferable window, while maintaining the old relay's carrying of the UAV's communication services, control the new relay to perform a pre-establishment action, enabling the new relay to establish a forwarding link from the data source to the data destination, and to have the ability for the receiving end to confirm successful data transmission.

[0011] S4: After the pre-establishment action is completed, obtain the current transmission status of the communication service, and according to the transmission status, migrate unacknowledged data packets or newly arrived data packets from the old relay to the new relay;

[0012] S5: After the migration is complete, release the old relay.

[0013] Furthermore, in step S1, the first acceptance status information includes the maintenance capability level of the old relay on the original path; the second acceptance status information includes the acceptance stage level of the new relay on the candidate path.

[0014] Furthermore, the maintenance capability levels of the old relay include at least stable maintenance, degradation-sustainable, near-failure, and lost load.

[0015] The new relay's acceptance phase levels include at least link initialization, partial establishment, double-end closure, service synchronization completion, and full acceptance readiness.

[0016] Furthermore, step S2 includes:

[0017] S21: When the first acceptance status information indicates that the old relay has entered a degraded sustainable state or is nearing failure, and the second acceptance status information indicates that the new relay has reached partial establishment and double-end closure, it is determined that the UAV has entered a migratable window.

[0018] Furthermore, step S3 includes:

[0019] S31: Within the migration window, the old relay is maintained as the current primary forwarding node to continue carrying the communication services of the UAV. The communication services include at least new data packets, fallback forwarding of sent but unacknowledged data packets, and maintenance of the downlink acknowledgment loop.

[0020] S32: While maintaining the old relay, send a pre-establishment instruction to the new relay. The pre-establishment instruction includes at least: service flow identifier, current confirmation boundary sequence number, and upstream and downstream node identity information.

[0021] S33: In response to the acceptance pre-establishment instruction, control the new relay to perform the acceptance pre-establishment action, so that the new relay can establish a forwarding link from the data source to the data destination, and has the ability of the receiving end to confirm the successful data transmission.

[0022] Furthermore, step S33 includes:

[0023] S331: In response to the pre-establishment instruction, establish an access relationship with the upstream node of the UAV and confirm the entry point for receiving the communication service;

[0024] S332: Establish a forwarding exit relationship with the downstream node of the UAV and confirm the permission to send the communication service downstream;

[0025] S333: Establish a forwarding link from the data source to the data destination, forming an end-to-end transmission channel;

[0026] S334: Configure the receiving and forwarding logic of the acknowledgment loop, enabling it to receive transmission acknowledgments from downstream nodes and feed back the acknowledgment status to upstream nodes.

[0027] Furthermore, step S4 includes:

[0028] S41: Obtain the current transmission status of the communication service. The transmission status includes at least: a queue of buffered data that has not yet been transmitted, a queue of data that has been transmitted but has not yet received downstream confirmation, and the last valid confirmation boundary sequence number of the confirmed data.

[0029] S42: Based on the last valid confirmation boundary sequence number, the unconfirmed data packets are divided into a first type of data and a second type of data; wherein, the first type of data refers to data that is still waiting to be forwarded in the old relay buffer after the confirmation boundary sequence number, and the second type of data refers to data that has left the old relay after the confirmation boundary sequence number but has not yet been confirmed downstream;

[0030] S43: For the cached data that has not yet been sent, rebind it to the sending queue of the new relay according to the migration time, and retain the original sequence information;

[0031] S44: For the first type of data, the old relay continues to forward the data within the migration window and synchronizes the forwarding results to the new relay;

[0032] S45: For the second type of data, the new relay retransmits it according to the boundary sequence number after taking over, and performs downstream deduplication based on the boundary sequence number;

[0033] S46: For newly arriving data packets within the migration window, they are temporarily stored in the short-term buffer of the upstream node. After it is confirmed that the new relay has full reception capacity, they are then imported into the sending queue of the new relay.

[0034] Furthermore, step S5 includes:

[0035] S51: Obtain migration completion confirmation information. When the migration completion confirmation information indicates that the migration is completed, obtain the communication service clearing status of the old relay. The communication service clearing status includes at least: there is no first type of data to be forwarded in the old relay buffer, the old relay has received the final confirmation of the first type of data from the downstream, and the old relay has stopped receiving new data packets from the upstream.

[0036] S52: When the communication service clearing status has been fully confirmed, a release license instruction is sent to the old relay. The release license instruction includes at least: stopping the forwarding of data packets of the communication service, releasing the forwarding binding relationship with upstream and downstream nodes, and reclaiming the cache resources allocated for the communication service.

[0037] S53: Release the old relay based on the release permission instruction.

[0038] Furthermore, in step S51, the migration completion confirmation information includes at least: confirmation of the new transmission object switching effect of the upstream node, confirmation of the opening of the communication service receiving entry and the binding of the downstream exit of the new relay, and confirmation of the establishment of the new source reception and confirmation loop of the downstream node.

[0039] Secondly, a drone communication information transmission optimization system, the system being used to implement the steps of any of the methods described above, the system comprising:

[0040] Acquisition module: Acquires the first acceptance status information of the old relay currently being communicated by the UAV, and the second acceptance status information of the new relay waiting to be migrated;

[0041] Determination module: When the first acceptance status information indicates that the old relay has entered the degradation range, and the second acceptance status information indicates that the new relay has reached the local acceptance ready state, the drone is determined to have entered the migration window;

[0042] Acceptance pre-establishment module: Within the migration window, while maintaining the old relay carrying the communication services of the UAV, the new relay is controlled to perform acceptance pre-establishment actions, enabling the new relay to establish a forwarding link from the data source to the data destination, and to have the ability for the receiving end to confirm the successful data transmission;

[0043] Migration module: After the pre-establishment action is completed, the module obtains the current transmission status of the previous communication service and, based on the transmission status, migrates unacknowledged data packets or newly arrived data packets from the old relay to the new relay.

[0044] Release module: Release the old relay after the migration is complete.

[0045] Beneficial Effects: This application proposes a method and system for optimizing UAV communication information transmission. During the migration of UAV communication services, it accurately determines the degradation state of the old relay and the readiness state of the new relay. When the degradation range of the old relay overlaps with the partial readiness state of the new relay, a migration window is opened. Within this window, the old relay continues to carry communication services, while the new relay performs pre-establishment actions in parallel, ensuring that the new relay can establish a complete forwarding link and has data transmission confirmation capabilities. Subsequently, based on the transmission status of the communication service, unacknowledged data packets or newly arrived data packets are smoothly migrated from the old relay to the new relay, and the old relay is safely released after the migration is complete. Therefore, the technical solution of this application achieves seamless switching between old and new relays and avoids communication interruptions caused by topology updates lagging behind physical link degradation, significantly improving the continuity, reliability, and data transmission efficiency of UAV communication. Attached Figure Description

[0046] Figure 1 This is a flowchart of an optimization method for UAV communication information transmission proposed in this application.

[0047] Figure 2 This is a structural diagram of an optimized communication information transmission system for unmanned aerial vehicles (UAVs) proposed in this application.

