Unmanned aerial vehicle power supply energy monitoring method based on unmanned aerial vehicle power supply system

Abstract

The present disclosure provides a method for monitoring power supply energy of a UAV based on a UAV power supply system. The method comprises obtaining flight control task information of the UAV; decoding the flight control task information to obtain power supply flight available state parameters; performing power supply flight difference processing on the power supply flight available state parameters and preset flight available state parameters to obtain power supply flight available difference; and sending a power supply distribution switching signal to a power conversion and distribution unit according to the power supply flight available difference to adjust the power output mode of each power supply unit in the multi-port power supply module. After receiving the flight control task information, the energy management unit corresponds to different task scenarios in the flight control task information, and through task load decoding, the power supply demand required by the current flight task can be determined. Through analysis by the power conversion and distribution unit and timely switching of each power supply unit, the output mode of each power supply unit is optimized, and the utilization rate of the power supply energy is effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method for monitoring the power supply energy of a UAV based on a UAV power supply system. Background Technology

[0002] With the continuous development of drone technology, drones have been widely used in various industries such as military, agriculture, geology, meteorology, power, disaster relief, video shooting, and logistics.

[0003] There are three main types of power supply methods for existing drones: pure battery power, tethered power, and hybrid power (gasoline-electric). Pure battery-powered drones have advantages such as fast response and environmental friendliness, but their flight time is short and their payload capacity is limited. Tethered drones are powered by ground power sources via cables, enabling them to remain airborne for extended periods, but their range of motion is limited, and the cables are susceptible to voltage drop losses and breakage. Hybrid power drones (usually a combination of a fuel generator and a battery) have longer flight time and greater payload capacity, but fuel generators have slow response times, generate noise and emissions, and the system is complex.

[0004] However, existing technologies mostly focus on dual-source integration, such as simple parallel connection of tethers and batteries, or energy management of hybrid electric systems. They fail to effectively solve the technical problems of poor real-time power distribution and complex power supply mode switching when three sources coexist, under different mission modes, environmental conditions and abnormal situations, resulting in low power energy utilization of UAVs. Summary of the Invention

[0005] The purpose of this disclosure is to overcome the shortcomings of the prior art and provide a method for monitoring the power supply energy of a drone based on a drone power supply system to improve the utilization rate of power supply energy.

[0006] The purpose of this disclosure is achieved through the following technical solution: A method for monitoring the power supply energy of a drone based on a drone power supply system includes: providing multi-port power output to the drone using a drone power supply system, wherein the drone power supply system includes: a multi-port power supply module, an energy management unit, a power conversion and distribution unit, and a sensor module; the multi-port power supply module includes a tethered power supply unit, a battery power supply unit, and a fuel-powered generator unit, wherein the tethered power supply unit, the battery power supply unit, and the fuel-powered generator unit are used to provide DC power to the drone respectively; the power supply command terminal of the energy management unit is connected to the power supply control terminal of the tethered power supply unit, the power supply control terminal of the battery power supply unit, and the fuel-powered generator unit respectively. The power supply control terminal of the power generation unit is connected to the energy management unit, which is used to receive flight control mission information from the UAV. The power control terminal of the power conversion and distribution unit is connected to the power command terminal of the energy management unit. The input terminal of the power conversion and distribution unit is connected to the output terminal of the tethered power supply unit, the output terminal of the battery power supply unit, and the output terminal of the fuel power generation unit, respectively. The output terminal of the power conversion and distribution unit is used to supply power to the UAV. The data output terminal of the sensor module is connected to the sensing terminal of the energy management unit. The sensor module is used to collect the flight status, environmental parameters, and power supply system operation data of the UAV in real time. The method for monitoring the power supply of the UAV includes: Obtain flight control mission information for the drone; The flight control mission information is decoded by the mission payload to obtain the available power supply flight status parameters; The available flight state parameters for power supply are adjusted with the preset available flight state parameters to obtain the available flight state parameters for power supply. According to the power supply flight available adjustment, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module.

[0007] In one embodiment, the flight control mission information of the UAV is obtained, including: obtaining the UAV's mission planning information, flight phase information, remaining mission time, and flight mission scenario information.

[0008] In one embodiment, the flight control mission information is decoded by mission payload to obtain available power supply flight state parameters, including: performing large-scale language model conversion on the flight control mission information to obtain available power supply flight energy, wherein the available power supply flight energy includes the battery state of charge of the battery power supply unit, the fuel balance of the fuel power generation unit, and the available power of each power supply unit.

[0009] In one embodiment, the available flight state parameters are adjusted with the preset available flight state parameters to obtain the available flight state adjustment, which includes: calculating the adjustment between the available flight energy and the preset flight energy to obtain the difference in available flight energy.

[0010] In one embodiment, a power supply allocation switching signal is sent to the power conversion and distribution unit according to the available power supply adjustment for flight, so as to adjust the power output mode of each power supply unit in the multi-port power supply module. This includes: detecting whether the available flight energy difference is greater than or equal to a preset available energy difference; when the available flight energy difference is greater than or equal to the preset available energy difference, sending a battery power supply switching signal to the power conversion and distribution unit so that the battery power supply unit is the main power supply unit to output power to the UAV.

[0011] In one embodiment, the detection of whether the available flight energy difference is greater than or equal to a preset available energy difference further includes: when the available flight energy difference is less than the preset available energy difference, sending a non-battery power supply switching signal to the power conversion and distribution unit so that the tethered power supply unit or the fuel power generation unit is the main power supply unit to output electrical energy to the UAV.

[0012] In one embodiment, the flight control mission information is decoded by the mission payload to obtain the available power supply flight status parameters, including: performing large-scale language model conversion on the flight control mission information to obtain the available power supply flight distance, wherein the available power supply flight distance is the flight distance corresponding to the UAV cruise mission.

[0013] In one embodiment, the available flight state parameters are adjusted with the preset available flight state parameters to obtain the available flight state adjustment, which includes: calculating the adjustment between the available flight distance and the preset flight distance to obtain the available flight distance difference.

[0014] In one embodiment, a power distribution switching signal is sent to the power conversion and distribution unit according to the available flight power supply adjustment to adjust the power output mode of each power supply unit in the multi-port power supply module. This includes: detecting whether the available flight distance difference is greater than or equal to a preset available flight distance difference; when the available flight distance difference is greater than or equal to the preset available flight distance difference, sending an untethered power supply switching signal to the power conversion and distribution unit so that the fuel power generation unit or the battery power supply unit is the main power supply unit to output electrical energy to the UAV.

[0015] In one embodiment, the method detects whether the available flight distance difference is greater than or equal to a preset available flight distance difference, and then further includes: when the available flight distance difference is less than the preset available flight distance difference, sending a tethered power supply switching signal to the power conversion and distribution unit so that the tethered power supply unit is the main power supply unit to output power to the UAV.

[0016] Compared with the prior art, this disclosure has at least the following advantages: After receiving flight control mission information, the energy management unit (EMU) identifies different mission scenarios within the mission information. By decoding the mission payload, it determines the power supply requirements for the current flight mission, i.e., the available power supply status parameters. These parameters are then compared with standard status parameters to determine the difference between the UAV's current power supply requirements and the available power supply from the power supply units. Finally, based on the degree of difference, the power conversion and distribution unit analyzes the data and promptly switches between power supply units to optimize their output modes and effectively improve the utilization rate of power supply energy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a method for monitoring the power supply energy of a drone based on a drone power supply system in one embodiment; Figure 2 This is a schematic diagram of the system topology of a UAV power supply system in one embodiment. Detailed Implementation

[0019] To facilitate understanding of this disclosure, a more complete description will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the present disclosure. However, this disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure.

