Multi-stage air relay self-healing networking system and method

Abstract

The application belongs to the technical field of self-organizing network communication, and particularly relates to a multi-stage air relay self-healing network system and method. The multi-stage air relay self-healing network system is equipped with a multi-dimensional link quality quantitative evaluation module, a time domain link breakage pre-judgment module, a fault self-healing reconstruction module, a narrowband anti-interference control channel module, an electromagnetic adaptive anti-interference module, a hierarchical dynamic endurance power consumption management and control module, and a four-level working condition grading degradation management and control module, and has a space-ground three-interface redundancy bottoming-out capability, and breaks through to realize full-dimension high-reliability communication guarantee of "controlling number, physically isolating, time domain trend prediction, dynamic redundancy adaptation, grading working condition bottoming-out, and multi-dimensional hardware backup", constructs a closed-loop fault-tolerant system of "normal high-performance transmission, risk scene prediction and stable switching, anti-interference communication in interference environment, and limit working condition degradation bottoming-out", and completely solves the industry pain points of traditional network channel mixing, pre-judgment mis-triggering, redundancy rigidity, degradation without gradient, and easy paralysis in extreme working conditions.

Description

Technical Field

[0001] This invention belongs to the technical field of self-organizing network communication, and particularly relates to a multi-tiered air relay self-healing networking system and method. Background Technology

[0002] Current UAV relay networking technologies are mostly focused on short-range communication, civilian emergency response, and small-scale cluster networking. Mainstream solutions include single-UAV airborne relay, ground-based fixed-point relay, general satellite communication, and ordinary multi-hop mesh self-organizing networks. The common characteristics of existing publicly available patents and literature are: uniform network layout, passive fault reconstruction, reliance solely on signal strength for routing, and only achieving basic communication relay and topology repair functions. These technologies have the following drawbacks: Beyond-line-of-sight coverage has blind spots: the general networking scheme does not have a hierarchical relay mechanism for near and far distances, resulting in severe signal attenuation and high data packet loss rate over long distances, making it difficult to support the data transmission needs of high-bandwidth monitoring loads.

[0003] Self-healing response lag: Existing self-healing mechanisms only initiate reconstruction after a fault occurs, lack the ability to predict link disconnection, and the reconstruction process has a communication interruption window period, resulting in insufficient communication stability.

[0004] Weak anti-interference capability: Conventional networking does not have adaptive frequency hopping and dynamic bandwidth contraction strategies, making the links extremely prone to failure in complex electromagnetic environments.

[0005] Lack of battery life and multi-interface redundancy system: Existing technologies only focus on communication topology construction, without combining layered battery life redundancy, dynamic power consumption management, and multi-interface backup design for ground and air, resulting in poor engineering feasibility and network operation reliability.

[0006] The rigid redundancy mode of the battery life results in low resource utilization: the fixed ratio of the battery life redundancy mode cannot adapt to the dynamic environmental risks on site. In normal low-load scenarios, too much redundant power is reserved, which shortens the overall operation time; in high-load and high-risk scenarios, the redundant power is insufficient, which cannot achieve emergency backup. The battery life management lacks dynamic adaptability.

[0007] Traditional network architecture suffers from a single link optimization method, resulting in low resource utilization and poor jitter resistance. It selects routes based solely on the received signal strength, failing to consider multiple factors such as distance path loss, real-time bit error rate, and equipment mobility status. Furthermore, it lacks a mechanism for analyzing link status trends. In scenarios involving high-speed equipment movement, terrain obstruction, and electromagnetic interference, problems such as incorrect route switching, chaotic channel contention, significant transmission delay jitter, and wasted bandwidth resources easily arise, failing to meet the requirements for stable transmission of high-bandwidth monitoring data.

[0008] Insufficient reliability of command transmission: Traditional networking shares broadband channels with data services and control commands without physical channel isolation. In complex electromagnetic environments, broadband channels are highly susceptible to congestion and paralysis, resulting in the loss of core control signaling, topology heartbeats, and device control commands, posing a risk of "data loss and command interruption."

[0009] The expansion model is idealized and has poor practical adaptability: The traditional linear expansion model is only applicable to ideal open airspace and does not take into account the nonlinear effects of actual scenarios such as mountain shielding, electromagnetic interference, and uneven node distribution. The expansion calculation results have large deviations and insufficient accuracy in engineering applications.

[0010] The fault diagnosis criteria are crude and easily affected by transient interference: Traditional networking cannot distinguish between real equipment faults, permanent disconnection and transient electromagnetic disturbances and short-term signal fluctuations, frequently triggering topology reconstruction, causing network oscillations and seriously affecting communication stability. Summary of the Invention

[0011] This application provides a multi-tiered air relay self-healing networking system and method, which is designed to adapt to ultra-long coverage radii of 100km and is a distributed mesh networking system with multi-tiered hierarchical relay for long-distance data transmission tasks, quantitative link selection, predictive topology self-healing, and multi-source redundancy fallback capabilities.