[0048] Labeling Explanation: 201, Acquisition Module; 202, Judgment Module; 203, Pre-establishment Module; 204, Migration Module; 205, Release Module. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The components of the embodiments of this application described and marked in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0050] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] Traditional UAV communication methods often fail to maintain direct line-of-sight communication with ground control stations when UAVs are operating in low-altitude urban environments due to dense obstructions from tall buildings. To maintain communication continuity, the conventional approach is to use nearby UAVs as temporary relay nodes, establishing a multi-hop forwarding link to transmit control commands and mission data. However, in actual flight, UAVs frequently need to adjust their flight paths and attitudes, leading to dynamic changes in the relative spatial positions and obstruction conditions between nodes. This presents challenges in migrating and transferring traffic from the original relay path to the new relay path during multi-hop path reconstruction. When the original relay UAV enters an obstructed area due to obstacle avoidance, causing its forwarding link to rapidly degrade, even if another UAV in a better position has entered the forwarding range, the upstream and downstream nodes of the new path have not yet fully established their forwarding relationships. If the original relay path is released prematurely, or the takeover of the new relay path is delayed, a break in the multi-hop transmission will occur in the middle of the process. This can lead to packet loss, broken transmission acknowledgment chains, and backlogs in local retransmission queues, ultimately resulting in severe transient interruptions in communication between the ground control station and the mission drone.

[0052] For this, please refer to Figure 1 This application proposes an optimization method for UAV communication information transmission, the method including the following steps:

[0053] S1: Obtain the first acceptance status information of the old relay currently being communicated by the drone, and the second acceptance status information of the new relay waiting to be migrated;

[0054] S2: When the first acceptance status information indicates that the old relay has entered the degradation range, and the second acceptance status information indicates that the new relay has reached the partial acceptance ready state, it is determined that the UAV has entered the migration window.

[0055] S3: Within the migration window, while maintaining the communication services of the old relay carrying the UAV, control the new relay to perform the pre-establishment action, so that the new relay can establish a forwarding link from the data source to the data destination, and has the ability of the receiving end to confirm the successful data transmission.

[0056] S4: After the pre-establishment action is completed, obtain the current transmission status of the communication service, and according to the transmission status, migrate unacknowledged data packets or newly arrived data packets from the old relay to the new relay.

[0057] S5: Release the old relay after the migration is complete.

[0058] This application effectively solves the problem of interrupted relaying caused by asynchronous takeover of upstream and downstream relay nodes when switching between new and old relay nodes during multi-hop path switching in existing technologies through refined state perception, window determination, pre-establishment of takeover, phased migration, and safe release mechanisms. This ensures the communication continuity and data transmission reliability of UAVs in complex low-altitude environments.

[0059] Among them, drones refer to aircraft that perform missions in urban low-altitude environments, and their communication information transmission relies on relay nodes for forwarding.

[0060] The old relay refers to the relay drone currently carrying drone communication services, while the new relay refers to the candidate drone waiting to take over the communication services from the old relay.

[0061] Acceptance status information refers to data describing the current communication capabilities and readiness status of a relay node, which is used to assess whether a relay node is suitable to continue maintaining communication or accepting new communication services.

[0062] The degradation range refers to the range where the communication capability of an old relay has declined to a certain extent, and migration needs to be considered.

[0063] The partial acceptance ready state refers to the state in which the new relay has the initial acceptance capability and can begin the preparation for acceptance pre-establishment.

[0064] The migration window refers to the period during which business migration is permitted when the old trunk degrades and the new trunk is initially ready.

[0065] The pre-establishment of takeover refers to a series of preparatory work carried out by a new trunk before it officially takes over the business, in order to establish a forwarding link and confirmation mechanism.

[0066] The transmission status refers to the transmission status of data packets in communication services, including whether they have been sent, not acknowledged, or acknowledged.

[0067] An unacknowledged data packet is a data packet that has been sent but has not yet received confirmation from the receiver.

[0068] Newly arrived data packets refer to data packets that need to be transmitted and are newly generated during the migration process.

[0069] Release refers to the cessation of communication services by the old relay and the removal of related resources.

[0070] Specifically, traditional multi-hop routing protocols primarily focus on path discovery and maintenance in static or slow-moving networks. In low-altitude environments with high-speed node maneuverability and rapidly changing obstructions, their topology update speed often lags behind the degradation speed of physical links, making it difficult to accurately align the upstream and downstream takeover processes of old and new relay nodes during path switching. Therefore, in relay rerouting scenarios involving obstacle avoidance in urban building clusters, when the original relay link rapidly degrades due to obstruction and location changes, and the replacement relay has just entered the acceptable range, the asynchronous release of the old relay path and the upstream and downstream takeover of the new relay path cause a gap in the multi-hop forwarding process, thus affecting the continuous data transmission between the mission UAV and the ground control station.

[0071] To address this issue, this application requires, for existing trunks still in service, to understand not only whether the link is still operational, but also the link's health status and degradation trend—the first acceptance status information. For potential replacements, i.e., new trunks, it requires understanding not only whether a signal is present, but whether they have made all the necessary preparations from link establishment to service acceptance—the second acceptance status information.

[0072] Next, when the first takeover status information indicates that the old relay has entered the degradation phase, and the second takeover status information indicates that the new relay has reached a partially takeover ready state, it means that the performance of the old relay has begun to decline, and continued use poses a risk, but it has not yet completely failed and can still provide support for a short period of time. The partially takeover ready state means that the new relay has completed basic network connection preparations and has the potential to take over services. Only when both of these conditions are met simultaneously does the ideal migration window appear.

[0073] Within the migration window, the old relay continues to serve as the primary path for forwarding data, ensuring uninterrupted communication. Simultaneously, the control center sends instructions to the new relay to establish initial connections with the UAV's upstream and downstream nodes and configure necessary forwarding rules and acknowledgment mechanisms. In this way, the new relay completes most of the preparatory work ahead of schedule, while the old relay remains operational.

[0074] After the pre-establishment process is complete, the system queries the old relay's sending queue to identify all sent but unacknowledged data packets, as well as newly generated data packets that need to be sent within the migration window. Then, based on the sequence number and acknowledgment status of these data packets, the system reroutes them to the new relay for transmission. For sent but unacknowledged data packets, the new relay can deduplicate them based on their sequence numbers to avoid duplicate transmissions. Newly arrived data packets are forwarded directly through the new relay.

[0075] Once all unacknowledged data packets and newly arrived data packets have been successfully migrated to the new relay, and the new relay has fully taken over the communication service, the system will send a release command to the old relay. Upon receiving the command, the old relay will stop forwarding data, disconnect from upstream and downstream nodes, and release the buffer resources allocated for the communication service.

[0076] This application determines that the UAV has entered a migration window when the old relay enters the degradation zone and the new relay reaches a partially ready state for takeover. Within this window, while the old relay continues to carry communication services, the new relay is controlled to perform a takeover pre-establishment action. The innovation lies in avoiding communication interruptions caused by premature release of the old relay or delayed takeover by the new relay, as is common in traditional methods. Through the pre-establishment mechanism, the new relay can establish a forwarding link from the data source to the data destination in advance while the old relay is still operational, and has the ability for the receiving end to confirm successful data transmission, thus achieving a smooth transition between the old and new relays.

[0077] Furthermore, after the pre-establishment process is completed, this application migrates unacknowledged or newly arrived data packets from the old relay to the new relay based on the transmission status of the communication service, and safely releases the old relay after the migration is complete. This phased and strategic data migration method ensures the integrity and continuity of data transmission, avoiding data packet loss and broken transmission acknowledgment chains. Compared to the simple and crude path switching in existing technologies, the method of this application can more precisely control the direction of data flow, effectively solving the technical problem of intermediate acceptance interruptions in multi-hop forwarding links under high-speed maneuvering and transient obstruction environments. Therefore, this application significantly improves the communication continuity and data transmission reliability of UAVs in complex low-altitude environments, demonstrating significant technological advancement and practical value.

[0078] Specifically, in some implementations of the above-mentioned UAV communication information transmission optimization method, in order to more accurately assess the acceptance status of the old relay and the new relay, and thus provide a more detailed basis for subsequent migration decisions, this application further defines the acceptance status information obtained in step S1.

