Method and system for multi-link cooperative wireless channel management of vehicle-mounted drone hangar

Abstract

The application discloses a multi-link cooperative wireless channel management method and system for a vehicle-mounted UAV hangar, wherein the method comprises the following steps: acquiring current channels and link quality parameters of multiple wireless links between the hangar, UAVs and interactive control terminals, collecting environmental parameters of available channels when the links meet channel re-evaluation conditions, and generating a candidate channel set for each link; determining a basic score according to the environmental parameters of the candidate channels, and determining a conflict score representing the risk of same-frequency and adjacent-frequency mutual interference in combination with the frequency interval between the candidate channels and the constraint channels of other links; determining a comprehensive score based on the basic score and the conflict score, screening a target channel combination that meets a protection interval condition; and calculating the score improvement benefits of each target channel relative to the current channel, and controlling the switching of the corresponding link when the preset benefit threshold is met. Thus, the channel quality, link mutual interference and switching benefits can be considered, and the cooperative optimization and stable communication of multiple wireless links can be realized.

Description

Technical Field

[0001] This application relates to the field of radio spectrum management technology, and in particular to a multi-link collaborative wireless channel management method, program product and system for vehicle-mounted unmanned aerial vehicle hangars. Background Technology

[0002] With the widespread application of wireless communication technology in vehicle-mounted equipment, unmanned aerial vehicle systems, and mobile smart terminals, the density of civilian radio spectrum resources continues to increase. Within limited frequency bands, the simultaneous operation of numerous access devices, wireless hotspots, and short-range communication links can easily lead to channel congestion, co-channel interference, adjacent-channel interference, and fluctuations in communication quality. To maintain the stability of wireless links, existing wireless channel management methods typically scan the channel occupancy status within the current frequency band and select relatively idle channels for communication links based on fundamental parameters such as received signal strength, channel utilization, and interference intensity.

[0003] The aforementioned channel management methods are generally effective in mitigating interference in local wireless network environments with a single access point, a single wireless link, or a relatively fixed location. However, in scenarios involving composite vehicle-mounted equipment such as vehicle-mounted drone hangars, multiple wireless links often exist simultaneously within the system. These include image transmission, telemetry, or control links between the drone and the hangar, and data transmission or control interaction links between the hangar and the vehicle-mounted terminal. Different links differ in spatial location, service type, bandwidth requirements, and reliability requirements. If channel selection is still performed separately for each link or access point, a unified spectrum coordination relationship between the links is likely to be lacking. Summary of the Invention

[0004] This application provides a method, device, storage medium, and program product for multi-link collaborative wireless channel management in a vehicle-mounted unmanned aerial vehicle hangar, which is used to solve at least one of the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a multi-link collaborative wireless channel management method for a vehicle-mounted UAV hangar. The UAV hangar is communicatively connected to a UAV and an interactive control terminal. The method includes: acquiring link status information of multiple wireless links managed by the vehicle-mounted UAV hangar; the multiple wireless links include at least a first wireless link for communication between the vehicle-mounted UAV hangar and the UAV, and a second wireless link for communication between the vehicle-mounted UAV hangar and the interactive control terminal; the link status information includes the current operating channel and link quality parameters of each wireless link; when the link quality parameters of at least one wireless link meet the channel reassessment triggering condition, acquiring the channel environment parameters of the available channels, and generating a candidate channel set corresponding to each wireless link based on the channel environment parameters; for any candidate channel of the wireless link, determining a basic channel score based on the channel environment parameters of the candidate channel, and determining an inter-link conflict score based on the frequency interval between the candidate channel and the inter-link constraint channels of other wireless links; the inter-link constraint channels are the channels used for communication between the UAV hangar and the UAV hangar. The channel combination determination process is used to characterize the frequency positions occupied by other wireless links. The inter-link conflict score is used to characterize the inter-link interference risk between the candidate channel and other wireless links based on frequency spacing. The inter-link interference risk includes co-channel interference risk and adjacent-channel interference risk. Based on the basic channel score and the inter-link conflict score, the comprehensive score of each candidate channel is determined, and the target channel combination is determined according to the comprehensive score of each candidate channel. The target channel combination includes at least one target channel corresponding to a wireless link to be switched, and the target channel combination satisfies a preset inter-link interference constraint. The preset inter-link interference constraint is used to constrain the frequency spacing between the target channel in the target channel combination and the inter-link constraint channels of other wireless links to meet a preset protection interval condition. The score improvement benefit of each target channel in the target channel combination relative to the current working channel of the corresponding wireless link to be switched is determined, and when the score improvement benefit corresponding to each target channel meets the corresponding preset benefit threshold, each wireless link to be switched is controlled to switch to the corresponding target channel.

[0006] Secondly, embodiments of this application provide a storage medium storing one or more programs including execution instructions, which can be read and executed by electronic devices (including but not limited to computers, servers, or network devices) to perform the steps of the method described in any of the above claims of this application.

[0007] Thirdly, a computer device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the method described in any of the preceding claims of this application.

[0008] Fourthly, embodiments of this application also provide a computer program product, the computer program product including a computer program stored on a storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the steps of any of the methods described above.

[0009] Fifthly, embodiments of this application also provide a vehicle-mounted drone hangar system, comprising: a vehicle-mounted drone hangar; a first wireless communication module, disposed in the vehicle-mounted drone hangar, for establishing a first wireless link between the vehicle-mounted drone hangar and the drone; a second wireless communication module, disposed in the vehicle-mounted drone hangar, for establishing a second wireless link between the vehicle-mounted drone hangar and an interactive control terminal; and a channel management and control module, disposed in the vehicle-mounted drone hangar and connected to the first wireless communication module and the second wireless communication module respectively, for performing link state acquisition, candidate channel set generation, channel scoring, target channel combination determination, and channel switching control on multiple wireless links including the first wireless link and the second wireless link, to achieve the method described in any of the above claims.

[0010] The beneficial effects of the embodiments of this application are as follows: By uniformly monitoring and collaboratively selecting frequencies across multiple wireless links managed by the vehicle-mounted UAV hangar, when link quality deteriorates, the system comprehensively considers the environmental quality of candidate channels and their frequency spacing with other wireless links to jointly determine target channel combinations that satisfy co-channel and adjacent-channel interference constraints. Switching is only performed when the target channel offers a sufficient score improvement compared to the current channel. This avoids spectrum conflicts caused by independent frequency selection for each wireless link, reduces co-channel and adjacent-channel interference in multi-link parallel communication, and minimizes frequent switching due to short-term fluctuations or insufficient benefits. Ultimately, this improves the overall stability, reliability, and continuity of wireless communication between the vehicle-mounted UAV hangar, the UAV, and the interactive control terminal. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments 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 based on these drawings without creative effort.

[0012] Figure 1 A flowchart illustrating an example of a multi-link cooperative wireless channel management method for a vehicle-mounted unmanned aerial vehicle hangar according to an embodiment of this application is shown. Figure 2 A flowchart illustrating an example of channel reassessment triggering processing in a method according to an embodiment of this application is shown. Figure 3 This paper presents an example operation flowchart for determining inter-link conflict scoring in a method according to an embodiment of this application; Figure 4 A flowchart illustrating an example of target channel combination determination in a method according to an embodiment of this application is shown. Figure 5 An operational flowchart of an example of wireless link channel switching control in a method according to an embodiment of this application is shown; Figure 6 A schematic diagram of an example system architecture of a vehicle-mounted unmanned aerial vehicle hangar system according to an embodiment of this application is shown. Figure 7 A schematic diagram of the communication structure of an example of a vehicle-mounted unmanned aerial vehicle hangar system according to an embodiment of this application is shown; Figure 8 This illustration shows an example application scenario diagram of a vehicle-mounted unmanned aerial vehicle hangar system according to an embodiment of this application; Figure 9 This is a schematic diagram of the structure of an embodiment of the electronic device of this application. Detailed Implementation

[0013] 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. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0014] It should also be noted that, in this document, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0015] It should be noted that vehicle-mounted drone hangars are typically not simply drone storage containers, but rather comprehensive intelligent vehicle-mounted equipment installed on the roof or exterior of a vehicle. These devices usually integrate a take-off and landing platform, a canopy mechanism, a drone centering or limiting mechanism, a charging and recharging unit, a hangar control unit, and an application programming interface (API) for interaction with the vehicle's control system. This integration facilitates drone transport, automatic take-off and landing, storage and positioning, charging and maintenance, and mission data exchange. With increasing product integration, vehicle-mounted drone hangars involve multiple aspects in actual operation, including mechanical motion control, flight status assessment, communication data forwarding, and user operation response.

