Synchronized flashing control system for integrated aviation obstruction light

Abstract

The application discloses a synchronous flashing control system of an integrated aviation obstruction light. Each integrated aviation obstruction light of the system comprises a clock processing module, a LoRa transceiving module, a transmission processing delay module, a signal-to-noise ratio module, a battery health module and a central control module. The clock processing module is used for acquiring and / or verifying a clock signal. The LoRa transceiving module is used for receiving and / or sending a LoRa physical frame. The transmission processing delay module is used for calculating node transmission delay. The signal-to-noise ratio module is used for acquiring a signal-to-noise ratio. The battery health module is used for acquiring a battery health. The central control module is used for calculating a first-level selection score according to a clock signal verification result, node transmission delay, a signal-to-noise ratio and a battery health, determining a clock signal distribution mode between a plurality of integrated aviation obstruction lights according to the first-level selection score, and driving the integrated aviation obstruction light to flash according to the clock signal. The application can realize stable acquisition of a clock signal of a stable integrated aviation obstruction light.

Description

Technical Field

[0001] This application belongs to the technical field of non-portable lighting devices, specifically relating to a synchronized flashing control system for an integrated aviation obstruction light. Background Technology

[0002] Aviation obstruction lights are aviation indicator lights, commonly installed on high-voltage power towers, tall buildings, and other locations to indicate the position and altitude of obstacles to aircraft. Aviation obstruction lights can be divided into two types: split-type and integrated-type. Split-type aviation obstruction lights have the lights installed in designated locations, with multiple lights connected to a control box via power and signal lines for power supply and electrical control. Integrated aviation obstruction lights integrate the solar panel, battery compartment, controller, and lights into a single unit before installation. The controllers of multiple integrated aviation obstruction lights do not communicate with each other; they only communicate with a single upstream network device (base station, satellite). Integrated aviation obstruction lights are often used in scenarios where power is inconvenient, such as remote areas without electricity, offshore islands, and ultra-high-voltage power transmission lines where direct power is not possible.

[0003] In existing technologies, integrated aviation obstruction lights, designed to eliminate wiring, typically utilize wireless communication via base stations or satellite communication. Within the civil aviation industry, there are standard requirements for synchronized flashing of individual or clustered integrated aviation obstruction lights within a specific area or multiple areas to better indicate targets to aircraft. Unlike general lighting, integrated aviation obstruction lights flash at a frequency of 20-70 times per minute. Current integrated aviation obstruction lights achieve synchronized flashing control via clock signals from wireless base stations or satellite communication, with each light having its own dedicated clock signal hardware, acquiring its own clock signal before flashing. Furthermore, due to the limited power budget of the integrated aviation obstruction light's battery compartment, especially during prolonged periods of inclement weather when solar panels receive no sunlight, the battery capacity is further reduced. Therefore, the power consumption control of the electrical and communication equipment in the controller is even more stringent.

[0004] However, existing technologies for synchronized flashing control of individual or clustered integrated aviation obstruction lights present several problems. First, because the controllers of multiple integrated aviation obstruction lights do not communicate with each other, but only with a single base station or satellite, severe weather conditions such as heavy rain can cause significant interference with base station and satellite signals in a given area, leading to clock signal failure. After clock signal loss, the flashing control of the integrated aviation obstruction light relies solely on the controller's local crystal oscillator, which is prone to accumulating slow drift and affecting flashing accuracy. Furthermore, severe weather is often accompanied by extreme temperature variations, causing temperature drift in the local crystal oscillator of the integrated aviation obstruction light controller, further affecting flashing accuracy and resulting in chaotic flashing of multiple integrated aviation obstruction lights in the same area. Second, remote areas lack base station clock signals; some integrated aviation obstruction lights are located in areas with poor base station or satellite signals, making them prone to clock signal loss. However, in such cases, there are still other integrated aviation obstruction lights with line-of-sight transmission paths available. On the other hand, the battery compartment of integrated aviation obstruction lights has a tight power budget, especially during prolonged periods of inclement weather when the solar panels cannot receive sunlight, further reducing the battery capacity. Therefore, energy consumption control of the electrical and communication equipment in the controller is more stringent. Using a separate communication method between each integrated aviation obstruction light and a base station / satellite results in significant overall power consumption. Furthermore, the existing LoRa communication protocol, after node networking, often results in transmission delays that accumulate to the end nodes, exceeding the civil aviation industry's requirement of at least 16.7 milliseconds for synchronized flashing accuracy of aviation obstruction lights, making it unsuitable for high-precision synchronized flashing control. Summary of the Invention

[0005] To address one or more of the aforementioned problems, this application provides a synchronized flashing control system for integrated aviation obstruction lights, used to achieve stable synchronized flashing control of individual and clustered integrated aviation obstruction lights.

[0006] The technical solution of this application is as follows.

[0007] A synchronized flashing control system for an integrated aviation obstruction light, wherein each integrated aviation obstruction light includes: The clock processing module is used to acquire clock signals from base stations and / or satellites, and / or verify whether the clock signals are invalid; LoRa transceiver module, used to receive and / or transmit LoRa physical frames loaded on LoRa wireless signals based on Sub-1GHz band LoRa communication technology; The transmission processing delay module is used to determine the time required to receive and parse LoRa physical frames as the node transmission delay. The signal-to-noise ratio module is used to obtain the signal-to-noise ratio when the LoRa transceiver module receives LoRa wireless signals. The battery health module is used to obtain the battery health status of the integrated aviation obstruction light battery compartment; The central control module is used to calculate the signal-to-noise ratio (SNR) by dividing it by the node transmission delay and multiplying it by the battery health, based on the clock signal verification result output by the clock processing module, the node transmission delay output by the transmission processing delay module, the SNR output by the signal-to-noise ratio module, and the battery health output by the battery health module. It then determines the primary node to distribute the clock signal based on the primary selected score and starts distributing the clock signal from the primary node. The flashing drive module is used to drive the integrated aviation obstruction light to flash based on the clock signal obtained from the integrated aviation obstruction light. The structure of a LoRa physical frame includes a preamble, a physical header, a payload, and a cyclic redundancy check (CRC). The preamble is used for frame synchronization; the physical header contains control information; the payload is used to transmit clock information; and the CRC check is used for LoRa physical frame verification. The structure of the payload includes at least: The unique origin number of the integrated aviation obstruction light that sends LoRa physical frames; The clock signal identifier is used to indicate the source of the clock signal; Clock signal writing area, used for writing clock signals; Battery health write area, used to write battery health information; The unique receiving location number of the integrated aviation obstruction light that receives LoRa physical frames.