[0079] Furthermore, in step S1, the first acceptance status information includes the maintenance capability level of the old relay on the original path; the second acceptance status information includes the acceptance stage level of the new relay on the candidate path.

[0080] Specifically, the maintenance capability level refers to the assessment level of an old relay's ability to maintain service carrying capacity on the current communication path. It reflects the degree to which comprehensive factors such as the old relay's health status, resource load, and link quality affect service continuity. By introducing the maintenance capability level, the degradation trend of old relays can be quantified and graded, thereby more accurately determining whether they have entered the degradation range requiring migration.

[0081] The acceptance phase level can be understood as the status or progress of a new trunk in establishing its service capacity. It reflects the different stages from the initial discovery of the new trunk to its full service-carrying capability. By introducing the acceptance phase level, the readiness of the new trunk can be carefully assessed to ensure that it has reached a sufficient state of readiness for service migration, thus avoiding service interruptions or data loss due to insufficient preparation of the new trunk.

[0082] This application's solution specifies the first acceptance status information as the maintenance capability level of the old relay and the second acceptance status information as the acceptance stage level of the new relay, enabling step S1 to obtain more instructive and actionable data when acquiring acceptance status information. The introduction of the maintenance capability level allows the system to dynamically monitor performance changes of the old relay and, based on its declining maintenance capability, issue early warnings and initiate the migration process. The introduction of the acceptance stage level ensures that the new relay has met preset thresholds in its preparation work, such as link establishment and resource allocation, before being selected to undertake services, thus providing a solid foundation for subsequent service migration. This detailed status information acquisition mechanism helps the system more accurately determine whether the UAV has entered the migration window, thereby achieving smooth and efficient service migration while ensuring communication continuity.

[0083] In some embodiments of this application, the first acceptance status information includes the maintenance capability level of the old relay on the original path, and the second acceptance status information includes the acceptance stage level of the new relay on the candidate path. To more accurately assess the operational status of the old relay and the readiness level of the new relay, thereby providing a more detailed decision-making basis for the migration of UAV communication services, this application further defines these levels in detail.

[0084] Furthermore, the maintenance capability levels of old relays include at least stable maintenance, degradation-sustainable, near-failure, and lost load.

[0085] The acceptance phases of a new relay include at least the following stages: initial link appearance, partial establishment, closure of both ends, synchronous completion of services, and full acceptance readiness.

[0086] Specifically, the maintenance capability level of an old relay is a quantitative assessment of its current ability to carry communication services. Stable maintenance means that the old relay is currently operating well, can stably carry UAV communication services, and is not expected to experience performance degradation in the foreseeable future. In a specific implementation, a stable maintenance level can be defined as follows: uplink transmission success rate remains at a high level (e.g., not less than 90%), downlink acknowledgment latency remains stable within a short range (e.g., not more than 50ms), retransmission frequency is low (e.g., no more than 3 times per 100 packets), acknowledgment loss rate is less than 5% per unit time, no consecutive acknowledgment gaps have occurred in the most recent consecutive time slots, and none of the above indicators show a continuous deterioration trend.

[0087] Degradation sustainable refers to a situation where the performance of the old relay has declined to a certain extent, but it can still barely maintain the carrying capacity of communication services. There may be an increase in packet loss rate or latency, but it has not been completely interrupted. In a specific implementation, the uplink transmission success rate drops to a moderate level (e.g., between 60% and 90%), the downlink acknowledgment latency increases (e.g., between 50ms and 150ms), the number of retransmissions increases significantly compared to the stable state, the proportion of missing acknowledgments per unit time rises to between 5% and 20%, there are intermittent acknowledgment gaps but no continuous gaps have formed, the buffer backlog shows a slow growth trend, and all indicators show a slow downward deterioration trend. This can be classified as degradation sustainable.

[0088] Near failure refers to a situation where the performance of an old relay has severely degraded, potentially leading to communication interruption at any time, resulting in extremely low service capacity and an urgent need for migration. In a specific implementation, near failure can be defined as follows: uplink transmission success rate drops to a low level (e.g., between 30% and 60%), downlink acknowledgment latency increases significantly (e.g., exceeding 150ms) or timeouts occur, retransmission counts increase sharply or retransmissions fail consecutively, the proportion of missing acknowledgments per unit time rises to between 20% and 50%, acknowledgment gaps occur in multiple consecutive time slots, buffer backlog shows a rapid growth trend, and all indicators show an accelerating downward trend.

[0089] Lost bearer refers to an old relay that has completely lost its ability to carry communication services, and the communication link has been interrupted. In a specific implementation, the uplink transmission success rate is close to 0 or completely interrupted, downlink acknowledgments are completely missing or time out indefinitely, retransmissions are meaningless or all fail, the acknowledgment loss rate per unit time is close to 100%, data in the buffer queue cannot be sent and continues to accumulate or be discarded, and the link has basically or completely lost its transmission capability. Therefore, it is classified as a lost bearer.

[0090] The stage level of a new relay's acceptance is an assessment of its progress in preparing to accept drone communication services. Specifically, "initially established link" means that a physical or logical connection has been initially established between the new relay and the drone, but a stable communication path has not yet been formed.

[0091] Partial establishment refers to a situation where a new relay has established a stable access relationship with the drone or a connection with one of the data sources / data destinations, but a complete end-to-end forwarding link has not yet been formed.

[0092] Double-ended closure refers to a new relay having successfully established a complete forwarding link from the data source to the data destination, but not yet having started the actual business data synchronization or confirmation loop configuration.

[0093] Service synchronization completion means that the new relay has not only established a forwarding link, but has also completed the synchronization of service data with the old relay, and has the ability to take over services, including the configuration of the confirmation loop.

[0094] Fully ready to take over means that the new relay is fully prepared to take over the communication services of the drone, including the establishment of forwarding links, synchronization of service data, and complete configuration of acknowledgment loops, and can be used as the primary relay at any time.

[0095] This application's solution, by meticulously classifying the maintenance capability level of old relays and the takeover phase level of new relays, enables the system to more accurately assess the health status of old relays and the readiness level of new relays. When the maintenance capability level of an old relay transitions from stable maintenance to degraded maintainability or near failure, the system can promptly identify potential communication risks. Simultaneously, by monitoring the takeover phase level of new relays, sufficient time can be ensured for the new relay to gradually complete the preparation process from initial link appearance to full takeover readiness when the performance of the old relay deteriorates. This provides a sufficient preparation window and a reliable foundation for subsequent service migration. This hierarchical evaluation mechanism allows the UAV communication information transmission optimization method to make more refined and intelligent decisions based on actual network conditions and relay node status.

[0096] By defining in detail the maintenance capability level of the old relay and the takeover stage level of the new relay through the above technical solution, the accuracy and timeliness of UAV communication service migration decisions can be significantly improved. Specifically, this detailed classification helps avoid initiating the migration process too early or too late, thereby reducing unnecessary resource consumption and potential service interruption risks. When the old relay is in a degraded but maintainable or near-failure state, the system can initiate the pre-establishment action of the new relay earlier, gaining valuable time for a smooth service migration. At the same time, by progressively advancing the takeover stage level of the new relay, it can be ensured that the new relay has complete carrying capacity before taking over the service, thereby effectively guaranteeing the continuity and stability of communication services during the migration process and improving the user experience.

