Broadband ad hoc networking communication system for low-altitude vehicles

Abstract

The application relates to the technical field of low-altitude communication, and discloses a broadband ad hoc network communication system for a low-altitude carrier, which comprises a sensing access module, a security encryption module and a network transmission module.The sensing access module is used for collecting sensing data of a first target device and obtaining transmission data based on the sensing data; the security encryption module is used for processing the transmission data to obtain encrypted transmission data and node credibility of a target node; the network transmission module is used for determining a main transmission path and a plurality of backup transmission paths; when a link residual available duration of the main transmission path is less than a pre-failure threshold value, a to-be-sent service queue, unconfirmed data packets and a routing sequence number are pre-synchronized to a backup path cache; when a link quality of the main path is not greater than a preset switching threshold value, the encrypted transmission data is switched to a target backup transmission path for transmission by using the backup path cache; and the edge computing power module is used for receiving the encrypted transmission data, analyzing and identifying the encrypted transmission data, and obtaining target data.

Description

Technical Field

[0001] This application relates to the field of low-altitude communication technology, and more specifically, to a broadband self-organizing network communication system for low-altitude carriers. Background Technology

[0002] With the rapid development of the low-altitude economy, low-altitude vehicles such as drones, manned low-altitude aircraft, and ground emergency communication base stations are widely used in scenarios such as security inspection, emergency rescue, field surveying, and border patrol. These operational scenarios are mostly located in remote mountainous areas, forests, and waterways, and generally suffer from problems such as lack of public network base station coverage by operators and damaged public network signals.

[0003] In related technologies, the device completes a full network neighbor scan upon power-on, obtains the signal strength of each neighbor link through broadcast route probe frames, sorts the links according to the signal strength, selects the link with the best signal as the transmission path, and transmits data through this transmission path.

[0004] However, when the signal strength of the transmission path is less than the preset strength threshold, the link needs to be re-detected to determine a new link for data transmission, resulting in low data transmission efficiency. Summary of the Invention

[0005] In view of this, this application provides a broadband self-organizing network communication system for low-altitude carriers to solve the problem that when the signal strength of the transmission path is less than a preset strength threshold, the link needs to be re-detected to determine a new link for data transmission, resulting in low data transmission efficiency.

[0006] Firstly, this application provides a broadband self-organizing network communication system for low-altitude carriers. This system includes a sensing access module, a network transmission module, an edge computing module, and a security encryption module, all of which are signal-connected and operate bidirectionally and collaboratively. The sensing access module collects sensing data from a first target device, encodes and decodes video data from the sensing data to obtain transmission data, and synchronizes the first target device's node status, link matching results, node 3D motion status, and link quality data to the network transmission module. The first target device includes a low-altitude carrier and / or ground-based equipment. The security encryption module processes the transmission data to obtain encrypted transmission data and the node trustworthiness of the target node. The network transmission module performs multi-hop relay forwarding on the encrypted transmission data and, based on the node's 3D motion... The system uses status, link quality data, and relevant data of the target node to predict the remaining available time of candidate links. Based on the remaining available time of candidate links, service type, and node trustworthiness, it determines the primary transmission path and multiple backup transmission paths. Specifically, when the remaining available time of the primary transmission path is less than a pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the link quality of the primary path is not greater than a preset switching threshold, the encrypted transmission data is switched to the target backup transmission path for transmission using the backup path cache. The relevant data of the target node includes at least one of the following: relative node position, relative speed, heading angle, and signal strength change. An edge computing module receives the encrypted transmission data, parses and identifies the encrypted transmission data, and obtains the target data.

[0007] The broadband self-organizing network communication system for low-altitude carriers provided in this application synchronizes the three-dimensional motion status and link quality data of nodes to the network transmission module through the sensing access module. The network transmission module can predict the remaining available time of candidate links based on the three-dimensional motion status of nodes, link quality data, and relevant data of the target node. Based on the remaining available time of candidate links, service type, and node credibility, it determines the main transmission path and multiple backup transmission paths. When the remaining available time of the main transmission path is less than the pre-failure threshold, the network transmission module pre-synchronizes the queue of services to be sent, unacknowledged data packets, and routing sequence numbers to the backup path cache. When the link quality of the main path is not greater than the preset switching threshold, the backup path cache is directly retrieved to switch the encrypted transmission data to the target backup transmission path for transmission. There is no need to re-detect the link after the link quality of the main transmission path fails. This solves the shortcomings of related technologies that rely solely on signal strength to select a single transmission path and re-detect the link after link failure, resulting in low data transmission efficiency, thereby improving data transmission efficiency.

[0008] In one possible implementation, the sensing access module includes a data acquisition and encoding unit and a status synchronization unit. The data acquisition and encoding unit is used to acquire sensing data from a first target device, and to encode and decode video data in the sensing data to obtain transmission data. The first target device includes a low-altitude carrier and / or ground equipment. The status synchronization unit is used to scan a second target device and generate a link matching result. When the link matching result indicates that the link is normally connected, it acquires the node status, node three-dimensional motion status, and link quality data of the first target device. The second target device includes surrounding low-altitude carriers and / or surrounding ground equipment.

[0009] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment collects sensing data from a first target device through an acquisition and encoding unit, and encodes and decodes the video data in the sensing data to obtain transmission data. The status synchronization unit scans a second target device to generate a link matching result. When the link matching result indicates that the link is normally connected, it collects the node status, node three-dimensional motion status, and link quality data of the first target device. It can separate the two types of work of data acquisition and encoding / decoding and network status information acquisition, and only collects various types of status data when the link matching result is normally connected, thus avoiding invalid data acquisition.

[0010] In one possible implementation, the security encryption module includes an encryption processing unit and a trustworthiness calculation unit; the encryption processing unit is used to encrypt the transmitted data to obtain encrypted transmitted data; the trustworthiness calculation unit is used to collect the operational interaction data between the first target device and the second target device, and to perform weighted calculation on the operational interaction data to obtain the node score of the first target device, and to determine the node trustworthiness of the target node based on the node score; wherein, the operational interaction data includes at least one of link matching results, link quality data, and device interaction status data.

[0011] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment encrypts the transmitted data through an encryption processing unit to obtain encrypted transmitted data. It also collects operational interaction data, including link matching results, link quality data, and device interaction status data between the first target device and the second target device, through a trustworthiness calculation unit. The system performs a weighted calculation on the operational interaction data to obtain the node score of the first target device, and then determines the node trustworthiness of the target node based on the node score, thereby ensuring the transmission security of the transmitted data during the forwarding process.

[0012] In one possible implementation, the network transmission module includes a link duration prediction unit, a path planning and filtering unit, a pre-switching buffer control unit, and a relay forwarding unit. The link duration prediction unit is used to input the relative speed, heading angle, and altitude difference from the three-dimensional motion state of the nodes, and the signal-to-noise ratio, packet loss rate change rate, relative distance to the target node, and signal strength change coefficient from the link quality data into a preset link attenuation fitting model to obtain the signal attenuation rate of the candidate links. Based on the signal attenuation rate of the candidate links and the reference stable duration of the links, the remaining available duration of the candidate links is determined. The path planning and filtering unit is used to determine the remaining available duration of the candidate links, the first weight corresponding to the remaining available duration of the candidate links, the service type, and the second weight corresponding to the service type. The node trustworthiness and its corresponding third weight determine the comprehensive score of candidate links. The candidate link with the highest comprehensive score is determined as the primary transmission path, and the other candidate links are set as backup transmission paths. Among the multiple backup transmission paths, the one with the best comprehensive score is determined as the target backup transmission path. The pre-switching buffer control unit is used to monitor the remaining available time of the primary transmission path. When the remaining available time is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path buffer. When the quality of the primary path link is not greater than the preset switching threshold, the backup path buffer is invoked to switch the encrypted transmission data to the target backup transmission path. The relay forwarding unit is used to perform multi-hop relay forwarding on the encrypted transmission data.

[0013] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment has a link duration prediction unit that obtains the signal attenuation rate of candidate links by inputting the relative speed, heading angle, and altitude difference of nodes in the three-dimensional motion state, the signal-to-noise ratio and packet loss rate change rate in the link quality data, the relative distance to the target node, and the signal strength change coefficient into a preset link attenuation fitting model. Then, it combines the signal attenuation rate of candidate links with the reference stable duration of the link to determine the remaining available duration of the candidate links, thus predicting the duration of continuous operation of each link.