[0008] Preferably, the central control module is also used to calculate the signal-to-noise ratio divided by the node transmission delay to obtain a secondary selection score based on the clock signal verification result, node transmission delay, and signal-to-noise ratio. Based on the secondary selection score, the secondary node to distribute the clock signal is determined, and then the secondary node starts distributing the clock signal.

[0009] Furthermore, the central control module includes a demand determination unit, a LoRa physical frame construction unit, and a LoRa physical frame parsing unit; Demand determination unit, used to select primary nodes and / or secondary nodes; The LoRa physical frame construction unit is used to construct LoRa physical frames by selecting primary nodes and / or secondary nodes according to the requirement determination unit. The LoRa physical frame parsing unit is used to parse the LoRa physical frames received by the LoRa transceiver module.

[0010] Furthermore, the process by which the central control module determines the primary node includes: Each integrated aviation obstruction light node determines whether it needs to request clock signals from other nodes based on the clock signal verification result; if not, it uses its own clock signal to flash; if so, it sends a time distribution request. One or more integrated aviation obstruction light nodes that can flash using their own clock signals respond to an integrated aviation obstruction light node that issues a time distribution request; after the node that issued the time distribution request learns that it has received a response, it calculates the first-level selection score of the responding node, and selects the node with the maximum value from one or more first-level selection scores as the superior node. The node that issues the time distribution request becomes a secondary node and notifies its selected superior node to start distributing clock signals, thus the selected superior node becomes its primary node.

[0011] Furthermore, the process by which the central control module determines the secondary nodes includes: If the clock signal verification result of an integrated aviation obstruction light node is invalid and the selection of a first-level node fails, then the integrated aviation obstruction light node will start as a third-level node, listening to the LoRa wireless signal of the clock signal that the second-level node notifies its selected superior node to start distributing the clock signal. When a third-level node detects that one or more second-level nodes have notified their selected parent node to start distributing clock signals, the third-level node selects a second-level node based on the maximum value of the second-level node's selected score, sends a notification requesting the second-level node to forward the clock signal, and then the selected second-level node responds to the notification requesting the second-level node to forward the clock signal obtained from the first-level node to the third-level node.

[0012] Preferably, it also includes an emergency module for unmanned aerial vehicles (UAVs) used as a primary node; The unmanned aerial vehicle emergency module includes a multi-rotor drone that accesses a meteorological cloud service platform to obtain weather forecast information. The unmanned aerial vehicle emergency module is connected to the LoRa transceiver module of the integrated aviation obstruction light via LoRa wireless signal communication and to the base station via wireless communication. Multi-rotor drones are equipped with at least a clock processing module and a LoRa transceiver module; Multi-rotor drones are used to take off and enter areas where base station signals can be received after receiving weather forecasts for severe weather. The clock processing module of a multi-rotor drone is used to acquire the clock signal from the base station; The LoRa transceiver module of the multi-rotor drone is used to transmit the acquired clock signal to one or more integrated aviation obstruction lights via a Sub-1GHz LoRa wireless signal.

[0013] Furthermore, multi-rotor drones also include a central control module, a battery health module, a transmission processing delay module, and a signal-to-noise ratio module; The battery health module for multi-rotor drones is used to obtain the battery health status of the multi-rotor drone. The transmission processing delay module for multi-rotor drones is used to obtain the node transmission delay of the multi-rotor drone in receiving and parsing LoRa physical frames. The signal-to-noise ratio module for multi-rotor drones is used to obtain the signal-to-noise ratio when the multi-rotor drone receives LoRa wireless signals; The central control module of the multi-rotor drone is used to determine whether the multi-rotor drone is used as a primary node.

[0014] Furthermore, multi-rotor drones also include a central control module; The central control module of the multi-rotor drone is used to notify the integrated aviation obstruction light to force the multi-rotor drone to be used as a primary node.

[0015] Compared with the prior art, the advantages of this application are as follows: It can continue to provide clock signals to individual or clustered integrated aviation obstruction lights even in severe weather, enabling multiple integrated aviation obstruction lights within a cluster to flash synchronously, avoiding chaotic flashing caused by clock signal loss and local crystal oscillator deviation; it can also forward clock signals to integrated obstruction lights in locations where clock signals cannot be obtained; and it can use the power budget of the integrated aviation obstruction light battery compartment with low power consumption to achieve long-term stable synchronous flashing control of multiple integrated aviation obstruction lights. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structural framework of a synchronous flashing control system for one of the integrated aviation obstruction lights in this application.

[0017] Figure 2 This is a schematic diagram of the frame structure of one type of LoRa physical frame in this application.

[0018] Figure 3 This is a schematic diagram of the LoRa physical frame payload for time distribution requests in this application.

[0019] Figure 4 This is a schematic diagram of the LoRa physical frame payload that is distributed by issuing a first-level clock signal, as per this application.

[0020] Figure 5 This is a schematic diagram of the LoRa physical frame payload of the notification of agreement to establish a first-level distribution relationship in this application.

[0021] Figure 6 This is a schematic diagram of the LoRa physical frame payload structure for primary clock signal distribution in this application.

[0022] Figure 7This is a schematic diagram of the LoRa physical frame payload structure for establishing a secondary distribution relationship, as per this application.

[0023] Figure 8 This is a schematic diagram of the LoRa physical frame payload structure for secondary clock signal distribution in this application.

[0024] Figure 9 This application defines a flowchart illustrating the communication and clock signal distribution process among multiple integrated aviation obstruction lights. Detailed Implementation

[0025] Referring to the illustrations, the principles of this application are illustrated by way of example implementation in a suitable operating environment. The following description is based on the illustrative specific embodiments of this application and should not be construed as limiting other specific embodiments not detailed herein, such as corresponding adjustments to the order of steps of the method of this application based on the principles of the technical concept.

[0026] The LoRa communication technology used in the present technology is often based on complex network topology, complex data packet structure that requires a large amount of data interaction at the protocol layer, and complex routing control and addressing, which causes high flicker timing errors in lighting systems. For example, the LoRaWAN protocol, the single-node transmission delay of its Class A / B / C terminal modes is usually not less than 10 milliseconds. In large-scale clusters, the gateway-based distribution and long relay link method it uses will make the total transmission delay accumulated to the end node at least not less than 20 milliseconds. The flash control accuracy is actually far higher than the existing civil aviation industry standard requirement of less than 16.7 milliseconds. It can only be used for general data content transmission, but not for processes such as strictly high-precision clock signal distribution.

