A method and system for optimizing low-altitude intelligent inspection satellite communication data interaction

Abstract

This application discloses a method and system for optimizing satellite communication data interaction in low-altitude intelligent inspection, relating to the field of low-altitude intelligent inspection technology. The method includes: constructing a heterogeneous multi-link communication system; acquiring ephemeris data of the target satellite and UAV flight data; performing satellite-airborne joint trajectory-driven link pre-synchronization processing, mapping satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, performing spatiotemporal state joint matching calculations, and generating a link availability sequence within a preset time window; predicting link switching nodes, and completing access authentication, communication link establishment, and beam alignment operations for the target switching link before the current working link is disconnected; maintaining the end-to-end session identifier unchanged, while simultaneously performing dual-link redundant synchronous transmission of flight control-related service data. This application aims to solve the problem of communication disconnection caused by the lack of a pre-establishment synchronization mechanism during heterogeneous multi-link switching in low-altitude intelligent inspection satellite communication.

Description

Technical Field

[0001] This invention relates to the field of low-altitude intelligent inspection technology, and in particular to a method and system for optimizing satellite communication data interaction in low-altitude intelligent inspection. Background Technology

[0002] Low-altitude intelligent inspection is a core operational mode in fields such as power grids, oil and gas, border areas, and emergency response. Its operational scenarios often cover areas with no public network coverage, such as mountainous areas, deserts, open seas, and border areas. It needs to rely on broadband satellite communication to achieve beyond-line-of-sight data interaction. At the same time, the long-endurance operation of UAVs across areas with and without network coverage determines that it is necessary to build a heterogeneous multi-link communication system composed of broadband satellite links, 5G / 4G public network links, and Beidou short message links to take into account the needs of full coverage of data transmission, high bandwidth, and emergency backup.

[0003] In the existing low-altitude intelligent inspection satellite communication data interaction technology, the switching control of heterogeneous multi-links still adopts the traditional generalized scheme. It has not been adapted to the scenario characteristics of low-altitude inspection and the link characteristics of satellite communication, which has obvious technical defects and seriously affects the safety and stability of inspection operations. One of the most prominent defects is that the heterogeneous multi-link switching lacks a pre-establishment synchronization mechanism, which is prone to switching disconnection.

[0004] Specifically, in existing technologies, multi-link switching all adopt a "passive triggering" mode, meaning that the access, authentication, and connection establishment process of the target link will only be initiated when the signal strength and transmission quality of the current link drop below a preset threshold. Due to the limited beam coverage of satellite communication, the fixed transit time of low-orbit satellites, and the certain time delay in beam switching, and the fact that UAVs are in a high-speed moving state, there is a significant time difference between the current link deterioration and the establishment of the target link. At the same time, existing solutions do not coordinate the matching of satellite ephemeris trajectories and UAV flight trajectories, making it impossible to predict the timing of link switching in advance, nor to complete the authentication, beam alignment, and connection establishment operations of the target link in advance. This results in significant disconnection gaps during the link switching process, making seamless switching impossible.

[0005] This results in the inability to transmit UAV flight control commands in real time and the loss or interruption of inspection data when the link is switched off. This can lead to the interruption of inspection tasks and a significant decrease in inspection efficiency, or even cause safety accidents such as UAV loss of control and crashes. It fails to meet the core requirements of low-altitude intelligent inspection for zero interruption of flight control safety and continuous and stable data interaction, and seriously restricts the large-scale engineering application of low-altitude intelligent inspection satellite communication technology. Summary of the Invention

[0006] This invention provides a method for optimizing satellite communication data interaction in low-altitude intelligent inspection, comprising: Construct a heterogeneous multi-link communication system consisting of broadband satellite communication links, cellular public network links, and BeiDou short message emergency links; Acquire ephemeris data of the target satellite, as well as UAV flight data; Perform link pre-synchronization processing driven by spaceborne and airborne joint trajectory, map satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, perform spatiotemporal state joint matching calculation, and generate a link availability sequence within a preset time window; Based on the link availability sequence, predict the link switching node, and complete the access authentication, communication link establishment and beam alignment operations of the target switching link before the current working link is disconnected. During the heterogeneous multi-link switching process, the end-to-end session identifier remains unchanged, while dual-link redundant synchronous transmission is performed on flight control-related service data.