[0014] In addition, the path planning and screening unit calculates a comprehensive score for candidate links based on the remaining available time of the candidate links and their corresponding first weight, service type and its corresponding second weight, and node credibility and its corresponding third weight. Based on the comprehensive score, it divides the main transmission path and multiple backup transmission paths and selects the target backup transmission path from them. This achieves multi-dimensional and comprehensive optimization planning of multiple transmission paths. The pre-switching cache control unit continuously monitors the remaining available time of the main transmission path. When the remaining available time is less than the pre-failure threshold, it synchronizes the queue of services to be sent, unacknowledged data packets, and routing sequence numbers to the backup path cache in advance. When the quality of the main path link is not greater than the preset switching threshold, it directly retrieves the backup path cache to complete the path switching of encrypted transmission data, avoiding data loss during the switching process and improving the continuity and stability of data transmission in low-altitude dynamic scenarios.

[0015] In one possible implementation, the edge computing module includes a data parsing unit and a target recognition unit. The data parsing unit is used to receive encrypted transmission data, unpack the encrypted transmission data, decode the video stream format, and perform data integrity verification and parsing to obtain the data to be processed. The target recognition unit is used to extract target features, classify and detect the target, and generate target data from the data to be processed.

[0016] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment, after the data parsing unit receives encrypted transmission data, sequentially performs data unpacking, video stream format decoding, and data integrity verification parsing operations to obtain the data to be processed. It can eliminate abnormal and incomplete data, unify the video data format, and provide compliant and valid data for identification processing. Furthermore, the target identification unit extracts target features, classifies and detects targets, and generates target data from the data to be processed. It completes the parsing and identification work locally based on local computing power, without having to transmit encrypted transmission data back to a remote server, thus reducing transmission bandwidth consumption and data transmission latency.

[0017] In one possible implementation, a display module is also included. This display module is used to extract communication status, device operating status, and abnormal alarm information based on the received target data, and to visualize the communication status, device operating status, and abnormal alarm information. Among them, the communication status is associated with the transmission status and link quality of the transmitted data, the device status is associated with the operating parameters of the transmitted data acquisition end, and the abnormal alarm information is associated with abnormal situations in the transmission data transmission process.

[0018] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment has a display module that can extract communication status, equipment operating status, and abnormal alarm information based on the received target data. The communication status is associated with the transmission status and link quality of the transmitted data, the equipment status is associated with the operating parameters of the transmission data acquisition terminal, and the abnormal alarm information is associated with abnormal situations during the transmission data transmission process. At the same time, the communication status, equipment operating status, and abnormal alarm information are visualized, which can intuitively present the three types of information: link, equipment, and transmission abnormalities. This makes it easy for staff to grasp the overall network operation at the same time, quickly identify transmission faults and equipment hazards, and improve the efficiency of low-altitude carrier management and control.

[0019] In one possible implementation, the network transmission module further includes a service priority scheduling unit, which comprises a priority hierarchical configuration subunit and a bandwidth resource allocation subunit. The priority hierarchical configuration subunit is used to pre-divide different service types into multiple transmission priorities according to the transmission requirements of low-altitude ad hoc network services, setting flight control command services as the first priority, video sensing services as the second priority, and equipment status alarm services as the third priority; wherein the first priority is greater than the second priority, and the second priority is greater than the third priority. The bandwidth resource allocation subunit is used to identify the target priority identifier of the service data packets corresponding to the encrypted transmission data during transmission on the main transmission path or the target backup transmission path, and to perform resource allocation operations on the service data packets; wherein the processing operations include: reordering the service data packets according to the priority identifier in descending order of priority; dynamically allocating the bandwidth occupancy limits of flight control command services, video sensing services, and equipment status alarm services according to the current remaining link bandwidth, wherein the bandwidth occupancy limit of flight control command services is greater than the bandwidth occupancy limit of video sensing services, and the bandwidth occupancy limit of video sensing services is greater than the bandwidth occupancy limit of equipment status alarm services.

[0020] The broadband ad hoc network communication system for low-altitude carriers provided in this application embodiment has a priority-based configuration subunit that can pre-divide multiple transmission priorities according to the transmission requirements of low-altitude ad hoc network services. Flight control command services with higher priority values ​​are set as the first priority, video sensing services as the second priority, and equipment status alarm services as the third priority. When transmitting encrypted data on the main transmission path or the target backup transmission path, the bandwidth resource allocation subunit identifies the target priority identifier of the service data packets. On the one hand, it reorders the service data packets according to their priority from highest to lowest; on the other hand, it dynamically allocates bandwidth usage limits for the three types of services based on the remaining bandwidth of the current link. The bandwidth usage limit for flight control command services is higher than that for video sensing services, and the bandwidth usage limit for video sensing services is higher than that for equipment status alarm services. This prioritizes the transmission timing and bandwidth resources of core flight control command services, preventing low-priority services from preempting transmission resources and improving the reliability and real-time performance of key low-altitude operation commands.

[0021] In one possible implementation, the network transmission module further includes a comparison and verification unit and a seamless retransmission correction unit. The comparison and verification unit is used to compare the routing sequence number, unacknowledged data packet number, and service queue timing information of the switched main transmission path and the target backup transmission path after the switch from the main transmission path to the target backup transmission path is completed, and obtain the comparison result. The comparison result indicates whether there are abnormal data packets. The seamless retransmission correction unit is used to determine the data to be uploaded of the abnormal data packet from the original data copy in the backup path cache of the target backup transmission path if the comparison result indicates that there are abnormal data packets, and obtain encrypted transmission data based on the data to be uploaded, and send the encrypted transmission data back to the pre-switching cache control unit.

[0022] The broadband ad hoc network communication system for low-altitude carriers provided in this application embodiment has the following features: After the comparison and verification unit completes the switch from the main transmission path to the target backup transmission path, it compares the routing sequence number, unacknowledged data packet number, and service queue timing information of the main transmission path and the target backup transmission path to obtain a comparison result for determining whether there are abnormal data packets. When the comparison result indicates the presence of abnormal data packets, the seamless retransmission correction unit determines the data to be uploaded corresponding to the abnormal data packets based on the data copy stored in the backup path cache of the target backup transmission path and generates encrypted transmission data. The encrypted transmission data is then sent back to the pre-switching cache control unit. This system can promptly locate abnormal data packets generated during the link switching process and retrieve the original cache data to complete the retransmission correction, eliminating data corruption and missing data caused by path switching, ensuring the complete and orderly forwarding of encrypted transmission data, and further improving the integrity and continuity of low-altitude ad hoc network data transmission.

[0023] Secondly, this application provides a broadband ad hoc network communication method for low-altitude carriers. The method includes: collecting sensing data from a first target device; encoding and decoding video data from the sensing data to obtain transmission data; and synchronizing the first target device's own node status, link matching results, node three-dimensional motion status, and link quality data; wherein the first target device includes a low-altitude carrier and / or ground equipment; encrypting the transmission data to obtain encrypted transmission data; and calculating the node trustworthiness of the target node; based on the node's three-dimensional motion status, link quality data, and relevant data of the target node, predicting the remaining availability time of candidate links. Combining the remaining available time of candidate links, service type, and node trustworthiness, a primary transmission path and multiple backup transmission paths are determined. When the remaining available time of the primary transmission path is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the quality of the primary path link is not greater than the preset switching threshold, the encrypted transmission data is switched to the target backup transmission path for transmission based on the backup path cache. The relevant data of the target node includes at least one of the following: relative position of the node, relative speed, heading angle, and signal strength change. The encrypted transmission data is parsed and identified to obtain the target data.

[0024] Thirdly, this application provides a broadband ad hoc network communication device for low-altitude carriers, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the broadband ad hoc network communication method for low-altitude carriers described in the second aspect or any corresponding embodiment thereof.

[0025] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the broadband ad hoc network communication method for low-altitude carriers described in the second aspect or any of its corresponding embodiments.

[0026] Fifthly, this application provides a computer program product, including computer instructions for causing a computer to execute the broadband ad hoc network communication method for low-altitude carriers described in the second aspect or any corresponding embodiment thereof. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the architecture of a broadband self-organizing network communication system for low-altitude carriers provided according to an embodiment of this application; Figure 2 This is another schematic diagram of the architecture of a broadband self-organizing network communication system for low-altitude carriers provided according to an embodiment of this application; Figure 3 This is another schematic diagram of the architecture of a broadband self-organizing network communication system for low-altitude carriers provided according to an embodiment of this application; Figure 4 This is a flowchart of a broadband self-organizing network communication method for low-altitude carriers according to an embodiment of this application; Figure 5 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the architecture of a broadband self-organizing network communication system for low-altitude carriers provided according to an embodiment of this application.