[0027] The integrated aviation obstruction light in this application includes a solar panel, a battery compartment, a controller, and a light fixture. The integrated aviation obstruction light is installed near the ground, on high-rise buildings, or on high-voltage transmission towers.

[0028] like Figure 1 As shown in the illustration, this application discloses a synchronized flashing control system for an integrated aviation obstruction light, including a clock processing module, a LoRa transceiver module, a transmission processing delay module, a signal-to-noise ratio module, a battery health module, a central control module, a flashing drive module, and an unmanned aerial vehicle (UAV) emergency module. Optionally, each integrated aviation obstruction light may house the clock processing module, battery level identification module, LoRa transceiver module, signal-to-noise ratio module, transmission processing delay module, central control module, and flashing drive module. The UAV emergency module is located within the area where multiple integrated aviation obstruction lights are located or relatively far from the area where multiple integrated aviation obstruction lights are located.

[0029] The clock processing module is used to acquire clock signals from base stations and / or satellites, and / or verify whether the clock signals are invalid, and then transmit the clock signals and / or verification results to the central control module. In this embodiment, the clock processing module can acquire the clock source by obtaining PPS timing signals from GPS hardware modules or Beidou satellite hardware modules, and / or by acquiring the clock source from electronic hardware modules that communicate with corresponding standard base stations (e.g., 4G / 5G / NB-IoT).

[0030] LoRa transceiver module, used for linear frequency modulation spread spectrum technology CCS (Chirp Spread Spectrum) based on Sub-1GHz LoRa communication, to receive and / or transmit LoRa physical frames loaded on LoRa wireless signals.

[0031] In this embodiment, the LoRa transceiver module can use a Sub-1GHz band RF transceiver path electrically connected to a LoRa baseband modem, the LoRa baseband modem electrically connected to a data interface circuit (e.g., an SPI interface), and a reference clock circuit electrically connected to the RF transceiver path, LoRa baseband modem, and data interface circuit—a mature solution. Optionally, in this embodiment, the LoRa transceiver module can use Semtech's SX1278, SX1276, SX1261, SX1262, or SX1268 terminal products with an antenna, offering features such as low power consumption, TCXO crystal oscillator anti-drift, adjustable transmit power, and multiple spreading factors.

[0032] In this embodiment, the center frequency of the wireless signal used by the LoRa transceiver module can be set to one or more center frequencies such as 150MHz, 433MHz, 470MHz, 868MHz, 915MHz, and 960MHz in the Sub-1GHz band as required. The signal bandwidth can also be extended from the aforementioned center frequencies by setting a spreading factor, thereby reducing transmission processing latency.

[0033] Optionally, in this embodiment, Semtech's LR1110, LR1120, and LR1121 products with antennas can be used. These products integrate LoRa transceivers and multi-mode satellite positioning, and can correspond to the combination of LoRa transceiver module, central control module, and clock processing module in one embodiment of this application.

[0034] The transmission processing delay module is used to calculate the time taken for each integrated aviation obstruction light to receive and parse LoRa physical frames as the node transmission delay.

[0035] The signal-to-noise ratio (SNR) module is used to obtain the SNR of the LoRa transceiver module when receiving LoRa wireless signals in the integrated aviation obstruction light.

[0036] In this embodiment, Semtech's SX1278, SX1262, LLCC68, and other models can be selected. These products have built-in signal-to-noise ratio (SNR) detection for spread spectrum adjustment, and the specific value of the SNR can be directly read.

[0037] The battery health module is used to calculate the battery health of the integrated aviation obstruction light's battery compartment and is electrically connected to the integrated aviation obstruction light's battery compartment.

[0038] Optionally, in this embodiment, to reduce power consumption, the battery health can be detected based on the open-circuit voltage method or the ampere-hour integration method.

[0039] The central control module is used to determine the clock signal distribution method among multiple integrated aviation obstruction lights based on the clock signal verification result output by the clock processing module, the node transmission delay output by the transmission processing delay module, the signal-to-noise ratio output by the signal-to-noise ratio module, and the battery health output by the battery health module. Then, it constructs the corresponding LoRa physical frame and transmits it to the LoRa transceiver module; and / or performs information parsing on the LoRa physical frame received by the LoRa transceiver module, extracts the corresponding clock signal, adds the node transmission delay, and then transmits it to the flash driver module.

[0040] In this embodiment, the central control module includes a demand determination unit, a LoRa physical frame construction unit, and a LoRa physical frame parsing unit. The LoRa physical frame construction unit and the LoRa physical frame parsing unit are respectively connected to the LoRa transceiver module.

[0041] The LoRa physical frame construction unit is used to construct the corresponding LoRa physical frame based on the determination result of the demand determination unit.

[0042] The existing LoRa physical frame structure comprises four parts: a preamble, a physical header (PHDR), a payload, and a cyclic redundancy check (CRC). The preamble, used for frame synchronization between the receiver and transmitter, typically consists of multiple raised cosine waveforms of variable length to adapt to different channel conditions. The PHDR contains control information such as data rate and spreading factor, which affect data packet transmission performance. The payload is responsible for transmitting the actual data content; its length is variable and can be customized and configured. The CRC ensures the verifiability of the LoRa physical frame and also has a variable length. Figure 2As shown, in this embodiment, optionally, based on the existing LoRa physical frame, the bits of the payload portion are configured in the following order (starting from the bits after the end of the physical header PHDR; in this embodiment, the payload is treated as an unsigned number, while in other embodiments it can be treated as a signed number): (a) Define the first 4-64 consecutive bits as the unique origin number of the integrated aviation obstruction light that sends the LoRa physical frame. The length of the actual bits for the unique origin number is determined by the number of integrated aviation obstruction lights that need to flash synchronously, or it can be implemented based on the actual hardware ID of the LoRa communication system. In this embodiment, preferably, 8, 16, or 64 bits are selected as the unique number of the node, so that 256-65536 nodes can be connected to meet the needs of large-span buildings such as large terminals and convention centers, as well as continuous wind farms, high-voltage / ultra-high-voltage transmission tower groups, and areas within 10 kilometers of airports for integrated aviation obstruction lights. The number of obstruction lights required; in this embodiment, optionally, the unique number of the integrated aviation obstruction light can be manually assigned, with 0 as an empty address; in other embodiments, the hardware ID of its LoRa communication technology processing chip can be used as the unique number of the integrated aviation obstruction light. For example, Semtech's SX1278, SX1276, SX1261, SX1262, SX1268, LR1110, LR1120, and LR1121 models all have a native built-in 64-bit unique serialized ID that conforms to the EUI-64 standard and can be directly used as the unique number of the integrated aviation obstruction light.