[0012] The multi-tiered aerial relay self-healing networking system provided in this application includes a ground command and control station, a main monitoring UAV, and a relay UAV cluster; The relay drone cluster consists of several relay drones, which are deployed in three layers: short-range, medium-range, and long-range. The communication unit on each relay drone supports Mesh broadband main link, Tiantong satellite backup link, and Beidou short message emergency backup link. The multi-tiered air relay self-healing networking system also includes a control unit, which includes: A multi-dimensional link quality quantification and evaluation module is used to evaluate the link quality between each node, including the UAV. The time-domain link disconnection prediction module, based on the rate of change in the time domain, identifies continuously deteriorating link status points, including area command and control stations, main monitoring drones, and relay drone clusters, for each of these points. State triggers pre-switching command; The fault self-healing and reconstruction module removes faulty nodes, updates routes, and reconstructs the entire network topology when at least one of the following situations occurs: node damage, interference, or link failure. The narrowband anti-interference control channel module quantifies the communication quality of the narrowband control channel, which is used to transmit command and control instructions, topology heartbeat, and device signaling. The electromagnetic adaptive anti-interference module calculates the number of expansion nodes by taking nonlinear scenarios, including mountain shading, electromagnetic interference, and node occlusion, as influencing factors. The layered dynamic endurance power consumption management module determines the real-time dynamic endurance redundancy level of the short-range layer, mid-range layer, and long-range layer based on the basic fixed redundancy level, the risk trend value of the entire network battlefield, and the risk trend value of the entire network battlefield, respectively. The four-level operating condition classification and degradation control module performs communication degradation based on the asymmetric inter-level degradation trigger threshold under different operating conditions. The asymmetric inter-level degradation trigger threshold is determined based on link quality and command transmission status.

[0013] In one implementation, the electromagnetic adaptive anti-interference module uses a network expansion adaptation determination formula to calculate the number of expansion nodes. The network expansion adaptation determination formula is as follows:

[0014] in, : The number of relay nodes needs to be increased; : Emergency rescue target radius; : Current maximum coverage radius; Maximum communication distance per hop; Safety overlap coefficient; For terrain shielding and electromagnetic attenuation correction factors, open airspace Mountainous canyons and scenes with strong interference .

[0015] In one implementation, the time-domain link disconnection prediction module calculates a link disconnection risk value. When the link disconnection risk value exceeds a limit, a pre-switching command is triggered for the continuously deteriorating link state. The formula for calculating the risk value of a link break is:

[0016] in, Link breakage risk value; The slope of the bit error rate change characterizes the rate of link interference deterioration; The slope of the signal loss change characterizes the signal attenuation trend; Relative maneuvering speed of the drone; : Dynamic weighting coefficients, the sum of the weights of the three is 1; Fixed sampling time window to avoid interference from instantaneous signal jitter.

[0017] In one implementation, the formula for calculating the link quality score between nodes in the multi-dimensional link quality quantification assessment module is as follows:

[0018] in, The comprehensive link quality score between nodes i and j, with a value range of 0 to 1; Receive power, Transmit power characterizes signal attenuation; Node spacing; Single-hop limit distance, representing path loss; Bit error rate (BER) represents the intensity of interference. Open airspace strengthens weight. and In electromagnetic interference scenarios, the weighting is strengthened. .

[0019] In one implementation, the fault self-healing reconstruction module reconstructs the entire network topology when the node failure rate exceeds a reconstruction threshold. The formula for calculating the node failure rate is as follows:

[0020] in, Node failure rate; : Number of faulty or disconnected nodes; Total number of online nodes; : Reconstructing thresholds, in typical scenarios High-risk emergency rescue scenarios .

[0021] In one implementation, the narrowband anti-interference control channel module quantifies the communication quality of the narrowband control channel through the availability of the narrowband control channel. The formula for calculating the availability of the narrowband control channel is as follows:

[0022] in, Narrowband control channel availability, with a value range of 0 to 1; : Real-time signal-to-noise ratio of the control channel; : Minimum reliable signal-to-noise ratio threshold for the control channel; : Control channel real-time bit error rate; : Maximum permissible bit error rate of the control channel.

[0023] In one implementation, the formula for calculating the real-time dynamic battery redundancy level of the tiered dynamic battery life power consumption management module is as follows:

[0024] Parameter explanation: Real-time dynamic battery redundancy level; : Basic fixed redundancy water level (30% for remote areas, 20% for medium and short ranges); : Overall battlefield risk trend value; Node real-time power consumption rate; : Positive and negative dynamic adjustment coefficients.