[0016] At the information interaction level, vehicle-mounted drone hangars are typically located between the drones and the vehicle-mounted terminal. They need to receive operational commands such as takeoff, return, and data copying from the vehicle-mounted application, and also determine whether the corresponding processes are executing correctly by considering the hangar's internal mechanical status, drone-transmitted information, and communication module status. For example, processes such as opening the hatch, releasing or clamping the centering mechanism, drone takeoff and departure from the hangar, return to the hangar, and data transmission may all involve corresponding status checks and communication data exchanges. Therefore, communication management in vehicle-mounted drone hangars is not merely the connection and maintenance of ordinary wireless access devices; it is also strongly related to the hangar's mechanical execution processes, drone operation processes, and the human-machine interaction processes on the vehicle-mounted terminal.

[0017] Meanwhile, vehicle-mounted applications are characterized by high mobility and rapidly changing external wireless environments. When vehicles move between different roads, parking lots, parks, scenic areas, or urban areas, the number of surrounding wireless devices, channel occupancy, and electromagnetic noise distribution may change significantly. Traditional static channel configurations or handover methods based on single detection results are difficult to continuously adapt to such dynamically changing wireless environments; during channel handover, continuous services such as video transmission, status feedback, or control interaction may also be temporarily affected.

[0018] Furthermore, vehicle-mounted drone hangars typically undergo multiple operational phases during actual operation, including standby, takeoff and landing, cruise, return to base, and data transmission. The requirements for continuity, stability, and transmission performance of wireless communication services vary across these phases. Existing general channel management methods often employ relatively fixed judgment thresholds and handover strategies, which are insufficient to adequately adapt to the changing communication needs of vehicle-mounted drone hangars during multi-scenario operation.

[0019] Currently, when evaluating wireless link quality, relevant technologies typically use communication chips, drivers, or open interfaces to read parameters such as received signal strength, signal-to-noise ratio, noise floor, retransmission rate, packet loss rate, throughput, and number of external access points to determine whether the current link is in a relatively optimal communication state. In some engineering solutions, video transmission throughput, data packet transmission statistics, or link-layer retransmission status are also used as indirect criteria for judging service continuity. These parameters can reflect the communication status of the wireless link within a certain time window, but they are primarily link-layer or driver-layer statistical information, and still require scenario-based matching with the actual business processes of vehicle-mounted drone hangars.

[0020] Furthermore, some current related technologies discuss spectrum usage issues in multi-node or multi-link scenarios from the perspectives of channel allocation, anti-interference communication, or wireless resource optimization. However, these discussions primarily focus on general wireless networks, fixed access devices, or relatively abstract network topologies. For productized equipment like vehicle-mounted drone hangars, the wireless communication process is often coupled with the vehicle platform, hangar structure, drone movements, vehicle-mounted displays, and data transfer processes. Simply applying the link maintenance approach from general wireless networks often fails to adequately reflect the cross-device interaction characteristics and engineering constraints of such equipment in actual use.

[0021] It should be understood that the above description of the relevant technologies is intended only to help the public better understand the inventive spirit and motivation of this application, and is not intended to limit this application. Furthermore, the technical solutions described in the above-mentioned relevant technologies are not prior art, and may also be undisclosed technical solutions, such as those under research or in the laboratory stage.

[0022] The technical solutions in this application, including the collection, storage, use, processing, transmission, provision, and disclosure of users' personal information, comply with relevant laws and regulations and do not violate public order and good morals.

[0023] Figure 1 A flowchart illustrating an example of a multi-link cooperative wireless channel management method for a vehicle-mounted UAV hangar according to an embodiment of this application is shown. The method can be executed by a controller in the vehicle-mounted UAV hangar, which can implement the method by running stored programs or instructions. The controller is connected to multiple wireless communication modules in the vehicle-mounted UAV hangar and communicates wirelessly with the UAV and an interactive control terminal through the corresponding wireless communication modules. The vehicle-mounted UAV hangar implementing the wireless link anti-interference method will hereinafter be referred to as the system.

[0024] The interactive control terminal referred to in this application refers to an electronic terminal capable of establishing a communication connection with a vehicle-mounted drone hangar and used to receive at least one of drone-collected data, drone operation status data, and vehicle-mounted drone hangar operation status data, and / or to send at least one of drone control commands, task configuration commands, and vehicle-mounted drone hangar control commands. The interactive control terminal can be a vehicle-mounted terminal installed in a vehicle, or a mobile terminal or dedicated control terminal capable of establishing a communication connection with a vehicle-mounted drone hangar, such as a vehicle-mounted system, smartphone, tablet computer, portable computer, or drone remote control terminal. This application does not limit the specific device form, operating system, or installation location of the interactive control terminal.

[0025] The vehicle-mounted drone hangar can be installed on the roof of a vehicle or in other load-bearing locations within the vehicle, for the drone's onboard transport, takeoff, landing, storage, or recharging. During drone flight missions or data interaction with the interactive control terminal, the system needs to maintain multiple wireless links simultaneously. For example, video data, telemetry data, or control information collected by the drone can be transmitted via a wireless link between the drone and the vehicle-mounted drone hangar, and the vehicle-mounted drone hangar can also forward relevant data via a wireless link between itself and the interactive control terminal. The interactive control terminal can communicate directly or indirectly with the vehicle-mounted drone hangar via at least one of a wireless LAN communication link, a cellular mobile communication link, a vehicle-mounted communication link, or other wireless communication links. In some embodiments, the drone and the interactive control terminal can also establish a direct wireless communication link. This application does not limit the device form, communication protocol, or network access method adopted by the interactive control terminal.

[0026] When a vehicle enters an area with a high density of wireless devices, such as a parking lot, residential area, scenic area, or industrial park, the frequency occupancy of external wireless devices may change. Since multiple wireless links within the system may use the same frequency band or adjacent frequency bands, the frequency position of the channel used by any wireless link may affect the communication quality of other wireless links. The above scenarios are only used to illustrate the application environment of the embodiments of this application and do not constitute a limitation.

[0027] Before implementing the wireless link anti-interference method, the system can perform initialization processing after power-on and read and load preset parameters. These preset parameters may include the frequency bands or channels supported by the first and second wireless links, regional available channel restrictions, a default preferred channel table, historical channel quality records, a blacklist channel table, a whitelist channel table, status policy parameters corresponding to different task states, switching threshold parameters, and fallback parameters. These preset parameters can be stored in the non-volatile memory or configuration file of the vehicle-mounted UAV hangar. After reading the corresponding parameters, the system can associate the supported channels, channel usage restrictions, and policy parameters with the corresponding wireless links according to the wireless link identifier and load them into the runtime storage space. For missing, invalid, or non-compliant configuration parameters that do not meet the current regional channel restrictions, the system can use pre-set default parameters or mark the corresponding channel as unusable. This allows the vehicle-mounted UAV hangar to obtain operating parameters that match the communication module capabilities, usage region, and historical operating status before starting wireless link management.

[0028] like Figure 1 As shown, in step S110, the link status information of multiple wireless links managed by the vehicle-mounted drone hangar is obtained. These multiple wireless links include at least a first wireless link for communication between the vehicle-mounted drone hangar and the drone, and a second wireless link for communication between the vehicle-mounted drone hangar and the interactive control terminal; the link status information includes the current operating channel and link quality parameters of each wireless link.

[0029] The first wireless link can be used to transmit video data, drone telemetry data, mission data, or control information collected by the drone. The second wireless link can be used to transmit video data, operation commands, or equipment status information between the vehicle-mounted drone hangar and the interactive control terminal. For example, when the drone is performing aerial photography or inspection tasks, the first wireless link can transmit video data collected by the drone to the vehicle-mounted drone hangar, and the second wireless link can forward the corresponding video data to the interactive control terminal. The vehicle-mounted drone hangar, as a communication node connecting multiple wireless links, can interact with the wireless communication modules corresponding to each wireless link and uniformly manage the channel usage of multiple wireless links. When the vehicle-mounted drone hangar also manages other wireless links, these other wireless links can also be included in the same processing procedure.

[0030] The system can read the current operating channel and link quality parameters of the corresponding wireless link from each wireless communication module. The current operating channel indicates the frequency position currently occupied by the corresponding wireless link, and can be represented by the channel number, center frequency, or other information that can characterize the operating frequency position. Link quality parameters reflect the communication status of the corresponding wireless link on the current operating channel. These parameters can originate from the wireless communication module or its communication interface and may include parameters characterizing signal quality, data transmission quality, transmission delay, or transmission capability. By associating the current operating channel and link quality parameters of each wireless link with the corresponding wireless link, the system can determine the current communication status and frequency occupancy position of each wireless link, avoiding the confusion of status information between different wireless links.

[0031] In step S120, when the link quality parameters of at least one of the wireless links meet the channel reassessment triggering condition, the channel environment parameters of the available channels are obtained, and a candidate channel set corresponding to each wireless link is generated based on the channel environment parameters.