[0031] Combination Figure 1As shown, the broadband ad hoc network communication system for low-altitude carriers includes a sensing access module 101, a network transmission module 102, an edge computing module 103, and a security encryption module 104, which are sequentially connected and work in a two-way interactive cooperative manner. The sensing access module 101 is used to collect sensing data from a first target device, encode and decode the video data in the sensing data to obtain transmission data, and synchronize the first target device's own node status, link matching results, node three-dimensional motion status, and link quality data to the network transmission module 102. The first target device includes a low-altitude carrier and / or ground equipment. The security encryption module 104 is used to process the transmission data to obtain encrypted transmission data and the node trustworthiness of the target node. The network transmission module 102 is used to perform multi-hop relay forwarding of the encrypted transmission data and, based on the node... The system uses the three-dimensional motion state of the point, link quality data, and relevant data of the target node to predict the remaining available time of candidate links. Based on the remaining available time of candidate links, service type, and node credibility, it determines the primary transmission path and multiple backup transmission paths. When the remaining available time of the primary transmission path is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the link quality of the primary path is not greater than the preset switching threshold, the encrypted transmission data is switched to the target backup transmission path for transmission using the backup path cache. The relevant data of the target node includes at least one of the following: relative position, relative speed, heading angle, and signal strength change. The edge computing module 103 is used to receive the encrypted transmission data, parse and identify the encrypted transmission data, and obtain the target data.

[0032] The first target device can be understood as the main body of the device that the sensing access module 101 directly connects to and collects data. This first target device can include various low-altitude carriers and various ground equipment; low-altitude carriers include inspection drones, surveying aircraft, etc.; ground equipment includes emergency ground base stations, portable terminals for individual soldiers, and fixed monitoring base stations, etc.

[0033] The sensing data can instruct the sensing access module 101 to directly collect data by connecting to various acquisition hardware and communication interfaces on the first target device. This sensing data may include video image data, device operating voltage, device temperature, device alarm status data, and location coordinate data, etc.

[0034] Video data can include inspection video frames, high-definition aerial footage, ground monitoring video, individual soldier transmission footage, visible light video, and infrared temperature measurement video, etc.

[0035] The transmitted data can indicate the encrypted business data output after video encoding and decoding of the perceived data.

[0036] The node's own status can indicate the local hardware parameters and network operation status parameters of the first target device. This status can include device power supply voltage, chip temperature, RF transmit power, remaining cache capacity, and device online status.

[0037] The link matching result can be understood as the link connectivity determination result obtained by the sensing access module 101 after scanning the surrounding second target devices. Specifically, the link matching result can include whether the first target device and the second target device can establish a valid wireless communication link, or whether they cannot establish a valid wireless communication link.

[0038] The node's three-dimensional motion state can indicate the motion parameters of the first target device in three-dimensional space, and is used to predict the link attenuation rate. Specifically, the node's three-dimensional motion state can include three-axis flight speed, pitch attitude, yaw attitude, roll attitude, spatial altitude, latitude and longitude, motion acceleration, and heading angle.

[0039] Link quality data indicates the communication performance metrics of the wireless communication link between the device and surrounding devices. This data may include signal-to-noise ratio, packet loss rate, transmission delay, and signal strength.

[0040] In this embodiment, the aforementioned sensing access module 101 can collect sensing information of the first target device consisting of a low-altitude carrier and / or ground equipment, perform encoding and decoding operations on the video data within the sensing information to generate transmission messages, and simultaneously send the first target device's own operating status, link matching determination results, three-dimensional motion parameters, and link communication quality to the network transmission module 102 after completing the scanning and matching of surrounding devices.

[0041] As an example, the sensing access module 101 polls all connected low-altitude aircraft, ground base stations, and other first target devices to capture various sensing information. After determining the video data stream from the sensing information, it uses an adaptive bitrate encoding and decoding algorithm to compress and encapsulate the video data stream to generate transmission packets. The sensing access module 101 periodically broadcasts probe frames to search for surrounding low-altitude carriers and ground devices and completes handshake matching to obtain link matching determination results. Only when the handshake matching is successful, it collects its own operating status, three-axis motion data, link signal-to-noise ratio, packet loss rate, and other link communication quality parameters. Then, it sends the generated transmission packets to the security encryption module 104. At the same time, it packages and pushes its own operating status, link matching determination results, three-dimensional motion parameters, and link communication quality to the network transmission module 102.

[0042] Encrypted data transmission can instruct the security encryption module 104 to encrypt the transmitted data to generate a ciphertext data packet. Node trustworthiness can indicate the node's security trust level. The node security trust level can include a high trust level (e.g., 80 to 100 points), a medium trust level (e.g., 40 to 79 points), and a low trust level (e.g., 0 to 39 points).

[0043] In this embodiment, the security encryption module 104 performs two types of processing flows in parallel after receiving the transmitted data: First, the national cryptographic encryption algorithm is used to encrypt the entire transmission data in segments and add anti-tampering verification fields, and then encapsulates the encrypted transmission data in ciphertext form. Second, the link matching results, link quality data and other operational interaction data generated during the network interaction process are retrieved and weighted for scoring. Based on the calculated basic score of the node, the trust level of the corresponding target node is determined, and the node trustworthiness is obtained. Then, the encrypted transmission data and the node trustworthiness of the target node are sent to the network transmission module 102.

[0044] The remaining availability of a candidate link indicates the duration for which a candidate link can stably carry services without rapidly decaying and disconnecting.

[0045] The service type can indicate the category of services carried by the encrypted data transmission. Service types can include flight control command services, video sensing services, and equipment status alarm services, among others.

[0046] The primary transmission path can indicate the candidate link with the highest overall score among multiple transmission paths.

[0047] Multiple backup transmission paths can indicate several candidate links with communication capabilities in addition to the primary transmission path.

[0048] The target backup transmission path can indicate the link with the best overall score among multiple backup transmission paths, and is the switching target when the primary transmission path fails.

[0049] The pre-failure threshold can indicate the critical time value at which the main transmission path is about to decay and break down.

[0050] The service queue can indicate an ordered queue of encrypted service data packets that have not yet completed multi-hop forwarding within the buffer of the network transmission module 102.

[0051] The quality of the main path link can include any one or a combination of the following: link signal-to-noise ratio, rate of change of packet loss rate, signal strength, and channel bit error rate.

[0052] An unacknowledged data packet can indicate an encrypted data packet that has not received a confirmation response from the receiving node after being sent by a relay forwarder.

[0053] The routing sequence number can indicate a unique time-series code for each transmission path.

[0054] The preset switching threshold can indicate the critical value of link quality at which the communication quality of the main transmission path can no longer support the service.

[0055] The relevant data can be data used to assist in link duration prediction; wherein, the relevant data may include at least one of the following: relative node position, relative node speed, heading angle, and signal strength change.

[0056] The relative position of the nodes can indicate the difference in spatial coordinates between the first target device and the target node in three-dimensional space.

[0057] Relative velocity can indicate the spatial separation rate formed by the relative motion of the first target device and the target node towards or away from each other.

[0058] The heading angle indicates the angle formed by the heading vectors of the first target device and the target node in their respective flight directions.

[0059] Signal strength variation can indicate the fluctuation and increase / decrease in the signal strength of a wireless link within a fixed unit of time.

[0060] In this embodiment, the network transmission module 102 can perform multi-hop relay forwarding of encrypted transmission data. Simultaneously, by combining the node's three-dimensional motion state, link quality data, and target node-related data including at least one of the following: relative position, relative speed, heading angle, and signal strength changes, it predicts the remaining available time of each candidate link. Then, by combining the remaining available time of the candidate links, service type, and node reliability determination, it selects one primary transmission path and multiple backup transmission paths. Specifically, once the remaining available time of the primary transmission path is detected to be lower than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are copied and stored in advance in the backup path cache. If the subsequent primary path link quality is not greater than the preset switching threshold, the stored content in the backup path cache is directly retrieved, and the encrypted transmission data is switched to the target backup transmission path to complete the transmission.