[0043] (b) Define the two consecutive bits following (a) as the identifier bits of the node's clock signal, used to indicate the source of the node's clock signal, and verify whether it is a continuous multi-node forwarding based on the value of the two bits; for example, "00" indicates that the node's internal clock processing module does not have a valid clock signal (therefore it needs to access external time information), representing that a time distribution request needs to be issued; "01" indicates that the primary node uses its own internal clock processing module to obtain the clock signal, representing that it can issue a primary clock signal; "10" indicates that the secondary node uses the primary node's clock signal, and when it transmits to the primary node, it indicates that it agrees to establish a primary distribution relationship. The system notification indicates that a secondary clock signal can be sent when transmitted to a third-level node. The "11" indicates that a third-level node uses the clock signal of a second-level node. When transmitted to a second-level node, it indicates agreement to establish a secondary distribution relationship. When transmitted to the next level node, it indicates that the clock signal will no longer be distributed. This flag can be accumulated by each node when determining the clock source. If a node after the third-level node finds that the flag overflows when accumulating, it means that there are too many forwarding nodes and they need to be discarded. This prevents the accumulation of delays caused by too many forwarding nodes from affecting the control accuracy of synchronous flashing. The third-level node can also stop responding to the clock distribution requests of other nodes. (c) Define the continuous bit segment following (b) as the clock signal writing area, which can be 6 bytes 48 bits or 8 bytes 64 bits; in this embodiment, it is preferred to use a complete high-precision timestamp of 8 bytes 64 bits, or a combination encoding of GPS week, week second, and sub-second; (d) Define the next 4-8 consecutive bits after (c) as the battery health write area. The battery health written is the battery health of this node (i.e., the origin of the LoRa physical frame). (e) Define the next 2-8 consecutive bits after (d) as flash mode identifier bits to identify different flashing modes, such as 20-60 uniform flashes per minute, 2 emergency alerts per second, etc. (f) Define the 4-64 consecutive bits following (e) as the unique receiving location number of the integrated aviation obstruction light receiving LoRa physical frames. The configuration of the unique receiving location number is the same as the configuration of the unique encoding in (a).

[0044] In other embodiments of this application, the order of the definition of the payload in (a), (b), (c), (d), and (e) can be changed, as long as the corresponding bit length setting is met, and other content in the payload can continue to be added.

[0045] The LoRa physical frame parsing unit is used to extract clock signals, unique numbers, clock signal identifiers, and battery health information from the received LoRa physical frames.

[0046] The demand determination unit is used to control the communication and clock signal distribution between multiple integrated aviation obstruction lights based on the clock signal verification result output by the clock processing module, the node transmission delay output by the transmission processing delay module, the signal-to-noise ratio output by the signal-to-noise ratio module, and the battery health of other nodes extracted from the LoRa physical frame by the LoRa physical frame parsing unit.

[0047] In this embodiment, the demand determination unit treats each integrated aviation obstruction light as a node and determines the communication and clock signal distribution process between multiple integrated aviation obstruction lights as follows.

[0048] (1) Initialization: Each node's own demand determination unit determines whether it needs to request clock signals from other nodes based on the clock signal verification result output by the clock processing module; When the verification result shows that the node can obtain a valid clock signal through its internal clock processing module, the demand determination unit transmits the clock signal obtained by the clock processing module of the node to the flashing control module. At this time, the nodes with valid clock signals in all integrated aviation obstruction lights can use their own obtained clock signals to achieve synchronous flashing of multiple nodes. The demand determination unit controls the LoRa transceiver module not to send requests or notifications to the outside world. When the verification result indicates that this node cannot obtain a valid clock signal through its internal clock processing module, it means that the corresponding integrated aviation obstruction light is located in a position with poor base station signal and / or satellite signal quality, requiring the use of an external node to obtain a clock signal. The demand determination unit enables the LoRa physical frame construction unit to construct a LoRa physical frame for time distribution request, and then broadcasts this LoRa physical frame for time distribution request to the external node through the internal LoRa transceiver module; combined with Figure 3 As shown, at this time, in the payload part of the LoRa physical frame regarding the time distribution request, the origin unique number is the unique number of this node, the clock signal identifier is set to "00", the value of the clock signal write area is 0, the flash mode identifier is set according to the requirements (e.g., the normal 20-60 flashes per minute uniform flash "01"), the battery health is the battery health of the origin, and the value of the receiver unique number is set to 0.

[0049] (2) First-level node discovery: The node that issues the time distribution request transmits the received LoRa physical frame to the LoRa physical frame parsing unit. The LoRa physical frame parsing unit transmits the extracted request information to the demand determination unit. The demand determination unit deletes all LoRa physical frames related to the time distribution request. At the same time, after receiving and parsing the LoRa physical frame of the time distribution request, the node that can obtain a valid clock signal through its internal clock processing module enables the LoRa physical frame construction unit to construct a LoRa physical frame that can issue a first-level clock signal for distribution. Then, the LoRa physical frame that can issue a first-level clock signal for distribution is broadcast to external nodes through its internal LoRa transceiver module (multiple first-level nodes will respond in this process). Figure 4 As shown, at this time, the payload part of the LoRa physical frame that can send out the first-level clock signal distribution has the following characteristics: the unique origin number is the unique number of the first-level node, the clock signal identifier is set to "01", the clock signal writing area is the clock signal that the first-level node itself has, the flash mode identifier is set according to the requirements, the battery health is the battery health of the origin, and the unique receiving number is the unique number of the node that sent the time distribution request.