[0007] The method for optimizing low-altitude intelligent inspection satellite communication data interaction involves performing a joint trajectory-driven link pre-synchronization process between satellite and airborne systems. This maps satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, performs joint spatiotemporal state matching calculations, and generates a link availability sequence within a preset time window. The method includes: By unifying the time and space references, satellite and UAV data are aligned within a preset time window to generate a spatiotemporal paired dataset; Based on the obtained spatiotemporal pairing dataset, the link availability parameters are calculated; the link availability parameters include basic link parameters and spaceborne-airborne spatiotemporal trajectory matching degree. A link availability metric model is constructed based on link availability parameters to generate a link availability sequence.

[0008] The method for optimizing low-altitude intelligent inspection satellite communication data interaction involves calculating link availability parameters based on the obtained spatiotemporal pairing dataset. These link availability parameters include basic link parameters and the spaceborne-airborne spatiotemporal trajectory matching degree, including: Based on the link budget method, the basic link parameters between the satellite and UAV spatiotemporal pairing data at each discrete moment are calculated point by point. The matching degree of spaceborne-airborne spatiotemporal trajectory is calculated by comparing the satellite beam coverage trajectory with the UAV flight trajectory.

[0009] The method for optimizing low-altitude intelligent inspection satellite communication data interaction, which constructs a link availability quantification model based on link availability parameters and generates a link availability sequence, includes: Calculate instantaneous link availability based on link availability parameters; Calculate the full-cycle link availability based on instantaneous link availability and link availability parameters; The instantaneous availability and overall availability of the link are calculated hourly within the prediction window, and the link status is divided according to the preset threshold to generate a link availability sequence containing timestamps and status identifiers.

[0010] The method for optimizing low-altitude intelligent inspection satellite communication data interaction, based on the link availability sequence, predicts link switching nodes and completes access authentication, communication link establishment, and beam alignment operations for the target switching link before the current working link is disconnected. This includes: Based on the link availability sequence, calculate the handover lead and predict the link handover node; Before the current working link is disconnected, establish a new link for the target.

[0011] The method for optimizing low-altitude intelligent inspection satellite communication data interaction maintains the end-to-end session identifier unchanged during heterogeneous multi-link switching, while performing dual-link redundant synchronous transmission of flight control service data, including: Assign a globally unique and unchanging session identifier to the UAV and the ground platform, and anchor the session identifier during link switching to maintain the session state without interruption; During link switching, flight control data is sent and received synchronously with dual-link redundancy and verification is performed, and redundant transmission is terminated after the switch is completed.

[0012] A system for optimizing low-altitude intelligent inspection satellite communication data interaction includes: The heterogeneous link module is used to construct a heterogeneous multi-link communication system consisting of broadband satellite communication links, cellular public network links, and BeiDou short message emergency links; The dual-source data acquisition module is used to acquire ephemeris data of the target satellite and UAV flight data; The link pre-synchronization module is used to perform link pre-synchronization processing driven by the satellite-airborne joint trajectory. It maps satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, performs spatiotemporal state joint matching calculation, and generates a link availability sequence within a preset time window. The link pre-switching module is used to predict the link switching node based on the link availability sequence, and complete the access authentication, communication link establishment and beam alignment operations of the target switching link before the current working link is disconnected. The handover and connectivity module is used to maintain the end-to-end session identifier unchanged during heterogeneous multi-link handover, while performing dual-link redundant synchronous transmission of flight control service data.

[0013] The beneficial effects achieved by this invention are as follows: By using spatiotemporal joint trajectory matching between satellites and UAVs, pre-link establishment and pre-synchronization are achieved before link switching, eliminating link switching gaps; the session identifier remains unchanged during the switching process to avoid communication interruption due to session reconstruction; redundant transmission of flight control data is adopted to further ensure that critical commands are not lost during the switching period; the overall probability of communication disconnection during heterogeneous multi-link switching is reduced, and the continuity of data interaction is improved. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0015] Figure 1 This is a flowchart of a method for optimizing low-altitude intelligent inspection satellite communication data interaction, provided in Embodiment 1 of this application.