[0020] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] Please see Figure 1 This is a flowchart illustrating a drone power supply energy monitoring method based on a drone power supply system according to an embodiment of this disclosure. The drone power supply energy monitoring method includes: providing multi-port power output to the drone using a drone power supply system. Please refer to [further details omitted]. Figure 2 The UAV power supply system includes: a multi-port power supply module, an energy management unit, a power conversion and distribution unit, and a sensor module. The multi-port power supply module includes a tethered power supply unit, a battery power supply unit, and a fuel-powered generator unit, which respectively provide DC power to the UAV. The power supply command terminal of the energy management unit is connected to the power supply control terminals of the tethered power supply unit, the battery power supply unit, and the fuel-powered generator unit, respectively, and the energy management unit is used to receive flight control mission information from the UAV. The power control terminal of the power conversion and distribution unit is connected to the power command terminal of the energy management unit, and the input terminal of the power conversion and distribution unit is connected to the output terminals of the tethered power supply unit, the battery power supply unit, and the fuel-powered generator unit, respectively. The output terminal of the power conversion and distribution unit is used to supply power to the UAV. The data output terminal of the sensor module is connected to the sensing terminal of the energy management unit, and the sensor module is used to collect real-time flight status, environmental parameters, and power supply system operation data of the UAV.

[0023] In another embodiment, the drone power supply system powers the drone body, which carries the flight control system, motors, and mission payload.

[0024] The tethered power supply unit comprises a ground power supply unit, a tether cable, and a drone-end power receiving unit. The ground power supply unit is responsible for converting mains power or generator power into voltage and current suitable for the drone and transmitting it to the drone via a high-strength, lightweight tether cable. The drone-end power receiving unit is responsible for receiving the tethered power and performing initial voltage regulation.

[0025] The battery power unit contains one or more high-energy-density lithium battery packs, serving as the main backup and supplementary power source for the drone, providing high power output and instantaneous response capabilities. The battery module integrates a battery management system (BMS) to monitor battery voltage, current, temperature, state of charge (SOC), and state of health (SOH) in real time.

[0026] The fuel-powered generator unit comprises a small, high-efficiency fuel generator, a fuel tank, and a rectifier and voltage regulator unit. The fuel generator converts the chemical energy of fuel into electrical energy, while the rectifier and voltage regulator unit converts the alternating current output from the generator into direct current and regulates the voltage for use by the drone.

[0027] The Energy Management Unit (EMU), as the core of the system, is responsible for monitoring the status of all power sources (tethered power, battery, fuel-powered generator), the drone's payload requirements, flight status, and environmental parameters. Based on preset control strategies and algorithms, the EMU intelligently selects the optimal power supply mode, controls energy flow, and coordinates the output of each power source. The EMU typically consists of a high-performance microcontroller, sensor interfaces, a power management chip, and a communication interface.

[0028] The Power Conversion and Distribution Unit (PCDU) is responsible for converting (e.g., DC-DC, AC-DC), regulating, and filtering electrical energy from different power sources, and distributing it to the various payloads of the UAV (e.g., flight control system, motors, mission payloads). The PCDU also includes safety mechanisms such as overvoltage, overcurrent, and short-circuit protection.

[0029] The sensor module includes voltage sensors, current sensors, temperature sensors, tether cable tension sensors, GPS modules, inertial measurement units (IMUs), etc., which are used to collect UAV flight status, environmental parameters and power supply system operation data in real time and transmit the data to the EMU.

[0030] The method for monitoring the power supply of unmanned aerial vehicles includes some or all of the following steps.

[0031] S100: Acquire flight control mission information for the UAV.

[0032] In this embodiment, the flight control mission information is the mission information provided by the UAV's flight control system, including different mission scenarios, different environmental conditions, and various system states. The energy output of each power supply unit is adjusted accordingly based on the flight control mission information.

[0033] S200: Decodes the flight control mission information using mission payloads to obtain the available power supply flight status parameters.

[0034] In this embodiment, the flight control mission information refers to the mission information provided by the UAV's flight control system, including different mission scenarios, different environmental conditions, and various system states. The energy output of each power supply unit is adjusted accordingly based on the flight control mission information. After decoding the mission payload, the flight control mission information yields key characteristics such as the corresponding mission flight payload endurance, i.e., power supply availability parameters, facilitating the determination of the power supply energy required by the UAV during flight.

[0035] S300: Perform a power supply flight availability adjustment process on the power supply flight availability parameters and the preset flight availability parameters to obtain the power supply flight availability adjustment.

[0036] In this embodiment, the available flight power parameters are used as the power supply energy required for the current flight mission of the UAV. The preset available flight power parameters are the power supply energy threshold under the current mission scenario. By adjusting the available flight power parameters and the preset available flight power parameters, the degree of difference between the power supply energy of the UAV under the current mission scenario and the standard power supply energy is determined.

[0037] S400: Based on the available power supply for flight adjustment, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module.

[0038] In this embodiment, the power supply flight availability adjustment is the degree of difference between the power supply energy of the UAV in the current mission scenario and the standard power supply energy. The energy management unit analyzes the power supply energy difference reflected by the power supply flight availability adjustment so that the power conversion and distribution unit can adjust the output mode of each power supply unit, so that the UAV can select the optimal power supply strategy in different flight mission scenarios, achieve optimal energy utilization, dynamic power distribution and smooth switching of power supply mode.

[0039] In the above embodiments, after receiving flight control mission information, the energy management unit recognizes different mission scenarios within the mission information. By decoding the mission payload, it can easily determine the power supply requirements for the current flight mission, i.e., the available power supply flight status parameters. Then, the available power supply flight status parameters are compared with standard status parameters to determine the difference between the power supply requirements of the UAV's current flight mission and the available power supply of the power supply units. Finally, based on the degree of difference, the power conversion and distribution unit analyzes and switches each power supply unit in a timely manner to optimize the output mode of each power supply unit and effectively improve the utilization rate of power supply energy.

[0040] In one embodiment, the flight control mission information of the UAV is obtained, including: obtaining the UAV's mission planning information, flight phase information, remaining mission time, and flight mission scenario information.

[0041] In this embodiment, mission planning information is the top-level design data for the UAV to perform flight missions, including flight path, sequence of operational actions, target locations, mission priorities, etc. As the "brain" of the UAV, the flight control system's core functions include flight path planning and autonomous flight control, which can generate a complete flight profile according to mission requirements.

[0042] By incorporating mission planning information into the energy management unit, the system gains a comprehensive understanding of the mission. The power demands during the climb, level flight, hovering, and landing phases of the flight path differ significantly. Mission planning information allows the energy management unit to generate a complete "power demand-time" curve in advance, enabling proactive scheduling of the multi-port power modules (tethered power, battery power, and fuel-powered generators). For example, before entering a high-power climb phase, the fuel-powered generator can preheat, and the battery power unit can complete balancing preparations in advance, avoiding altitude loss or attitude instability caused by delayed power supply response during sudden high power demands.

[0043] Mission planning information not only tells the system "how much energy is needed," but also "when and what type of energy is needed." For missions requiring long-term hovering operations, access windows for tethered power can be planned in advance; for missions requiring rapid maneuver and assault, priority can be given to ensuring the high-rate discharge capability of battery power. This phased energy reserve planning transforms the energy utilization of the power supply system from "extensive supply" to "refined guarantee."

[0044] In the collaborative control of drone swarms, certain key nodes have higher task priority than other tasks. Task planning information can mark these key task segments, and the energy management unit can set power supply protection thresholds accordingly. When energy is insufficient, priority is given to ensuring power supply for key tasks, and the power supply needs of non-critical loads are automatically abandoned, thereby maximizing the value of tasks under limited energy.

[0045] Flight phase information describes the current flight status of the UAV, such as takeoff, climb, cruise, operation, return, and landing. Each flight phase corresponds to specific dynamic characteristics and power demand characteristics, which are the direct basis for energy management decisions.

[0046] Takeoff Phase: The UAV requires maximum thrust to overcome gravity and air resistance, reaching peak power demand. During this phase, the energy management unit should prioritize the battery power supply unit, utilizing the high-rate discharge characteristics of the battery to meet the instantaneous high current demand, while maintaining stable auxiliary power output from the fuel-powered generator within its efficient range. The sensor modules provide real-time feedback data from the attitude sensors and accelerometers, allowing the energy management unit to determine whether the takeoff phase is complete and smoothly transition to the power supply strategy for the next phase.