[0050] (3) Primary Node Selection: After receiving and parsing one or more LoRa physical frames that can distribute primary clock signals, the node that issues the time distribution request receives and parses one or more LoRa physical frames that can distribute primary clock signals. Its demand determination unit, for each LoRa physical frame that can distribute primary clock signals, obtains the node transmission delay from its transmission processing delay module, obtains the corresponding signal-to-noise ratio from its signal-to-noise ratio module, and obtains the battery health of other nodes from the received LoRa physical frames. Then, it divides the signal-to-noise ratio by the node transmission delay and multiplies it by the battery health to obtain the primary node selection score. Thus, the node with the highest value among the multiple primary node selection scores is selected as the unique primary node number. This primary node is used as the unique superior of the node that issues the time distribution request, so as to ensure that the clock signal is not easily lost or interfered with during transmission between nodes, and can be obtained by the lower-level nodes more quickly. In this embodiment, further, when the signal-to-noise ratio is high, the node receives and parses one or more LoRa physical frames that can distribute primary clock signals, its demand determination unit obtains the node transmission delay from its transmission processing delay module, obtains the corresponding signal-to-noise ratio from its signal-to-noise ratio module, and obtains the battery health of other nodes from the received LoRa physical frames. Then, it divides the signal-to-noise ratio by the node transmission delay and multiplies it by the battery health to obtain the primary node selection score. Thus, when the signal-to-noise ratio is high, the node that issues the primary node selection score is selected as the unique primary node number. This primary node is used as the unique superior of the node that issues the time distribution request, so as to ensure that the clock signal is not easily lost or interfered with during transmission between nodes, and can be obtained by the lower-level nodes more quickly. Nodes whose signal-to-noise ratio (SNR) is greater than a set threshold and / or whose transmission delay is less than a set threshold are considered first-level nodes. The first-level selection scoring method, which divides the SNR by the transmission delay and multiplies it by the battery health of other nodes, comprehensively considers channel transmission quality (expressed as SNR), node signal processing speed (expressed as transmission processing delay between nodes), and the remaining power and available power consumption of the upper-level node (the battery health of other nodes), thus obtaining an upper-level node with relatively superior power consumption in the transmitter. Optionally, in this embodiment, the battery health used can also be the battery health of the node issuing the time distribution request, thereby determining the source of the flash clock signal from which this node can obtain power that can support it for a longer period. The aforementioned method of using the battery health of other nodes can examine the battery endurance of a first-level node. After determining the unique superior, the node requesting the clock signal constructs a LoRa physical frame to notify the establishment of a first-level distribution relationship, which is then sent by its LoRa transceiver module for reception by its selected first-level node; combined with Figure 5 As shown, in the payload portion of the LoRa physical frame that agrees to establish a primary distribution relationship, the origin unique number is the unique number of this node, the clock signal identifier is set to "10", the clock signal write area is the clock signal sent by the primary node, the flash mode identifier is set according to requirements, the battery health is the battery health of the origin, and the receiving unique number is the unique number of the primary node. At this time, other primary nodes that originally responded to this node will no longer respond to the LoRa physical frame with the origin unique number and the clock signal identifier of the node being "10" because the receiving unique number is inconsistent. If the clock of the primary node selected by this node fails, it will return to the initialization process to request time distribution again.

[0051] (4) First-level periodic distribution: The selected first-level node receives and parses the LoRa physical frame that agrees to establish a first-level distribution relationship with itself as the receiving location, and sends the first-level clock signal LoRa physical frame to the lower-level node at a set period (which can be kept low power as the target setting). The demand determination unit of the lower-level node directly transmits the clock signal extracted from the first-level clock signal LoRa physical frame to the flash driver module, or the clock signal plus the node transmission delay obtained by its transmission processing delay module within the period is used as the value. Combination Figure 6 As shown, in the payload portion of the LoRa physical frame distributed by the primary clock signal, the originating location unique number is the unique number of the selected primary node, the clock signal identifier is set to "01", the clock signal write area is the clock signal of the primary node, the flash mode identifier is set according to requirements, the battery health is the battery health of the originating location, and the receiving location unique number is the unique number of the secondary node that has made the notification to agree to establish the primary distribution relationship.

[0052] (5) Secondary node selection: When a node fails to discover a primary node, it means that the integrated obstacle light is in a less favorable position and the LoRa wireless signal of the primary node cannot reach the node directly. At this time, the clock signal can be obtained by forwarding through other secondary nodes that can access the primary node. When performing secondary discovery, the node first ignores the unique receiver location number in the LoRa physical frame and listens for LoRa physical frame broadcasts that indicate agreement to establish a primary distribution relationship through the LoRa transceiver module; if there are no such broadcasts, it indicates that the node's location is too bad, and it will use its local crystal oscillator to perform flash control on its own. If a node detects a LoRa physical frame indicating agreement to establish a primary distribution relationship, it indicates that a secondary node can act as a forwarding node to provide clock signals. The node then sends a LoRa physical frame indicating agreement to establish a secondary distribution relationship to that secondary node, thus selecting it. If a node detects multiple LoRa physical frames indicating agreement to establish a primary distribution relationship, it obtains the node transmission delay from the transmission processing delay module and the corresponding signal-to-noise ratio from the signal-to-noise ratio module. The signal-to-noise ratio is then divided by the node transmission delay to obtain a secondary node selection score. The node with the highest score among these secondary node selection scores is then selected as the secondary node chosen by the tertiary node. Combination Figure 7 As shown, in the payload portion of the LoRa physical frame that agrees to establish a secondary distribution relationship, the origin unique number is the unique number of the tertiary node, the clock signal identifier is set to "11", the clock signal write area is empty, the flash mode identifier is set according to requirements, the battery health is the battery health of the origin, and the receiving unique number is the unique number of the selected secondary node.

[0053] (6) Second-level follow-up distribution: After the selected second-level node receives the LoRa physical frame agreeing to establish a second-level distribution relationship, it can construct a LoRa physical frame for second-level clock signal distribution, and then send it to its corresponding third-level node following the rhythm of the clock signal distributed by the first-level node to the second-level node; combined with Figure 8 As shown, in the payload portion of the LoRa physical frame distributed by the secondary clock signal, the origin unique number is the unique number of the selected secondary node, the clock signal identifier is set to "10", the clock signal write area is the clock signal obtained by the secondary node, or the clock signal write area is the clock signal obtained by the secondary node plus its corresponding node transmission delay, the flash mode identifier is set according to requirements, the battery health is the battery health of the origin, and the receiving unique number is the unique number of the tertiary node.

[0054] (7) Periodic clock detection: Each node checks whether its clock processing unit has a valid access base station / satellite clock signal according to a preset period. If it does, regardless of whether it is a secondary or tertiary node, it sends a LoRa physical frame that can send a primary clock signal for distribution. Its superior node then knows that it no longer needs to distribute time to it and automatically deletes it from the distribution target. If it does not exist, it maintains the current node level and continues to receive the distributed clock signal. Next in priority to the previous detection, each node checks whether it can still receive the clock signal distributed by the superior node. If it can, it maintains its current node level and continues to receive the distributed clock signal. If it cannot, it returns to the initialization phase and restarts the establishment of the time distribution path.