[0061] In another feasible solution, the network transmission module 102 continuously receives encrypted transmission data from upstream and forwards it outward via multi-hop relay. The network transmission module 102 periodically collects and updates the three-dimensional motion state of nodes and link quality data, and synchronously retrieves one or more types of relevant data related to the target node, such as relative position, relative speed, heading angle, and signal strength changes. These data are then substituted into a fitting model to calculate the remaining available time for each candidate link to maintain stable communication. Subsequently, the candidate links are ranked based on three dimensions: remaining available time, the service type corresponding to the current transmission data, and the node trustworthiness of the target node. The optimal link is selected as the primary transmission path, and the remaining qualified links are uniformly designated as backup transmission paths. The link with the highest score among the backup transmission paths is selected as the target backup transmission path. The network transmission module 102 continuously monitors the remaining available time of the main transmission path. Once the remaining available time is lower than the preset pre-failure threshold, it immediately reads the complete queue of services to be sent, the unacknowledged data packets that have not yet received a response, and the routing sequence number corresponding to the current path in the local cache, and writes them in batches to the backup path cache area of ​​the target backup transmission path for backup. It continuously collects the link quality index of the main path. When the link quality index is not greater than the preset switching threshold, it no longer rescans and matches links, but directly reads the pre-backed data in the backup path cache, and switches the forwarding channel of the encrypted transmission data to the target backup transmission path to continuously complete multi-hop relay forwarding.

[0062] The target data can indicate the data obtained after parsing and identifying encrypted transmitted data.

[0063] In this embodiment, the edge computing module 103 receives encrypted transmission data transmitted via multi-hop forwarding, sequentially performs parsing processing of the encrypted transmission data and target identification calculation, and generates output target data.

[0064] In one possible implementation, the edge computing module 103 continuously monitors the encrypted transmission data sent by the network transmission module 102. Whenever it receives a data packet of encrypted transmission data, it first performs parsing operations such as decryption and unpacking, code stream parsing, and data integrity verification on the data packet to extract the computable business data. Then, it calls the local lightweight recognition model to perform recognition processing such as feature extraction and target classification detection on the computable business data to obtain the target data.

[0065] In a specific implementation scenario, for emergency rescue of people who suddenly lose contact in the mountains and forests, a broadband self-organizing network communication system for low-altitude carriers, consisting of 3 rescue and inspection drones, 2 ground emergency base stations, and 4 individual rescue handheld terminals, is used to achieve communication and target positioning of the rescue process through sequential signal connection of each module and bidirectional interactive collaborative work.

[0066] The sensing access module, mounted on each first target device, collects sensing data such as drone aerial video and device operating parameters. It performs H.265 encoding and decoding on the video data to generate transmission data. Simultaneously, it scans surrounding second target devices to generate link matching results. Only when the link is connected, it collects its own node status, node 3D motion status, and link quality data and synchronizes them to the network transmission module. After receiving the transmission data, the security encryption module uses the national cryptographic SM4 algorithm to encrypt and generate encrypted transmission data. At the same time, it collects the operational interaction data between devices, performs weighted calculations to obtain the target node's credibility, and sends it to the network transmission module. The network transmission module combines various status data and target node-related data (such as relative position and relative speed) to predict the remaining available time of candidate links. Then, it combines the link duration, service type, and node credibility to determine the primary transmission path and backup transmission path. When the remaining available time of the primary transmission path is lower than the pre-failure threshold, it synchronizes the queue of services to be sent, unacknowledged data packets, and routing sequence numbers to the backup path cache in advance. When the link quality of the primary transmission path is lower than 15dB, it directly switches to the target backup transmission path to complete multi-hop relay forwarding.

[0067] The broadband self-organizing network communication system for low-altitude carriers provided in this application synchronizes the three-dimensional motion status and link quality data of nodes to the network transmission module through the sensing access module. The network transmission module can predict the remaining available time of candidate links based on the three-dimensional motion status of nodes, link quality data, and relevant data of the target node. Based on the remaining available time of candidate links, service type, and node credibility, it determines the main transmission path and multiple backup transmission paths. When the remaining available time of the main transmission path is less than the pre-failure threshold, the network transmission module pre-synchronizes the queue of services to be sent, unacknowledged data packets, and routing sequence numbers to the backup path cache. When the link quality of the main path is not greater than the preset switching threshold, the backup path cache is directly retrieved to switch the encrypted transmission data to the target backup transmission path for transmission. There is no need to re-detect the link after the link quality of the main transmission path fails. This solves the shortcomings of related technologies that rely solely on signal strength to select a single transmission path and re-detect the link after link failure, resulting in low data transmission efficiency, thereby improving data transmission efficiency.

[0068] In one possible implementation, the sensing access module includes a data acquisition and encoding unit and a status synchronization unit. The data acquisition and encoding unit is used to acquire sensing data from a first target device, and to encode and decode video data in the sensing data to obtain transmission data. The first target device includes a low-altitude carrier and / or ground equipment. The status synchronization unit is used to scan a second target device and generate a link matching result. When the link matching result indicates that the link is normally connected, it acquires the node status, node three-dimensional motion status, and link quality data of the first target device. The second target device includes surrounding low-altitude carriers and / or surrounding ground equipment.

[0069] The second target device can instruct the surrounding network devices that the status synchronization unit scans and connects to, and is the interaction object for the first target device to conduct self-organizing network communication.

[0070] In this embodiment, the sensing access module integrates a data acquisition and encoding unit and a status synchronization unit. These two units work together to complete front-end data acquisition and network status synchronization. Their specific functions are as follows: The acquisition and encoding unit interfaces with a first target device consisting of one or two of the following: a low-altitude carrier and ground equipment. It acquires the sensing data generated by the first target device, encodes and decodes the video data in the sensing data, and forms transmission data. The status synchronization unit scans the surrounding second target devices consisting of one or two of the following: a low-altitude carrier and ground equipment. It completes the communication handshake and identity verification between the first and second target devices and generates a link matching result. Only when the link matching result shows that the link between the two parties is in a normal connectivity state, the parameter acquisition process is initiated to collect the first target device's own node status, node three-dimensional motion status, and link quality data between the first and second target devices.

[0071] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment collects sensing data from a first target device through an acquisition and encoding unit, and encodes and decodes the video data in the sensing data to obtain transmission data. The status synchronization unit scans a second target device to generate a link matching result. When the link matching result indicates that the link is normally connected, it collects the node status, node three-dimensional motion status, and link quality data of the first target device. It can separate the two types of work of data acquisition and encoding / decoding and network status information acquisition, and only collects various types of status data when the link matching result is normally connected, thus avoiding invalid data acquisition.

[0072] Combination Figure 2 As shown, in one possible implementation, the security encryption module 104 includes an encryption processing unit 1041 and a trustworthiness calculation unit 1042; the encryption processing unit 1041 is used to encrypt the transmitted data to obtain encrypted transmitted data; the trustworthiness calculation unit 1042 is used to collect the operational interaction data between the first target device and the second target device, and to perform weighted calculation on the operational interaction data to obtain the node score of the first target device, and to determine the node trustworthiness of the target node based on the node score; wherein, the operational interaction data includes at least one of link matching results, link quality data, and device interaction status data.

[0073] Operational interaction data can indicate data generated during network communication between the first target device and the second target device. This operational interaction data includes at least one of the following: link matching results, link quality data, and device interaction status data.

[0074] Device interaction status data indicates relevant data reflecting the interaction status generated during the networking interaction between the first and second target devices. This data can include device access frequency, data interaction latency, abnormal operation records, device response status, and data transmission success rate. For example, it could include the number of times a logistics drone accesses a relay base station within one hour, or the data transmission latency between the drone and the dispatch terminal.

[0075] The node score can indicate the quantitative score obtained by the credibility calculation unit 1042 after performing weighted calculations on the collected running interaction data according to preset weights.

[0076] In this embodiment, the encryption processing unit 1041 receives transmission data from the sensing access module, selects an encryption algorithm adapted to low-altitude self-organizing network multi-hop relay transmission scenarios, and performs encryption protection processing on the transmission data. This is achieved through data segmentation encryption, adding anti-tampering verification identifiers, and other operations to generate encrypted transmission data. The trustworthiness calculation unit 1042 collects various operational interaction data generated by the first and second target devices during network communication. After completing the collection of operational interaction data, the trustworthiness calculation unit 1042 performs weighted calculation processing on various operational interaction data according to preset weight allocation rules, converting the multi-dimensional interaction data into a quantified node score of 0-100 points. Based on the preset score level classification standard and the calculated node score, the trustworthiness level corresponding to the target node is determined.

[0077] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment encrypts the transmitted data through an encryption processing unit to obtain encrypted transmitted data. It also collects operational interaction data, including link matching results, link quality data, and device interaction status data between the first target device and the second target device, through a trustworthiness calculation unit. The system performs a weighted calculation on the operational interaction data to obtain the node score of the first target device, and then determines the node trustworthiness of the target node based on the node score. This can improve the transmission security of transmitted data during the forwarding process.