[0047] Cruise Phase: Power demand is relatively stable, making it the optimal operating range for the fuel-fired power generation unit. The energy management unit can use the fuel-fired power generation unit as the primary power source, while the battery power unit switches to float charging or low-power standby mode, and the tethered power unit is connected when conditions permit. The route length and cruise speed set in the mission planning information, combined with real-time calculations of the remaining mission time, provide an accurate reference benchmark for the energy consumption rate during the cruise phase.

[0048] During operational phases such as plant protection spraying, aerial photography and mapping, and communication relay, power requirements fluctuate with changes in the operational load. The PID control algorithm and Kalman filter algorithm in the flight control system continuously sense changes in flight attitude and position. This real-time data is transmitted to the energy management unit through sensor modules, enabling it to predict the dynamic power demand of operational actions and adjust the output of the power conversion and distribution unit in advance.

[0049] Return and landing phases: Balancing remaining energy with the energy required for return is crucial for decision-making. The energy management unit combines the return path from mission planning information and the current status from flight phase information to calculate the minimum energy required for return in real time. When the remaining energy approaches this threshold, a return alert or mandatory return command is triggered to ensure flight safety.

[0050] Flight phase information enables the energy management unit to have "phase recognition" capabilities—the system no longer treats flight as a uniform process, but identifies and adapts to the differentiated power supply needs of different phases, realizing adaptive switching of power supply modes and avoiding efficiency losses and safety hazards caused by a single power supply strategy throughout the entire flight profile.

[0051] Remaining mission time is one of the most critical decision variables in power supply monitoring methods, directly related to the core question of "how long can a drone continue its flight mission given its current energy state and consumption rate?" In energy efficiency assessment, remaining mission time directly links energy reserves to mission execution capability. Based on its remaining energy and mission power consumption characteristics, the maximum number of continuous operations for a given target can be calculated for each drone.

[0052] The remaining mission time is not a fixed value, but a dynamic quantity that changes in real time with flight status, environmental conditions, and the power supply system status. Data such as remaining battery capacity, fuel level, and tethered power availability collected by the sensor module are combined with the current power consumption rate and continuously updated with the remaining mission time estimate by intelligent algorithms in the energy management unit (such as model-based predictive control and Kalman filtering state estimation algorithms). This dynamic estimate provides real-time energy constraints for all power supply decisions.

[0053] By comparing the remaining mission time with the estimated time for the remaining mission segments in the mission planning information, the energy management unit can determine whether the current energy is sufficient to complete all scheduled tasks. When insufficient energy is predicted, mission execution strategies can be adjusted in advance—for example, reducing the time for non-core operations, lowering the quality of operations to increase mission coverage, or transferring some tasks to other drones. This real-time assessment capability of mission completion probability elevates power management from simple energy monitoring to a mission assurance level.

[0054] The remaining task time directly influences the timing of power mode switching. When there is ample remaining task time, the system can prioritize using fuel-powered generators to improve economy; when remaining task time is limited, the system can switch to battery power for a faster power response; when the remaining task time indicates that the system is about to enter the tethered power supply availability range, preparations for tethered power supply unit access can be initiated in advance. This switching timing logic based on remaining task time avoids mode oscillations and energy waste caused by fixed threshold switching.

[0055] Flight mission scenario information describes the environmental conditions and application scenario characteristics of the UAV when performing its mission. In power supply monitoring, scenario information is an important external constraint for determining the selection of power supply strategies.

[0056] Geographical environments (such as urban canyons, mountains, sea, and plateaus) significantly impact the power supply system. In urban canyons, GPS signals may be blocked, forcing flight control systems to rely on inertial navigation and visual positioning, resulting in different power consumption patterns compared to open airspace. At high altitudes, the thin air reduces the efficiency of fuel generators, necessitating adjustments to the power supply ratio. At sea, the highly corrosive salt spray environment necessitates enhanced monitoring of the power supply system's insulation status. The introduction of scenario information enables the energy management unit to access preset power supply parameters for specific environments, achieving adaptive power supply strategy adjustments.

[0057] In meteorological scenarios (such as strong winds, low temperatures, and high temperatures), ambient temperature directly affects the battery's discharge capacity and cycle life, while increased wind speed leads to a significant increase in flight power consumption. Barometric pressure sensors, optical flow sensors, and external meteorological data sources in the flight control system provide scenario awareness, allowing the energy management unit to adjust power margin settings accordingly—reducing the battery discharge rate in low-temperature scenarios to prevent sudden voltage drops, and increasing power reserves in strong wind scenarios to cope with sudden wind disturbances.

[0058] Different mission scenarios (such as emergency search and rescue, logistics delivery, inspection and monitoring, and communication relay) have different emphases on power supply reliability and priority. Emergency search and rescue scenarios prioritize ensuring power supply for endurance and communication equipment, logistics delivery scenarios focus on high-power supply during takeoff and landing, and inspection and monitoring scenarios prioritize power supply efficiency during constant-speed cruising. By combining mission scenario information with mission planning information, the energy management unit can identify the core power supply needs of the mission and make trade-off decisions that align with mission objectives when energy is limited.

[0059] In regulatory and airspace scenarios, fuel-fired power generation may be subject to noise or emission restrictions in certain airspaces or urban areas. In such cases, the energy management unit must prioritize tethered power or battery power. The introduction of scenario information ensures the compliance of the power supply strategy, preventing mission interruptions by airspace management authorities due to inappropriate power supply mode selection.

[0060] In one embodiment, the flight control mission information is decoded by mission payload to obtain available power supply flight state parameters, including: performing large-scale language model conversion on the flight control mission information to obtain available power supply flight energy, wherein the available power supply flight energy includes the battery state of charge of the battery power supply unit, the fuel balance of the fuel power generation unit, and the available power of each power supply unit.

[0061] In this embodiment, traditional flight control mission information processing relies on predefined rule sets and lookup tables. For example, if the flight control system issues a mission command "execute inspection operation in area A", the traditional method needs to search the rule base for the preset power curve corresponding to this mission type. Once the mission description exceeds the rule coverage range - such as "complete the inspection of area A by reducing the cruise speed by 5% under headwind conditions" - the rule matching will fail or degrade.

[0062] Large-scale language models have changed this landscape. Their core capability lies in semantic-level parsing of natural language and structured task descriptions, extracting key elements affecting power supply requirements from flight control task information. Flight path descriptions in mission planning information, attitude requirements in flight phase information, and environmental constraints in flight mission scenario information, whether in standardized formats or non-standard descriptions containing abnormal conditions, can all be uniformly parsed by LLM into structured task payload feature vectors.

[0063] In UAV mission payload systems, the power supply channel is the core channel for providing power to the mission payload, and the increase in mission payload significantly affects the UAV's energy consumption and endurance. A typical heavy-load UAV consumes power at a much higher rate when fully loaded than when unloaded. LLM (Limited Power Management) uses semantic correlation analysis of factors such as mission payload configuration, operational intensity, and duration to map "mission payload type - power consumption characteristics - duration" into accurate energy demand predictions, which is difficult to achieve with rule-based systems. This transformation means that the applicable boundary of mission payload decoding expands from "rule-enumerable mission scenarios" to "semantically understandable arbitrary mission scenarios," fundamentally improving the system's mission adaptability.

[0064] Flight control mission information is essentially a multimodal information set. Mission planning information includes spatial coordinates and time series, flight phase information includes dynamic state indicators, remaining mission time is a continuously changing numerical quantity, and flight mission scenario information includes categorical variables such as terrain category, weather conditions, and mission type. These information have different data structures, time scales, and semantic levels, making it difficult for traditional methods to jointly analyze them within a unified framework.