[0016] Figure 2 This is a schematic diagram of a system for optimizing low-altitude intelligent inspection satellite communication data interaction, provided in Embodiment 2 of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example 1

[0019] like Figure 1 As shown, Embodiment 1 of this application provides a method for optimizing low-altitude intelligent inspection satellite communication data interaction, including: S1: Construct a heterogeneous multi-link communication system consisting of broadband satellite communication links, cellular public network links, and BeiDou short message emergency links; All link hardware terminals of the heterogeneous multi-link communication system are mounted in the airborne equipment bay of the industrial-grade low-altitude inspection UAV. They achieve bidirectional data communication with the UAV's airborne flight control unit, airborne mission processing unit, and airborne positioning and inertial navigation unit through serial ports / industrial Ethernet interfaces. At the same time, they establish an end-to-end bidirectional communication channel with the anchor point proxy service unit of the ground control platform. All link terminals have reserved pre-synchronization access control interfaces to support the early triggering of access authentication and link establishment operations in subsequent steps. They are adapted to the effective payload constraint of industrial-grade inspection UAVs of ≤20kg, the total weight of all link terminals is ≤2.5kg, and the peak power consumption of the whole machine is ≤20W, which meets the power consumption and payload requirements of UAV long-endurance inspection.

[0020] The heterogeneous multi-link communication system consists of three levels of redundant links, including broadband satellite communication links, cellular public network links, and BeiDou short message emergency links.

[0021] The broadband satellite communication link serves as the primary backup link for low-altitude inspections, providing full coverage and adapting to inspection scenarios in mountainous areas, deserts, offshore areas, and border regions where there is no cellular public network coverage.

[0022] Cellular public network links are high-bandwidth links primarily used in low-altitude inspection public network coverage areas, suitable for inspection scenarios with continuous cellular public network coverage in cities, suburbs, plains, and other locations.

[0023] The BeiDou short message emergency link serves as a backup link for extreme scenarios during low-altitude inspections, adaptable to extreme blockages and sudden interference scenarios where the main link is completely lost. After the drone is activated, it simultaneously initiates terminal self-tests on the three links, completes the initial handshake between each link and the ground control platform anchor point agent service unit, and reports the hardware status, signal quality, and access capabilities of each link. At the same time, it configures a unified end-to-end session identifier mapping rule for the three links, and all communication sessions of the links are managed through the unified session identifier of the ground anchor point agent service unit.

[0024] S2: Acquire ephemeris data of the target satellite and UAV flight data; The target satellites specifically refer to the broadband satellites currently accessed by the UAV, as well as transit broadband satellites accessible within the preset time window, covering low-Earth orbit high-throughput satellite constellations and high-Earth orbit broadband satellite systems. Based on the inspection mission scenario, a three-tiered data acquisition channel is set up, executed sequentially from highest to lowest priority: First priority: Before the drone takes off, the satellite constellation management system of the ground control platform will send out satellite ephemeris data for the corresponding coverage area in advance according to the route, operation duration and operation area of ​​this inspection mission, to adapt to the regular long-endurance inspection scenario; Second priority: During the inspection operation, the real-time ephemeris data sent by the satellite is received in real time through the downlink broadcast channel of the airborne broadband satellite terminal, and the satellite orbit and beam information are updated synchronously to adapt to emergency inspection and temporary route adjustment scenarios. Third priority: Synchronize with the official public ephemeris service interface of China Star Network and the public ephemeris data released by the International GNSS Service Organization (IGS) through the cellular public network link / BeiDou short message link as a supplementary verification and missing data completion for the first two types of data.

[0025] All ephemeris data must acquire core parameters directly related to link availability, including at least the six orbital elements of the satellite, real-time three-dimensional spatial coordinates in the J2000 geocentric coordinate system, and the satellite motion velocity vector.

[0026] The UAV flight data includes two categories: prior data of the preset inspection route and dynamic data of the real-time flight status, covering the prediction of the UAV's future spatiotemporal position and real-time status correction; including preset route data and real-time flight data.

[0027] After acquiring the ephemeris data, standardized preprocessing is performed, including time base alignment, validity verification, and coordinate system standardization.

[0028] Among them, satellite ephemeris data is updated every 30 seconds, and UAV real-time flight data is updated every 100ms to ensure the real-time performance and accuracy of subsequent link availability calculations and switching node predictions.