[0025] In one implementation, the communication modes in the four-level operating condition classification and degradation control module include high-performance mode, anti-interference mode, core protection mode and Beidou emergency mode. when , At this time, the communication mode switches from high-performance mode to anti-interference mode; When the packet loss rate of the command is greater than 5%, the communication mode switches from anti-interference mode to core protection mode. When both the Mesh broadband main link and the Tiantong satellite backup link lose connection for more than 10 seconds, the communication mode switches from the core protection mode to the Beidou emergency mode.

[0026] This application also provides a multi-tiered air relay self-healing networking method, implemented based on the multi-tiered air relay self-healing networking system described above; During the task initialization phase, a Mesh network consisting of a Mesh broadband main link is built based on the constraint formula for full coverage spacing of tiered nodes and through an electromagnetic adaptive anti-interference module. During normal operation, the narrowband control channel communication quality is quantified by the narrowband anti-interference control channel module, and the broadband data channel transmits big data; the multi-dimensional link quality quantification and evaluation module continuously collects multi-dimensional status parameters of the entire network links, and performs backup route pre-switching based on the output of the time domain link disconnection prediction module. When the time domain link disconnection prediction module triggers the pre-switching command, the fault self-healing reconstruction module reconstructs the entire network topology; When the link quality and command transmission status change, communication degradation is performed based on the asymmetric inter-level degradation trigger threshold. Battery life is managed through a layered dynamic power consumption control module.

[0027] In one implementation, the formula for the full coverage spacing constraint of tiered nodes is:

[0028] in, Spacing between adjacent nodes; Safety overlap coefficient; Maximum communication distance per hop.

[0029] Beneficial effects: The multi-tiered air relay self-healing networking system provided in this application is equipped with a multi-dimensional link quality quantitative evaluation module, a time-domain link disconnection prediction module, a fault self-healing reconstruction module, a narrowband anti-interference control channel module, an electromagnetic adaptive anti-interference module, a hierarchical dynamic endurance power consumption management module, and a four-level operating condition graded degradation management module. It has the redundancy backup capability of three interfaces: air, ground, and satellite. It breaks through to achieve all-dimensional high-reliability communication guarantee of "control data physical isolation, time-domain trend prediction, dynamic redundancy adaptation, graded operating condition backup, and multi-dimensional hardware backup". It builds a closed-loop fault-tolerant system of "normal high-performance transmission, risk scenario prediction and stable switching, interference environment anti-interference and communication guarantee, and extreme operating condition degradation backup". It completely solves the industry pain points of traditional networking such as mixed channels, false prediction, rigid redundancy, no gradient degradation, and easy paralysis under extreme operating conditions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall architecture of the multi-tiered air relay self-healing networking system in Embodiment 1 of this application. Figure 2 This is a schematic diagram of the functional modules and data flow of the system of the present invention in Embodiment 1 of this application. Figure 3 This is a schematic diagram of the cooperation process between the time-domain link breakage prediction module and the fault self-healing reconfiguration module in Embodiment 1 of this application; Figure 4 This is the state transition diagram of the four-level operating condition classification and degradation control module in Embodiment 1 of this application. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. The principles and features of the present invention are described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention. Example 1

[0032] A multi-tiered aerial relay self-healing networking system includes: a ground command and control station, a main monitoring UAV, and a relay UAV swarm; The relay drone cluster comprises several relay drones, which are deployed in three layers: short-range, medium-range, and long-range. The communication unit on each relay drone supports Mesh broadband main link, Tiantong satellite backup link, and Beidou short message emergency backup link.

[0033] Reference Figure 1 The spatial deployment relationships of the ground command and control station, the three-tiered relay UAV cluster (near / medium / long range), and the main reconnaissance and strike UAVs are shown in the diagram. The connection relationships of the narrowband control channel, broadband data channel, and satellite / BeiDou backup link are also illustrated. In this embodiment, the 100km coverage radius is precisely divided into three levels of communication coverage areas: a near-range layer (0–30km), a medium-range layer (30–70km), and a long-range layer (70–100km). This constructs a distributed mesh network architecture with tiered relay, multi-layered redundancy, and full coverage. Through a unique three-tiered hierarchical relay architecture adapted to 100km ultra-long-range data transmission tasks, it differs from the general civilian equal-equal networking mode. Nodes are deployed according to the coverage distance gradient, precisely matching the needs of beyond-line-of-sight monitoring and data transmission services, eliminating long-distance communication blind spots.