[0065] Large language models inherently possess multimodal semantic fusion capabilities. Through appropriate encoding strategies, spatial coordinates can be transformed into location semantic descriptions, time series can be expressed as temporal dependencies, and categorical variables can be mapped to scene semantic labels. LLM establishes attentional associations among these heterogeneous information, identifying cross-features that have a critical impact on power supply decisions—for example, the superposition of "headwind scenario" and "climbing phase" can lead to a non-linear increase in power demand, while such cross-effects are often simplified to linear superposition in traditional rule-based systems.

[0066] The flight status, environmental parameters, and power supply system operation data collected in real time by the sensor module can also serve as the input context for LLM, forming a two-way verification between "mission intent" and "real-time status" with the flight control mission information. This fusion and parsing capability makes mission payload decoding no longer a one-way parameter mapping process from mission to power supply, but a multi-dimensional comprehensive reasoning process that integrates mission requirements, real-time environment, and system status.

[0067] The output of mission payload decoding—the available energy for flight power—specifically includes the battery state of charge (SOC) of the battery power unit, the remaining fuel in the fuel generator unit, and the available power of each power unit. These parameters are direct inputs for subsequent flight adjustment processing. In traditional BMS systems, the estimation of battery SOC relies on the ampere-hour integration method combined with open-circuit voltage correction, while the remaining fuel is read through a level sensor. These methods provide deterministic single-point estimates, the accuracy of which is affected by sensor noise, model errors, and environmental factors. LLM, in its decoding process, does not simply perform numerical mapping but rather recalibrates these fundamental state variables by incorporating mission payload configuration and operational intensity from the flight control mission information, thus establishing mission-related relationships.

[0068] For example, when mission payload information indicates that the UAV is about to perform a high-power operation, the LLM (Limited Power Management) will adjust the effective available capacity of the current battery state of charge based on the power consumption characteristics of the mission payload and the battery discharge characteristic curve. This adjustment makes the available energy for powering the flight more closely resemble real-world operating conditions—the actual release capacity of the battery under high-rate discharge conditions is lower than the nominal capacity. Similarly, the available power output of the fuel-powered generator is affected by altitude and intake air temperature; geographical environmental data in the flight mission scenario information can drive the LLM to quantify and compensate for these environmental degradation factors.

[0069] The available power output of each power supply unit is not a fixed value. The available power of the tethered power supply unit is affected by cable length and voltage drop; the available power of the battery power supply unit is constrained by multiple factors including temperature, state of charge, and health status; and the available power of the fuel-fired power generation unit is affected by environmental conditions and operating conditions. LLM, by integrating mission requirements, environmental parameters, and system status, outputs a real-time available power range for each power supply unit under mission conditions, rather than a single numerical value. This provides a confident decision-making basis for subsequent power supply mode switching.

[0070] The power supply availability parameters obtained from mission payload decoding are then processed in the power supply adjustment stage, compared with preset power supply availability parameters, and a power supply availability adjustment signal is generated. The introduction of LLM brings two levels of synergistic benefits to this chain. First, the semantic interpretability of the adjustment signal is enhanced. When the power supply availability adjustment shows a certain power supply capacity deficiency, traditional systems can only output a deviation value, and maintenance personnel or upper-level decision-making systems cannot directly know the root cause of the deviation. However, LLM establishes an inference link of "mission elements → power consumption contribution → energy gap" during mission payload decoding, and the adjustment signal can be accompanied by semantic annotations—for example, "the reason for insufficient battery available power is the continuous high current discharge during the headwind cruise phase, rather than a battery failure." This interpretability is of great value for fault tracing and mission review. Second, the preset power supply availability parameters are dynamically optimized. The preset parameter library was originally a static set of empirical values. LLM continuously accumulates input and output samples from task decoding during actual operation, and through online learning or periodic fine-tuning, the preset parameters are gradually optimized into a dynamic set of parameters that match specific UAV platforms, task types, and environmental conditions. The benchmark for flight adjustment processing has evolved from "empirical calibration values" to "data-driven optimized values," reducing the cost and bias of manual calibration.

[0071] Furthermore, the available flight state parameters for power supply are adjusted with the preset available flight state parameters to obtain the available flight state adjustment for power supply, including: calculating the adjustment between the available flight energy for power supply and the preset flight energy to obtain the difference in available flight energy.

[0072] In this embodiment, the essence of the available flight energy difference is a precise quantification of the matching relationship between the UAV's current power supply capability and the mission's energy requirements. Available flight energy includes real-time information in three dimensions: the battery state of charge of the battery power supply unit reflects the remaining electrochemical energy storage; the remaining fuel of the fuel power generation unit reflects the remaining chemical fuel energy storage; and the available power of each power supply unit reflects the instantaneous output capability under the current operating conditions. These three parameters are not isolated values, but rather mission-related estimates output after analysis by a large-scale language model combined with flight control mission information (mission planning, flight phase, remaining mission time, and flight mission scenario). They are deeply coupled with mission payload configuration, operational intensity, and environmental conditions, representing "the actual energy available under the current mission conditions."

[0073] The preset flight energy serves as the system's benchmark, storing the nominal energy requirements for different flight phases (takeoff, climb, cruise, operation, return, and landing) and different mission scenarios (geographical environment, weather conditions, and mission type). This benchmark originates from the statistical analysis results of flight envelope simulation data or historical flight data during the design phase and represents "the minimum energy required to complete the mission in this phase under ideal conditions."

[0074] The difference between the two values ​​yields the available energy difference for flight. A positive value indicates an energy surplus, while a negative value indicates an energy deficit. The absolute value is measured in physical units consistent with the energy dimension (such as watt-hours or joules). This difference signal upgrades energy management decisions from a qualitative "is it enough?" judgment to a quantitative "how much is missing?" measurement, providing precise control target values ​​for subsequent power conversion and distribution units.

[0075] The available flight energy difference, as a continuous numerical signal, provides a precise control basis for the coordinated scheduling among multi-port power supply modules (tethered power supply unit, battery power supply unit, and fuel power generation unit). The energy management unit determines the output content of the power distribution switching signal based on the sign and absolute value of the available flight energy difference.

[0076] Furthermore, based on the available flight power supply adjustment, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module. This includes: detecting whether the available flight energy difference is greater than or equal to the preset available energy difference; when the available flight energy difference is greater than or equal to the preset available energy difference, a battery power supply switching signal is sent to the power conversion and distribution unit so that the battery power supply unit becomes the main power supply unit and outputs power to the UAV.

[0077] In this embodiment, before analyzing the technical effects of the switching decision, it is necessary to trace the complete data source chain of the difference in available flight energy—because the quality of this difference directly determines the reliability of the switching decision. The chain begins with the four-dimensional acquisition of flight control mission information: mission planning information provides a global mission view, flight phase information provides real-time flight status, remaining mission time provides energy constraint boundaries, and flight mission scenario information provides environmental conditions. These four types of information are decoded using a large-scale language model to output the available flight energy for power supply—including battery state of charge, remaining fuel, and available power of each power supply unit—a refined estimate that integrates mission semantics, environmental conditions, and system status.

[0078] The available flight power is then adjusted against the preset flight power to calculate the deviation between the two, resulting in the available flight power difference. The preset flight power is a nominal energy requirement benchmark defined by flight phase and mission scenario. The physical meaning of the available flight power difference is "the difference between the currently available energy and the energy required for the mission in the current phase".

[0079] At this point, the available energy difference for flight has condensed the entire chain of information from flight control mission perception, LLM semantic parsing, sensor data fusion to benchmark comparison. When it enters the threshold comparison stage, it is no longer an isolated energy value, but a mission-related deviation signal with a complete decision context.

[0080] The energy management unit detects whether the available energy difference for flight is greater than or equal to the preset available energy difference. This threshold comparison logic implies a clear control strategy intent. The preset available energy difference is a positive energy threshold, meaning "the additional energy margin that needs to be reserved after the energy required for the mission has been met." When the available energy difference for flight is greater than or equal to this preset value, it indicates that the system's current energy reserves are not only sufficient to meet the mission requirements of the current flight phase, but also have an energy surplus exceeding the minimum safety margin.