[0029] S3: Perform link pre-synchronization processing driven by spaceborne-airborne joint trajectory, map satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, perform spatiotemporal state joint matching calculation, and generate a link availability sequence within a preset time window; The process includes pre-synchronization processing of the link driven by the joint trajectory of satellite-airborne and UAV, mapping satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, performing joint spatiotemporal state matching calculations, and generating a link availability sequence within a preset time window. This process includes the following sub-steps: S31: By unifying the time and space references, satellite and UAV data are aligned within a preset time window to generate a spatiotemporal paired dataset; Alignment is performed using a well-known spatiotemporal alignment method in the field of satellite navigation and communication. Specifically, GNSS time is used as a unified time reference, and the timestamps of satellite ephemeris data and UAV flight data are aligned to the same time reference, with time synchronization accuracy controlled within 1ms. The J2000 geocentric rectangular coordinate system is used as a unified spatial reference, and conventional coordinate system transformation methods in this field are used to transform both satellite ephemeris data and UAV flight data into the aforementioned unified spatial reference. A preset prediction time window is set as follows. (Default value is 300s), based on the current calculation time. Starting from this point, the data within the prediction window is broken down into segments with a time step of 1 second. Group spatiotemporal nodes to form a satellite-UAV spatiotemporal pairing dataset with one-to-one correspondence in both time and space dimensions.

[0030] S32: Based on the obtained spatiotemporal pairing dataset, calculate the link availability parameters; the link availability parameters include basic link parameters and spaceborne-airborne spatiotemporal trajectory matching degree. The calculation of link availability parameters based on the obtained spatiotemporal pairing dataset includes the following sub-steps: S321: Based on the link budget method, the basic link parameters between the satellite and UAV spatiotemporal pairing data are calculated point by point for each discrete moment; Specifically, the instantaneous relative spatial distance between the satellite and the UAV is calculated using the three-dimensional position coordinates in the pairing data. Then, based on this distance, operating frequency, and atmospheric environment models (such as tropospheric and ionospheric attenuation), link propagation loss is calculated. On this basis, combined with link budget factors such as transmit and receive antenna gain, transmit power, and system noise temperature, the predicted carrier-to-noise ratio (CNR) is calculated. Simultaneously, available bandwidth is assessed based on satellite transponder resources and link budget results, and transmission delay is calculated using distance and signal propagation speed. The final output includes a series of basic link parameters, including relative distance, propagation loss, predicted CNR, available bandwidth, and transmission delay.

[0031] S322: Calculate the spatiotemporal trajectory matching degree between satellite-borne and airborne systems by comparing the satellite beam coverage trajectory with the UAV flight trajectory.

[0032] Specifically, for any time within the prediction window Calculate the spatiotemporal trajectory matching factor at that moment. The calculation formula is as follows: ,in, For a moment The spatiotemporal trajectory matching factor has a value range of . It is used to quantify the spatiotemporal coupling degree between satellite beam coverage trajectory and UAV flight trajectory. The higher the value, the better the matching degree of the two-end trajectories and the stronger the link coverage stability. For a moment The normalized position coefficient of the UAV within the satellite beam coverage area is calculated by the relative position of the UAV coordinates with the satellite beam center and the beam coverage boundary. The beam center position is set to 1, and the beam coverage boundary is set to 0, which is a continuous representation of the link coverage position. As a hard constraint coefficient for coverage effectiveness, when the UAV is within the three-dimensional coverage area of ​​the satellite beam and the elevation angle of the satellite relative to the UAV is greater than or equal to the preset minimum access elevation angle threshold. The value is 1 if the condition is met and 0 otherwise, and is used to remove invalid link states that do not meet the basic access conditions. The continuous coverage duration factor is calculated using the following formula: in, For time The duration of continuous availability of the link originating from this point; This is the minimum time required for a complete link handover operation (default value is 10s) to ensure that the predicted link availability time is sufficient to complete the pre-establishment link operation and avoid handover failure due to insufficient predicted availability time.

[0033] S33: Construct a link availability metric model based on link availability parameters and generate a link availability sequence.