[0032] The channel reassessment trigger condition is used to determine whether the current channel configuration needs to be reassessed, and can be set for one or more link quality parameters. When the link quality parameter of any wireless link meets the corresponding channel reassessment trigger condition, the system initiates the channel environment parameter acquisition process. For example, when a vehicle enters an area with many external wireless devices, the communication quality of the first or second wireless link may degrade due to the current working channel being occupied by external wireless devices. Based on this, the system reassesses the current working channel and other available channels. Triggering a channel reassessment does not necessarily mean that the system will perform a channel switch, thus avoiding directly identifying temporary link quality changes as channel switch requirements.

[0033] Available channels are those that the corresponding wireless links can operate on and are permitted to use. The system can obtain the channel environment parameters of the available channels through the corresponding wireless communication modules. These parameters reflect the external interference, noise, or occupancy status of the available channels. The system generates a candidate channel set based on the available channel range and channel environment parameters corresponding to each wireless link, and can exclude channels that do not belong to the available channel range of the corresponding wireless link or do not meet the basic communication conditions. Since different wireless links may use different communication standards, operating frequency bands, or channel bandwidths, the candidate channel sets corresponding to each wireless link may be the same, partially overlap, or differ from each other, ensuring that the candidate channel sets can match the communication capabilities of the corresponding wireless links.

[0034] In step S130, for any candidate channel of the wireless link, a basic channel score is determined based on the channel environment parameters of the candidate channel, and an inter-link conflict score is determined based on the frequency spacing between the candidate channel and the inter-link constraint channels of other wireless links. The inter-link constraint channels are channels used to characterize the frequency positions occupied by the other wireless links during the target channel combination determination process. The inter-link conflict score characterizes the inter-link interference risk between the candidate channel and the other wireless links based on the frequency spacing. The inter-link interference risk includes co-channel interference risk and adjacent-channel interference risk.

[0035] For any given wireless link, the system can determine the basic channel score of the candidate channel based on its channel environment parameters and according to a preset evaluation relationship. The basic channel score reflects the communication conditions of the candidate channel itself, without considering the frequency positions occupied by other wireless links within the system. The system also determines the inter-link conflict score of the candidate channel relative to the inter-link constraint channels of other wireless links. For other wireless links that continue to use their current operating channels, their inter-link constraint channels can be their current operating channels; for other wireless links also participating in the determination of target channel combinations, their inter-link constraint channels can be the candidate channels selected for them during the combination evaluation process. Thus, the inter-link constraint channels can characterize the frequency positions actually occupied or intended to be occupied by other wireless links under the corresponding channel combinations.

[0036] The system can determine the frequency interval between candidate channels and inter-link constraint channels based on their respective frequency positions and bandwidths. When the frequency occupancy ranges of two channels are the same or overlap, they may cause co-channel interference; when the frequency occupancy ranges of two channels do not overlap but the interval is small, they may still cause adjacent-channel interference. For example, a candidate channel of the first wireless link experiences less external wireless interference and thus has a better basic channel score, but this candidate channel is at the same or adjacent frequency position as the current operating channel of the second wireless link. By determining the inter-link conflict score, the system incorporates the aforementioned inter-link interference risk into the evaluation of the candidate channel, thereby distinguishing and representing the candidate channel's own wireless environment and its frequency position relative to other wireless links.

[0037] In step S140, based on the basic channel score and the inter-link conflict score, a comprehensive score for each candidate channel is determined, and a target channel combination is determined according to the comprehensive scores of each candidate channel. The target channel combination includes at least one target channel corresponding to a radio link to be switched, and the target channel combination satisfies a preset inter-link interference constraint. The preset inter-link interference constraint is used to constrain the frequency spacing between the target channel in the target channel combination and the inter-link constraint channels of other radio links to meet a preset guard interval condition.

[0038] The system determines the comprehensive score of a candidate channel based on its basic channel score and inter-link conflict score, according to a preset comprehensive evaluation relationship. This comprehensive score reflects the overall availability of the candidate channel under conditions of external wireless environment and internal link coexistence. When a candidate channel has a relatively good wireless environment but faces a high risk of co-channel or adjacent-channel interference with other wireless links, the inter-link conflict score can limit the priority of this candidate channel in the target channel determination process, thereby avoiding the determination of the target channel solely based on its own wireless environment.

[0039] The system determines the target channel combination based on the candidate channels corresponding to each wireless link and their comprehensive scores. For example, when the first wireless link needs to switch while the second wireless link continues to use its current operating channel, the candidate channels of the first wireless link can be combined and evaluated with the current operating channel of the second wireless link, which serves as an inter-link constraint channel. When multiple wireless links need to determine their target channels, the candidate channels selected from their respective candidate channel sets can be combined and evaluated. The system excludes channel combinations that do not meet the preset protection interval conditions and determines the target channel combination based on the comprehensive scores of the candidate channels in the remaining channel combinations. Inter-link conflict scoring allows different levels of mutual interference risk to participate in the comparison between candidate channels, while the preset inter-link mutual interference constraints exclude channel combinations that do not meet the basic spectrum protection requirements, ensuring that the determined target channel combination takes into account both the communication conditions of the candidate channels themselves and the spectrum coexistence conditions between multiple wireless links.

[0040] In step S150, the score improvement benefit of each target channel in the target channel combination relative to the current working channel of the corresponding wireless link to be switched is determined, and when the score improvement benefit of each target channel meets the corresponding preset benefit threshold, each wireless link to be switched is controlled to switch to the corresponding target channel.

[0041] The system compares the target channel and the current operating channel of the corresponding wireless link to be switched using a corresponding evaluation method, and determines the score improvement benefit based on the difference in their scores. The score improvement benefit reflects the degree of channel quality improvement that the wireless link to be switched from its current operating channel to the target channel. For example, if the target channel has a relatively better overall score in the candidate channel set, but its improvement relative to the current operating channel is small, the system can determine that it does not have sufficient switching benefit based on a preset benefit threshold. This reduces unnecessary channel switching due to a slight advantage in candidate channel scores.

[0042] When the score improvement benefit for each target channel in the target channel combination meets the corresponding preset benefit threshold, the system determines the handover relationship between each wireless link to be handed over and the corresponding target channel, and controls each wireless link to be handed over to the corresponding target channel through the corresponding wireless communication module. The system can also send handover information related to the target channel to the communication peer of the wireless link, enabling the two ends of the wireless link to communicate on the corresponding target channel. When the score improvement benefit of at least one target channel does not meet the corresponding preset benefit threshold, the system can continue to maintain the current channel configuration, thereby controlling the impact of channel handover on the transmitted video data, telemetry data, or control information.

[0043] Figure 2 A flowchart illustrating an example of channel reassessment triggering processing in a method according to an embodiment of this application is shown.

[0044] like Figure 2 As shown, in step S210, the link quality parameters of each wireless link and the interference detection results of the current working channel are periodically statistically analyzed to obtain the link quality change trend of the corresponding wireless link. The link quality parameters include at least one of the following: received signal strength, signal-to-noise ratio, packet loss rate, retransmission rate, throughput, and communication delay.

[0045] Specifically, the link quality parameters can be read from the image transmission communication module corresponding to the first wireless link and the wireless network communication module corresponding to the second wireless link according to a preset sampling period, and the reading results can be correlated according to the wireless link identifier, the current working channel, and the sampling time. In a specific example, the first wireless link adopts an image transmission communication module based on software radio technology. The system can read the received signal strength, signal-to-noise ratio, retransmission rate, packet loss rate, and throughput through the communication interface provided by the image transmission communication module. The second wireless link adopts a wireless local area network communication module. The system can read the received signal strength and channel noise floor from its physical layer and determine the signal-to-noise ratio based on the received signal strength and channel noise floor; it can also read the number of data packets sent and received, the number of retransmissions, the number of drops, and the success rate of acknowledgments from the data link layer, and read the number of visible external access devices in the current working channel from the driver layer. The communication delay can be output by the corresponding wireless communication module or determined based on the time difference between the transmission time of the communication data and the reception time of the corresponding acknowledgment information. The interference detection result of the current working channel can be determined based on the wireless energy detected in the channel, the occupancy of external devices, and the occupancy of adjacent frequencies.

[0046] For example, the system can obtain the current Wi-Fi signal strength of the second wireless link through the query interface provided by the wireless network communication module corresponding to the second wireless link. The system can send a query request to the interface / api / wifi / get_rssi. The query interface returns the processing result and the current Wi-Fi signal strength in JSON format. The returned data may include a status code, a processing result message, and a signal strength field data.rssi. When the returned code is 0, the message is success, and the data.rssi field exists, the system uses the signal strength value represented by data.rssi as the received signal strength corresponding to the current working channel of the second wireless link, and records the received signal strength according to the wireless link identifier, the current working channel, and the sampling time. For example, the current Wi-Fi signal strength value represented by data.rssi can be 95. The numerical form and unit of data.rssi can be determined according to the interface definition of the wireless network communication module, and are not limited to the numerical form in the above example.