[0081] Using only "air available energy difference > 0" as the switching condition means switching to battery power whenever there is a slight energy surplus. This zero-threshold strategy leads to frequent mode switching in engineering practice—small load fluctuations during flight can cause the difference to repeatedly cross zero, triggering periodic oscillations in the power supply mode. Setting a preset available energy difference as a positive threshold essentially introduces the upper boundary of hysteresis control; switching to battery power is only triggered when the energy surplus is sufficiently abundant. The lower boundary of the hysteresis is defined by another set of switching logic (e.g., switching to fuel generator or tethered power when the energy deficit exceeds a preset negative threshold). Together, they constitute a dual-threshold hysteresis controller, effectively suppressing ringing during mode switching.

[0082] The core advantages of battery-powered units lie in their fast response time, clean output voltage, and absence of mechanical vibration and emissions. When energy surplus is sufficient, the marginal demand for endurance decreases, allowing the system to prioritize the superior dynamic characteristics of battery power. Compared to fuel-powered generators, battery power is more efficient under light load conditions and avoids the problems of incomplete combustion, carbon buildup, and sudden efficiency drops that occur when fuel generators operate at low load rates. Compared to tethered power units, battery power is not constrained by cables and does not restrict the drone's degrees of freedom of movement. Therefore, under conditions of ample energy, battery power is the optimal choice in terms of overall efficiency, maneuverability, and power quality.

[0083] After the battery power switching signal takes effect, the battery power supply unit becomes the main power supply unit, and the drone enters the main battery power supply mode. In this state, the responsibilities of each unit in the multi-port power supply module are redistributed. The battery power supply unit undertakes the main power output of the drone's load, and its output characteristics are adjusted in real time by the power conversion and distribution unit according to the load demand. Thanks to the low internal resistance and fast response capability of the battery, when faced with highly dynamic load changes caused by the drone's flight maneuvers (such as the instantaneous large current compensation of the flight control system under gusts of wind), the battery power supply unit can respond to power demands with a time constant in the range of microseconds to milliseconds, ensuring the stability of the power supply voltage.

[0084] The fuel-fired generator unit switches to standby or hot backup mode when the battery is the primary power source. In standby mode, the fuel-fired generator can maintain idle speed, ready to quickly switch over if the battery is low on power or malfunctions. In hot backup mode, the generator maintains a low power output within its high-efficiency range, supplying a portion of the power to the load and using the remaining power for low-current float charging of the battery. This standby or backup strategy allows the fuel-fired generator unit to maintain rapid response capabilities while avoiding prolonged operation in its inefficient range, thus extending the generator's maintenance cycle and lifespan.

[0085] The tethered power supply unit is typically disconnected or in a low-power monitoring state during battery-dominant mode, and is only activated by the energy management unit on demand when the cable has been deployed and requires additional charging. This strategy avoids unnecessary drag and attitude interference from the tethered cable during unnecessary periods.

[0086] In another embodiment, after detecting whether the available flight energy difference is greater than or equal to a preset available energy difference, the method further includes: when the available flight energy difference is less than the preset available energy difference, sending a non-battery power supply switching signal to the power conversion and distribution unit so that the tethered power supply unit or the fuel power generation unit is the main power supply unit to output electrical energy to the UAV.

[0087] In this embodiment, the available flight energy difference is not an isolated value. It carries the entire information chain from flight control mission information acquisition, large language model mission payload decoding, to flight adjustment processing: flight control mission information provides four-dimensional data of mission planning, flight phase, remaining mission time, and flight scenario. LLM parses this into available flight energy for power supply, and then calculates the difference with the preset flight energy. Therefore, when this difference is less than the preset threshold, it means that the available energy after mission semantic verification is insufficient to support the flight requirements of the current phase. The preset available energy difference serves as the upper bound for battery power supply in the positive branch and as the lower bound for non-battery power supply in the negative branch. When the available flight energy difference is less than this threshold, it indicates that the energy surplus has shrunk below the safety margin—either exactly breaking even or a deficit has appeared. At this point, continuing to rely on battery power will face the risk of premature energy depletion, and the system must activate a power supply unit with higher energy density or online replenishment capability to take over the main power supply role.

[0088] Whether the non-battery power supply switching signal points to the tethered power supply unit or the fuel power generation unit is determined by the energy management unit in conjunction with multi-dimensional conditions in the flight control mission information.

[0089] When the mission scenario allows for cable deployment (such as stationary hovering operations or limited area inspections) and the tethered power supply unit is available, tethered power supply is the preferred choice. Its advantages lie in its unlimited energy – continuous power from ground-based sources completely eliminates range anxiety, while also providing stable output voltage and zero noise emissions. When LLM analyzes mission scenario information, it will mark tethered power supply as a high-priority preference if it identifies tethered-friendly mission types such as "static operations" or "communication relays."

[0090] When missions require high mobility and cannot deploy tethered cables—such as rapid inspections and emergency search and rescue—the fuel-fired power generation unit is activated. The high energy density of fuel (approximately 12 kWh / kg) far exceeds that of current lithium-ion batteries, providing significantly longer range than pure battery power without sacrificing mobility. The energy management unit determines the output power level of the fuel-fired power generation unit based on the remaining mission time, achieving an optimal trade-off between range and efficiency.

[0091] In one embodiment, the flight control mission information is decoded by the mission payload to obtain the available power supply flight status parameters, including: performing large-scale language model conversion on the flight control mission information to obtain the available power supply flight distance, wherein the available power supply flight distance is the flight distance corresponding to the UAV cruise mission.

[0092] In this embodiment, the available flight distance powered by the power supply is not simply an arithmetic result of "remaining power divided by energy consumption per unit distance". Essentially, it is a multi-dimensional semantic representation of flight control mission information integrated by a large-scale language model, mapping the current power supply system's energy reserves to a spatially accessible range under specific mission conditions. Four types of data in the flight control mission information jointly drive this mapping process. Mission planning information provides the spatial coordinate sequence of the cruise route and waypoint constraints; flight phase information confirms the current cruise phase and provides cruise speed and altitude parameters; remaining mission time defines the time boundary of the flight distance; and flight mission scenario information includes environmental variables such as wind speed and direction, air pressure, and temperature, which significantly affect cruise power consumption.

[0093] During the decoding process, large language models do not simply read these parameters one by one and input them into fixed formulas. Instead, they understand the coupling relationships between them at the semantic level. For example, the superposition of the semantics of the "headwind" scenario and the semantics of the "cruise speed" phase means that the power consumption required to maintain a given ground speed will increase significantly, thereby compressing the available flight distance powered by electricity. The superposition of the semantics of the "high altitude and low temperature" scenario and the semantics of "fuel power generation" means that the efficiency degradation of the fuel power generation unit and the decrease in battery discharge capacity must be taken into account simultaneously. Based on these semantic relationships, LLM performs comprehensive reasoning and outputs a mission-related available flight distance that integrates mission semantics, environmental conditions, and multi-source power supply characteristics.

[0094] The physical dimension of this distance is a unit of length (kilometer or nautical mile), which directly corresponds to the spatial scale of UAV cruise missions. Its numerical meaning is "the farthest distance that the UAV can sustainably cruise under current power reserves and mission conditions." It complements the available energy for powered flight—the energy parameter answers "how much electricity and fuel is left," and the distance parameter answers "how far can it fly"—together, they provide a complete view of mission reachability for energy management decisions.

[0095] Available energy for power supply and available range for power supply together constitute the two orthogonal dimensions of the energy management unit's perception of mission situation. Available energy for power supply (battery state of charge, remaining fuel, and available power of each unit) describes the instantaneous state and capability of the power supply system. It focuses on "how much power each power supply unit can output and how much energy is left at this moment," and is a real-time control-level parameter for power allocation and mode switching. Available range for power supply describes the endurance capability and spatial coverage of the power supply system. It focuses on "how far the UAV can cover in space with current energy reserves and mission conditions," and is a strategic-level parameter for mission planning and range decision-making.