[0034] Reference Figure 2 The system integrates the input-output relationships and collaborative working mechanisms among its various modules. It incorporates a multi-dimensional link quality quantification evaluation module, a time-domain link disconnection prediction module, a fault self-healing reconstruction module, a narrowband anti-interference control channel module, an electromagnetic adaptive anti-interference module, a hierarchical dynamic power consumption management module, and a four-level operating condition graded degradation management module. It also possesses redundancy fallback capabilities across three interfaces (air, ground, and ground). The data flow between modules is: parameter acquisition → evaluation → routing decision → monitoring → prediction → pre-switching → fault determination → reconstruction → degradation switching. Through these modules, it achieves breakthroughs in "physical isolation of control data, time-domain trend prediction, dynamic redundancy adaptation, graded operating condition fallback, and multi-dimensional hardware backup," providing comprehensive high-reliability communication assurance. It constructs a closed-loop fault-tolerant system of "normal high-performance transmission, risk scenario prediction and stable switching, interference environment anti-interference and communication assurance, and extreme operating condition degradation fallback," completely solving industry pain points such as mixed channels, false prediction triggering, rigid redundancy, lack of gradient degradation, and easy paralysis under extreme conditions in traditional networking. This forms seven core innovative pillars, with performance comprehensively superior to existing civilian and general-purpose networking technologies.

[0035] Specifically, the multi-tiered air relay self-healing networking system also includes a control unit, which includes: A multi-dimensional link quality quantification and evaluation module is used to evaluate the link quality between nodes, including the area command and control station, the main monitoring drone, and each relay drone in the relay drone cluster; The time-domain link disconnection prediction module triggers a pre-switching command for a continuously deteriorating link state based on the time-domain change rate. The fault self-healing and reconstruction module removes faulty nodes, updates routes, and reconstructs the entire network topology when at least one of the following situations occurs: node damage, interference, or link failure. The narrowband anti-interference control channel module quantifies the communication quality of the narrowband control channel, which is used to transmit command and control instructions, topology heartbeat, and device signaling. The electromagnetic adaptive anti-interference module calculates the number of expansion nodes by taking nonlinear scenarios, including mountain shading, electromagnetic interference, and node occlusion, as influencing factors. The layered dynamic endurance power consumption management module determines the real-time dynamic endurance redundancy level of the short-range layer, mid-range layer, and long-range layer based on the basic fixed redundancy level, the risk trend value of the entire network battlefield, and the risk trend value of the entire network battlefield, respectively. The four-level operating condition classification and degradation control module performs communication degradation based on the asymmetric inter-level degradation trigger threshold under different operating conditions. The asymmetric inter-level degradation trigger threshold is determined based on link quality and command transmission status.

[0036] Each module incorporates a quantifiable mathematical model, covering the entire process from full-coverage link optimization, fault diagnosis, full-domain coverage, time-domain risk prediction, dynamic endurance adaptation, operational condition classification and degradation, control channel reliability assessment, nonlinear expansion adaptation, and time-domain trend correction. All algorithm models are custom-designed for complex 100km beyond-line-of-sight field scenarios, incorporating multi-dimensional correction factors such as time windows, terrain occlusion, environmental risks, and power consumption status. No similar combined formula system is disclosed in publicly available technology, completely different from industry-standard instantaneous value determination, linear ideal models, and single algorithm logic.

[0037] The electromagnetic adaptive anti-interference module uses a network expansion adaptation determination formula to calculate the number of expansion nodes. The network expansion adaptation determination formula is as follows:

[0038] in, : The number of relay nodes needs to be increased; : Emergency rescue target radius; : Current maximum coverage radius; Maximum communication distance per hop; Safety overlap coefficient; For terrain shielding and electromagnetic attenuation correction factors, open airspace Mountainous canyons and scenes with strong interference .

[0039] This embodiment corrects the idealization defects of traditional linear expansion models, adapts to complex battlefield nonlinear scenarios such as mountain cover, electromagnetic interference, and node obstruction in field emergency rescue, accurately calculates the number of expansion nodes, improves the engineering implementation accuracy of ultra-long radius expansion, and can stably support intelligent expansion layout of ultra-long emergency rescue radius of 100km or even more than 200km, with extremely strong foresight.

[0040] Reference Figure 3 In this embodiment, the time-domain link disconnection prediction module calculates a link disconnection risk value. When the link disconnection risk value exceeds a limit, a pre-switching command is triggered for the continuously deteriorating link status. The formula for calculating the risk value of a link break is:

[0041] in, Link breakage risk value; The slope of the bit error rate change characterizes the rate of link interference deterioration; The slope of the signal loss change characterizes the signal attenuation trend; Relative maneuvering speed of the drone; : Dynamic weighting coefficients, the sum of the weights of the three is 1; Fixed sampling time window to avoid interference from instantaneous signal jitter.

[0042] In this implementation, the traditional instantaneous value determination logic is abandoned, and the time-domain change rate constraint is introduced. Pre-switching is only triggered for continuously deteriorating link states, completely eliminating the problems of false self-healing triggers caused by electromagnetic instantaneous interruptions, short-term signal fluctuations, and frequent routing oscillations, and achieving high-precision and high-reliability seamless predictive self-healing.

[0043] In this embodiment, the formula for calculating the link quality score between each node in the multi-dimensional link quality quantification evaluation module is as follows:

[0044] in, The comprehensive link quality score between nodes i and j, with a value range of 0 to 1; Receive power, Transmit power characterizes signal attenuation; Node spacing; Single-hop limit distance, representing path loss; Bit error rate (BER) represents the intensity of interference. Open airspace strengthens weight. and In electromagnetic interference scenarios, the weighting is strengthened. .