[0097] Traditional methods for optimizing UAV communication transmission typically rely on general indicators—such as the old relay entering a degradation zone and the new relay reaching partial takeover readiness—to determine when a UAV enters a migration window. However, in practical applications, these general indicators may lack sufficient precision and detail, leading to inaccurate timing in determining the migration window in complex and ever-changing communication environments. For example, if the definition of the degradation zone is too broad, migration preparation may be initiated prematurely when the old relay can still effectively carry the service, resulting in unnecessary resource consumption; conversely, if the definition is too lagging, the optimal migration opportunity may be missed, increasing the risk of service interruption. Failure to address these issues could affect the continuity and transmission efficiency of UAV communication services, especially in scenarios with high real-time requirements.

[0098] Furthermore, step S2 includes:

[0099] S21: When the first acceptance status information indicates that the old relay has entered a degraded but sustainable state or is close to failure, and the second acceptance status information indicates that the new relay has reached partial establishment and double-end closure, it is determined that the UAV has entered the migration window.

[0100] Specifically, the "maintainable degradation" level in the maintenance capability classification of old relays refers to a situation where, although the old relay's performance has declined, it can still barely maintain the current communication service, but its stability has been affected, and there is a risk of further deterioration. "Near failure," on the other hand, indicates that the old relay's performance has severely degraded and it is about to completely lose its carrying capacity, posing an extremely high risk of service interruption. Both of these states are considered as old relays entering a degradation range that requires attention.

[0101] In the aforementioned stages of new relay acceptance, partial establishment can be understood as the new relay successfully establishing preliminary connections or routes with some communication nodes of the drone (e.g., upstream or downstream nodes), but not yet forming a complete end-to-end forwarding link. Double-ended closure indicates that the new relay has successfully established stable connections with both upstream and downstream nodes of the drone, forming a complete forwarding path from the data source to the data destination, but may not yet be fully synchronized with the service status or possess complete acknowledgment capabilities. When a new relay reaches either partial establishment or double-ended closure, it indicates that it has preliminary acceptance capabilities and can be considered to have reached a partially acceptable state.

[0102] This application's solution provides a more precise and operational basis for determining the migration window by specifying the degradation range of the old relay into a degradation sustainable or near-failure state, and the local takeover ready state of the new relay into a local establishment or double-ended closure state. It is precisely because of the clear definition and combination of these states that the system can promptly and appropriately initiate migration preparation when the old relay's performance begins to decline but has not yet completely failed, and the new relay has already acquired preliminary takeover capabilities. This precise determination mechanism avoids initiating migration too early or too late, ensuring a balance between the performance degradation of the old relay and the takeover capability of the new relay, thereby effectively reducing the risk of service interruption.

[0103] In some preferred embodiments, a specific example is given below. Assume a drone is transmitting data via an old relay. The system continuously monitors the first acceptance status information of the old relay and the second acceptance status information of the new relay.

[0104] Specifically, when the maintenance capability level of the old relay decreases from stable maintenance to degraded maintainable, it indicates that the performance of the old relay is beginning to show signs of instability, but it can still barely maintain services. Simultaneously, the new relay's takeover stage progresses from initial link emergence to partial establishment, meaning that the new relay has established an initial connection with the upstream or downstream nodes of the drone. At this point, based on the judgment logic in step S21 above, the system identifies that the old relay is in a degraded maintainable state and the new relay is in a partially established state, thus determining that the drone has entered a migration window.

[0105] For example, in another scenario, the sustainability level of the old relay deteriorates further, dropping from degraded sustainable to near failure, indicating that it is about to completely lose its carrying capacity. Meanwhile, the new relay's takeover stage has progressed to double-ended closure, meaning the new relay has successfully established stable end-to-end forwarding paths with both upstream and downstream nodes of the UAV. In this case, the system, also based on the judgment logic of step S21, identifies that the old relay is in a near-failure state and the new relay is in a double-ended closure state, thus determining that the UAV has entered a migration window.

[0106] In both scenarios, once the migration window is determined, the system will initiate subsequent pre-establishment actions to prepare for the subsequent business migration, thereby smoothly switching communication services to the new relay before the old relay completely fails, ensuring communication continuity.

[0107] Furthermore, step S3 includes:

[0108] S31: Within the migration window, maintain the old relay as the current primary forwarding node and continue to carry the communication services of the UAV. The communication services include at least the forwarding of newly sent data packets, the backup forwarding of sent but unacknowledged data packets, and the maintenance of the downlink acknowledgment loop.

[0109] S32: While maintaining the old relay, send a pre-establishment instruction to the new relay. The pre-establishment instruction includes at least: service flow identifier, current confirmation boundary sequence number, and upstream and downstream node identity information.

[0110] S33: In response to the accept pre-establishment instruction, control the new relay to perform the accept pre-establishment action, enabling the new relay to establish a forwarding link from the data source to the data destination, and to have the ability of the receiving end to confirm the successful transmission of data.

[0111] Specifically, in step S31, maintaining the old relay as the current primary forwarding node means that before the UAV communication service migrates to the new relay, the old relay will still be responsible for forwarding all data packets. The communication service includes at least newly generated data packets, fallback forwarding of data packets that have been sent but have not yet received downstream acknowledgment, and maintaining the acknowledgment loop from the receiver to the sender. Fallback forwarding can be understood as the old relay being responsible for retransmission or ensuring eventual delivery of data packets if they are lost or delayed during transmission. Maintaining the downlink acknowledgment loop means that the old relay ensures that acknowledgment information from downstream nodes is correctly transmitted back to upstream nodes to guarantee the reliability of data transmission.

[0112] In step S32, the pre-establishment instruction sent to the new relay is crucial for initiating the new relay's preparation to take over communication services. The pre-establishment instruction includes at least a service flow identifier, intended to uniquely identify the communication service to be migrated; a current confirmation boundary sequence number, indicating the latest sequence number of data packets successfully confirmed by the old relay, providing a reference for the new relay to subsequently take over data packets; and upstream and downstream node identity information, enabling the new relay to identify and establish connections with upstream and downstream nodes related to the communication service.

[0113] In practical applications, in step S33, in response to the pre-establishment instruction, the new relay is controlled to perform the pre-establishment action. The purpose is to enable the new relay to complete the necessary link establishment and functional configuration in advance without affecting the existing services of the old relay. Specifically, this may include establishing an access relationship with the upstream node of the UAV to confirm the entry point for receiving communication services; establishing a forwarding exit relationship with the downstream node of the UAV to confirm the permission to send communication services downstream; establishing a forwarding link from the data source to the data destination to form an end-to-end transmission channel; and configuring the receiving and forwarding logic of the confirmation loop, enabling it to receive transmission confirmations from downstream nodes and feed back the confirmation status upstream. Through these actions, the new relay already possesses the complete capability to undertake communication services before the actual data migration occurs.

[0114] This application's solution ensures the continuity of communication services and the integrity of data transmission during the migration preparation phase by maintaining the old relay as the primary forwarding node within the migration window, thus avoiding service interruptions or data loss due to relay handover preparation. Simultaneously, by sending a pre-establishment instruction containing critical service information to the new relay, the new relay can accurately identify and perform targeted handover preparation. Because the new relay performs pre-establishment actions in advance—establishing forwarding links and configuring acknowledgment capabilities—while the old relay remains active, subsequent data migration can proceed in a pre-ready environment, significantly reducing the risks and complexity of the migration process. This dual-active pre-establishment mechanism lays the foundation for a smooth subsequent handover.

[0115] The above technical solution defines in detail the specific steps for pre-establishment within the migration window, making the migration process of UAV communication services more precise and controllable. Maintaining the primary status of the old relay ensures seamless operation of communication services during the pre-establishment period, avoiding service interruptions. Simultaneously, through explicit pre-establishment instructions and the pre-establishment actions of the new relay, the new relay can efficiently and accurately complete the preparation of link and acknowledgment capabilities, thus providing a solid foundation for subsequent data packet migration and significantly improving the smoothness and reliability of communication service migration.