[0096] The synergy between the two is reflected on multiple levels. First, in the flight adjustment process, the available flight energy difference (the difference between the available flight energy and the preset flight energy) guides the short-cycle power supply mode switching, while the available flight distance provides a global constraint on this switching - when the available distance is close to the critical value of the remaining mission range, even if the energy difference is temporarily positive, the system should maintain the high-endurance power supply mode (fuel power generation or tethered power supply) rather than switch to battery power supply.

[0097] Secondly, the energy management unit can compare the available flight distance with the remaining mission range in the flight control mission information. If the available distance is greater than the remaining range and there is a safety margin, the system has flexibility in its power supply strategy and can prioritize the mode with better power quality; if the available distance is close to or even less than the remaining range, the system needs to immediately activate a conservative strategy that prioritizes range and may send a range warning signal to the flight control system.

[0098] Furthermore, the available flight state parameters for power supply are adjusted against the preset available flight state parameters to obtain the power supply flight availability adjustment, including: The difference between the available flight distance and the preset flight distance is calculated to obtain the difference in available flight distance.

[0099] In this embodiment, the available flight distance difference carries the entire information chain from flight control mission perception to spatial decision deviation. Mission planning information and flight mission scenario information in the flight control mission information are parsed into mission-related available distance estimates via LLM semantic fusion—wind field environment, cruise parameters, and waypoint coordinate sequences are analyzed—and then the difference is calculated with a preset flight distance. A positive difference indicates a range margin, while a negative difference indicates a range shortfall. The unit of measurement is length, allowing direct comparison with the remaining mission range. The available flight energy difference and available flight distance difference describe the matching deviation between the power supply system and mission requirements from the energy and spatial dimensions, respectively. The key logic for their collaborative verification is: the energy difference determines the type and direction of power supply mode switching (battery or non-battery), and the distance difference provides spatial feasibility verification for the switching decision.

[0100] When a positive energy difference triggers a tendency to switch to battery power, the range difference must be checked simultaneously. If the range difference is also positive and sufficient, the switch can be confirmed and executed. If the range difference is close to zero or negative, even if there is still a partial energy surplus, the switch should be suppressed to maintain the high-endurance mode to ensure flight safety. This cross-checking effectively avoids the decision-making blind spot of ignoring insufficient range throughout the entire flight due to a partial energy surplus.

[0101] The available flight distance difference provides a quantitative benchmark for real-time monitoring of the remaining mission range. As the distance difference narrows and approaches zero, it indicates that the available range is nearing the minimum range threshold required for the mission. This trend precedes energy depletion—the drone may face the predicament of being unable to return before its batteries or fuel are exhausted. Based on this, the energy management unit issues a range warning to the flight control system, suggesting a reduction in mission area or advance planning of alternate landing points, thus providing a window of opportunity for flight safety even earlier than the energy warning.

[0102] The distance difference provides a spatial dimension for triggering and correcting the power distribution switching signal. The previously defined switching logic is based on comparing the energy difference with a preset threshold of available energy difference. The introduction of the distance difference creates a dual-condition composite trigger: the triggering of the non-battery power supply switching signal not only depends on the energy difference being negative, but also needs to be combined with the distance difference to determine the urgency of the switching - the more negative the distance difference, the greater the proportion of the energy gap mapped to the range gap, the higher the power ramp rate required for the switching, and the faster the mooring or fuel-powered generator unit must be started.

[0103] Furthermore, based on the available power supply adjustment during flight, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module, including: Detect whether the available flight distance difference is greater than or equal to the preset available flight distance difference; When the available flight distance difference is greater than or equal to the preset available flight distance difference, an untethered power supply switching signal is sent to the power conversion and distribution unit so that the fuel power generation unit or the battery power supply unit can be the main power supply unit to output electrical energy to the UAV.

[0104] In this embodiment, the data source chain for the available flight distance difference runs through multiple core modules of the system architecture, and its information quality directly determines the credibility of the switching decision. The starting point of the chain is the four-dimensional input of flight control mission information: mission planning information provides the spatial coordinate sequence and waypoint constraints of the cruise route; flight phase information confirms that the current cruise phase is underway and the corresponding speed and altitude parameters; remaining mission time calibrates the time boundary of the flight distance; and flight mission scenario information includes environmental variables such as wind speed, wind direction, air pressure, and temperature.

[0105] When large-scale language models decode these four types of information for mission payloads, they do not read parameters one by one and substitute them into fixed formulas. Instead, they understand the coupling relationship between scenario semantics such as "cruising against the wind", "high altitude and low temperature" and "multi-waypoint segmentation" and power supply semantics such as "battery power supply" or "fuel power generation" at the semantic level, and output the available distance for powered flight - that is, "the farthest distance that the UAV can sustainably cruise under the current power supply energy reserves and mission conditions".

[0106] The available flight distance is then adjusted against the preset flight distance. The preset flight distance is a nominal wing distance baseline pre-set by the system according to the flight phase (takeoff, climb, cruise, return) and mission scenario. The difference between the two is the available flight distance difference. A positive difference indicates that the available distance exceeds the nominal mission requirement, and there is a range margin; a negative difference indicates that the available distance does not meet the nominal requirement, and there is a range shortfall. The unit of measurement is length, which can be directly compared with the remaining mission range.

[0107] At this point, the available flight distance difference has condensed the entire link of information from spatial coordinate semantic parsing, wind field environment fusion, power supply characteristic coupling to mission benchmark comparison. When it enters the threshold comparison stage, it is a mission-related deviation signal with a complete spatial decision context.

[0108] The preset available distance difference is a positive distance threshold, which physically means "the additional safety margin of space required beyond the minimum range needed to complete the current phase of the cruise mission". When the available flight distance difference is greater than or equal to this preset value, it indicates that the UAV, under the current power supply configuration, can not only fly the remaining range, but also has sufficient range margin to cope with emergencies (such as temporary obstacle avoidance, landing waiting, increased headwind, etc.).

[0109] The core advantage of tethered power units is their unlimited energy—continuous power supply via ground-based power cables, completely eliminating range anxiety. However, the cost is equally significant: the physical drag of the tethered cable limits the drone's maneuver radius and degrees of freedom. In mission scenarios requiring rapid, wide-range maneuvers, the tethered cable becomes a severe constraint. When the available flight distance indicates sufficient range, maintaining tethered power becomes unnecessary—the system can use the limited but ample energy reserves from batteries or fuel-powered generators to achieve complete maneuverability without cable constraints.

[0110] A preset available distance difference is used as a positive threshold, which, together with the negative threshold for triggering tethered connection, constitutes the upper and lower boundaries of the hysteresis controller. If only "distance difference greater than zero" is used as the condition for tethering, small fluctuations in the range margin near zero will lead to frequent tethering and disconnection. Repeated cable retraction and deployment not only increases mechanical wear but also causes periodic disturbances to the UAV's attitude. The introduction of the preset threshold ensures that the tethering power disconnection decision is triggered only when the range margin is sufficiently ample, effectively suppressing high-frequency mode switching.

[0111] When the threshold condition is met, the energy management unit sends a non-tethered power supply switching signal to the power conversion and distribution unit. This signal simultaneously triggers power switching at the electrical level and cable management actions at the physical level.

[0112] At the electrical level, after receiving the switching signal, the power conversion and distribution unit performs a seamless power transfer from the tethered power supply to the target power supply unit (fuel generator or battery): first, it gradually increases the power output of the target power supply unit, establishing a stable output voltage along a set slope; once the target unit's power supply capacity fully covers the load power, the output of the tethered power supply unit gradually decreases to zero; finally, it disconnects the power converter of the tethered power supply branch from the DC bus. The entire process follows a "rise first, then fall" switching sequence to ensure that the bus voltage does not experience a momentary drop during the transition period.