[0078] Combination Figure 3As shown, in one possible implementation, the network transmission module includes a link duration prediction unit 1021, a path planning and filtering unit 1022, a pre-switching buffer control unit 1023, and a relay forwarding unit 1024. The link duration prediction unit 1021 is used to input the relative speed, heading angle, and altitude difference in the three-dimensional motion state of the node, and the signal-to-noise ratio, packet loss rate change rate, relative distance to the target node, and signal strength change coefficient in the link quality data into a preset link attenuation fitting model to obtain the signal attenuation rate of the candidate link, and to determine the remaining available duration of the candidate link based on the signal attenuation rate of the candidate link and the link baseline stable duration. The path planning and filtering unit 1022 is used to determine the remaining available duration of the candidate link, the first weight corresponding to the remaining available duration of the candidate link, the service type, and the service... The candidate link comprehensive score is determined by the second weight corresponding to the type, the node credibility, and the third weight corresponding to the node credibility. The candidate link with the highest comprehensive score is determined as the primary transmission path, and the other candidate links are set as backup transmission paths. Among the multiple backup transmission paths, the one with the best comprehensive score is determined as the target backup transmission path. The pre-switching cache control unit 1023 is used to monitor the remaining available time of the primary transmission path. When the remaining available time is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the quality of the primary path link is not greater than the preset switching threshold, the backup path cache is invoked to switch the encrypted transmission data to the target backup transmission path for transmission. The relay forwarding unit 1024 is used to perform multi-hop relay forwarding on the encrypted transmission data.

[0079] The signal strength variation coefficient indicates the rate of change and fluctuation amplitude of the link signal strength between the target node and its neighboring nodes. For example, a signal strength variation coefficient of 0.8 dB / s for a candidate link indicates that the signal strength of the link decreases by 0.8 dB per second.

[0080] The preset link attenuation fitting model can be a pre-trained model. This preset link attenuation fitting model can be a machine learning fitting model, a linear regression model, a link loss prediction model, etc., without specific limitations.

[0081] The reference stability duration of a link indicates the longest duration for which a candidate link can maintain stable data transmission when the signal attenuation rate is at a preset reference value. For example, in a mountainous forest scenario, the reference stability duration for video transmission services is 300 seconds.

[0082] The first, second, and third weights refer to the weighting percentages of the remaining available time of the candidate link, the service type, and the node trustworthiness in the overall link score calculation, respectively. These weights can be dynamically adjusted according to scenario requirements and business priorities. For example, in an emergency rescue scenario, the first weight corresponding to the remaining available time of the link can be set to 0.4, the second weight corresponding to the service type can be set to 0.3, and the third weight corresponding to the node trustworthiness can be set to 0.3.

[0083] In this embodiment, the link duration prediction unit 1021 collects the three-dimensional motion state parameters (such as relative speed, heading angle, and altitude difference) and link quality data (such as signal-to-noise ratio and packet loss rate) of the target node and adjacent network nodes through a data interface, as well as parameters such as the relative distance between the target node and adjacent nodes and the signal strength change coefficient. It then calls a preset link attenuation fitting model, inputs the above parameters into the model, and calculates the signal attenuation rate of the candidate link. Finally, it combines this with a preset link baseline stable duration and calculates the remaining usable duration of the candidate link using an attenuation rate correction algorithm. The remaining usable duration = link baseline stable duration × (current link quality parameter / baseline link quality parameter) × signal attenuation correction coefficient. The current link quality parameter indicates one or a weighted combination of the normalized signal-to-noise ratio, the reverse normalized packet loss rate, the reverse normalized delay, and the normalized signal strength. The baseline link quality parameter is a preset baseline value for the same service type under stable transmission conditions. The signal attenuation correction coefficient is a dimensionless coefficient calculated based on the signal attenuation rate of the candidate link.

[0084] The path planning and filtering unit 1022 can receive the remaining available time of candidate links output by the link duration prediction unit 1021, and obtain the target node trustworthiness output by the security encryption module. Combined with the service type of the data to be transmitted, it determines the specific values ​​of each evaluation indicator. Based on the scenario adaptation rules and service priority, it configures the weight parameters corresponding to each indicator, namely, the first weight corresponding to the remaining available time of the link, the second weight corresponding to the service type, and the third weight corresponding to the node trustworthiness. A comprehensive scoring calculation model is constructed, and the comprehensive score of each candidate link is obtained through weighted calculation. The comprehensive score calculation formula is: The overall score is calculated as follows: Remaining available time of the candidate link × First weight + Business type priority score × Second weight + Node credibility score × Third weight; where the sum of the first weight, second weight, and third weight equals 1.

[0085] Finally, based on the comprehensive score results, path selection is performed. The candidate link with the highest comprehensive score is designated as the primary transmission path, and the remaining candidate links are included in the backup transmission path list. Then, through the backup path priority ranking algorithm, the link with the best comprehensive score and the most stable link quality is selected from the backup transmission path list as the target backup transmission path.

[0086] The pre-switching buffer control unit 1023 initiates the main transmission path status monitoring task, continuously collecting parameters such as the remaining available time and link quality data of the main transmission path, and sets a pre-failure threshold and a preset switching threshold. When the remaining available time of the main transmission path is detected to be less than the pre-failure threshold, the system synchronizes the pending service queue, unacknowledged data packets, and routing sequence numbers in the network transmission module to the backup path buffer corresponding to the target backup transmission path through the high-speed data synchronization channel. The system continuously monitors the link quality of the main transmission path. When the link quality parameters of the main path (such as signal-to-noise ratio and packet loss rate) are not greater than the preset switching threshold, the system triggers a path switching command, calls the backup path buffer, and switches the transmission link of the encrypted transmission data from the main transmission path to the target backup transmission path.

[0087] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment uses a link duration prediction unit to obtain the signal attenuation rate of candidate links by inputting the relative speed, heading angle, and altitude difference of nodes in the three-dimensional motion state, the signal-to-noise ratio and packet loss rate change rate in the link quality data, and the relative distance and signal strength change coefficient of the target node into a preset link attenuation fitting model. Then, by combining the signal attenuation rate of candidate links with the reference stable duration of the links, the remaining available duration of candidate links is determined, which can accurately predict the duration of continuous operation of each link.

[0088] In addition, the path planning and screening unit calculates a comprehensive score for candidate links based on the remaining available time of the candidate links and their corresponding first weight, service type and its corresponding second weight, and node credibility and its corresponding third weight. Based on the comprehensive score, it divides the main transmission path and multiple backup transmission paths and selects the target backup transmission path from them. This achieves multi-dimensional and comprehensive optimization planning of multiple transmission paths. The pre-switching cache control unit continuously monitors the remaining available time of the main transmission path. When the remaining available time is less than the pre-failure threshold, it synchronizes the queue of services to be sent, unacknowledged data packets, and routing sequence numbers to the backup path cache in advance. When the quality of the main path link is not greater than the preset switching threshold, it directly retrieves the backup path cache to complete the path switching of encrypted transmission data, avoiding data loss during the switching process and improving the continuity and stability of data transmission in low-altitude dynamic scenarios.

[0089] In one possible implementation, the edge computing module includes a data parsing unit and a target recognition unit. The data parsing unit is used to receive encrypted transmission data, unpack the encrypted transmission data, decode the video stream format, and perform data integrity verification and parsing to obtain the data to be processed. The target recognition unit is used to extract target features, classify and detect the target, and generate target data from the data to be processed.

[0090] In this embodiment, the data parsing unit receives encrypted transmission data forwarded by the network transmission module via a high-bandwidth data receiving interface, establishes a data receiving buffer queue, and deconstructs the packet header, data segments, and verification fields based on the encapsulation protocol of the encrypted transmission data to extract data such as video bitstream, device operating parameters, and service identifiers. Then, based on the video encoding identifier in the encrypted transmission data, the corresponding video stream decoding algorithm is called to decode the compressed video bitstream into a continuous sequence of video frames. At the same time, lightweight preprocessing is performed on the video frames, which may include operations such as frame rate adaptation, image quality enhancement, and noise removal. Then, through multiple verification methods such as hash verification, verification field comparison, and data format detection, the integrity and legality of the data are verified. Invalid data that is incomplete, tampered with, or has abnormal format is marked and removed to generate data to be processed.