[0116] Furthermore, step S33 includes:

[0117] S331: In response to the pre-establishment command, establish an access relationship with the upstream node of the UAV and confirm the entry point for receiving communication services;

[0118] S332: Establish a forwarding exit relationship with the downstream nodes of the drone and confirm the authority to send communication services downstream;

[0119] S333: Establish a forwarding link from the data source to the data destination, forming an end-to-end transmission channel;

[0120] S334: Configure the receiving and forwarding logic of the acknowledgment loop, enabling it to receive transmission acknowledgments from downstream nodes and feed back the acknowledgment status to upstream nodes.

[0121] Specifically, in step S331, in response to accepting the pre-establishment instruction, the new relay needs to establish an access relationship with the upstream node of the UAV. This step aims to ensure that the new relay can correctly identify and receive communication service data packets sent from the upstream node, thereby preparing for subsequent data forwarding. By establishing an access relationship, the new relay clarifies its identity and permissions as a data receiving entry point.

[0122] In step S332, establishing a forwarding exit relationship with the downstream node of the UAV means that after receiving upstream data, the new relay needs to establish an effective data transmission channel with the downstream node. The purpose of this step is to confirm that the new relay has the authority and ability to send communication service data to the downstream node, ensuring that the data can be successfully forwarded from the new relay to the destination.

[0123] In practical applications, establishing a forwarding link from the data source to the data destination in step S333 means that the new relay needs to integrate its access relationship with upstream nodes and its forwarding exit relationship with downstream nodes to form a complete end-to-end transmission channel. Establishing this forwarding link is crucial to ensuring that communication service data can be accurately transmitted from the original data source through the new relay to the data destination. This process includes configuring routing table entries at the network layer or establishing session connections at the application layer.

[0124] Furthermore, in step S334, configuring the reception and forwarding logic of the acknowledgment loop means that the new relay needs to have the ability to process data transmission acknowledgment information. The purpose is that when a data packet arrives at the receiving end and is successfully received, the receiving end will send acknowledgment information. The new relay needs to be able to receive these transmission acknowledgments from downstream nodes and feed back relevant information to upstream nodes based on the acknowledgment status. This is crucial for achieving reliable data transmission, flow control, and subsequent data migration decisions, ensuring the integrity and reliability of data transmission.

[0125] This application's solution breaks down the pre-establishment process into specific steps, including establishing access relationships with upstream nodes, establishing forwarding exit relationships with downstream nodes, forming end-to-end forwarding links, and configuring the reception and forwarding logic of the acknowledgment loop. This allows the new relay to systematically and comprehensively complete all preparatory work before taking over UAV communication services. These steps work together to ensure that the new relay can not only correctly receive and forward data but also effectively manage the data transmission acknowledgment process, thus providing a solid foundation and reliable guarantee for subsequent service migration.

[0126] Through the above technical solution, the process of undertaking pre-establishment actions is clearly defined and standardized, significantly improving the reliability and efficiency of new and medium-sized network access services. Specifically, clear access and forwarding exit relationships ensure smooth data flow, the establishment of end-to-end forwarding links ensures service continuity, and the configuration of acknowledgment loops provides crucial assurance for data transmission reliability. This helps reduce the risk of data loss during migration, improves the overall performance and stability of UAV communication information transmission optimization, and makes the service migration process smoother and more controllable.

[0127] In some existing implementations, while mechanisms have been proposed to migrate unacknowledged or newly arrived data packets from an old relay to a new relay, how to finely handle data packets in different states during the actual migration process to ensure data transmission integrity, avoid data loss or duplication, and achieve a smooth and seamless service handover remains a problem to be solved. Failure to finely distinguish the transmission status of data packets and adopt targeted migration strategies may lead to data packet loss, out-of-order delivery, or duplicate transmission during the handover process, thereby affecting the continuity and reliability of communication services. To address this, this application further proposes fine-grained management of the transmission status of communication services and the adoption of differentiated migration strategies based on different data packet types to optimize the data packet migration process.

[0128] Furthermore, step S4 includes:

[0129] S41: Obtain the current transmission status of the communication service. The transmission status includes at least: the queue of buffered data that has not yet been transmitted, the queue of data that has been transmitted but has not yet received downstream confirmation, and the last valid confirmation boundary sequence number of the confirmed data.

[0130] S42: Based on the last valid confirmation boundary sequence number, unacknowledged data packets are divided into Category 1 data and Category 2 data; Category 1 data refers to data that is still waiting to be forwarded in the old relay buffer after the confirmation boundary sequence number, and Category 2 data refers to data that has left the old relay after the confirmation boundary sequence number but has not yet been confirmed downstream.

[0131] S43: For buffered data that has not yet been sent, rebind it to the sending queue of the new relay according to the migration time, and retain the original sequence information;

[0132] S44: For the first type of data, the old relay continues to forward the data within the migration window and synchronizes the forwarding results to the new relay;

[0133] S45: For the second type of data, the new relay will resend the data according to the boundary sequence number after taking over, and perform downstream deduplication based on the boundary sequence number;

[0134] S46: For newly arriving data packets within the migration window, they are temporarily stored in the short-term buffer of the upstream node. Once it is confirmed that the new relay has full reception capacity, they are then imported into the new relay's sending queue.

[0135] Specifically, in step S41, obtaining the transmission status aims to comprehensively understand the data transmission progress and status of the current communication service. The unsent buffered data queue refers to the set of data packets that have arrived at the old relay but have not yet been processed and sent downstream; the sent but not yet acknowledged data queue refers to data packets that have been sent from the old relay but have not yet received acknowledgment from the receiving end; these data packets may still be in transit or waiting for processing at the receiving end; the last valid acknowledgment boundary sequence number of the acknowledged data is a key indicator, identifying the latest sequence number of all successfully transmitted and acknowledged data packets. Data packets prior to this sequence number are considered to have arrived safely.

[0136] Furthermore, in step S42, the unacknowledged data packets can be precisely classified using the last valid acknowledgment boundary sequence number. The first category refers to data packets that, after the acknowledgment boundary sequence number, are still stored in the old relay buffer awaiting forwarding; these packets have not yet left the old relay. The second category refers to data packets that, after the acknowledgment boundary sequence number, have been sent from the old relay but have not yet received downstream acknowledgment; these packets are in transit. This classification helps to adopt different migration strategies for data packets in different states, ensuring the continuity and integrity of data transmission.

[0137] Specifically, in step S43, for cached data that has not yet been sent, since it has not been processed by the old relay, these data packets can be directly re-bound to the sending queue of the new relay at the migration time. During re-binding, its original sequence information is preserved to ensure that the order of data packets is not disrupted, thereby achieving a smooth service switchover.

[0138] In step S44, for the first type of data—those data packets still waiting to be forwarded in the old relay buffer—the old relay continues to forward them within the migration window to avoid interrupting their transmission. Simultaneously, the old relay synchronizes the forwarding results of these data packets to the new relay, enabling the new relay to understand the transmission status of these data packets in real time and prepare for subsequent takeover.

[0139] In practical applications, in step S45, for the second type of data—those data packets that have left the old relay but have not yet been acknowledged downstream—the new relay takes over and retransmits them according to the boundary sequence number after the old relay has completed its duties. To prevent duplicate data packet transmission from causing the downstream receiver to process redundant data, the new relay performs downstream deduplication based on the boundary sequence number, ensuring that the receiver receives only one valid data packet.