[0045] The multi-dimensional link quality quantification assessment module calculates the link quality score between each node, enabling real-time quantification and optimization across the entire network. This avoids weak signals, high interference, and long-distance attenuation links, ensuring stable transmission of high-definition point clouds and video.

[0046] In this embodiment, the fault self-healing reconstruction module reconstructs the entire network topology when the node failure rate is greater than the reconstruction threshold. The formula for calculating the node failure rate is as follows:

[0047] in, Node failure rate; : Number of faulty or disconnected nodes; Total number of online nodes; : Reconstructing thresholds, in typical scenarios High-risk emergency rescue scenarios .

[0048] When a node is damaged or a link is interrupted due to interference, the entire network topology is automatically reconstructed to remove faulty nodes and update routes, thus preventing a single point from paralyzing the entire network.

[0049] To ensure overlapping redundancy of the three-layer coverage and completely eliminate the 100km beyond-line-of-sight edge blind zone, this embodiment sets a constraint formula for the full coverage spacing of tiered nodes.

[0050] in, Spacing between adjacent nodes; Safety overlap coefficient; Maximum communication distance per hop.

[0051] In this embodiment, the communication quality of the narrowband control channel is independently quantified, completely decoupled from the broadband data channel. Under strong electromagnetic suppression, high-reliability transmission of command and control instructions, topology heartbeats, and device signaling is prioritized, preventing core instruction interruptions caused by big data services preempting the channel. This achieves a communication standard of "data can be degraded, but instructions are never interrupted." Specifically, the narrowband anti-interference control channel module quantifies the communication quality of the narrowband control channel through the availability of the narrowband control channel. The formula for calculating the availability of the narrowband control channel is as follows:

[0052] in, Narrowband control channel availability, with a value range of 0 to 1; : Real-time signal-to-noise ratio of the control channel; : Minimum reliable signal-to-noise ratio threshold for the control channel; : Control channel real-time bit error rate; : Maximum permissible bit error rate of the control channel.

[0053] In this embodiment, the formula for calculating the real-time dynamic battery redundancy level of the layered dynamic battery life power consumption management module is as follows:

[0054] Parameter explanation: Real-time dynamic battery redundancy level; : Basic fixed redundancy water level (30% for remote areas, 20% for medium and short ranges); : Overall battlefield risk trend value; Node real-time power consumption rate; : Positive and negative dynamic adjustment coefficients.

[0055] This implementation breaks away from the traditional fixed redundancy rigid mechanism. In normal low-risk scenarios, it automatically reduces the redundancy level and releases excess power to extend flight time; in high-risk battlefield scenarios with multiple battle losses, it automatically raises the redundancy level to strengthen the endurance backup capability, taking into account both the needs of ultra-long flight time operations and extreme battlefield survival.

[0056] Reference Figure 4 The communication modes in the four-level operating condition classification and degradation control module include high-performance mode, anti-interference mode, core protection mode and Beidou emergency mode. when , At this time, the communication mode switches from high-performance mode to anti-interference mode; When the packet loss rate of the command is greater than 5%, the communication mode switches from anti-interference mode to core protection mode. When both the Mesh broadband main link and the Tiantong satellite backup link lose connection for more than 10 seconds, the communication mode switches from the core protection mode to the Beidou emergency mode.

[0057] By clearly defining the switching thresholds for four levels of battlefield operating conditions, a complete tiered safety net system is formed, consisting of "high-performance transmission → anti-interference and stable transmission → core command continuity → BeiDou emergency protection," which is adapted to all battlefield operating conditions and completely solves the fatal problems of traditional networking, such as lack of hierarchical structure, lack of safety net, and susceptibility to network-wide paralysis.

[0058] In this embodiment, each relay node is equipped with a Mesh broadband main link, a Tiantong satellite backup link, and a Beidou short message emergency backup link. The three-level links are hierarchically divided and automatically switched. The main link carries large data transmission, and in the event of interference and link failure, the satellite command link is switched off immediately. In the event of extreme connection failure, Beidou is used as a backup for reporting. With dual-card slot hardware redundancy and isolation of uplink and downlink data channels, single points of failure in hardware and links are completely eliminated.

[0059] In scenarios with strong electromagnetic suppression, the system automatically activates frequency hopping spread spectrum, dynamic bandwidth contraction, and adaptive transmission power adjustment mechanisms; in high-interference environments, it reduces bandwidth and prioritizes command and control transmission; in low-interference environments, it restores full-bandwidth high-definition transmission, ensuring uninterrupted communication even in extreme environments through adaptive strategies.