[0091] The target recognition unit receives the data to be processed output by the data parsing unit and initiates the corresponding feature extraction process based on the type of data to be processed (such as video data or device parameter data). For video frame data, a lightweight convolutional neural network is used to extract multi-dimensional features such as texture, shape, and semantics of the target, and redundant features are removed through feature dimensionality reduction algorithms. For equipment parameter data, algorithms such as statistical feature extraction and temporal feature extraction are used to extract key features such as the changing trend and abnormal fluctuations of equipment parameters. A pre-trained target recognition model is called (selected according to the business scenario, such as YOLOv8 target detection model for power inspection scenario and Faster R-CNN model for rescue scenario) to perform target classification, detection and recognition operations, distinguish the type of target, mark the location and status of the target, and calculate the confidence of the recognition results. Valid recognition results with confidence higher than a preset threshold are selected, and suspected targets with low confidence are marked and re-detected to generate target data.

[0092] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment, after the data parsing unit receives encrypted transmission data, sequentially performs data unpacking, video stream format decoding, and data integrity verification parsing operations to obtain the data to be processed. It can eliminate abnormal and incomplete data, unify the video data format, and provide compliant and valid data for identification processing. Furthermore, the target identification unit extracts target features, classifies and detects targets, and generates target data from the data to be processed. It completes the parsing and identification work locally based on local computing power, without having to transmit encrypted transmission data back to a remote server, thus reducing transmission bandwidth consumption and data transmission latency.

[0093] In one possible implementation, a display module is also included. This display module is used to extract communication status, device operating status, and abnormal alarm information based on the received target data, and to visualize the communication status, device operating status, and abnormal alarm information. Among them, the communication status is associated with the transmission status and link quality of the transmitted data, the device status is associated with the operating parameters of the transmitted data acquisition end, and the abnormal alarm information is associated with abnormal situations in the transmission data transmission process.

[0094] Communication status metric indicates the overall communication operational status of a broadband ad hoc network oriented towards low-altitude carriers. This status metric can include data throughput, transmission latency, and link connectivity. For example, in a mountain rescue scenario, the communication status metric might be reflected as an overall link connectivity rate of 98%, a video data transmission latency of 50ms, and a primary / backup path switching frequency of 2 times per hour.

[0095] The device operating status can indicate the operating parameters and working status of the first target device. For example, the inspection drone has 75% battery remaining, a flight altitude of 100 meters, an onboard camera frame rate of 25 frames per second, and a ground base station computing load of 40%.

[0096] Anomaly alarm information can indicate abnormal events related to the data transmission process, equipment operation, and communication link extracted by the display module from the target data and related data. For example, the link signal-to-noise ratio is less than 15dB (alarm level: emergency), the drone battery power is less than 20% (alarm level: important), and the video data packet loss rate exceeds 5% (alarm level: general).

[0097] In this embodiment, the display module first acquires related data such as link operation data, node trust data, and data encryption status data fed back by the network transmission module and the security encryption module, and establishes a multi-source data fusion storage repository. After the data is received, redundant and abnormal data are removed through data cleaning, deduplication, and association matching. The target data and related data are then associated and bound according to the logic of the data acquisition end, transmission link, and processing result.

[0098] Secondly, in terms of communication situation extraction, the analysis focuses on the transmission status and link quality of transmitted data. It integrates indicators such as data throughput, transmission latency, link connectivity, primary / backup path switching frequency, and link signal-to-noise ratio. A comprehensive communication situation assessment result is generated using a situation assessment algorithm, distinguishing four communication situation levels: excellent, good, medium, and poor. Simultaneously, the changing trends of the communication situation are analyzed to predict link operation risks. Regarding equipment operation status extraction, information such as hardware operating parameters, software operating parameters, and load status of the acquisition end is extracted. An equipment health assessment model is constructed to evaluate the availability of the acquisition end equipment and generate an equipment operation status report. In terms of abnormal alarm information extraction, multi-dimensional abnormal detection rules are established. Monitoring and identification are conducted for abnormal situations during data transmission, such as link interruptions, excessive data packet loss rates, and excessive transmission latency, as well as abnormal problems such as insufficient battery power, excessive computing load, and sensor failures of the acquisition end equipment. Furthermore, based on the scope and severity of the abnormal impact, abnormal alarm information is divided into three levels: emergency alarms, important alarms, and general alarms.

[0099] Finally, regarding the visualization, a comprehensive situation dashboard is built for communication status. Line charts display the trends in transmission latency and data throughput, pie charts show the usage ratio of the main and backup transmission paths, and a topology diagram shows the link connectivity between ad hoc network nodes, while also indicating the communication status level. For device operating status, a geographic information system is used to mark the location of each data acquisition device on a map, using different colors to indicate device operating status. Clicking on a device node allows viewing detailed operating parameters and health assessment results. Bar charts and dashboards display the values ​​and historical trends of parameters such as battery power and computing load. For abnormal alarm information, a combination of pop-up notifications, list displays, and map annotations is used. Emergency alarms pop up in real time with audible and visual alerts, while important and general alarms are included in an alarm list for hierarchical display, and the location of the alarm node is marked on the map.

[0100] The broadband self-organizing network communication system for low-altitude carriers provided in this application embodiment has a display module that can extract communication status, equipment operating status, and abnormal alarm information based on the received target data. The communication status is associated with the transmission status and link quality of the transmitted data, the equipment status is associated with the operating parameters of the transmission data acquisition terminal, and the abnormal alarm information is associated with abnormal situations during the transmission data transmission process. At the same time, the communication status, equipment operating status, and abnormal alarm information are visualized, which can intuitively present the three types of information: link, equipment, and transmission abnormalities. This makes it easy for staff to grasp the overall network operation at the same time, quickly identify transmission faults and equipment hazards, and improve the efficiency of low-altitude carrier management and control.

[0101] In one possible implementation, the network transmission module further includes a service priority scheduling unit, which comprises a priority hierarchical configuration subunit and a bandwidth resource allocation subunit. The priority hierarchical configuration subunit is used to pre-divide different service types into multiple transmission priorities according to the transmission requirements of low-altitude ad hoc network services, setting flight control command services as the first priority, video sensing services as the second priority, and equipment status alarm services as the third priority; wherein the first priority is greater than the second priority, and the second priority is greater than the third priority. The bandwidth resource allocation subunit is used to identify the target priority identifier of the service data packets corresponding to the encrypted transmission data during transmission on the main transmission path or the target backup transmission path, and to perform resource allocation operations on the service data packets; wherein the processing operations include: reordering the service data packets according to the priority identifier in descending order of priority; dynamically allocating the bandwidth occupancy limits of flight control command services, video sensing services, and equipment status alarm services according to the current remaining link bandwidth, wherein the bandwidth occupancy limit of flight control command services is greater than the bandwidth occupancy limit of video sensing services, and the bandwidth occupancy limit of video sensing services is greater than the bandwidth occupancy limit of equipment status alarm services.

[0102] Flight control command services are used to control the flight status of low-altitude vehicles (UAVs, manned aircraft), and these services have the highest requirements for transmission latency and reliability. Specifically, the transmission latency requirement is ≤10ms, and the reliability requirement is ≥99.9%.

[0103] Video sensing services are used to transmit video data collected by low-altitude carriers. For example, in mountain rescue scenarios, drones collect videos of missing persons searches, and in power line inspection scenarios, drones collect videos of line inspections.

[0104] The device status alarm service is used to transmit operational status and fault alarm information of networking equipment such as low-altitude carriers, ground base stations, and relay nodes. For example, alarms such as low battery power alarms for drones, excessive computing load alarms for ground base stations, and link interruption alarms for relay nodes.

[0105] In this embodiment, the priority-based configuration subunit determines the functional positioning, transmission requirements (such as latency, reliability, and bandwidth), security level, and scenario adaptation requirements of various services, including flight control command services, video perception services, and device status alarm services. Specifically, flight control command services must meet the requirements of low latency and zero packet loss; video perception services must ensure the continuity and clarity of data transmission; and device status alarm services must ensure the integrity of information transmission.

[0106] Low-altitude ad hoc network services are classified into three transmission priority levels, and a priority hierarchy is established based on the service coverage of each priority level. Specifically, this can include first priority, second priority, and third priority, with first priority (flight control command services) > second priority (video sensing services) > third priority (equipment status alarm services).

[0107] After determining the first, second, and third priorities, each priority can be encoded separately. The first priority is encoded as P1-01, the second as P2-02, and the third as P3-03. Once the encoding is generated, the target priority encoding is embedded into the encapsulation header field of the corresponding business data packet through the data packet encapsulation interface.