[0055] The processes described in (1)-(7) above are as follows: Figure 9 As shown, considering that the number of available secondary nodes is often scarce, battery health is no longer included as a calculation factor in the selection score when selecting secondary nodes.

[0056] In this preferred embodiment, the third-level node no longer responds to other requests to establish distribution relationships.

[0057] In this embodiment, by using the relative relationship between the unique origin number, clock signal identifier, and unique receiver number in the LoRa physical frame, each node only needs to remember its own node level to clarify the corresponding request or notification type. Moreover, only a short processing time is required in the initial clock distribution relationship establishment process, and the clock signal can be continuously and quickly distributed thereafter without increasing the node's processing latency.

[0058] In this embodiment, when the LoRa physical frame parsing unit of each node detects a LoRa physical frame with the same unique origin number as the current node, it immediately discards the LoRa physical frame. Each node also immediately discards LoRa physical frames with unique receiver numbers that are not its own.

[0059] The flash driver module is used to control the integrated aviation obstruction light to flash based on the clock signal acquired by the node, and / or the clock signal acquired by the node plus the node transmission delay when receiving the LoRa physical frame, and the flash mode. The clock signal of the flash driver module can be a valid clock signal from the node itself, or it can be from a primary node or a secondary node. The flash driver module is electrically connected to the integrated aviation obstruction light fixture.

[0060] The unmanned aerial vehicle (UAV) emergency module includes a clock processing module, a LoRa transceiver module, a transmission delay processing module, a central control module, a signal-to-noise ratio (SNR) module, and a battery health module. It receives weather forecasts via a meteorological cloud platform connected to the multi-rotor UAV. Upon receiving a severe weather forecast, the multi-rotor UAV takes off and reaches the vicinity of a designated base station to obtain clock signals from the base station. Then, if the clock signals of most or all integrated aviation obstruction lights in the area fail due to severe weather, the multi-rotor UAV responds to a clock distribution request and acts as a primary node to distribute time signals to multiple integrated aviation obstruction lights located near the ground, on tall buildings, and on high-voltage transmission towers, ensuring synchronized flashing of the lights. It then exits the module once the weather improves. In this embodiment, the processing methods between the clock processing module, LoRa transceiver module, transmission delay processing module, central control module, SNR module, and battery health module are optionally the same as described above.

[0061] In this embodiment, the emergency module of the unmanned aerial vehicle can be a combination of a multi-rotor drone and an unmanned aerial vehicle airport inspection. The multi-rotor drone is also equipped with a clock processing module, a LoRa transceiver module, a transmission processing delay module, and a central control module. The clock processing module is an existing base station communication module of the multi-rotor drone itself; the LoRa transceiver module and the central control module can be implemented by adding a new LoRa terminal hardware module, or by using the main control MCU of the multi-rotor drone as the central control module and then connecting an external LoRa transceiver module; the transmission delay module, signal-to-noise ratio module, and battery health module can all be built into the main control MCU of the multi-rotor drone; in the UAV emergency module, the central control module can add a way to force the multi-rotor drone to be configured as a first-level node in the demand determination unit. In this case, it is only necessary to add a continuous bit segment defining whether to force it to be a first-level node to the payload of the LoRa physical frame; or the central control module can use the multi-rotor drone as a general node in the demand determination unit. In this case, the battery health calculation method, the signal-to-noise ratio calculation method, and the node transmission delay acquisition method of the multi-rotor drone are used to obtain battery health data, signal-to-noise ratio, and node transmission delay for the selection of first-level nodes. This approach can achieve high system reliability benefits with very low modification costs, and the emergency module of the unmanned aerial vehicle can be set in an area that is relatively far away from multiple integrated aviation obstruction lights and is convenient for mains power supply.

[0062] The unmanned aerial vehicle (UAV) emergency module in this embodiment can be integrated with existing multi-rotor UAV inspection systems for high-voltage / ultra-high-voltage power transmission line scenarios. Only the aforementioned simple hardware and / or software modifications to the multi-rotor UAV inspection system are required. In the face of severe weather conditions such as rainy days, heavy rain, thunderstorms, and typhoons (typical weather in South my country during summer and autumn), the synchronized flashing control of multiple integrated aviation obstruction lights on high-voltage / ultra-high-voltage power transmission line towers, in order to avoid losing the clock signal, utilizes Sub-1GHz band LoRa communication technology. The wireless signal strength is less affected by clouds, rain, and thunderstorms. Furthermore, anti-interference capabilities can be increased through spread spectrum and multiple antennas. Moreover, the wireless signal transmission distance of commonly available commercially available LoRa transceiver modules in the Sub-1GHz band, even with appropriately increased transmission power in severe weather, often exceeds [the required range]. With a range exceeding 12 or even 20 kilometers, it can not only cover a relatively wide ground area, but also utilize the existing meteorological cloud service platform access capabilities of the multi-rotor drone inspection system to obtain weather forecast information (including predicted rainfall duration, cloud height, rainfall range, wind force, etc.). After the multi-rotor drone inspection system receives severe weather forecasts for cloudy / rainy / thunderstorm / typhoon weather, it can take off and hover in an area where base station signals can be well received (the clock signals of most base stations come not only from satellites, but also from telecommunications fiber optic transmission networks, PRC networking, packet synchronization networking, etc., which are not affected by local satellite signal restrictions). (In the manner of the agreement), the central control module of the multi-rotor drone, through the LoRa transceiver module, broadcasts a LoRa physical frame to notify multiple integrated aviation obstruction lights located near the ground, on tall buildings, and on high-voltage transmission towers to designate the multi-rotor drone as a primary node. At this time, the multi-rotor drone, without cloud cover or thunderstorm obstruction, can obtain a good satellite clock signal. Furthermore, the wireless signal of LoRa communication technology can effectively penetrate rain areas, clouds, and thunderstorms to transmit the clock signal to the multiple integrated aviation obstruction lights located near the ground, on tall buildings, and on high-voltage transmission towers, thereby preventing the multiple integrated aviation obstruction lights from losing their clock signal and causing light malfunctions. In cases of chaotic flashing and asynchronous flashing, the UAV emergency module in this embodiment can take off as a primary node for emergency response even without severe weather, provided that multiple integrated aviation obstruction lights in a certain area simultaneously cannot obtain a stable clock signal (e.g., due to shielding interference against NB-IoT base stations). The advantage of using a multi-rotor aircraft as a primary node is that it can reach a higher altitude than integrated aviation obstruction lights, allowing direct visibility of both the base station and most aviation obstruction lights in the area, thus significantly reducing interference along the LoRa wireless signal transmission path.