[0034] The process of constructing a link availability metric model based on link availability parameters and generating a link availability sequence includes the following sub-steps: S331: Calculate instantaneous link availability based on link availability parameters; for any moment within the prediction window. Based on the link availability parameter, the instantaneous availability of a single link is calculated using the following formula: ,in, For a moment The instantaneous availability of the link, with a value range of: ; Spatiotemporal trajectory matching factor; The preset weighting coefficients satisfy... The weighting coefficient can be pre-configured according to the level of the inspection task. In emergency inspection scenarios, the weighting ratio of the switching safety margin can be increased to adapt to the needs of different inspection scenarios. For transmission quality factor, the range of values ​​is... It is calculated based on the degree of matching between the predicted available bandwidth, transmission delay, carrier-to-noise ratio and the minimum transmission requirements of flight control services; The link stability factor has a range of values, calculated based on the fluctuation of the link carrier-to-noise ratio within the prediction window. This represents the current switching safety margin factor, used to quantify the effective safety time margin between the current moment and link degradation / failure. It can be used to complete early access, authentication, link establishment, and beam alignment of the target link. The calculation formula is as follows: ,in, This is a smoothing coefficient used to adjust the sensitivity to changes in the factor. The minimum security margin threshold required to complete the early chain establishment; Indicates the current time The corresponding effective switching safety margin is calculated using the following formula: ,in, This indicates the link deteriorating from an available state to an unavailable state. This indicates the deduction of the processing delay required for the link to complete early connection establishment; Indicates the current time; This is a rigid constraint step function for flight control operations, used to implement rigid constraints that directly determine links that do not meet the flight control safety baseline as unusable, adapting to the aviation-grade safety requirements of low-altitude inspections.

[0035] S332: Calculate the full-cycle link availability based on instantaneous link availability and link availability parameters.

[0036] For prediction window The overall availability of a single link throughout its entire lifecycle is calculated. A time-degradation weighting mechanism is introduced to increase the weight of near-term predictions and decrease the weight of long-term predictions, thereby further improving the reliability of prediction decisions. The calculation formula is as follows: ,in, From the current moment Overall availability of the entire lifecycle of the link; Indicates the preset prediction time window; For a moment Instantaneous availability of the link; For integration time; This is the time decay coefficient, and its value range is... It is used to attenuate and weight the results of long-term forecasts.

[0037] S333: Calculate the instantaneous availability and overall availability of the link at each time step within the prediction window, and divide the link status according to the preset threshold to generate a link availability sequence containing timestamps and status identifiers.

[0038] For each discrete time node within the prediction window, the instantaneous availability and overall availability of the link are calculated node by node, generating a link availability sequence that includes timestamp, instantaneous availability, overall availability, and link status identifier. The link status identifier is divided according to the overall availability: availability ≥ 80 is a high-quality link, 60 ≤ availability < 80 is an available link, 30 ≤ availability < 60 is a switching warning link, and availability < 30 is an unavailable link.

[0039] Specifically, every 100ms, based on real-time acquired UAV flight data, the recent link availability sequence within the prediction window is partially corrected; every 30s, based on updated satellite ephemeris data, the entire link availability sequence within the prediction window is fully recalculated; when the UAV flight path is adjusted or the inspection task is changed, a full update is immediately triggered to regenerate the link availability sequence.

[0040] S4: Based on the link availability sequence, predict the link switching node, and before the current working link is disconnected, complete the access authentication, communication link establishment and beam alignment operations of the target switching link; The process of predicting link switching nodes based on the link availability sequence, and completing access authentication, communication link establishment, and beam alignment operations for the target switching link before the current working link becomes disconnected, includes the following sub-steps: S41: Calculate the handover lead based on the link availability sequence and predict the link handover node; Specifically, based on the link availability sequence (including timestamp, full-cycle comprehensive availability, and link status identifier), switching node prediction is performed for the current working link and the candidate target link respectively.

[0041] First, set the switching warning threshold. With switching trigger threshold Next, a trend fitting is performed on the availability sequence of the current working link, and a linear fitting method is used to obtain the link availability degradation trend function. ,in To predict the time variable within the window, For the deterioration slope ( <0 indicates link state deterioration). The intercept is the fitting angle.