[0047] When the query interface returns a processing failure status, fails to return the data.rssi field, or returns incomplete data, the system can mark the query result as invalid and not use it as a valid statistical sample for link quality change trends. By calling the query interface provided by the wireless network communication module, the system can obtain the current Wi-Fi signal strength of the second wireless link and include the interface return results in the periodic quality statistics of the wireless link.

[0048] In some implementations, link quality parameters acquired over multiple consecutive sampling periods for the same wireless link can be arranged according to sampling time, and the current sampled value can be compared with previous sampled values ​​or reference values ​​within a preset statistical window to determine the direction of change of the corresponding link quality parameters. For received signal strength, signal-to-noise ratio, and throughput, a continuous change in the direction of decreasing values ​​can characterize communication quality degradation; for packet loss rate, retransmission rate, and communication delay, a continuous change in the direction of increasing values ​​can characterize communication quality degradation. The system can determine the link quality change trend based on the parameter statistics over multiple sampling periods, the magnitude of parameter changes, or the sampling situation of changes in the direction of degradation, and correlate the interference detection results of the current operating channel with the link quality parameters of the corresponding time period. Thus, statistical results with temporal continuity can be used to characterize the quality changes of the wireless link, reducing the link status judgment deviation caused by single sampling fluctuations.

[0049] In step S220, when any of the wireless links meets the preset degradation condition, it is determined that the wireless link meets the channel reassessment trigger condition.

[0050] Here, the preset degradation conditions include at least one of the following: at least one link quality parameter of the wireless link does not meet the corresponding quality threshold; the link quality of the wireless link shows a continuous degradation trend; when the wireless link carries video transmission services, the video transmission throughput of the wireless link is continuously lower than the video transmission demand threshold; the communication delay of the wireless link meets the delay anomaly condition; and the interference detection result of the current working channel of the wireless link indicates that the current working channel has co-channel interference or adjacent channel interference.

[0051] The quality thresholds can be set according to the physical meaning and direction of change of different link quality parameters. Lower thresholds can be set for received signal strength, signal-to-noise ratio, and throughput; when a parameter falls below the lower threshold, it is determined that the parameter does not meet the corresponding quality threshold. Upper thresholds can be set for packet loss rate, retransmission rate, and communication delay; when a parameter exceeds the upper threshold, it is determined that the parameter does not meet the corresponding quality threshold. The continuous degradation state can be one or more link quality parameters changing in the direction of decreasing communication quality over multiple consecutive sampling periods. The abnormal delay condition can be communication delay exceeding the corresponding delay threshold, or communication delay continuously increasing over multiple sampling periods. The system can also determine whether the current working channel is interfered with by co-channel or adjacent-channel wireless signals based on the wireless energy in the current working channel, the occupancy status of external devices, and the occupancy status of adjacent frequencies.

[0052] When a wireless link carries video transmission services, the system can determine a video transmission demand threshold based on video encoding conditions and video data transmission requirements, and determine whether the actual video transmission throughput can continuously meet the data transmission requirements of the corresponding video service. In a specific example, for a video transmission service with a resolution of 1080p, a frame rate of 60 Hz, and H.265 encoding, 500 kilobytes per second can be set as the video transmission demand threshold. When the video transmission throughput is detected to be lower than the video transmission demand threshold for three consecutive sampling periods, it is determined that the corresponding wireless link meets the preset degradation condition. The video transmission demand threshold and the number of consecutive sampling periods can be configured according to the video encoding conditions and target bitstream requirements, and are not limited to the specific example above. When any preset degradation condition is met, the system determines that the corresponding wireless link meets the channel reassessment trigger condition. Thus, it is possible to comprehensively identify situations such as link parameter exceeding limits, continuous quality degradation, insufficient service transmission capacity, abnormal communication latency, and interference with the current working channel, so that the channel reassessment trigger result matches the actual degradation state of the wireless link.

[0053] In step S230, in response to any of the wireless links satisfying the channel reassessment triggering condition, an available channel corresponding to that wireless link is determined, and the channel environment parameters of the available channel are obtained. The available channel is a channel that satisfies the communication standard, supported frequency band, and regional channel restrictions of the wireless link.

[0054] The system can pre-store communication capability information and channel usage restriction information corresponding to each wireless link. The communication capability information may include the communication standard, supported frequency bands, and supported channels used by the wireless communication module. The channel usage restriction information may include the channel range allowed in the current area of ​​the vehicle-mounted UAV hangar. When the first wireless link uses a dedicated image transmission communication standard, the system can determine available channels that meet the regional channel restrictions from the channels supported by the image transmission communication module. When the second wireless link uses a wireless local area network (WLAN) communication standard, the system can determine available channels that meet the regional channel restrictions from the channels supported by the WLAN communication module. Since the communication standards and supported frequency bands of the two wireless links can be different, the system determines the available channels for each wireless link separately, thereby adapting the available channels to the actual communication capabilities of the corresponding wireless links.

[0055] After determining the available channels, the system can obtain the channel environment parameters of the available channels through the corresponding wireless communication module. These channel environment parameters characterize the wireless interference and wireless device occupancy status of the corresponding available channels. Here, only the range of available channels for which channel environment parameters need to be obtained is determined; the specific detection method and target channel selection process for the available channels are not limited. Therefore, the range of channel environment parameter acquisition can be limited to channels that are actually usable by the corresponding wireless link and comply with regional channel restrictions, reducing invalid detection of channels that are incompatible with communication standards, do not support frequency bands, or have restricted usage.

[0056] Through the embodiments of this application, the link quality parameters of the wireless link and the interference detection results of the current working channel are periodically statistically analyzed. The actual degradation of the wireless link is identified from aspects such as parameter status, change trend, service transmission requirements and frequency interference status. The available channel and channel environment parameters are determined only for wireless links that meet the channel reassessment triggering conditions. This can improve the accuracy and timeliness of channel reassessment triggering, while reducing unnecessary channel environment detection when the wireless link quality is normal.

[0057] Regarding the implementation details of obtaining the channel environment parameters of available channels in the method of this application embodiment, in some examples of this application embodiment, the channel to be scanned is determined from the available channels according to a preset low duty cycle candidate channel scanning strategy, and the scanning timing corresponding to the channel to be scanned is determined; the scanning timing is the service idle period of the current communication service.

[0058] The preset low duty cycle candidate channel scanning strategy is used to limit the duration of the wireless communication module leaving the current working channel and the frequency of channel scanning during a single scan. Specifically, based on the number of available channels in the corresponding wireless link, the channel scanning capability of the wireless communication module, and the communication status of the current working channel, a subset of channels can be selected as the channels to be scanned in this scan, instead of traversing all available channels in a single scan. The channels to be scanned can be determined in batches according to a preset scanning order, or they can be determined preferentially from available channels that have not been scanned for a longer period of time based on the most recent scan time of each available channel. Channel scanning can also be performed intermittently by limiting the number of channels to be scanned in a single scan, the dwell time of the wireless communication module on each channel to be scanned, and the time interval between two adjacent scans. Here, the determination of the channels to be scanned is used to limit the channel range involved in this scanning task, and does not indicate that the channels to be scanned have been determined as candidate channels or target channels.

[0059] The service idle period can be determined based on the current data transmission status of the communication service. The service idle period can be a time when the data transmission queue of the corresponding wireless link is empty or below a preset queue threshold, or a time when the video data transmission load decreases or the current data forwarding task is completed. For the first wireless link, the service idle period can be determined by combining the current throughput, data buffer status, or data transmission status fed back by the image transmission communication module; for the second wireless link, the service idle period can be determined based on the data packet forwarding status, transmission queue status, or current communication load of the wireless network communication module. Issuing a scanning command during the service idle period can reduce the overlap in time between channel scanning and the concentrated transmission of video data, telemetry data, or control information. Therefore, under the constraints of scanning time and scanning frequency, it is possible to determine the channel to be scanned and the scanning timing that is compatible with the current communication service status.

[0060] During the scanning period, a channel scan is performed on the channel to be scanned to obtain the channel environment parameters of the channel to be scanned. The channel environment parameters of the channel to be scanned include at least one of the following: channel energy intensity, external device occupancy, adjacent channel occupancy, historical stability, blacklist hit rate, whitelist matching rate, and a judgment result indicating whether the frequency spacing between the channel and the currently operating channel of other wireless links does not meet the preset guard interval condition.