[0063] In this embodiment, optionally, the central control module of the UAV emergency module includes a positioning unit located in the main control MCU of the multi-rotor UAV. The positioning unit is connected to the transmission processing delay module and the flight controller of the multi-rotor UAV. The positioning unit instructs the flight controller to drive the multi-rotor UAV to move within an area where base station signals can be well received. At each three-dimensional coordinate position, it obtains the transmission processing delay of the remaining nodes from the transmission processing delay module, calculates the total transmission delay of all nodes at the corresponding three-dimensional coordinate position, selects the corresponding three-dimensional coordinate position with the minimum total transmission delay after traversing all three-dimensional coordinate positions, and then instructs the flight controller to drive the multi-rotor UAV to hover at the position with the minimum total transmission delay. Using the three-dimensional coordinate position with the minimum total transmission delay as the hovering position of the multi-rotor UAV can further compress the overall transmission processing delay and improve the synchronous flashing accuracy of multiple integrated aviation obstruction lights.

[0064] In this embodiment, the emergency module of the unmanned aerial vehicle (UAV) can also be equipped with an electronic map. When the predicted wind force in the weather forecast message obtained by the multi-rotor UAV, or the on-site wind force measured in real time by the multi-rotor UAV, or the rainfall intensity in the weather forecast message, exceeds the preset strong wind avoidance threshold (wind force value) or heavy rainfall avoidance threshold (rainfall intensity value), the central control module of the multi-rotor UAV, acting as a primary node, instructs the positioning unit to abandon the corresponding three-dimensional coordinate position. The central control module then activates the electronic map and selects suitable landing locations such as high-rise buildings, high-voltage transmission towers, and UAV locations within an area where base station signals can be well received, to ground the UAV for avoidance. While grounding the UAV for avoidance, the UAV can continue to maintain its role as a primary node and distribute tasks according to time.

[0065] In this embodiment, optionally, after the multi-rotor UAV hovers and performs time distribution for a set correction period, the positioning unit recalculates whether the total transmission delay of all nodes at the hovering three-dimensional coordinate position is still the minimum. If so, hovering continues; otherwise, the positioning unit instructs the flight controller to drive the multi-rotor UAV to translate to the three-dimensional coordinate position with the second smallest total transmission delay of all nodes for hovering.

[0066] In this embodiment, optionally, when using a multi-rotor UAV as a primary node, if the central control module of an integrated aviation obstruction light detects that the clock signal is not received or is invalid, it indicates that there is significant interference in the transmission path between the integrated aviation obstruction light and the multi-rotor UAV. In this case, one of the other integrated aviation obstruction lights capable of receiving the LoRa wireless signal from the multi-rotor UAV can be selected as a forwarding node. The clock signal is transmitted to the integrated aviation obstruction light whose clock signal is not received or is invalid through the forwarding node. The central control module of the integrated aviation obstruction light node whose clock signal is not received or is invalid only needs to use the transmission processing delay between the forwarding node and the multi-rotor UAV, plus its own transmission delay with the forwarding node, to adjust the control of the flashing time. Specifically, the clock signal is obtained as follows: the transmission processing delay module of the integrated aviation obstruction light whose clock signal is not received or is invalid sorts the transmission processing delays of the other nodes in ascending order, and polls multiple non-primary node integrated aviation obstruction lights in ascending order, selecting the integrated aviation obstruction light node with the lowest relative transmission processing delay that can receive the clock signal as the requesting forwarding node.

[0067] Compared with the prior art, the advantages of this application are as follows: This application can continue to provide clock signals to multiple integrated aviation obstruction lights under severe weather conditions, enabling multiple integrated aviation obstruction lights in the same area to flash synchronously, avoiding the situation of chaotic flashing of lights due to clock signal loss and local crystal oscillator deviation; it can use the power budget of the integrated aviation obstruction light battery compartment with low power consumption to achieve long-term stable synchronous flashing control of multiple integrated aviation obstruction lights. Compared to existing LoRa communication systems, which suffer from high flicker timing errors due to complex network topologies, complex data packet structures requiring extensive data interaction at the protocol layer, and complex routing and addressing, LoRaWAN, for example, typically has a single-node transmission latency of at least 10 milliseconds for its Class A / B / C terminal modes. In large-scale clusters, its gateway-based distribution and long relay link approach results in a total transmission latency of at least 20 milliseconds to the end nodes. This significantly exceeds the current civil aviation industry's standard requirement of less than 16.7 milliseconds for flash control accuracy, making it suitable only for general data transmission and not for strict clock signal distribution. This application employs a simple physical layer frame structure to transmit time information. The overall data volume of the physical frame is small, allowing for rapid processing at the hardware level. Each node can simultaneously act as both a terminal and a forwarder, eliminating the need for additional gateways / routers. The three-level node configuration also eliminates the need for complex routing in the face of large-scale integrated aviation obstruction light control requirements. The complex networking significantly reduces clock signal transmission delay and power consumption during communication, thus meeting the aviation industry's stringent synchronous flashing requirements for aviation obstruction lights and alleviating the difficulty of tight battery compartment power budgets in severe weather. Simultaneously, by setting physical frames to verify the existence of valid clock signal distribution, complex verification logic and continuous high-frequency information transmission and reception are eliminated, reducing power consumption during communication. Furthermore, the system can be implemented using mature, miniaturized, and low-power commercial embedded LoRa communication electronic hardware, directly drawing power from the battery compartment and connecting to the light's light-emitting drive circuit via signal lines. This facilitates the retrofitting of older integrated aviation obstruction lights lacking long-range wireless communication capabilities, thereby reducing the economic cost of replacing and installing new integrated aviation obstruction lights. This application utilizes the wireless frequency characteristics of the Sub-1GHz LoRa communication band and combines it with multi-rotor UAV inspection to cope with severe weather, overcoming the limitations of other wireless communication methods. This allows for continued high-precision synchronous flashing control of multi-integrated aviation obstruction lights even in severe weather. Furthermore, it achieves high-precision, low-latency clock signal forwarding using other integrated aviation obstruction light nodes in locations where satellite / base station signals are difficult to obtain.