[0042] Based on the degradation trend function, the moment when the availability of the current working link first drops to the handover trigger threshold is calculated, i.e., the critical moment of link failure. The calculation formula is: Next, calculate the current time according to the formula. The corresponding switching lead time is calculated using the following formula: ,in, Indicates the current time The corresponding switching lead time is the time lead time for initiating the target link connection establishment operation. This represents the minimum latency required to complete the entire chain establishment process for the target link. This indicates the safety level coefficient for inspection operations; This represents the degradation slope of the current working link's availability. A larger value indicates a faster link degradation rate; It represents the standard deviation of the current working link availability sequence, characterizing the degree of random fluctuation in link status; This represents the average value of the current working link availability sequence within the prediction window, characterizing the overall quality level of the link. It represents the average value of the spaceborne-airborne spatiotemporal trajectory matching factor within the prediction window, characterizing the spatiotemporal coupling stability between the satellite beam coverage trajectory and the UAV flight trajectory; This represents the average value of the switching safety margin factor within the prediction window, characterizing the effective operating time margin before link degradation. This indicates the switching warning threshold and the switching trigger threshold, which serve as the critical criteria for determining the link status. Indicates the maximum allowable handover lead time; This represents the weight coefficient of each dimension correction item, used to adapt the weight ratio of each influencing factor under different scenarios.

[0043] Based on switching lead Calculate the first time the availability of the current working link drops to the handover trigger threshold. Critical moment of link failure The final timing for switching nodes was determined. The calculation formula is: ,in, The final determined link switching node time, i.e. the time when the advance link establishment operation is started; This indicates that the availability of the current working link has dropped to the handover trigger threshold for the first time. The critical moment of link failure.

[0044] At the time of node switching Links with an availability score of ≥80 and a continuous availability duration of ≥15s are selected as target switching links. The link that best matches the transmission characteristics of the current working link is prioritized to ensure the continuity of service transmission after the switch.

[0045] S42: Before the current working link is disconnected, perform a link establishment operation for the target switching link.

[0046] The link access authentication and communication link establishment method is adopted at the time of node switching. The access authentication process for the target switching link is initiated as follows: The airborne terminal sends an access request to the network side of the target link, carrying the terminal's identity identifier and encrypted authentication information. After the network side completes the identity verification, it sends back an authentication pass instruction. After authentication is passed, a basic communication link is established between the airborne terminal and the network side, and the link parameters (including transmission bandwidth, encoding method, and synchronization parameters) are negotiated.

[0047] Next, based on satellite ephemeris data, UAV flight data, and link availability parameters, the alignment parameters between the target satellite beam and the airborne antenna are calculated. Specifically, based on the time of node switching The corresponding spatiotemporal state of the satellite and the drone, and the target pointing angle (elevation angle) of the computer-borne antenna. Azimuth The calculation formula is: ,in, These are the target pointing elevation angle and azimuth angle of the airborne antenna, respectively. Based on the switching node time Satellites and drones predict spatiotemporal conditions and calculate the basic relative elevation and azimuth angles; The two-dimensional prediction corrections are: an attitude correction calculated based on the UAV's future attitude prediction and a beam drift correction calculated based on the satellite beam's future drift prediction. These are used to compensate for spatiotemporal prediction errors and ensure beam alignment accuracy at the switching node.

[0048] At the time of node switching Based on the target pointing angle, the beam pointing of the airborne phased array antenna is dynamically adjusted. A closed-loop feedback control method is adopted to collect the antenna alignment error signal in real time and adjust the antenna phaser parameters until the alignment error is ≤0.1°, thus completing the beam alignment. After beam alignment is completed, the antenna pointing is kept stable, the relative motion between the satellite and the UAV is tracked in real time, and the antenna pointing parameters are corrected every 100ms based on the link availability sequence to ensure beam alignment accuracy and guarantee stable target link communication quality.

[0049] Next, the link quality verification method is used to verify the link establishment quality of the target switching link and confirm that all parameters meet the minimum transmission requirements of flight control services. After the verification is passed, the target switching link is marked as "ready state", all preparations before the switch are completed, and the switch command is awaited. If the verification fails, the link establishment operation is restarted immediately, and the link availability sequence is updated urgently to re-select candidate target links.

[0050] S5: During heterogeneous multi-link switching, the end-to-end session identifier remains unchanged, while dual-link redundant synchronous transmission is performed on flight control service data.