[0061] When the scanning opportunity arrives, a scanning command containing the identifier of the channel to be scanned can be sent to the corresponding wireless communication module. The wireless communication module then detects the channel to be scanned according to its supported channel scanning method. For wireless communication modules that need to temporarily leave their current working channel to detect other channels, they can be controlled to reside on the channel to be scanned for a preset scanning duration, and return to the current working channel to continue communication after completing the detection. Different wireless communication modules may have different channel switching times and scanning capabilities, and the corresponding number of channels to be scanned and the residence time can be configured according to the actual capabilities of the wireless communication module. Since the wireless communication module may temporarily stop data transmission and reception on the current working channel during the scanning process, by reducing the number of channels participating in a single scan and limiting the residence time, the corresponding communication pause time can be kept within the range allowed by the current communication service.

[0062] Channel energy intensity can be determined based on the received energy or channel noise floor detected by the wireless communication module on the channel to be scanned. External device occupancy can be determined based on the number of external access devices detected in the channel to be scanned, the strength of external wireless signals, or the channel's busy / idle status. Adjacent channel occupancy can be determined based on the wireless signals or wireless device activity detected in the adjacent frequency range of the channel to be scanned. For the first wireless link using a dedicated image transmission communication standard, the corresponding detection results can be obtained through the communication interface provided by the image transmission communication module; for the second wireless link using a wireless LAN communication standard, the corresponding detection results can be obtained through the physical layer information, driver layer information, or communication interface provided by the wireless network communication module.

[0063] Historical stability, blacklist hit rate, and whitelist matching rate do not necessarily need to be directly measured during the current channel scan. Specifically, the channel historical evaluation records and preset channel configurations can be queried locally based on the channel identifier to be scanned. The historical stability reflects the communication maintenance status of the channel to be scanned during previous use, the blacklist hit rate indicates whether the channel to be scanned is under restricted use, and the whitelist matching rate indicates whether the channel to be scanned belongs to the preset preferred channel range. Furthermore, the frequency interval between the channel to be scanned and other wireless links can be determined based on their respective frequency positions and bandwidths. The wireless environment detection results obtained directly from the channel scan, the historical evaluation information and configuration matching information obtained from the query, and the calculated protection interval judgment results can be associated with the corresponding channel to be scanned to form the channel environment parameters of the channel to be scanned. Thus, the channel environment parameters can simultaneously reflect the real-time wireless environment, historical usage status, configuration status, and frequency proximity relationship between the channel to be scanned and other wireless links.

[0064] Through the embodiments of this application, a portion of available channels are scanned during the service idle period according to a preset low duty cycle candidate channel scanning strategy. The real-time scanning results are associated with historical evaluation information, channel configuration information, and guard interval judgment results. This can improve the completeness of the representation of the actual state of the channel to be scanned by the channel environment parameters while controlling the impact of channel scanning on the current communication service.

[0065] Regarding the implementation details of generating candidate channel sets corresponding to each wireless link in the method of this application embodiment, in some examples of this application embodiment, based on the channel bandwidth requirements of each wireless link, an initial candidate channel that satisfies the communication constraints of the corresponding wireless link is determined from the channels to be scanned, and an initial candidate channel set is obtained.

[0066] Since the first and second wireless links can use different communication standards, their supported channel bandwidths and channel configurations can also differ. The system can pre-store the communication standard, operating frequency band, channel bandwidth, and available channel identifiers for each wireless link, and determine whether the channel to be scanned can be configured as a complete working channel according to the communication standard of the corresponding wireless link. For a wireless link whose working channel is composed of multiple sub-channels, the channel to be scanned can represent a complete working channel determined by the corresponding center frequency and channel bandwidth. The system can also check whether each sub-channel constituting the working channel satisfies the communication constraints of the corresponding wireless link. When the channel to be scanned can provide a continuous frequency range not less than the channel bandwidth requirement of the corresponding wireless link, and can be configured and used according to the corresponding communication standard, the channel to be scanned is determined as the initial candidate channel of the corresponding wireless link.

[0067] In a specific example, the first wireless link uses a dedicated image transmission communication standard, employing a channel bandwidth of 20 MHz in the 2.4 GHz and 5 GHz bands; the second wireless link uses a wireless LAN communication standard, employing a channel bandwidth of 20 MHz in the 2.4 GHz band and 80 MHz in the 5 GHz band. For the first wireless link, channels providing a continuous 20 MHz available bandwidth can be determined from the channels to be scanned. For the second wireless link using an 80 MHz channel bandwidth in the 5 GHz band, it can also be checked whether each sub-channel constituting the corresponding 80 MHz working channel is usable. After the system completes the bandwidth adaptation judgment for each wireless link, it obtains an initial candidate channel set corresponding to each wireless link, thereby excluding channels whose channel bandwidth or channel composition does not meet the communication requirements of the corresponding wireless link, ensuring that the initial candidate channels meet the basic conditions for being configured and used by the corresponding wireless link.

[0068] Then, historical channel evaluation information of each initial candidate channel in the initial candidate channel set is obtained. Based on the channel environment parameters of each initial candidate channel and the historical channel evaluation information, initial candidate channels that meet preset exclusion conditions are filtered out. The initial candidate channels that do not meet the preset exclusion conditions constitute the candidate channel set for the corresponding wireless link. Here, the preset exclusion conditions include at least one of the following: channel energy intensity exceeds an energy threshold, external device occupancy meets congestion conditions, historical stability determined according to the historical channel evaluation information is lower than a stability threshold, being hit by a blacklist, being in a temporary disabled state, the number of recent handover failures determined according to the historical channel evaluation information reaches a preset number, and the frequency interval between the current working channel of other wireless links does not meet the preset protection interval condition.

[0069] Specifically, the historical channel evaluation information can be retrieved from locally stored historical channel evaluation records based on the channel identifier of the initial candidate channel and the identifier of the corresponding wireless link. The historical channel evaluation information may include the link quality record, stable usage duration, quality anomalies, and channel handover results of the initial candidate channel during previous use. Historical stability can be determined based on link quality changes, communication interruptions, or handover results over multiple historical usage periods. Blacklist hits and temporary disabled status can be determined based on the channel usage status record associated with the initial candidate channel, and the number of recent handover failures can be determined based on channel handover results within a preset statistical period. For initial candidate channels that have not yet generated historical channel evaluation records, the system can mark them as having no historical evaluation information and process them according to a preset initial state, rather than directly excluding them due to a lack of historical records.

[0070] The system compares the channel environment parameters, historical channel evaluation information, and channel usage status of each initial candidate channel with the corresponding preset exclusion conditions. When the channel energy intensity exceeds the energy threshold, or when the external device occupancy meets the congestion condition based on the number of visible external devices, external wireless signal strength, or channel busyness, the corresponding initial candidate channel can be excluded. Similarly, when historical stability is below the stability threshold, the channel is blacklisted, is in a temporarily disabled state, or the number of recent handover failures reaches a preset number, the corresponding initial candidate channel can also be excluded. For determining the frequency position between links, the interval between the frequency occupancy ranges of the initial candidate channel and other current operating channels of other wireless links can be determined based on their respective center frequencies and channel bandwidths. Only when other wireless links maintain their current operating channels will the channel be excluded. When two links share a channel, this is left to the combined evaluation stage for judgment. After completing the judgment of each exclusion condition, the initial candidate channel that does not meet any applicable preset exclusion condition is retained in the candidate channel set of the corresponding wireless link. This process can exclude initial candidate channels that are currently unsuitable for use in the wireless environment, have unstable historical usage status, are currently subject to usage restrictions, or have a clear risk of frequency conflict with other wireless links.

[0071] Through the embodiments of this application, an initial candidate channel with basic configuration conditions is first determined based on the channel bandwidth requirements and communication standard. Then, by combining the real-time channel environment, historical channel evaluation results, channel usage status and frequency position relationship between links, an exclusionary screening is performed. This enables the resulting candidate channel set to simultaneously reflect the bandwidth adaptation of the wireless link itself, the current availability of the channel, and the historical reliability of its use.

[0072] Regarding the implementation details of determining the basic channel score in the method of this application embodiment, in some examples of this application embodiment, the channel environment parameters include channel energy intensity, external device occupancy, adjacent channel occupancy, historical stability, blacklist hit status, and whitelist matching status.

[0073] The basic channel score is used to evaluate the suitability of a candidate channel for single-link communication on the corresponding wireless link, without considering inter-link interference between the candidate channel and other wireless links. Since the value range and direction of change of different channel environment parameters may differ, the system can convert each channel environment parameter into an evaluation result with a unified evaluation direction according to a pre-set mapping relationship. For example, each evaluation result can take values ​​from 0 to 255, with higher values ​​indicating that the corresponding candidate channel is more suitable for use on the corresponding wireless link under that evaluation factor. The mapping relationship can be determined based on the operating range of the wireless communication module, historical test results, and the impact of the corresponding parameters on communication quality.