[0113] At the physical level, the energy management unit sends a cable detachment command to the tethered power supply module. Based on the current flight altitude and cable tension data, the tethered cable retraction mechanism performs a smooth cable retrieval maneuver, bringing the cable to a safe position and locking it. This process must be synchronized with the power alternation rhythm—the physical detachment of the cable can only be performed after electrical disconnection is complete and no residual current is confirmed, to avoid the risk of arcing from live insertion or removal.

[0114] In another embodiment, if the available flight distance difference is greater than or equal to the preset available flight distance difference, it indicates that the drone's flight area exceeds the safe area for tethered power supply. At this time, the tethered cable has been disconnected and other power supply methods are needed to take over, that is, the fuel power generation unit or the battery power supply unit is used as the main power supply unit to output power to the drone, or the fuel power generation unit and the battery power supply unit are combined to supply power.

[0115] In another embodiment, after detecting whether the available flight distance difference is greater than or equal to a preset available flight distance difference, the method further includes: when the available flight distance difference is less than the preset available flight distance difference, sending a tethered power supply switching signal to the power conversion and distribution unit so that the tethered power supply unit is the main power supply unit to output power to the UAV.

[0116] In this embodiment, the formation of the available flight distance difference encapsulates the entire information chain from task semantic parsing to spatial deviation judgment. The task planning information and flight mission scenario information in the flight control task information are decoded using a large-scale language model—LLM—which fuses spatial semantics such as wind field environment, cruise parameters, and waypoint coordinate sequences with multi-port power supply characteristics to output the available flight distance, i.e., "the furthest distance the UAV can sustainably cruise under the current power supply configuration and mission conditions." This available distance is then adjusted against a preset flight distance to obtain the available flight distance difference. Therefore, when the available flight distance difference is less than the preset available flight distance difference, it indicates that the UAV's flight area is still within the safe zone of tethered power supply, and the tethered cable is not disconnected.

[0117] When the threshold condition is triggered, the energy management unit sends a tethered power supply switching signal to the power conversion and distribution unit through the power command terminal, and at the same time triggers the physical deployment of the tethered cable. The two are strictly coordinated in terms of timing.

[0118] At the electrical level, the execution of the tethered power supply switching signal follows a complete seamless power transfer process. Upon receiving the signal, the power conversion and distribution unit first confirms that the ground power supply to the tethered power supply unit is ready and that the cable electrical connection is established. Then, it gradually increases the power output of the tethered power supply branch, ensuring that the voltage of the tethered power supply unit is established along a set slope and matches the DC bus voltage. When the power output of the tethered power supply branch stably covers the load demand, the output of the original main power supply unit (fuel generator or battery) gradually decreases. The power alternation process between the two uses a "rise first, fall later" timing logic to ensure that the bus voltage does not experience instantaneous drops or overshoots during the switching process. The sensor module monitors the bus voltage, current, and power of each branch throughout the process; any abnormality triggers the backoff protection.

[0119] At the physical level, the release and electrical connection of the tethered cable are executed in a coordinated manner. The cable deployment and retraction mechanism releases the cable at a controlled rate while maintaining appropriate tension, based on the current flight altitude and mission scenario information, to prevent cable swinging from disturbing the UAV's attitude. Once the physical deployment of the cable is complete and the electrical connection is confirmed to be reliable, the tethered power supply unit officially takes over the primary power supply role.

[0120] After the tethered power supply switching signal takes effect, the UAV enters the tethered operation mode with the tethered power supply unit as the main power source, and the roles of each unit in the multi-port power supply module are redistributed.

[0121] The tethered power unit provides all the steady-state power output for the drone's payload. Its power comes from a ground-based power source, offering virtually unlimited energy and stable power quality. Thanks to the unlimited energy of tethered power, the drone can perform long-term hovering or continuous operations within a limited area in this mode, without needing to worry about remaining battery power or fuel levels.

[0122] The battery power unit transitions to charging management mode during tethered primary power supply. If the output power of the tethered power unit exceeds the load requirements, the remaining power is used for constant current-constant voltage charging of the battery through the power conversion and distribution unit. The energy management unit sets the optimal charging curve based on the battery's current state of charge and health, ensuring the battery recovers to its ideal charge level during tethered operations. A fully charged battery becomes a backup power source—if tethered power supply is interrupted due to cable failure or mission-required detachment, the battery can take over power supply with zero delay, ensuring uninterrupted flight.

[0123] In tethered main power mode, the fuel-fired power generation unit typically enters a standby state. Since tethered power supply provides unlimited energy, continuous operation of the fuel-fired power generation is no longer necessary. Shutting down the unit saves fuel, reduces mechanical wear and emissions, and reserves fuel energy for possible long-range flights after untethering.

[0124] In the process of powering drones in actual flight scenarios, the power supply of each power supply unit has a priority, specifically, tethered power > battery > fuel-powered generator, and power is supplied in order of priority. However, during drone flight missions, the flight scenarios they pass through often change, mainly due to weather or geographical changes. If the power supply is still supplied according to the above priority in this case, it is easy to cause the efficiency of the power supply unit to be reduced, and in severe cases, it may lead to irreversible damage to the power supply unit.

[0125] To facilitate power supply switching under different environments, the power supply flight adjustment sends a power distribution switching signal to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module, and then further includes: Obtain the ambient temperature of the drone's flight environment; Check whether the flight environment temperature is less than or equal to the preset environment temperature; When the ambient temperature is less than or equal to the preset ambient temperature, a slow-start signal is sent to the conversion and distribution unit to adjust the minimum and safe state of charge of the battery power supply unit and pre-start the fuel generator unit.

[0126] In this embodiment, the flight environment temperature refers to the ambient temperature of the UAV during the flight mission, specifically collected by a temperature sensor in the sensor module. The preset ambient temperature is the temperature threshold for distinguishing between high-altitude and cold environments during the UAV's flight mission. If the flight environment temperature is less than or equal to the preset ambient temperature, it indicates that the UAV is currently flying in a high-altitude and cold environment. At this time, the battery's available capacity and discharge capability decrease, meaning the power supply capacity of the battery power supply unit is weakened. By increasing the minimum and safe values ​​of the battery's state of charge (SOC) for the battery power supply unit, a greater safety margin is reserved, improving the safety of the battery power supply unit in high-altitude and cold environments. Simultaneously, by preheating and powering the fuel-powered generator unit in advance, the fuel-powered generator unit can smoothly take over the original battery power supply mode, preventing the UAV from being in a dangerous state of being without power after the battery power supply unit is cut off.

[0127] Furthermore, the process includes checking whether the flight environment temperature is less than or equal to a preset environment temperature, followed by: When the ambient temperature is higher than the preset ambient temperature, obtain the altitude of the drone's flight area; Detect whether the altitude of the flight area is greater than or equal to the preset altitude; When the altitude of the flight area is greater than or equal to the preset altitude, a fuel-electricity slow-cut signal is sent to the power conversion and distribution unit to reduce the output power of the fuel-powered generator unit and use the power of the battery-powered unit for peak shaving and valley filling.

[0128] In this embodiment, an ambient temperature higher than a preset ambient temperature indicates that the UAV is currently in a normal, safe temperature environment. The flight area altitude refers to the geographical altitude of the UAV's flight location, while the preset altitude is the geographical altitude threshold for distinguishing high-altitude environments during the UAV's flight mission. An altitude greater than or equal to the preset altitude indicates that the UAV is flying in a high-altitude region. At high altitudes, the oxygen content in the environment decreases significantly, limiting the performance of the fuel generator. The actual maximum output power of the fuel generator is dynamically calculated based on the real-time altitude. During power allocation and switching decisions, the fuel generator unit uses this reduced power value to supply power to the UAV's flight control and propulsion systems. Simultaneously, the battery power supply unit outputs power through peak shaving and valley filling to gradually take over the UAV's power supply. Peak shaving and valley filling involves the battery power supply unit's output power compensating for the reduced output power of the fuel generator unit until the fuel generator unit completely withdraws, at which point the battery power supply unit resumes full power output.