[0051] During the heterogeneous multi-link handover process, the end-to-end session identifier remains unchanged, while dual-link redundant synchronous transmission is performed on flight control-related service data, including the following sub-steps: S51: Assign a globally unique and unchanging session identifier to the UAV and the ground platform, and anchor the session identifier during link switching to maintain the session state without interruption; Establish a globally unique session identifier mechanism to prevent interruptions caused by session reallocation during handover; specifically, During the mission initialization phase, a unique session identifier (SessionID) is assigned to both the UAV and the ground platform throughout the entire link. This identifier remains unchanged throughout the inspection cycle and does not change during link switching. During the switching period, both the airborne terminal and the ground platform interact with data based on this unified SessionID. The network side identifies the SessionID and locks the corresponding session resources, prohibiting their release or reallocation, ensuring seamless connection of session states during the switching process.

[0052] S52: During link switching, flight control data is sent and received synchronously with dual-link redundancy and verification is performed, and redundant transmission is terminated after the switching is completed. The strategy of "dual-link synchronous transmission and consistency verification" is adopted, and the specific implementation is as follows: After the target switching link is established and before the switchover is complete, dual-link redundant transmission is initiated for flight control commands (attitude, trajectory, emergency, etc.). The airborne terminal transmits flight control data carrying the SessionID synchronously and at the same time sequence through the current working link and the target link. After receiving the data through both links on the ground platform, the checksum and timestamp are compared, valid data is executed, and duplicate or erroneous packets are discarded. If a single link loses packets, data from the other link is used as backup to avoid command loss. After the switchover is complete and the target link has been running stably for a preset time (e.g., 500ms), dual-link redundant transmission is terminated, and single-link high-efficiency transmission is switched to, with only the target link retained as the primary link.

[0053] After the switchover is complete, session data synchronization and link resource release are performed. The current working link's main communication channel is shut down and switched to standby mode. The BeiDou short message emergency link remains on standby and is only triggered when both the primary and backup links are abnormal, for use in emergency command transmission.

[0054] Example 2 like Figure 2 As shown, Embodiment 2 of this application provides a system for optimizing low-altitude intelligent inspection satellite communication data interaction, comprising: Heterogeneous link module 21: Constructs a heterogeneous multi-link communication system consisting of broadband satellite communication links, cellular public network links, and BeiDou short message emergency links; Dual-source data acquisition module 22: Acquires ephemeris data of the target satellite and UAV flight data; Link pre-synchronization module 23: performs link pre-synchronization processing driven by satellite-airborne joint trajectory, maps satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, performs spatiotemporal state joint matching calculation, and generates a link availability sequence within a preset time window; Link pre-switching module 24: Predicts the link switching node based on the link availability sequence, and completes the access authentication, communication link establishment and beam alignment operations of the target switching link before the current working link is disconnected; Switching and maintaining connectivity module 25: During the heterogeneous multi-link switching process, the end-to-end session identifier remains unchanged, while dual-link redundant synchronous transmission is performed on flight control-related service data.

[0055] Corresponding to the above embodiments, the present invention provides a computer storage medium, including: at least one memory and at least one processor; The memory is used to store one or more program instructions; A processor for running one or more program instructions to execute a method for optimizing low-altitude intelligent inspection satellite communication data interaction.

[0056] Corresponding to the above embodiments, this embodiment of the invention provides a computer-readable storage medium containing one or more program instructions, which are executed by a processor to provide a method for optimizing low-altitude intelligent inspection satellite communication data interaction.

[0057] The embodiments disclosed in this invention provide a computer-readable storage medium storing computer program instructions. When the computer program instructions are executed on a computer, the computer performs the aforementioned method for optimizing low-altitude intelligent inspection satellite communication data interaction.

[0058] In this embodiment of the invention, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0059] The various methods, steps, and logic diagrams disclosed in the embodiments of this invention can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The processor reads information from the storage medium and, in conjunction with its hardware, completes the steps of the above methods.

[0060] The storage medium can be memory, such as volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.

[0061] Among them, non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.

[0062] Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (Synchlink DRAM, SLDRAM), and direct memory bus RAM (DRRAM).

[0063] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0064] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this invention can be implemented using a combination of hardware and software. When applied as software, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transmission of computer programs from one place to another. Storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0065] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for optimizing satellite communication data interaction in low-altitude intelligent inspection, characterized in that, include: Construct a heterogeneous multi-link communication system consisting of broadband satellite communication links, cellular public network links, and BeiDou short message emergency links; Acquire ephemeris data of the target satellite, as well as UAV flight data; Perform link pre-synchronization processing driven by spaceborne and airborne joint trajectory, map satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, perform spatiotemporal state joint matching calculation, and generate a link availability sequence within a preset time window; Based on the link availability sequence, predict the link switching node, and complete the access authentication, communication link establishment and beam alignment operations of the target switching link before the current working link is disconnected. During the heterogeneous multi-link switching process, the end-to-end session identifier remains unchanged, while dual-link redundant synchronous transmission is performed on flight control-related service data.