[0074] Specifically, the channel energy interference level of the candidate channel is determined based on its channel energy intensity. The system can compare the channel energy intensity of the candidate channel with a preset energy range. A higher channel energy indicates stronger wireless signal activity or environmental noise within the candidate channel, resulting in a higher level of channel energy interference; conversely, a lower channel energy indicates a lower level of channel energy interference. The system can also convert the channel energy interference level into an evaluation result consistent with the scoring direction, allowing candidate channels with lower interference levels to receive higher evaluations.

[0075] The degree of external occupancy impact of the candidate channel is determined based on the external device occupancy status of the candidate channel. The external device occupancy status can be determined based on at least one of the following: the number of visible external devices within the candidate channel, the external wireless signal strength, or the channel's busy / idle status. For example, the wireless network communication module can read the number of visible access devices and their corresponding wireless signal strength within the candidate channel, and determine the external device occupancy status based on the degree of busyness of the candidate channel. When the number of external devices is large, the wireless signal strength is high, or the channel is busy for a long time, the system determines that the degree of external occupancy impact is high.

[0076] The degree of adjacent channel interference affecting the candidate channel is determined based on the adjacent channel occupancy status. The adjacent channel occupancy status indicates the activity status of wireless devices within the adjacent frequency range of the candidate channel. The system can determine the degree of adjacent channel interference based on the detected wireless energy, number of wireless devices, or occupancy status within the adjacent frequency range. For wireless links employing a wide channel bandwidth and consisting of multiple sub-channels as the operating channel, the system can also check the occupancy status of each sub-channel separately to avoid missing wireless occupancy in other frequency segments within the operating bandwidth based solely on the detection results of the central channel. By separately evaluating channel energy, external device occupancy, and adjacent channel occupancy, the impact of external spectrum competition and adjacent channel interference on the candidate channel can be reflected.

[0077] The historical availability evaluation result of the candidate channel is determined based on its historical stability, blacklist hit rate, and whitelist matching rate. The system can query historical evaluation records and channel usage status information based on the candidate channel identifier and corresponding radio link identifier. Historical stability is determined based on changes in communication quality, communication interruptions, and channel usage results during previous use. Blacklist hit rate indicates whether the candidate channel is under restricted use; whitelist matching rate indicates whether the candidate channel belongs to the preset preferred channel range. For candidate channels without historical usage records, they can be processed according to a preset initial evaluation state to avoid directly deeming the candidate channel unusable due to missing historical data. When a candidate channel hits the blacklist, its historical availability evaluation result is lowered; when a candidate channel matches the whitelist, its historical availability evaluation result is improved. Thus, the past communication performance and current configuration status of the candidate channel are both reflected in the historical availability evaluation result.

[0078] Based on the target transmission requirements of the corresponding wireless link carrying service, the service adaptability of the candidate channel to the carrying service is determined; the target transmission requirements include at least one of the target bitstream requirements, target throughput requirements, and target communication latency requirements corresponding to the carrying service.

[0079] Specifically, the system can determine the target transmission requirements based on the service type currently carried by the corresponding wireless link, and compare the target transmission requirements with the transmission capabilities provided by the candidate channels. When the first wireless link carries UAV video transmission services, the target bitstream requirement can be determined based on the video encoding conditions and planned output bitrate, and the target throughput requirement can be determined based on the continuous transmission requirements of video data. When the second wireless link carries video data, file data, control information, or telemetry data, the target transmission requirements can be determined based on the throughput requirements or communication latency requirements of the corresponding data transmission. When a candidate channel can meet the target bitstream requirement, target throughput requirement, or target communication latency requirement to a high degree, the system determines that the candidate channel has a high service adaptability. When the transmission capability of the candidate channel is insufficient or the communication latency cannot meet the corresponding requirements, the service adaptability is reduced. Thus, candidate channels with similar wireless environments but different service carrying capacities can be distinguished.

[0080] Based on the channel energy interference level, the external occupancy impact level, the adjacent channel interference impact level, the historical availability evaluation results, and the service adaptability level, the candidate channel's basic channel score relative to the corresponding wireless link is determined.

[0081] Specifically, the system can summarize the above evaluation results according to a preset scoring relationship to obtain the basic channel score of the candidate channel relative to the corresponding wireless link. In this embodiment, the lower the channel energy interference level, the higher the external occupancy impact level, and the lower the adjacent channel interference impact level, the higher the historical availability evaluation result and the higher the service adaptability, and the higher the basic channel score of the candidate channel. For candidate channels subject to explicit usage restrictions, the system can limit the basic channel score by making its historical availability evaluation result restrict the usage restriction, preventing the higher evaluation of other evaluation factors from offsetting the usage restriction. The basic channel score only evaluates the communication suitability of the candidate channel for the corresponding single wireless link, and does not repeatedly include the inter-link interference relationship between the candidate channel and other wireless links.

[0082] Through the embodiments of this application, the system evaluates the current wireless environment, historical usage status and service transmission adaptability of candidate channels respectively, and converts the evaluation results into a basic channel score with a unified evaluation direction. This enables a more comprehensive characterization of the single-link communication applicability of candidate channels and reduces the bias caused by evaluating candidate channels based solely on whether the channel is idle or a single detection parameter.

[0083] Figure 3 A flowchart illustrating an example of inter-link conflict scoring in a method according to an embodiment of this application is shown.

[0084] like Figure 3 As shown, in step S310, during the target channel combination determination process, a current candidate channel combination that includes the candidate channels is determined. The current candidate channel combination includes candidate channels corresponding to at least one radio link.

[0085] The system can select candidate channels from the candidate channel set corresponding to each wireless link and form a current candidate channel combination according to the correspondence between the candidate channels and the wireless links. For cases where only one wireless link needs to be switched, the current candidate channel combination may only include the candidate channel corresponding to that wireless link; for cases where multiple wireless links need to be collaboratively determined to have working channels, the current candidate channel combination may include candidate channels corresponding to each of the multiple wireless links. Each wireless link corresponds to one candidate channel in a current candidate channel combination, thus clarifying the target user, frequency location, and combination relationship of each candidate channel. Therefore, the candidate channel configuration range for this inter-link conflict assessment can be determined.

[0086] In step S320, it is determined whether the other wireless links are included in the current candidate channel combination.

[0087] For the candidate channels currently being evaluated, the system can check whether there are candidate channels corresponding to other radio links in the current candidate channel combination. Including other radio links in the current candidate channel combination means that these other radio links have corresponding candidate channels in this combination evaluation, not just that the radio link is in an operational state. For example, when evaluating the candidate channels corresponding to the first radio link, if the current candidate channel combination also includes a candidate channel corresponding to the second radio link, then the second radio link is determined to be included in the current candidate channel combination; if the second radio link continues to maintain its current operating channel in this combination evaluation, then the second radio link is determined not to be included in the current candidate channel combination. Thus, it is possible to distinguish between two channel occupancy states: other radio links maintaining their original channels and participating in cooperative channel selection.

[0088] In step S331, if the other wireless links are not included in the current candidate channel combination, the current working channel of the other wireless links is determined as the corresponding inter-link constraint channel.

[0089] When other wireless links are not participating in this candidate channel combination, their current operating channel remains unchanged during the combination evaluation process. The system reads the current operating channel identifier and its corresponding frequency position of the other wireless link, and determines the current operating channel as the inter-link constraint channel. For example, when selecting a target channel only for the first wireless link, if the second wireless link continues to use its current WLAN channel, the frequency position of the first wireless link's candidate channel is constrained by the second wireless link's current operating channel. This ensures that the candidate channel evaluation of the wireless link to be switched conforms to the actual frequency occupancy status of other wireless links.

[0090] In step S333, when the other wireless links are included in the current candidate channel combination, the candidate channels of the other wireless links in the current candidate channel combination are determined as the corresponding inter-link constraint channels.

[0091] When other wireless links also participate in the candidate channel combination, their frequency occupancy positions may change depending on the candidate channels in the combination. Therefore, the system no longer uses the current operating channel of the other wireless link as the constraint basis. Instead, it reads the candidate channel corresponding to the other wireless link from the current candidate channel combination and determines the candidate channel as the inter-link constraint channel. For example, if the current candidate channel combination includes candidate channels of both the first and second wireless links, the system uses the candidate channel of the second wireless link to evaluate the inter-link interference risk of the first wireless link, and uses the candidate channel of the first wireless link to evaluate the inter-link interference risk of the second wireless link. This ensures that the inter-link constraint channel in the cooperative channel selection scenario remains consistent with the current candidate channel combination.

[0092] In step S340, the mutual interference relationship type of the candidate channel relative to the inter-link constraint channel is determined based on the frequency interval between the candidate channel and the inter-link constraint channel. The mutual interference relationship type is one of the following: co-channel conflict, adjacent-channel conflict, and satisfying the guard interval.