[0060] This embodiment innovatively adds a dedicated narrowband anti-interference control channel within 1MHz (control channel availability evaluation formula), which only transmits core data such as management and control commands, topology heartbeats, equipment signaling, and fault alarms; the broadband Mesh channel is dedicated to carrying big data services such as LiDAR point clouds and high-definition monitoring videos, realizing physical isolation, independent transmission, and no interference between the control channel and the data channel, thus solving the problem of core commands being squeezed out and becoming invalid under strong interference from the bottom layer.

[0061] Unlike traditional single passive self-healing architectures, this invention constructs a three-level redundant self-healing system: time-domain trend prediction and pre-self-healing, post-fault hard reconstruction, and four-level hierarchical fallback self-healing. It filters instantaneous disturbances based on time window slope determination, performs pre-switching during periods of continuous link deterioration, executes local reconstruction for minor faults, conducts full-domain reorganization for large-scale faults, and initiates degradation fallback under extreme conditions, completely eliminating communication interruption windows and network oscillations. Its fault tolerance and stability far exceed existing conventional self-healing technologies.

[0062] To address industry shortcomings such as uneven power consumption distribution in three-tiered cluster networks, weak endurance of remote nodes, and poor adaptability of fixed redundancy, a dual-mechanism power consumption coordination system is established: layered basic redundancy (a formula for constraining the spacing between tiered nodes to ensure full coverage) + dynamic water level control (a formula for adjusting the dynamic endurance redundancy water level). A 30% safety endurance redundancy is reserved for core coverage nodes at 70–100km, and a 20% endurance redundancy is reserved for mid-to-short-range auxiliary nodes. Based on the dynamic endurance redundancy water level adjustment formula, and combined with the overall network environmental risk trend and real-time node power consumption, the redundancy ratio is dynamically adjusted. In normal, low-risk scenarios, redundant power is released to extend the overall cluster operating time; in high-risk scenarios or node failure scenarios, the redundancy water level is automatically increased to strengthen emergency backup capabilities.

[0063] The system employs a segmented intelligent power consumption scheduling strategy: intermittent hibernation and reduced power consumption during cruise standby; full power operation during data transmission; and priority protection of communication services in high-risk scenarios. Through time-domain status monitoring, it accurately distinguishes between instantaneous power fluctuations and genuine low-power faults. Low-power nodes automatically disconnect from the network, and nearby redundant nodes seamlessly fill the gap, completely avoiding network oscillations and achieving an optimal balance among multiple node clusters in terms of operational performance, transmission power consumption, battery life, and scenario fault tolerance.

[0064] The networking system provided by this invention has comprehensive expansion and iteration capabilities. Relying on the optimized nonlinear expansion and adaptation formula, it can accurately achieve adaptive node expansion with an ultra-long coverage radius of 100km to 200km+, perfectly adapting to complex nonlinear field environments such as mountains, canyons, and strong electromagnetic interference.

[0065] Vertically, it can be expanded to include electromagnetic signal monitoring and passive detection functions, enabling the evolution from pure communication networking to an integrated intelligent relay system combining communication and environmental monitoring. Horizontally, it supports hybrid networking of heterogeneous platforms such as UAVs, ground-based vehicle-mounted relays, and shipborne equipment, adapting to multi-dimensional monitoring scenarios across air, ground, and sea. It can also be equipped with an AI intelligent array planning module, dynamically optimizing relay station deployment and routing strategies based on terrain obscuring coefficients, electromagnetic interference intensity, and real-time mission status, further enhancing network stability and environmental adaptability in complex and extreme scenarios.

[0066] This embodiment achieves: Asymmetric hierarchical architecture: It is the first to adopt a three-layer asymmetric tiered relay architecture for near / medium / long-range data transmission tasks that are adapted to ultra-long-range data transmission tasks of 100km. It is different from various civilian equal networking and short-range general networking patents, and has significant scene customization features.

[0067] Seven-dimensional quantitative intelligent routing decision-making: The unique joint decision-making model of signal power + path distance + bit error interference + maneuver speed + time domain trend + terrain occlusion + power consumption status provides the industry with a full-dimensional quantitative routing system, completely solving the drawbacks of traditional single-parameter routing.

[0068] The three-level self-healing system based on time-domain prediction is the first to propose a self-healing closed loop of "time-domain trend pre-switching + fault hard reconstruction + four-level hierarchical bottom-line", which eliminates communication interruption window period and topology oscillation, and its damage resistance and self-healing capability far exceeds that of existing passive self-healing technologies.

[0069] Military-civilian differentiated control and data isolation mechanism: It is the first to create a physical isolation architecture between narrowband hard core control channel and broadband data channel, realizing "data can be degraded, but commands are never interrupted", which is the core landmark innovation that distinguishes it from civilian networking.

[0070] Three-mode heterogeneous redundancy: Mesh broadband + Tiantong satellite + Beidou short message three-link heterogeneous backup, coupled with hardware dual card slots, uplink and downlink channel isolation, and quantitative monitoring of channel availability, ensuring no network outage risk in extreme battlefields.