2. The method for optimizing low-altitude intelligent inspection satellite communication data interaction according to claim 1, characterized in that, Perform pre-synchronization processing of the link driven by the spaceborne-airborne joint trajectory, map satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, perform joint spatiotemporal state matching calculation, and generate a link availability sequence within a preset time window, including: By unifying the time and space references, satellite and UAV data are aligned within a preset time window to generate a spatiotemporal paired dataset; Based on the obtained spatiotemporal pairing dataset, the link availability parameters are calculated; the link availability parameters include basic link parameters and spaceborne-airborne spatiotemporal trajectory matching degree. A link availability metric model is constructed based on link availability parameters to generate a link availability sequence.

3. The method for optimizing low-altitude intelligent inspection satellite communication data interaction according to claim 2, characterized in that, Based on the obtained spatiotemporal pairing dataset, link availability parameters are calculated; these parameters include basic link parameters and spaceborne-airborne spatiotemporal trajectory matching degree, including: Based on the link budget method, the basic link parameters between the satellite and UAV spatiotemporal pairing data at each discrete moment are calculated point by point. The matching degree of spaceborne-airborne spatiotemporal trajectory is calculated by comparing the satellite beam coverage trajectory with the UAV flight trajectory.

4. The method for optimizing low-altitude intelligent inspection satellite communication data interaction according to claim 2, characterized in that, A link availability metric model is constructed based on link availability parameters to generate a link availability sequence, including: Calculate instantaneous link availability based on link availability parameters; Calculate the full-cycle link availability based on instantaneous link availability and link availability parameters; The instantaneous availability and overall availability of the link are calculated hourly within the prediction window, and the link status is divided according to the preset threshold to generate a link availability sequence containing timestamps and status identifiers.

5. The method for optimizing low-altitude intelligent inspection satellite communication data interaction according to claim 1, characterized in that, Based on the link availability sequence, predict the link switching node, and before the current working link is disconnected, complete the access authentication, communication link establishment, and beam alignment operations of the target switching link, including: Based on the link availability sequence, calculate the handover lead and predict the link handover node; Before the current working link is disconnected, establish a new link for the target.

6. The method for optimizing low-altitude intelligent inspection satellite communication data interaction according to claim 1, characterized in that, During heterogeneous multi-link handover, the end-to-end session identifier remains unchanged, while flight control-related service data is transmitted synchronously with dual-link redundancy, including: Assign a globally unique and unchanging session identifier to the UAV and the ground platform, and anchor the session identifier during link switching to maintain the session state without interruption; During link switching, flight control data is sent and received synchronously with dual-link redundancy and verification is performed, and redundant transmission is terminated after the switch is completed.

7. A system for optimizing satellite communication data interaction during low-altitude intelligent inspection, characterized in that, include: The heterogeneous link module is used to construct a heterogeneous multi-link communication system consisting of broadband satellite communication links, cellular public network links, and BeiDou short message emergency links; The dual-source data acquisition module is used to acquire ephemeris data of the target satellite and UAV flight data; The link pre-synchronization module is used to perform link pre-synchronization processing driven by the satellite-airborne joint trajectory. It maps satellite ephemeris data and UAV flight data to a unified spatiotemporal coordinate system, performs spatiotemporal state joint matching calculation, and generates a link availability sequence within a preset time window. The link pre-switching module is used to predict the link switching node based on the link availability sequence, and complete the access authentication, communication link establishment and beam alignment operations of the target switching link before the current working link is disconnected. The handover and connectivity module is used to maintain the end-to-end session identifier unchanged during heterogeneous multi-link handover, while performing dual-link redundant synchronous transmission of flight control service data.

8. A computer-readable storage medium, characterized in that, It includes one or more program instructions, which are executed by a processor as described in any one of claims 1-6, to optimize low-altitude intelligent inspection satellite communication data interaction.

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