[0108] During data transmission on the primary or target backup transmission path, the bandwidth resource allocation subunit uses a high-performance data packet parsing interface to parse the encrypted transmission data, extract the target priority identifier from the service data packet encapsulation header, and, based on a priority level lookup table, distinguish the data packets corresponding to flight control command services, video sensing services, and equipment status alarm services. According to the identified target priority identifier, service data packets of different priorities are imported into the corresponding service transmission queues. Subsequently, according to the hierarchical relationship of first priority > second priority > third priority, the service data packets in the scheduling queue are reordered to ensure that first-priority flight control command service data packets enter the pending transmission queue first and occupy transmission resources first. For service data packets of the same priority, a first-in-first-out (FIFO) and service urgency-weighted scheduling rule is adopted, with data packets of higher urgency (such as emergency avoidance commands and serious equipment fault alarms) given weighted priority scheduling.

[0109] The broadband ad hoc network communication system for low-altitude carriers provided in this application embodiment has a priority-based configuration subunit that can pre-divide multiple transmission priorities according to the transmission requirements of low-altitude ad hoc network services. Flight control command services with higher priority values ​​are set as the first priority, video sensing services as the second priority, and equipment status alarm services as the third priority. When transmitting encrypted data on the main transmission path or the target backup transmission path, the bandwidth resource allocation subunit identifies the target priority identifier of the service data packets. On the one hand, it reorders the service data packets according to their priority from highest to lowest; on the other hand, it dynamically allocates bandwidth usage limits for the three types of services based on the remaining bandwidth of the current link. The bandwidth usage limit for flight control command services is higher than that for video sensing services, and the bandwidth usage limit for video sensing services is higher than that for equipment status alarm services. This prioritizes the transmission timing and bandwidth resources of core flight control command services, preventing low-priority services from preempting transmission resources and improving the reliability and real-time performance of key low-altitude operation commands.

[0110] In one possible implementation, the network transmission module further includes a comparison and verification unit and a seamless retransmission correction unit. The comparison and verification unit is used to compare the routing sequence number, unacknowledged data packet number, and service queue timing information of the switched main transmission path and the target backup transmission path after the switch from the main transmission path to the target backup transmission path is completed, and obtain the comparison result. The comparison result indicates whether there are abnormal data packets. The seamless retransmission correction unit is used to determine the data to be uploaded of the abnormal data packet from the original data copy in the backup path cache of the target backup transmission path if the comparison result indicates that there are abnormal data packets, and obtain encrypted transmission data based on the data to be uploaded, and send the encrypted transmission data back to the pre-switching cache control unit.

[0111] A routing sequence number indicates a unique identifier sequence assigned by the network transmission module to each transmission path. For example, the primary transmission path routing sequence number is RT-M-001, and the target backup transmission path routing sequence number is RT-S-001.

[0112] Unacknowledged data packet numbers indicate the unique number of a service data packet that was not acknowledged by the receiving end during the transmission of encrypted data. For example, a flight control command data packet numbered PK-20260709-0012 will be included in the list of unacknowledged data packet numbers if the receiving end does not provide acknowledgment.

[0113] Service queue timing information can indicate the timing identifier of the service data packet in the queue to be transmitted in the main transmission path and the target backup transmission path.

[0114] In this embodiment, after the pre-switching buffer control unit completes the switching operation from the primary transmission path to the target backup transmission path, it sends a verification trigger command to the comparison and verification unit, simultaneously pushing data information of the primary transmission path and the target backup transmission path. Specifically, this may include the routing sequence number of the primary and backup paths, a list of unacknowledged data packet numbers, a list of service queue timing information, and data packet transmission status data. The comparison and verification unit receives the above information through a data interface and establishes a primary and backup path data comparison database. Based on the primary and backup path data comparison database, it compares the routing sequence number, unacknowledged data packet number, and service queue timing information respectively.

[0115] In the route sequence number comparison, the route sequence numbers of the primary transmission path and the target backup transmission path are retrieved, and the path identifier, sequence code, and check field of the two are compared using a sequence check algorithm. In the unacknowledged data packet number comparison, the list of unacknowledged data packet numbers of the primary transmission path and the list of received data packet numbers of the target backup transmission path are integrated, and a number matching algorithm is used to compare them one by one, filtering out the numbers that do not appear in the target backup transmission path, which are suspected lost abnormal data packet numbers. In the service queue timing information comparison, the timestamp, queue sorting number, and service-related timing identifier of the data packets in the service queues of the primary and backup paths are extracted, and compared according to service type to verify whether the transmission timing of the data packets is consistent, identifying abnormal data packets with disordered timing.

[0116] After receiving the comparison results and list of abnormal data packets pushed by the comparison and verification unit, the seamless retransmission correction unit analyzes the type, service type, and cause of each abnormal data packet in conjunction with the abnormal marking information. For lost abnormal data packets, it confirms the service priority and data importance; for out-of-order abnormal data packets, it determines the transmission timing position; and for routing abnormal data packets, it confirms the corresponding target transmission path information.

[0117] Based on the retrieval index of abnormal data packets, the seamless retransmission correction unit accesses the backup path cache of the target backup transmission path and retrieves the original data copy corresponding to the abnormal data packet in descending order of business priority. After retrieval, the integrity and validity of the original data copy are verified. By comparing data verification fields and checking the data packet format and length, it is confirmed that the original data copy has not been tampered with, is intact, and meets the transmission standards for encrypted data. If the original data copy is abnormal, the search scope is expanded.

[0118] For the retrieved and verified original data copy, the seamless retransmission correction unit combines the routing information of the current target backup transmission path and the timing requirements of the service queue to add appropriate routing identifiers, timing identifiers and retransmission priority identifiers to the original data copy. Then, it calls the encryption algorithm interface of the security encryption module and encrypts the data to be uploaded according to the same encryption rules as the original encrypted transmission data to generate encrypted transmission data.

[0119] The broadband ad hoc network communication system for low-altitude carriers provided in this application embodiment has the following features: After the comparison and verification unit completes the switch from the main transmission path to the target backup transmission path, it compares the routing sequence number, unacknowledged data packet number, and service queue timing information of the main transmission path and the target backup transmission path to obtain a comparison result for determining whether there are abnormal data packets. When the comparison result indicates the presence of abnormal data packets, the seamless retransmission correction unit determines the data to be uploaded corresponding to the abnormal data packets based on the data copy stored in the backup path cache of the target backup transmission path and generates encrypted transmission data. The encrypted transmission data is then sent back to the pre-switching cache control unit. This system can promptly locate abnormal data packets generated during the link switching process and retrieve the original cache data to complete the retransmission correction, eliminating data corruption and missing data caused by path switching, ensuring the complete and orderly forwarding of encrypted transmission data, and further improving the integrity and continuity of low-altitude ad hoc network data transmission.

[0120] This embodiment provides a broadband ad hoc network communication method for low-altitude carriers, which can be used in broadband ad hoc network communication systems for low-altitude carriers. Figure 4 This is a flowchart of a broadband ad hoc network communication method for low-altitude carriers according to an embodiment of this application, as shown below. Figure 4 As shown, the process includes the following steps: Step S401: Collect the perception data of the first target device, encode and decode the video data in the perception data to obtain the transmission data, and synchronize the node status, link matching result, node three-dimensional motion status and link quality data of the first target device; wherein, the first target device includes a low-altitude carrier and / or ground equipment.

[0121] Step S402: Encrypt the transmitted data to obtain encrypted transmitted data, and calculate the node trustworthiness of the target node.

[0122] Step S403: Based on the node's three-dimensional motion state, link quality data, and relevant data of the target node, predict the remaining available time of the candidate link, and combine the remaining available time of the candidate link, service type, and node credibility to determine the primary transmission path and multiple backup transmission paths.

[0123] Step S404: When the remaining available time of the main transmission path link is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the quality of the main path link is not greater than the preset switching threshold, the encrypted transmission data is switched to the target backup transmission path for transmission based on the backup path cache. The relevant data of the target node includes at least one of the following: relative position of the node, relative speed, heading angle, and signal strength change.

[0124] Step S405: The encrypted transmitted data is parsed and identified to obtain the target data.

[0125] The broadband ad hoc network communication method for low-altitude carriers provided in this application synchronizes the three-dimensional motion status and link quality data of nodes to the network transmission module through the sensing access module. The network transmission module can predict the remaining available time of candidate links based on the three-dimensional motion status of nodes, link quality data, and relevant data of the target node. Based on the remaining available time of candidate links, service type, and node credibility, it determines the main transmission path and multiple backup transmission paths. When the remaining available time of the main transmission path is less than the pre-failure threshold, the network transmission module pre-synchronizes the queue of services to be sent, unacknowledged data packets, and routing sequence numbers to the backup path cache. When the link quality of the main path is not greater than the preset switching threshold, the backup path cache is directly retrieved to switch the encrypted transmission data to the target backup transmission path for transmission. There is no need to re-detect the link after the link quality of the main transmission path fails. This solves the shortcomings of related technologies that rely solely on signal strength to select a single transmission path and re-detect the link after link failure, resulting in low data transmission efficiency, thereby improving data transmission efficiency.