[0093] Specifically, the system can determine the frequency interval between candidate channels and link constraint channels based on their center frequencies, channel bandwidths, and frequency occupancy ranges. When two channels occupy the same frequency position or their frequency occupancy ranges overlap, it is determined to be a co-channel conflict; when two channels are not in the same frequency position, but the frequency interval between them is less than a preset protection interval, it is determined to be an adjacent-channel conflict; when the frequency interval between them reaches the preset protection interval, it is determined to be a protection interval satisfied type. For communication systems where the center frequency can be determined based on the channel number, the frequency interval can also be determined based on the absolute value of the difference between the two channel numbers. For wireless links with different channel bandwidths, the frequency occupancy range of each channel should also be considered to avoid overlooking frequency segments occupied by broadband channels based solely on the channel number difference.

[0094] In one example, for the 2.4 GHz band, a difference in channel number between the candidate channel and the inter-link constraint channel with an absolute value of 0 can be identified as a co-channel conflict, a difference greater than 0 and not greater than 4 can be identified as an adjacent-channel conflict, and a difference greater than 4 can be identified as satisfying the guard interval. For the 5 GHz band, a difference in absolute value of 0 can be identified as a co-channel conflict, a difference greater than 0 and not greater than 6 can be identified as an adjacent-channel conflict, and a difference greater than 6 can be identified as satisfying the guard interval. The range of the channel number difference can be configured based on the channel bandwidth, frequency distribution, and actual frequency occupancy of the wireless link. Thus, the frequency positional relationship between the candidate channel and the inter-link constraint channel can be converted into a clear mutual interference relationship type.

[0095] In step S350, the inter-link conflict score of the candidate channel is determined based on the mutual interference relationship type and the frequency interval.

[0096] Specifically, the system can configure corresponding scoring relationships for different interference relationship types and determine the inter-link conflict score based on the frequency interval. In this embodiment, a higher inter-link conflict score can be used to indicate a lower risk of inter-link interference and a higher degree of link coexistence adaptation. Co-channel conflicts correspond to lower inter-link conflict scores; in adjacent-channel conflicts, the larger the frequency interval, the higher the inter-link conflict score; and compliance with guard interval requirements corresponds to a higher inter-link conflict score. The inter-link conflict score can be represented using a preset scoring range, such as a range of 0 to 255, and the interference relationship type and frequency interval can be converted to the scoring range using a preset mapping relationship. In cases where multiple other wireless links exist, the system can determine the inter-link conflict score between the candidate channel and each inter-link constraint channel separately, and jointly determine the inter-link conflict score of the current candidate channel based on each set of frequency relationships. Therefore, the candidate channel can obtain a conflict score with a unified evaluation direction under different inter-link frequency occupancy relationships.

[0097] Through the embodiments of this application, the system determines the current working channel or the candidate channel in the combination as the inter-link constraint channel according to whether other wireless links participate in the current candidate channel combination. It also determines the mutual interference relationship type and the inter-link conflict score according to the frequency interval between the candidate channel and the inter-link constraint channel. This can adapt to both single wireless link handover and multi-wireless link cooperative channel selection, so that the inter-link conflict score reflects the actual frequency occupancy relationship under the current candidate channel combination.

[0098] Regarding the implementation details of determining the comprehensive score of each candidate channel in the method of this application embodiment, in some examples of this application embodiment, the degree of single-link communication adaptation of the candidate channel to the corresponding wireless link is determined based on the basic channel score.

[0099] The basic channel score reflects the suitability of a candidate channel for communication on a corresponding wireless link, without considering the frequency occupancy of other wireless links. The system can determine the single-link communication suitability based on the candidate channel's channel energy interference level, external device occupancy, adjacent channel occupancy, historical availability evaluation results, and service adaptability. A higher basic channel score indicates that the candidate channel's wireless environment, historical usage status, and service carrying capacity better meet the communication requirements of the corresponding wireless link. Here, service adaptability indicates the degree to which the candidate channel meets the current service transmission requirements, while single-link communication suitability provides an overall evaluation of the candidate channel's comprehensive communication conditions. Therefore, it can characterize the independent communication suitability of a candidate channel for a single wireless link.

[0100] The inter-link coexistence adaptation degree of the candidate channel relative to other wireless links is determined based on the inter-link conflict score; wherein the inter-link coexistence adaptation degree is positively correlated with the inter-link conflict score.

[0101] The inter-link conflict score reflects the frequency positional relationship between the candidate channel and the inter-link constraint channels of other wireless links. The system can determine the degree of inter-link coexistence adaptation of the candidate channel based on the inter-link conflict score. In this embodiment, a higher inter-link conflict score indicates a lower risk of co-channel or adjacent-channel interference between the candidate channel and other wireless links, and a higher degree of inter-link coexistence adaptation; a lower inter-link conflict score indicates a smaller frequency spacing between the candidate channel and other wireless links, and a higher risk of inter-link interference. Therefore, the frequency coexistence conditions between the candidate channel and other wireless links can be converted into an evaluation result consistent with the direction of the basic channel score.

[0102] The service priority of the wireless link corresponding to the candidate channel is determined, and the score fusion weights corresponding to the basic channel score and the inter-link conflict score are determined according to the service priority.

[0103] Specifically, the system can determine service priorities based on the service types currently carried by the wireless links corresponding to candidate channels. These service types may include video transmission services, flight control services, telemetry data transmission services, and data interaction services between vehicle-mounted UAV hangars and interactive control terminals. Service priorities can be pre-configured based on the service's requirements for bandwidth, communication continuity, transmission latency, and link reliability. Service priorities represent the importance of the current service and differ from the degree to which candidate channels meet service requirements, as indicated by service suitability. The system determines the score fusion weights corresponding to the basic channel score and inter-link conflict score based on the service priorities. For services that prioritize the transmission quality of the corresponding wireless link itself, the weight of the basic channel score can be increased; for services that prioritize the coexistence of multiple wireless link spectrums, the weight of the inter-link conflict score can be increased. Alternatively, the weights of both types of scores can be adjusted simultaneously based on the importance of the current service. This allows the score fusion relationship to match the evaluation focus of the currently carried service.

[0104] The basic channel score and the inter-link conflict score are fused based on the scoring fusion weight to obtain the comprehensive score of the candidate channel.

[0105] Before score fusion, the system can convert the basic channel score and inter-link conflict score into the same evaluation direction and comparable score range, giving the score values ​​a unified meaning. In this embodiment, both the basic channel score and the inter-link conflict score can adopt the evaluation direction that a higher value indicates a higher degree of communication suitability or spectrum coexistence adaptability. The system then summarizes the two scores according to their respective score fusion weights to obtain a comprehensive score for the candidate channel. The higher the comprehensive score, the more suitable the candidate channel is for use with the corresponding wireless link, and the more conducive it is to maintaining frequency coexistence with other wireless links. For example, when the first wireless link carries UAV video data and the second wireless link simultaneously carries interactive control terminal communication, the system can adjust the relative role of the two types of scores according to the current service priority, so that the candidate channel will not ignore the spectrum impact on the second wireless link simply because the single link communication conditions are better, nor will it ignore the video transmission needs of the first wireless link simply because the spectrum spacing is large. Thus, it can avoid evaluating candidate channels solely based on single-link communication quality or solely based on inter-link frequency spacing.

[0106] Through the embodiments of this application, the communication conditions of the candidate channel itself, the frequency coexistence conditions between the candidate channel and other wireless links, and the priority of the current carried services are incorporated into the comprehensive scoring process, so that the comprehensive score can simultaneously reflect the single-link communication adaptability and the inter-link coexistence adaptability, and match the communication guarantee requirements of the current services.

[0107] Figure 4 An example operation flowchart of the target channel combination determination method according to an embodiment of this application is shown.

[0108] like Figure 4 As shown, in step S410, the candidate channel ranking result for each wireless link is determined based on the comprehensive score of the candidate channels in the candidate channel set corresponding to each wireless link, and an initial channel combination is determined based on the candidate channel ranking result. The initial channel combination includes the initial target channel corresponding to each wireless link, and the initial target channel is the candidate channel in the corresponding candidate channel ranking result that satisfies the preset initial selection conditions.

[0109] Specifically, the system can sort the candidate channels corresponding to each wireless link according to their comprehensive scores from highest to lowest. The preset initial selection condition can be either the highest ranking or a ranking within a preset range and a comprehensive score meeting a preset requirement. In one example, the system selects the highest-ranked candidate channel from the candidate channel ranking results of the first wireless link as the initial target channel for the first wireless link, and selects the highest-ranked candidate channel from the candidate channel ranking results of the second wireless link as the initial target channel for the second wireless link. Then, an initial channel combination is formed according to the correspondence between the wireless links and the initial target channels. Thus, candidate channels with better comprehensive scores among the wireless links can be selected preferentially, forming a channel combination with a high degree of initial communication compatibility.