[0071] Layered dynamic range redundancy mechanism: basic layered redundancy + dynamic water level adaptive adjustment, which solves the contradictions of rigid redundancy, power waste and insufficient backup, and maximizes the practicality of engineering implementation.

[0072] The four-level asymmetric battlefield degradation system features a unique high-performance → anti-interference → core protection → survival emergency gradient triggering mechanism with precise thresholds and full coverage of operating conditions, completely solving the problem of network-wide paralysis in extreme battlefields, and boasting industry-leading adaptability.

[0073] This embodiment also provides a multi-tiered air relay self-healing networking method, implemented based on the above-mentioned multi-tiered air relay self-healing networking system; During the task initialization phase, based on the tiered node full coverage spacing constraint formula and through the electromagnetic adaptive anti-interference module, the optimal airspace station deployment is completed to achieve full coverage without blind spots within a 100km coverage radius, and a Mesh network consisting of Mesh broadband main links is built.

[0074] During normal operation, the narrowband anti-interference control channel module quantifies the communication quality of the narrowband control channel, while the broadband data channel transmits big data, ensuring the transmission of core signaling and big data respectively. The multi-dimensional link quality quantification and evaluation module continuously collects multi-dimensional status parameters of the entire network links, and performs backup route pre-switching based on the output of the time-domain link disconnection prediction module. It analyzes the link deterioration trend in real time, filters instantaneous disturbances and interference, and completes backup route pre-switching in advance for high-risk links that are continuously deteriorating, achieving seamless fault-tolerant transmission.

[0075] When a node experiences interference, failure, or disconnection, the time-domain link failure prediction module distinguishes between instantaneous electromagnetic disturbances and actual equipment failures to trigger a pre-switching command through refined fault judgment logic. The fault self-healing reconstruction module automatically removes faulty nodes, calls nearby redundant nodes to fill the gap, and reconstructs the entire network topology. When link quality and command transmission status change, communication degradation is performed based on the asymmetric inter-level degradation trigger threshold. The core command transmission status is monitored in real time based on the control channel availability assessment formula (narrowband anti-interference control channel module). In strong electromagnetic interference scenarios, frequency hopping spread spectrum, dynamic bandwidth contraction, and power adaptive adjustment strategies are adaptively activated. The operating mode is switched step by step according to the four-level operating condition degradation threshold matrix to prioritize the smooth operation of control and navigation core commands (narrowband anti-interference control channel module).

[0076] Endurance management is achieved through a layered dynamic power consumption control module. The redundancy ratio is adjusted in real time based on environmental risks and node power consumption, balancing operational duration with emergency backup capabilities. The system incorporates heterogeneous redundancy across three interfaces (air, ground, and ground), dual hardware backup, and dynamic power scheduling strategies to stably support uninterrupted, highly interference-resistant, and long-lasting transmission of 100km beyond-line-of-sight LiDAR point clouds, high-definition monitoring video, and remote control commands in complex and extreme field scenarios.

[0077] The formula for the spacing constraint of the tiered nodes with full coverage is as follows:

[0078] in, Spacing between adjacent nodes; Safety overlap coefficient; Maximum communication distance per hop.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-tiered airborne relay self-healing networking system, characterized in that, include: Ground command and control station, main monitoring drone, and relay drone swarm; The relay drone cluster consists of several relay drones, which are deployed in three layers: short-range, medium-range, and long-range. The communication unit on each relay drone supports Mesh broadband main link, Tiantong satellite backup link, and Beidou short message emergency backup link. The multi-tiered air relay self-healing networking system also includes a control unit, which includes: A multi-dimensional link quality quantification and evaluation module is used to evaluate the link quality between each node, including the UAV. The time-domain link disconnection prediction module, based on the rate of change in the time domain, identifies continuously deteriorating link status points, including area command and control stations, main monitoring drones, and relay drone clusters, for each of these points. State triggers pre-switching command; The fault self-healing and reconstruction module removes faulty nodes, updates routes, and reconstructs the entire network topology when at least one of the following situations occurs: node damage, interference, or link failure. The narrowband anti-interference control channel module quantifies the communication quality of the narrowband control channel, which is used to transmit command and control instructions, topology heartbeat, and device signaling. The electromagnetic adaptive anti-interference module calculates the number of expansion nodes by taking nonlinear scenarios, including mountain shading, electromagnetic interference, and node occlusion, as influencing factors. The layered dynamic endurance power consumption management module determines the real-time dynamic endurance redundancy level of the short-range layer, mid-range layer, and long-range layer based on the basic fixed redundancy level, the risk trend value of the entire network battlefield, and the risk trend value of the entire network battlefield, respectively. The four-level operating condition classification and degradation control module performs communication degradation based on the asymmetric inter-level degradation trigger threshold under different operating conditions. The asymmetric inter-level degradation trigger threshold is determined based on link quality and command transmission status.