[0126] This embodiment also provides a broadband ad hoc network communication device for low-altitude carriers, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0127] In this embodiment, the broadband self-organizing network communication device for low-altitude carriers is presented in the form of functional units. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0128] This application also provides a computer device having the above-described features. Figure 5 The illustrated broadband self-organizing network communication device is designed for low-altitude carriers.

[0129] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application, such as... Figure 5As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 10 as an example.

[0130] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0131] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0132] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0133] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0134] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0135] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0136] The computer device also includes a communication interface for communicating with other devices or communication networks.

[0137] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0138] A portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0139] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A broadband self-organizing network communication system for low-altitude carriers, characterized in that, It includes a sensing access module that connects to the signal and works in a two-way interactive and collaborative manner, a network transmission module, an edge computing module, and a security encryption module; The sensing access module is used to collect sensing data from the first target device, encode and decode the video data in the sensing data to obtain transmission data, and synchronize the first target device's own node status, link matching results, node three-dimensional motion status, and link quality data to the network transmission module; wherein, the first target device includes a low-altitude carrier and / or ground equipment; The security encryption module is used to process the transmitted data to obtain encrypted transmitted data and the node trustworthiness of the target node. The network transmission module is used to perform multi-hop relay forwarding on the encrypted transmission data, and predict the remaining available time of candidate links based on the three-dimensional motion state of the nodes, the link quality data, and the relevant data of the target nodes. Based on the remaining available time of the candidate links, the service type, and the node trustworthiness, it determines the main transmission path and multiple backup transmission paths. When the remaining available time of the main transmission path is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the link quality of the main path is not greater than the preset switching threshold, the encrypted transmission data is switched to the target backup transmission path for transmission using the backup path cache. The relevant data of the target node includes at least one of the following: relative position of the node, relative speed, heading angle, and signal strength change. The edge computing module is used to receive the encrypted transmission data, parse and identify the encrypted transmission data, and obtain the target data.

2. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, The sensing access module includes a data acquisition and encoding unit and a status synchronization unit; The acquisition and encoding unit is used to acquire the sensing data of the first target device, and to encode and decode the video data in the sensing data to obtain the transmission data. The status synchronization unit is used to scan the second target device and generate a link matching result, and when the link matching result indicates that the link is normally connected, to collect the node status, node three-dimensional motion status and link quality data of the first target device; wherein, the second target device includes surrounding low-altitude carriers and / or surrounding ground equipment.

3. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, The security encryption module includes an encryption processing unit and a credibility calculation unit; The encryption processing unit is used to encrypt the transmitted data to obtain the encrypted transmitted data; The credibility calculation unit is used to collect operational interaction data between the first target device and the second target device, and to perform weighted calculation on the operational interaction data to obtain the node score of the first target device, and to determine the node credibility of the target node based on the node score; wherein, the operational interaction data includes at least one of link matching results, link quality data, and device interaction status data.

4. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, The network transmission module includes a link duration prediction unit, a path planning and filtering unit, a pre-switching buffer control unit, and a relay forwarding unit. The link duration prediction unit is used to input the relative speed, heading angle, and altitude difference in the three-dimensional motion state of the node, the signal-to-noise ratio, packet loss rate change rate, relative distance to the target node, and signal strength change coefficient in the link quality data into a preset link attenuation fitting model to obtain the signal attenuation rate of the candidate link, and to determine the remaining available time of the candidate link based on the signal attenuation rate of the candidate link and the reference stable duration of the link. The path planning and filtering unit is used to determine the comprehensive score of the candidate links based on the remaining available time of the candidate links, the first weight corresponding to the remaining available time of the candidate links, the service type, the second weight corresponding to the service type, the node credibility, and the third weight corresponding to the node credibility. The candidate link with the highest comprehensive score is determined as the primary transmission path, and the other candidate links are set as backup transmission paths. Among the multiple backup transmission paths, the one with the best comprehensive score is determined as the target backup transmission path. The pre-switching cache control unit is used to monitor the remaining available time of the main transmission path. When the remaining available time is less than the pre-failure threshold, the service queue to be sent, unacknowledged data packets and routing sequence numbers are pre-synchronized to the backup path cache. When the quality of the main path link is not greater than the preset switching threshold, the backup path cache is invoked to switch the encrypted transmission data to the target backup transmission path for transmission. The relay forwarding unit is used to perform multi-hop relay forwarding on the encrypted transmission data.

5. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, The edge computing module includes a data parsing unit and a target recognition unit; The data parsing unit is used to receive the encrypted transmission data, and to perform data unpacking, video stream format decoding, and data integrity verification on the encrypted transmission data to obtain the data to be processed. The target recognition unit is used to extract target features, classify and detect targets in the data to be processed, and generate target data.

6. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, It also includes a display module; The display module is used to extract communication status, device operating status, and abnormal alarm information based on the received target data, and to visualize the communication status, device operating status, and abnormal alarm information; wherein, the communication status is associated with the transmission status and link quality of the transmitted data, the device status is associated with the operating parameters of the transmitted data acquisition terminal, and the abnormal alarm information is associated with abnormal situations during the transmission data transmission process.

7. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, The network transmission module further includes a service priority scheduling unit, which includes a priority hierarchical configuration subunit and a bandwidth resource allocation subunit. The priority classification configuration subunit is used to pre-divide multiple transmission priorities for different service types according to the transmission requirements of low-altitude self-organizing network services, setting flight control command services as the first priority, video perception services as the second priority, and equipment status alarm services as the third priority; wherein, the first priority is greater than the second priority, and the second priority is greater than the third priority; The bandwidth resource allocation subunit is used to identify the target priority identifier of the service data packet corresponding to the encrypted transmission data and to perform resource allocation operations on the service data packet during transmission on the primary transmission path or the target backup transmission path; wherein, the processing operations include: The service data packets are reordered in descending order of priority based on the priority identifier. Based on the current remaining bandwidth of the link, the bandwidth usage limits for flight control command services, video sensing services, and device status alarm services are dynamically allocated. The bandwidth usage limit for flight control command services is greater than the bandwidth usage limit for video sensing services, and the bandwidth usage limit for video sensing services is greater than the bandwidth usage limit for device status alarm services.

8. The broadband self-organizing network communication system for low-altitude carriers according to claim 1, characterized in that, The network transmission module also includes a comparison and verification unit and a seamless retransmission correction unit; The comparison and verification unit is used to compare the routing sequence number, unacknowledged data packet number, and service queue timing information of the switched primary transmission path and the target backup transmission path after the switch from the primary transmission path to the target backup transmission path is completed, and obtain the comparison result; wherein, the comparison result indicates whether there are abnormal data packets. The seamless retransmission correction unit is used to determine the data to be uploaded of the abnormal data packet from the original data copy in the backup path cache of the target backup transmission path if the comparison result indicates that there is an abnormal data packet, and obtain encrypted transmission data based on the data to be uploaded, and send the encrypted transmission data back to the pre-switching cache control unit.

9. A broadband ad hoc network communication method for low-altitude carriers, characterized in that, The method is applied to the broadband self-organizing network communication system for low-altitude carriers according to any one of claims 1-8, and the method includes: The system collects sensing data from the first target device, encodes and decodes the video data in the sensing data to obtain transmission data, and synchronizes the first target device's own node status, link matching results, node three-dimensional motion status, and link quality data; wherein, the first target device includes a low-altitude carrier and / or ground equipment; The transmitted data is encrypted to obtain encrypted transmitted data, and the node trustworthiness of the target node is calculated. Based on the three-dimensional motion state of the node, link quality data, and relevant data of the target node, the remaining available time of the candidate link is predicted. Then, combined with the remaining available time of the candidate link, the service type, and the node credibility, the main transmission path and multiple backup transmission paths are determined. When the remaining available time of the primary transmission path link is less than the pre-failure threshold, the queue of services to be sent, unacknowledged data packets, and routing sequence numbers are pre-synchronized to the backup path cache. When the quality of the primary path link is not greater than the preset switching threshold, the encrypted transmission data is switched to the target backup transmission path for transmission based on the backup path cache. The relevant data of the target node includes at least one of the following: relative position of the node, relative speed, heading angle, and signal strength change. The encrypted transmitted data is parsed and identified to obtain the target data.

10. An electronic device, characterized in that, include: A processor and a memory connected to the processor; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to cause the processor to perform the broadband ad hoc network communication method for low-altitude carriers as described in claim 9.

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