[0140] In a preferred implementation, in step S46, for newly arriving data packets within the migration window, to avoid data loss or processing delays due to relay switching during migration, these data packets are temporarily stored in the short-term buffer of the upstream node. Only after confirming that the new relay has full receiving capacity, i.e., that the new relay is fully ready to receive and process these data packets, will these newly arriving data packets be imported into the new relay's sending queue, thereby ensuring a smooth transition of data transmission.

[0141] This application's solution effectively addresses the potential data loss, out-of-order delivery, or duplicate transmission issues during UAV relay handover by meticulously classifying the transmission status of communication services and employing differentiated migration strategies for data packets in different statuses. Specifically, by acquiring the transmission status, the system can comprehensively grasp the transmission progress of data packets, including buffered data yet to be sent, data in transit, and confirmed boundaries. Based on this, unconfirmed data is divided into first-class and second-class data using the last valid confirmed boundary sequence number, achieving precise classification of data packets. For buffered data yet to be sent, it is directly bound to the new relay, ensuring seamless takeover of new data. For first-class data, the old relay continues to forward and synchronize results, avoiding interruption of the data stream being processed. For second-class data, the new relay takes over, resends, and deduplicates, effectively solving the problem of potential data loss or duplication in transit. Furthermore, for newly arriving data packets within the migration window, an upstream short-term caching mechanism ensures that the new relay is fully ready before importing, thereby preventing the loss of new data during handover. It is precisely because of this sophisticated data packet processing mechanism that drone communication services can achieve a smooth and reliable migration when old relays degrade.

[0142] Through the above technical solution, this application can significantly improve the reliability and efficiency of the aforementioned UAV communication information transmission optimization method. By finely managing and classifying the data packet transmission status, it effectively avoids problems such as data loss, out-of-order transmission, or duplicate transmission that may occur during the migration from the old relay to the new relay, thereby ensuring the continuity of communication services and the integrity of data transmission. In particular, by adopting targeted processing strategies for unsent cached data, data in transit, and newly arrived data packets, the entire migration process is smoother and seamless, minimizing service interruption time and improving user experience. Compared with the general data packet migration in the basic solution, the additional technical features of this application provide stronger robustness and better data transmission quality.

[0143] In some preferred embodiments, a specific example is given below. Suppose a drone is transmitting video streams via an old relay, and the performance of the old relay begins to degrade, at which point the system determines that the drone has entered a migration window.

[0144] First, the system will obtain the current transmission status of the video stream communication service. For example, it may find that there are still 100 video data packets in the old relay's buffer that have not yet been sent (the buffered data queue that has not yet been sent), while 50 video data packets have been sent but have not yet received acknowledgment from the downstream (the data queue that is in transit), and the last valid acknowledgment boundary sequence number of the acknowledged data is N.

[0145] Next, based on sequence number N, the system classifies the unacknowledged data packets. Data packets still in the old relay buffer after the acknowledgment boundary sequence number N are classified as Category 1 data, such as the aforementioned 100 unsent data packets. Data packets that have left the old relay after the acknowledgment boundary sequence number N but have not yet been acknowledged downstream are classified as Category 2 data, such as the aforementioned 50 in-transit data packets.

[0146] For the 100 video data packets that have not yet been sent from the old relay buffer (the buffered data that has not yet been sent), the system will immediately rebind them to the sending queue of the new relay according to the migration time, and retain their original sequence information.

[0147] For the first type of data, namely video data packets waiting to be forwarded in the old relay buffer, the old relay will continue to forward these data packets within the migration window and synchronize the forwarding results to the new relay in real time.

[0148] For the second type of data, namely the 50 video data packets that have been sent but have not yet received confirmation from the downstream, once the new relay takes over, it will resend these data packets according to their boundary sequence numbers and use the downstream deduplication mechanism to ensure that the receiving end does not receive duplicate data packets.

[0149] Meanwhile, during the entire migration window, any newly arriving video data packets, such as new video frames continuously generated by the drone, will be temporarily stored in the short-term buffer of the upstream node. Only when the system confirms that the new relay is fully capable of taking over, that is, the new relay has successfully established a forwarding link and is ready to receive new data, will these temporarily stored new data packets be imported into the new relay's sending queue for transmission.

[0150] Through the aforementioned refined data packet processing flow, the video stream transmission of drones can achieve seamless and lossless service migration during the process of old relay degradation and switching to a new relay.

[0151] In some of the embodiments described above in this application, after the UAV communication service is migrated from the old relay to the new relay, the old relay needs to be released to recover resources and avoid unnecessary overhead. However, if the release process of the old relay lacks a rigorous confirmation mechanism, it may lead to data packet loss, incomplete resource recovery, or failure to completely sever the binding relationship between the old relay and upstream and downstream nodes, thereby affecting the continuity of communication services and the stability of the system.

[0152] Furthermore, step S5 includes:

[0153] S51: Obtain migration completion confirmation information. When the migration completion confirmation information indicates that the migration is completed, obtain the communication service clearing status of the old relay. The communication service clearing status includes at least: there is no first type of data to be forwarded in the old relay buffer, the old relay has received the final confirmation of the first type of data from the downstream, and the old relay has stopped receiving new data packets from the upstream.

[0154] S52: When the communication service clearing status has been fully confirmed, send a release license instruction to the old relay. The release license instruction includes at least: stopping the forwarding of data packets of the communication service, releasing the forwarding binding relationship with upstream and downstream nodes, and reclaiming the buffer resources allocated for the communication service.

[0155] S53: Release the old relay based on the release license instruction.

[0156] Specifically, in step S51, the migration completion confirmation information refers to a signal or status indicating that the data migration process is essentially complete. Upon receiving this confirmation information, the system further obtains the old relay's communication service clearance status. Confirmation of this clearance status is crucial to ensuring the safe release of the old relay.

[0157] In this context, "no more Category 1 data to be forwarded in the old relay buffer" means that the buffer inside the old relay used to store data packets to be sent has been cleared, and there is no longer any data that needs to be forwarded through the old relay. "The old relay has received final confirmation from the downstream for Category 1 data" indicates that all data packets sent through the old relay, especially those Category 1 data packets that were continued to be forwarded by the old relay within the migration window, have been confirmed by the receiving end, ensuring the integrity of data transmission.

[0158] Furthermore, the fact that the old relay has stopped receiving new data packets from upstream means that the upstream node has completely switched the data flow to the new relay, and the old relay no longer undertakes the task of receiving new data.

[0159] In step S52, when all the aforementioned communication service clearance statuses are confirmed to be met, the system sends a release permission instruction to the old relay. This instruction signals the formal initiation of the old relay release process. The release permission instruction explicitly instructs the old relay to perform the following operations: stop forwarding any remaining communication service data packets, release all forwarding bindings established with upstream and downstream nodes, and reclaim all buffer resources allocated for the communication service. These operations aim to ensure that the old relay is completely disconnected from the communication link and releases the system resources it occupies.

[0160] In step S53, after receiving and executing the release permission instruction, the old relay will complete its own release process. This means that the old relay will no longer participate in the UAV's communication information transmission, and the network and computing resources it occupies will be released and made available for use by other tasks or system components.

[0161] This application's solution addresses the issue of data loss or resource waste caused by incomplete clearing of services or resources by old relays in the basic solution by introducing a strict confirmation mechanism for the clearing status of old relay communication services. Specifically, step S51 ensures that the old relay no longer carries any valid communication services logically and physically by acquiring multi-dimensional clearing status information, such as clearing cached data, downstream confirmation of completion, and cessation of receiving new data. This comprehensive status confirmation allows the subsequent release operation to proceed safely. Step S52 sends a release permission instruction containing explicit instructions only after confirming that the old relay is completely cleared. This ensures that the old relay can orderly stop forwarding, unbind, and reclaim resources, avoiding system instability or data integrity damage that may result from indiscriminate release.