[0068] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments or combinations thereof, and various obvious modifications and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A synchronized flashing control system for an integrated aviation obstruction light, characterized in that, Each integrated aviation obstruction light includes: The clock processing module is used to acquire clock signals from base stations and / or satellites, and / or verify whether the clock signals are invalid; LoRa transceiver module, used to receive and / or transmit LoRa physical frames loaded on LoRa wireless signals based on Sub-1GHz band LoRa communication technology; The transmission processing delay module is used to determine the time required to receive and parse LoRa physical frames as the node transmission delay. The signal-to-noise ratio module is used to obtain the signal-to-noise ratio when the LoRa transceiver module receives the LoRa wireless signal; The battery health module is used to obtain the battery health status of the integrated aviation obstruction light battery compartment; The central control module is used to calculate the signal-to-noise ratio by dividing it by the node transmission delay and multiplying it by the battery health based on the clock signal verification result output by the clock processing module, the node transmission delay output by the transmission processing delay module, the signal-to-noise ratio output by the signal-to-noise ratio module, and the battery health output by the battery health module to obtain the corresponding first-level selection score. Based on the first-level selection score, the first-level node for clock distribution is determined, and then the clock signal is distributed from the first-level node. The flashing drive module is used to drive the integrated aviation obstruction light to flash based on the clock signal obtained from the integrated aviation obstruction light. The structure of a LoRa physical frame includes a preamble, a physical header, a payload, and a cyclic redundancy check (CRC). The preamble is used for frame synchronization. The physical header contains control information. The payload is used to transmit clock information. The CRC is used for LoRa physical frame verification. The structure of the payload includes at least: The unique origin number of the integrated aviation obstruction light that sends LoRa physical frames; The clock signal identifier is used to indicate the source of the clock signal; Clock signal writing area, used for writing clock signals; Battery health write area, used to write battery health information; Flashing mode indicators are used to indicate the various synchronized flashing modes of the integrated obstruction light; The unique receiving location number of the integrated aviation obstruction light that receives LoRa physical frames.

2. The integrated aviation obstruction light synchronous flashing control system according to claim 1, characterized in that, The central control module is also used to calculate the signal-to-noise ratio divided by the node transmission delay to obtain a secondary selection score based on the clock signal verification result, node transmission delay, and signal-to-noise ratio. Based on the secondary selection score, the secondary node to distribute the clock signal is determined, and then the secondary node starts distributing the clock signal.

3. The integrated aviation obstruction light synchronous flashing control system according to claim 2, characterized in that, The central control module includes a demand determination unit, a LoRa physical frame construction unit, and a LoRa physical frame parsing unit; The demand determination unit is used to select primary nodes and / or secondary nodes; The LoRa physical frame construction unit is used to construct a LoRa physical frame according to the process of selecting a first-level node and / or a second-level node by the demand determination unit. The LoRa physical frame parsing unit is used to parse the LoRa physical frames received by the LoRa transceiver module.

4. The integrated aviation obstruction light synchronous flashing control system according to claim 2, characterized in that, The process by which the central control module determines the primary node includes: Each integrated aviation obstruction light node determines whether it needs to request clock signals from other nodes based on the clock signal verification result; if not, it uses its own clock signal to flash; if so, it sends a time distribution request. One or more integrated aviation obstruction light nodes that flash using their own clock signals respond to an integrated aviation obstruction light node that issues a time distribution request; after the node that issued the time distribution request learns that it has received a response, it calculates the first-level selection score of the responding node, and selects the node with the maximum value from one or more first-level selection scores as the superior node. The node that issues the time distribution request, as the secondary node, notifies its selected superior node to start distributing the clock signal, thereby making the selected superior node its primary node.

5. The integrated aviation obstruction light synchronous flashing control system according to claim 4, characterized in that, The process by which the central control module determines the secondary nodes includes: If the clock signal verification result of an integrated aviation obstruction light node is invalid and the selection of a first-level node fails, then the integrated aviation obstruction light node will start as a third-level node, listening to the LoRa wireless signal of the clock signal that the second-level node notifies its selected superior node to start distributing the clock signal. When a third-level node detects that one or more second-level nodes have notified their selected parent node to start distributing clock signals, the third-level node selects a second-level node based on the maximum value of the second-level selection score, sends a notification requesting the second-level node to forward the clock signal, and then the selected second-level node responds to the notification requesting the second-level node to forward the clock signal obtained from the first-level node to the third-level node.

6. The integrated aviation obstruction light synchronous flashing control system according to claim 1, characterized in that, It also includes an emergency module for unmanned aerial vehicles, which serves as a primary node; The unmanned aerial vehicle emergency module includes a multi-rotor drone that accesses a meteorological cloud service platform to obtain weather forecast information. The unmanned aerial vehicle emergency module is connected to the LoRa transceiver module of the integrated aviation obstruction light via LoRa wireless signal communication and is also connected to the base station via wireless communication. The multi-rotor drone is equipped with at least a clock processing module and a LoRa transceiver module; Multi-rotor drones are used to take off and enter areas where base station signals can be received after receiving weather forecasts for severe weather. The clock processing module of a multi-rotor drone is used to acquire the clock signal from the base station; The LoRa transceiver module of the multi-rotor drone is used to transmit the acquired clock signal to one or more integrated aviation obstruction lights via a Sub-1GHz LoRa wireless signal.

7. The integrated aviation obstruction light synchronous flashing control system according to claim 6, characterized in that, Multi-rotor drones also include a central control module, a battery health module, a transmission processing delay module, and a signal-to-noise ratio module; The battery health module for multi-rotor drones is used to obtain the battery health status of the multi-rotor drone. The transmission processing delay module for multi-rotor drones is used to obtain the node transmission delay of the multi-rotor drone in receiving and parsing LoRa physical frames. The signal-to-noise ratio module for multi-rotor drones is used to obtain the signal-to-noise ratio when the multi-rotor drone receives LoRa wireless signals; The central control module of the multi-rotor drone is used to determine whether the multi-rotor drone is used as a primary node.

8. The integrated aviation obstruction light synchronous flashing control system according to claim 6, characterized in that, include: Multi-rotor drones also include a central control module; The central control module of the multi-rotor drone is used to notify the integrated aviation obstruction light to force the multi-rotor drone to be used as a primary node.

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