[0129] Furthermore, it checks whether the altitude of the flight area is greater than or equal to a preset altitude, and then includes: When the altitude of the flight area is lower than the preset altitude, obtain the humidity of the drone's flight area; Detect whether the humidity in the flight area is greater than or equal to the preset humidity; When the humidity in the flight area is greater than or equal to the preset humidity, a mooring insulation monitoring signal is sent to the power conversion and distribution unit to monitor the insulation status of the mooring power supply unit.

[0130] In this embodiment, the flight area altitude is lower than the preset altitude, indicating that the UAV is flying in a low-altitude region with normal oxygen content in the air. In this case, the UAV can be powered individually or in combination using various power supply methods. Since the UAV requires power via cable when tethered, it is highly susceptible to the insulation condition of the cable; that is, when the cable's thermal resistance is too low, the voltage and current of the tethered power supply will decrease. The flight area humidity refers to the ambient humidity within the UAV's flight area, while the preset humidity is the meteorological threshold for distinguishing high-humidity environments during the UAV's flight mission. If the flight area humidity is greater than or equal to the preset humidity, it indicates that the UAV is flying in a high-humidity environment. In this case, it is necessary to strengthen the monitoring of the insulation condition of the tethered power supply. Once the insulation resistance falls below the safety threshold, even if the power supply voltage and current are normal, a switch to battery power will be triggered to prevent potential electrical faults.

[0131] Furthermore, it checks whether the humidity in the flight area is greater than or equal to a preset humidity level, and then includes: When the humidity in the flight area is lower than the preset humidity, the tension of the drone's tether cable is obtained; Check whether the tension of the tethered cable is greater than or equal to the preset cable tension; When the tension of the mooring cable is greater than or equal to the preset cable tension, a mooring slow-cut signal is sent to the power conversion and distribution unit to gradually reduce the output power of the mooring power supply unit while gradually increasing the output power of the battery power supply unit.

[0132] In this embodiment, the humidity in the flight area is lower than the preset humidity, indicating that the drone is flying in a normal humidity environment, and the moisture in the air will not cause electrical damage to the tethered power supply cable. However, due to the presence of the cable, the cable may sway during drone flight, be pulled by its own weight, become entangled in tree branches or obstacles, or be pulled by strong winds, causing the cable to swing violently and reducing the stability of the tethered power supply. By collecting the tension of the tethered cable, it is easy to determine the tension that the cable is subjected to in the tethered power supply state, thereby determining the safety of the cable. If the tension of the tethered cable is greater than or equal to the preset cable tension, it indicates that there is severe tension on the cable when tethered. In this case, it is necessary to switch from the tethered power supply mode to the safer battery power supply mode. By gradually reducing the output power of the tethered power supply unit while gradually increasing the output power of the battery power supply unit, the switch from the tethered power supply mode to the battery power supply mode is made smoother, ensuring the flight safety of the drone.

[0133] In another embodiment, when the tether cable tension is less than a preset cable tension, a hybrid power supply signal is sent to the power conversion and distribution unit. When the tether cable tension is safe, the tether power supply unit, battery power supply unit, and fuel power generation unit combine to supply power or supply power independently according to priority based on available energy. Specifically, when the tether cable tension is 0, the cable is in a detached state, i.e., disconnected from the drone, and the battery power supply unit and fuel power generation unit in the multi-port power supply module also combine to supply power or supply power independently according to priority based on available energy.

[0134] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A method for monitoring the power supply energy of a drone based on a drone power supply system, characterized in that, include: A drone power supply system is used to provide multi-port power output for the drone. The drone power supply system includes: A multi-port power supply module, comprising a tethered power supply unit, a battery power supply unit, and a fuel-powered generator unit, wherein the tethered power supply unit, the battery power supply unit, and the fuel-powered generator unit are used to provide DC power to the UAV respectively; An energy management unit, the power supply command terminal of which is connected to the power supply control terminal of the tethered power supply unit, the power supply control terminal of the battery power supply unit and the power supply control terminal of the fuel power generation unit respectively, and the energy management unit is used to receive flight control mission information of the UAV; A power conversion and distribution unit, wherein the power control terminal of the power conversion and distribution unit is connected to the power command terminal of the energy management unit, and the input terminal of the power conversion and distribution unit is connected to the output terminal of the tethered power supply unit, the output terminal of the battery power supply unit and the output terminal of the fuel power generation unit respectively, and the output terminal of the power conversion and distribution unit is used to supply power to the UAV; The sensor module has its data output terminal connected to the sensing terminal of the energy management unit. The sensor module is used to collect the flight status, environmental parameters and power supply system operation data of the UAV in real time. The method for monitoring the power supply of the UAV includes: Obtain flight control mission information for the drone; The flight control mission information is decoded by the mission payload to obtain the available power supply flight status parameters; The available flight state parameters for power supply are adjusted with the preset available flight state parameters to obtain the available flight state parameters for power supply. According to the power supply flight available adjustment, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module.

2. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 1, characterized in that, Obtain flight control mission information for the drone, including: Acquire mission planning information, flight phase information, remaining mission time, and flight mission scenario information for the UAV.

3. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 1, characterized in that, The flight control mission information is decoded using mission payloads to obtain the available power supply flight status parameters, including: Large-scale language model conversion is performed on the flight control mission information to obtain the available energy for powering flight. The available energy for powering flight includes the battery state of charge of the battery power supply unit, the fuel balance of the fuel power generation unit, and the available power of each power supply unit.

4. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 3, characterized in that, The available flight state parameters for power supply are adjusted against the preset available flight state parameters to obtain the power supply flight availability adjustment, including: The difference between the available energy for flight and the preset flight energy is calculated to obtain the difference in available flight energy.

5. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 4, characterized in that, Based on the available power supply adjustment, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module, including: Detect whether the available energy difference during flight is greater than or equal to the preset available energy difference; When the available energy difference during flight is greater than or equal to the preset available energy difference, a battery power supply switching signal is sent to the power conversion and distribution unit so that the battery power supply unit becomes the main power supply unit and outputs electrical energy to the UAV.

6. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 5, characterized in that, The process includes checking whether the available energy difference in flight is greater than or equal to a preset available energy difference, followed by: When the available energy difference during flight is less than the preset available energy difference, a non-battery power supply switching signal is sent to the power conversion and distribution unit so that the tethered power supply unit or the fuel power generation unit can be the main power supply unit to output electrical energy to the UAV.

7. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 1, characterized in that, The flight control mission information is decoded using mission payloads to obtain the available power supply flight status parameters, including: A large-scale language model conversion is performed on the flight control mission information to obtain the available flight distance for power supply, wherein the available flight distance for power supply is the flight distance corresponding to the UAV cruise mission.

8. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 7, characterized in that, The available flight state parameters for power supply are adjusted against the preset available flight state parameters to obtain the power supply flight availability adjustment, including: The difference between the available flight distance and the preset flight distance is calculated to obtain the difference in available flight distance.

9. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 8, characterized in that, Based on the available power supply adjustment, a power distribution switching signal is sent to the power conversion and distribution unit to adjust the power output mode of each power supply unit in the multi-port power supply module, including: Detect whether the available flight distance difference is greater than or equal to the preset available flight distance difference; When the available flight distance difference is greater than or equal to the preset available flight distance difference, an untethered power supply switching signal is sent to the power conversion and distribution unit so that the fuel power generation unit or the battery power supply unit can be the main power supply unit to output electrical energy to the UAV.

10. The method for monitoring the power supply energy of a UAV based on a UAV power supply system according to claim 9, characterized in that, After detecting whether the available flight distance difference is greater than or equal to the preset available flight distance difference, the process also includes: When the available flight distance difference is less than the preset available distance difference, a tethered power supply switching signal is sent to the power conversion and distribution unit so that the tethered power supply unit becomes the main power supply unit and outputs power to the UAV.

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