[0162] In some preferred embodiments, it is assumed that the drone is transmitting data via the old relay and has completed the migration of most data packets to the new relay. At this point, the system needs to release the old relay. First, the system obtains confirmation information that the migration is complete, for example, that the new relay has successfully taken over all new data streams and that upstream nodes have completely switched their transmission targets to the new relay.

[0163] Based on this, the system will further check the communication service clearance status of the old relay. Specifically, the system will check whether there is any Category 1 data waiting to be forwarded in the old relay's buffer, such as data packets that are being forwarded by the old relay within the migration window but have not yet been completely sent. At the same time, the system will also verify whether the old relay has received final acknowledgments from downstream nodes for all Category 1 data sent through the old relay, to ensure that there are no unacknowledged data packets.

[0164] Finally, the system verifies whether the old relay has stopped receiving new data packets from upstream nodes. Only when all these conditions are met—that is, the old relay's buffer is cleared, all sent data has been acknowledged, and no new data is being received—will the system send a release permission command to the old relay. This command explicitly instructs the old relay to cease all forwarding activities, unbind all connections from the upstream and downstream nodes of the drone, and reclaim all memory and network resources allocated to it for this communication service. After receiving and executing these commands, the old relay is safely released from the network, thus ensuring the integrity of data transmission and the efficient use of system resources.

[0165] Furthermore, in step S51, the migration completion confirmation information includes at least: confirmation of the new transmission object switching effect of the upstream node, confirmation of the opening of the communication service receiving entry and the binding of the downstream exit of the new relay, and confirmation of the establishment of the new source reception and confirmation loop of the downstream node.

[0166] Specifically, the confirmation of the new transmission target switching effect at the upstream node means that during the migration of UAV communication services, the upstream node has successfully switched its data transmission target from the old relay to the new relay, and this switching operation has taken effect and been confirmed on the upstream node side. Its purpose is to ensure that all new data packets are sent directly to the new relay, preventing data from continuing to flow to the old relay, thereby guaranteeing the continuity and correctness of the data flow.

[0167] The opening of the communication service receiving inlet and the confirmation of downstream exit binding for the new relay can be understood as the new relay having successfully completed its internal configuration, enabling it to receive data streams from upstream nodes and establishing a stable forwarding exit relationship with downstream nodes, ensuring that data can be correctly forwarded from the new relay to its destination. The purpose is to guarantee that the new relay has complete end-to-end data forwarding capabilities, providing a reliable foundation for subsequent data transmission.

[0168] In practical applications, the establishment of a new source reception and acknowledgment loop at a downstream node specifically involves the downstream node identifying and receiving the data stream from the new relay as a new valid source, and successfully establishing an acknowledgment loop with the new relay. This enables the downstream node to acknowledge the received data and send the acknowledgment information back to the new relay. The purpose is to ensure the reliability of data transmission and to enable the new relay to correctly handle the data transmission acknowledgment mechanism, thereby completing the entire data transmission loop.

[0169] This application's solution, by clearly defining the specific components of the migration completion confirmation information, ensures that the migration status of the entire communication link is comprehensively and accurately assessed before the old relay is released. The confirmation of the new transmission target switching effect at the upstream node guarantees that the data stream source has correctly switched to the new relay; the confirmation of the new relay's open communication service receiving inlet and downstream exit binding ensures that the new relay itself is ready to carry services and can forward correctly; and the confirmation of the new source reception and confirmation loop establishment at the downstream node verifies that the data receiver has accepted the new relay as the data source and can perform normal data confirmation. It is precisely because of these multi-dimensional confirmation mechanisms that each key link in the entire migration process is effectively verified, thereby avoiding data loss or service interruption caused by information asymmetry or inconsistent states.

[0170] Please refer to Figure 2 This application also proposes an optimization system for UAV communication information transmission, the system being used to implement the steps of any of the above methods, the system comprising:

[0171] Acquisition Module 201: Acquires the first acceptance status information of the old relay currently being communicated by the UAV, and the second acceptance status information of the new relay waiting to be migrated;

[0172] Judgment Module 202: When the first acceptance status information indicates that the old relay has entered the degradation range, and the second acceptance status information indicates that the new relay has reached the local acceptance ready state, the UAV is determined to enter the migration window.

[0173] Module 203 for accepting pre-establishment: Within the migration window, while maintaining the communication services of the UAV carried by the old relay, the new relay is controlled to perform the pre-establishment action, so that the new relay can establish a forwarding link from the data source to the data destination and has the ability to confirm the successful data transmission at the receiving end.

[0174] Migration module 204: After the pre-establishment action is completed, it obtains the current transmission status of the communication service and migrates unacknowledged data packets or newly arrived data packets from the old relay to the new relay according to the transmission status.

[0175] Release module 205: Release the old relay after migration is complete.

[0176] This system, through its modular design, achieves refined management and optimization of the UAV communication information transmission process. The acquisition module 201 monitors the real-time status of old and new relays, the judgment module 202 intelligently determines the optimal migration time, the takeover pre-establishment module 203 prepares for the new relay to take over without interrupting existing services, the migration module 204 ensures a smooth and lossless transfer of data from the old relay to the new relay, and finally, the release module 205 safely releases the old relay from resource occupation. This systematic approach effectively solves the problem of transmission gaps caused by asynchronous takeover of upstream and downstream relay nodes during multi-hop path switching in existing technologies, thereby ensuring communication continuity and data transmission reliability for UAVs in complex low-altitude environments.

[0177] To make the technical solution of this application easier and clearer to understand, the implementation of each module in the above system will be described in detail below.

[0178] The acquisition module 201 can be implemented through a communication interface unit, which can establish wireless communication links with old and new relays and receive and parse the status reports sent by them. For example, the communication interface unit can integrate an RF transceiver, a baseband processor, and a protocol stack to handle the interaction of status information between the link layer and the network layer.

[0179] The determination module 202 can be implemented by a central processing unit (CPU) or microcontroller (MCU). The processing unit runs a preset determination algorithm to analyze and compare the acceptance status information received by the acquisition module in real time to determine whether the conditions for entering the migration window are met.

[0180] The acceptor pre-establishment module 203 can be implemented through a network configuration and control unit. This unit is responsible for generating and sending acceptor pre-establishment instructions to new relays, and monitoring the process of establishing connections and configuring forwarding links between the new relay and upstream and downstream nodes. This unit may include a network protocol processor and configuration management software.

[0181] The migration module 204 can be implemented through a data flow management unit, which is responsible for synchronizing data with the old relay, identifying unacknowledged and newly arrived data packets, and rerouting them to the new relay's sending queue. This unit may include data buffer management logic and routing control functions.

[0182] The release module 205 can be implemented through a resource management unit. After confirming the migration is complete, the unit sends a release license instruction to the old relay and coordinates the old relay to release its resource occupation related to communication services, including stopping data forwarding, unbinding connection and reclaiming cache resources.

[0183] The UAV communication information transmission optimization system of this application effectively solves the problem of transmission gap caused by the asynchronous takeover of upstream and downstream relay nodes when switching between multiple paths in the prior art through its unique modular design and collaborative working mechanism.

[0184] Specifically, traditional multi-hop routing protocols primarily focus on path discovery and maintenance in static or slow-moving networks. Their system architecture often struggles to adapt to the high-speed maneuverability and rapidly changing obstructions of low-altitude environments. This results in topology updates lagging behind the degradation of physical links, making it difficult to accurately align the upstream and downstream takeover processes of old and new relay nodes during path switching. Therefore, in relay rerouting scenarios involving obstacle avoidance in urban building clusters, when the original relay link rapidly degrades due to obstruction and location changes, and the replacement relay only just enters its acceptable range, the asynchronous release of the old relay path and the upstream and downstream takeover of the new relay path cause a gap in the multi-hop forwarding process, thus affecting the continuous data transmission between the mission UAV and the ground control station.