2. The multi-tiered airborne relay self-healing networking system according to claim 1, characterized in that, The electromagnetic adaptive anti-interference module uses a network expansion adaptation determination formula to calculate the number of expansion nodes. The network expansion adaptation determination formula is as follows: in, : The number of relay nodes needs to be increased; : Emergency rescue target radius; : Current maximum coverage radius; Maximum communication distance per hop; Safety overlap coefficient; For terrain shielding and electromagnetic attenuation correction factors, open airspace Mountainous canyons and scenes with strong interference .

3. The multi-tiered air relay self-healing networking system according to claim 1, characterized in that, The time-domain link disconnection prediction module calculates a link disconnection risk value. When the link disconnection risk value exceeds the limit, a pre-switching command is triggered for the continuously deteriorating link status. The formula for calculating the risk value of a link break is: in, Link breakage risk value; The slope of the bit error rate change characterizes the rate of link interference deterioration; The slope of the signal loss change characterizes the signal attenuation trend; Relative maneuvering speed of the drone; : Dynamic weighting coefficients, the sum of the weights of the three is 1; Fixed sampling time window to avoid interference from instantaneous signal jitter.

4. The multi-tiered air relay self-healing networking system according to claim 1, characterized in that, The formula for calculating the link quality score between each node in the multi-dimensional link quality quantification assessment module is as follows: in, The comprehensive link quality score between nodes i and j, with a value range of 0 to 1; Receive power, Transmit power characterizes signal attenuation; Node spacing; Single-hop limit distance, representing path loss; Bit error rate (BER) represents the intensity of interference. Open airspace strengthens weight. and In electromagnetic interference scenarios, the weighting is strengthened. .

5. The multi-tiered air relay self-healing networking system according to claim 1, characterized in that, In the fault self-healing reconstruction module, the entire network topology is reconstructed when the node failure rate exceeds the reconstruction threshold. The formula for calculating the node failure rate is as follows: in, Node failure rate; : Number of faulty or disconnected nodes; Total number of online nodes; : Reconstructing thresholds, in typical scenarios High-risk emergency rescue scenarios .

6. The multi-tiered air relay self-healing networking system according to claim 1, characterized in that, In the narrowband anti-interference control channel module, the communication quality of the narrowband control channel is quantified by the availability of the narrowband control channel. The formula for calculating the availability of the narrowband control channel is: in, Narrowband control channel availability, with a value range of 0 to 1; : Real-time signal-to-noise ratio of the control channel; : Minimum reliable signal-to-noise ratio threshold for the control channel; : Control channel real-time bit error rate; : Maximum permissible bit error rate of the control channel.

7. The multi-tiered air relay self-healing networking system according to claim 1, characterized in that, The formula for calculating the real-time dynamic battery redundancy level of the tiered dynamic battery life power consumption management module is as follows: Parameter explanation: Real-time dynamic battery redundancy level; : Basic fixed redundancy water level (30% for remote areas, 20% for medium and short ranges); : Overall battlefield risk trend value; Node real-time power consumption rate; : Positive and negative dynamic adjustment coefficients.

8. The multi-tiered air relay self-healing networking system according to claim 4, characterized in that, The communication modes in the Level 4 Operating Condition Classification and Degradation Control Module include High Performance Mode, Anti-interference Mode, Core Protection Mode, and Beidou Emergency Mode. when , At this time, the communication mode switches from high-performance mode to anti-interference mode; When the packet loss rate of the command is greater than 5%, the communication mode switches from anti-interference mode to core protection mode. When both the Mesh broadband main link and the Tiantong satellite backup link lose connection for more than 10 seconds, the communication mode switches from the core protection mode to the Beidou emergency mode.

9. A multi-tiered aerial relay self-healing networking method, characterized in that, Based on the multi-tiered air relay self-healing networking system according to any one of claims 1 to 8; During the task initialization phase, a Mesh network consisting of a Mesh broadband main link is built based on the constraint formula for full coverage spacing of tiered nodes and through an electromagnetic adaptive anti-interference module. During normal operation, the narrowband control channel communication quality is quantified by the narrowband anti-interference control channel module, and the broadband data channel transmits big data; the multi-dimensional link quality quantification and evaluation module continuously collects multi-dimensional status parameters of the entire network links, and performs backup route pre-switching based on the output of the time domain link disconnection prediction module. When the time domain link disconnection prediction module triggers the pre-switching command, the fault self-healing reconstruction module reconstructs the entire network topology; When the link quality and command transmission status change, communication degradation is performed based on the asymmetric inter-level degradation trigger threshold. Battery life is managed through a layered dynamic power consumption control module.

10. The multi-tiered air relay self-healing networking method according to claim 9, characterized in that, The formula for the full coverage spacing constraint of tiered nodes is: in, Spacing between adjacent nodes; Safety overlap coefficient; Maximum communication distance per hop.

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