[0185] The system of this application achieves precise control over the communication service migration process through the close collaboration of the acquisition module 201, the judgment module 202, the pre-establishment module 203, the migration module 204, and the release module 205. For example, the pre-establishment module 203 can drive the new relay to establish a forwarding link and acknowledgment capability in advance while the old relay is still working. This is significantly better than the simple and crude path switching method in existing systems, avoiding communication interruptions caused by premature release of the old relay or delayed takeover by the new relay. In addition, the phased data migration strategy of the migration module 204 ensures the integrity and continuity of data transmission, effectively solving the problems of data packet loss and broken transmission acknowledgment chains. Therefore, the system of this application significantly improves the communication continuity and data transmission reliability of UAVs in complex low-altitude environments, and has significant technological progress and practical value.

[0186] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for optimizing communication information transmission in unmanned aerial vehicles (UAVs), characterized in that, The method includes the following steps: S1: Obtain the first acceptance status information of the old relay currently being communicated by the drone, and the second acceptance status information of the new relay waiting to be migrated; S2: When the first acceptance status information indicates that the old relay has entered the degradation interval, and the second acceptance status information indicates that the new relay has reached the partial acceptance ready state, it is determined that the UAV has entered the migration window. S3: Within the transferable window, while maintaining the old relay's carrying of the UAV's communication services, control the new relay to perform a pre-establishment action, enabling the new relay to establish a forwarding link from the data source to the data destination, and to have the ability for the receiving end to confirm successful data transmission. S4: After the pre-establishment action is completed, obtain the current transmission status of the communication service, and according to the transmission status, migrate unacknowledged data packets or newly arrived data packets from the old relay to the new relay; S5: After the migration is complete, release the old relay.

2. The method for optimizing UAV communication information transmission according to claim 1, characterized in that, In step S1, the first acceptance status information includes the maintenance capability level of the old relay on the original path; the second acceptance status information includes the acceptance stage level of the new relay on the candidate path.

3. The method for optimizing UAV communication information transmission according to claim 2, characterized in that, The maintenance capability levels of the old relay include at least stable maintenance, degradation-sustainable, near failure, and lost load. The new relay's acceptance phase levels include at least link initialization, partial establishment, double-end closure, service synchronization completion, and full acceptance readiness.

4. The method for optimizing UAV communication information transmission according to claim 3, characterized in that, Step S2 includes: S21: When the first acceptance status information indicates that the old relay has entered a degraded sustainable state or is nearing failure, and the second acceptance status information indicates that the new relay has reached partial establishment and double-end closure, it is determined that the UAV has entered a migratable window.

5. The method for optimizing UAV communication information transmission according to claim 1, characterized in that, Step S3 includes: S31: Within the migration window, the old relay is maintained as the current primary forwarding node to continue carrying the communication services of the UAV. The communication services include at least new data packets, fallback forwarding of sent but unacknowledged data packets, and maintenance of the downlink acknowledgment loop. S32: While maintaining the old relay, send a pre-establishment instruction to the new relay. The pre-establishment instruction includes at least: service flow identifier, current confirmation boundary sequence number, and upstream and downstream node identity information. S33: In response to the acceptance pre-establishment instruction, control the new relay to perform the acceptance pre-establishment action, so that the new relay can establish a forwarding link from the data source to the data destination, and has the ability of the receiving end to confirm the successful data transmission.

6. The method for optimizing UAV communication information transmission according to claim 5, characterized in that, Step S33 includes: S331: In response to the pre-establishment instruction, establish an access relationship with the upstream node of the UAV and confirm the entry point for receiving the communication service; S332: Establish a forwarding exit relationship with the downstream node of the UAV and confirm the permission to send the communication service downstream; S333: Establish a forwarding link from the data source to the data destination, forming an end-to-end transmission channel; S334: Configure the receiving and forwarding logic of the acknowledgment loop, enabling it to receive transmission acknowledgments from downstream nodes and feed back the acknowledgment status to upstream nodes.

7. The method for optimizing UAV communication information transmission according to claim 1, characterized in that, Step S4 includes: S41: Obtain the current transmission status of the communication service. The transmission status includes at least: a queue of buffered data that has not yet been transmitted, a queue of data that has been transmitted but has not yet received downstream confirmation, and the last valid confirmation boundary sequence number of the confirmed data. S42: Based on the last valid confirmation boundary sequence number, the unconfirmed data packets are divided into a first type of data and a second type of data; wherein, the first type of data refers to data that is still waiting to be forwarded in the old relay buffer after the confirmation boundary sequence number, and the second type of data refers to data that has left the old relay after the confirmation boundary sequence number but has not yet been confirmed downstream; S43: For the cached data that has not yet been sent, rebind it to the sending queue of the new relay according to the migration time, and retain the original sequence information; S44: For the first type of data, the old relay continues to forward the data within the migration window and synchronizes the forwarding results to the new relay; S45: For the second type of data, the new relay retransmits it according to the boundary sequence number after taking over, and performs downstream deduplication based on the boundary sequence number; S46: For newly arriving data packets within the migration window, they are temporarily stored in the short-term buffer of the upstream node. After it is confirmed that the new relay has full reception capacity, they are then imported into the sending queue of the new relay.

8. The method for optimizing UAV communication information transmission according to claim 7, characterized in that, Step S5 includes: S51: Obtain migration completion confirmation information. When the migration completion confirmation information indicates that the migration is completed, obtain the communication service clearing status of the old relay. The communication service clearing status includes at least: there is no first type of data to be forwarded in the old relay buffer, the old relay has received the final confirmation of the first type of data from the downstream, and the old relay has stopped receiving new data packets from the upstream. S52: When the communication service clearing status has been fully confirmed, a release license instruction is sent to the old relay. The release license instruction includes at least: stopping the forwarding of data packets of the communication service, releasing the forwarding binding relationship with upstream and downstream nodes, and reclaiming the cache resources allocated for the communication service. S53: Release the old relay based on the release permission instruction.

9. The method for optimizing UAV communication information transmission according to claim 8, characterized in that, In step S51, the migration completion confirmation information includes at least: confirmation of the new transmission object switching effect of the upstream node, confirmation of the opening of the communication service receiving inlet and the binding of the downstream outlet of the new relay, and confirmation of the establishment of the new source reception and confirmation loop of the downstream node.

10. A UAV communication information transmission optimization system, characterized in that, The system is used to implement the steps of the method according to any one of claims 1-9 above, and the system includes: Acquisition module: Acquires the first acceptance status information of the old relay currently being communicated by the UAV, and the second acceptance status information of the new relay waiting to be migrated; Determination module: When the first acceptance status information indicates that the old relay has entered the degradation range, and the second acceptance status information indicates that the new relay has reached the local acceptance ready state, the drone is determined to have entered the migration window; Acceptance pre-establishment module: Within the migration window, while maintaining the old relay carrying the communication services of the UAV, the new relay is controlled to perform acceptance pre-establishment actions, enabling the new relay to establish a forwarding link from the data source to the data destination, and to have the ability for the receiving end to confirm the successful data transmission; Migration module: After the pre-establishment action is completed, the module obtains the current transmission status of the communication service and, based on the transmission status, migrates unacknowledged data packets or newly arrived data packets from the old relay to the new relay. Release module: Release the old relay after the migration is complete.

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