[0110] In step S421, if the initial channel combination satisfies the preset inter-link interference constraint, the initial channel combination is determined as the target channel combination.

[0111] Specifically, the system can determine the frequency spacing between each initial target channel and other wireless link constraint channels based on the center frequency, channel bandwidth, and spectrum occupancy range of each initial target channel in the initial channel combination, and determine whether the frequency spacing meets the preset guard interval condition. If only one wireless link in the initial channel combination needs to be switched, the inter-link constraint channel can be the current operating channel of other wireless links; if multiple wireless links jointly determine the target channel, the inter-link constraint channel can be the initial target channel corresponding to other wireless links in the initial channel combination. When the frequency position relationships of each group meet the preset inter-link interference constraints, the system determines the initial channel combination as the target channel combination. Therefore, the combination determination can be completed directly when there is no explicit inter-link conflict in the initial channel combination.

[0112] In step S423, if the initial channel combination does not satisfy the preset inter-link interference constraint, at least one alternative channel combination is constructed based on the candidate channel ranking result. The alternative channel combination includes at least one alternative candidate channel for replacing the initial target channel.

[0113] Specifically, when any initial target channel conflicts with the initial target channel or current operating channel of another wireless link on the same frequency or adjacent frequency, the system determines that the initial channel combination does not meet the preset inter-link interference constraint. The system can select a candidate channel following the initial target channel from the candidate channel ranking results of the corresponding wireless link as a replacement candidate channel, and use this replacement candidate channel to replace the initial target channel that caused the inter-link conflict. Depending on the number of wireless links to be replaced, the system can replace only the initial target channel corresponding to one wireless link, or it can replace the initial target channels corresponding to multiple wireless links, forming at least one replacement channel combination from different replacement results. The unreplaced initial target channel remains unchanged in the corresponding replacement channel combination. Thus, when inter-link conflicts exist in the initial channel combination, replacement channel combinations with different frequency configurations can be formed from the already ranked candidate channels.

[0114] In step S430, for any of the alternative channel combinations, the combined comprehensive score of the alternative channel combination is determined based on the comprehensive score of each alternative candidate channel in the alternative channel combination, and the combined score improvement benefit of the alternative channel combination is determined based on the improvement of the combined comprehensive score relative to the current working channel score of the corresponding radio link.

[0115] Specifically, the system can uniformly evaluate the channels corresponding to each wireless link in the alternative channel combination according to preset combination evaluation rules, and obtain the combined comprehensive score of the alternative channel combination. For the replaced wireless link, the comprehensive score of its replacement candidate channel is included in the combination evaluation; for the wireless link that is not replaced, its initial target channel or current working channel that is maintained in the alternative channel combination is included as a fixed item in the combination evaluation. The system can sum, average, or summarize the scores of each channel according to preset combination evaluation relationships. Different alternative channel combinations use the same evaluation method to maintain the comparability between the combined comprehensive scores. Thus, the combined comprehensive score can reflect the overall channel adaptability of each wireless link in the alternative channel combination, rather than only reflecting the local score of the replaced channel.

[0116] The system can also uniformly evaluate the current channel configuration, which consists of the current working channels of the corresponding wireless links, according to the same evaluation scope and direction as the combined comprehensive score, to obtain a scoring benchmark for the current channel configuration. The system then determines the combined score improvement gain based on the improvement in the combined comprehensive score of the alternative channel combination relative to the scoring benchmark. A higher combined score improvement gain indicates a greater overall score improvement for the corresponding alternative channel combination relative to the current channel configuration. For alternative channel combinations that replace only one wireless link, the current channel evaluation result of the unreplaced wireless link can be used as a fixed item in the comparison between the current combination and the alternative combination. Therefore, a unified combined evaluation caliber can be used to represent the overall improvement degree of different alternative channel combinations relative to the current channel configuration.

[0117] In step S440, a target channel combination is determined from alternative channel combinations that satisfy the preset inter-link interference constraints and whose combined score improvement benefits satisfy the preset combined benefit conditions.

[0118] Specifically, the system checks whether the relevant channels in each alternative channel combination meet the preset protection interval conditions and excludes alternative channel combinations that do not meet the preset inter-link interference constraints. For alternative channel combinations that meet the preset inter-link interference constraints, the system compares the corresponding combination score improvement benefit with the preset combination benefit condition. The preset combination benefit condition may include the combination score improvement benefit reaching a preset combination benefit threshold, used to determine whether the overall score improvement of the alternative channel combination relative to the current channel configuration meets the combination adjustment requirements. The system determines the target channel combination from the alternative channel combinations that simultaneously meet the preset inter-link interference constraints and the preset combination benefit condition; when there is no alternative channel combination that meets the above conditions, the currently formed alternative channel combination may not be used. Thus, alternative channel combinations that still have inter-link conflicts or insufficient overall score improvement can be excluded.

[0119] In this embodiment, the system first forms an initial channel combination based on the candidate channel ranking results. When inter-link conflicts exist in the initial channel combination, the candidate channel ranked later replaces the relevant initial target channel. Then, the alternative channel combination, including the replaced channel and the unreplaced fixed items, is evaluated as a whole. Finally, the target channel combination is determined based on inter-link interference constraints and the improvement benefit of the combination score. Therefore, it can take into account the comprehensive score of candidate channels for each wireless link, the frequency coexistence conditions after combination, and the overall improvement relative to the current channel configuration, avoiding the joint determination of candidate channels that are suitable for individual wireless links but cause co-frequency or adjacent-frequency conflicts after combination as target channels.

[0120] Regarding the implementation details of determining the target channel combination in the method of this application embodiment, in some examples of this application embodiment, alternative channel combinations that satisfy the preset inter-link interference constraint and whose combination score improvement benefits satisfy the preset combination benefit conditions are determined as optional alternative channel combinations.

[0121] Specifically, the system can check whether each alternative channel combination meets the preset inter-link interference constraints, and retain the alternative channel combinations that meet the constraints and have sufficient combined score improvement benefits relative to the current channel configuration, forming a set of optional alternative channel combinations. The optional alternative channel combinations are also limited by inter-link frequency protection conditions and the overall improvement degree of the combination, so as to exclude alternative channel combinations that still have obvious inter-link conflicts or insufficient overall score improvement.

[0122] When the number of optional alternative channel combinations is one, the optional alternative channel combination is determined as the target channel combination.

[0123] Specifically, when only one alternative channel combination is retained from the set of available alternative channel combinations, the system does not need to compare the priorities of multiple alternative channel combinations and can directly determine the available alternative channel combination as the target channel combination. This reduces redundant evaluations when only one feasible combination exists.

[0124] When there are multiple alternative channel combinations, the initial combination priority of each alternative channel combination is determined based on the combination score improvement benefit corresponding to each alternative channel combination, and the initial combination priority is used as the combination priority of the corresponding alternative channel combination.

[0125] Specifically, the system can determine the initial combination priority of multiple optional alternative channel combinations in descending order of combined score improvement benefit, with optional alternative channel combinations having higher initial combination priority. When the difference in combined score improvement benefit is significant, the system can directly determine the priority order among the combinations based on the initial combination priority. Therefore, optional alternative channel combinations that offer a greater overall improvement compared to the current channel configuration can be given priority.

[0126] If the difference between the benefit of the highest combined score and the benefit of the second highest combined score is less than a preset difference threshold, the highest service priority radio link in the current target channel combination determination process is determined, and the combination priority is corrected based on the comprehensive score of the highest service priority radio link in each of the optional alternative channel combinations; the highest service priority radio link is the radio link with the highest service priority in the current target channel combination determination process.

[0127] Specifically, when the difference between the improved benefit of the highest combined score and the improved benefit of the second-highest combined score is small, it indicates that it is difficult to fully distinguish multiple alternative channel combinations based solely on the overall combined benefit. The system can determine the wireless link with the highest service priority from the wireless links currently participating in the determination of the target channel combination and compare the comprehensive score of that wireless link among the alternative channel combinations. For alternative channel combinations with a higher comprehensive score for the highest service priority wireless link, the system can increase its combined priority; for alternative channel combinations with a lower comprehensive score for that wireless link, the system can decrease its combined priority. For example, when the first wireless link carries real-time video or flight control services for UAVs, and the second wireless link carries general data interaction services, and the overall benefit of multiple alternative channel combinations is similar, the system can prioritize the alternative channel combination with the higher comprehensive score of the first wireless link. This reduces the likelihood of high-priority services being affected by channel configuration differences when the overall combined benefits are similar.

[0128] The most recently determined combination priority is taken as the currently effective combination priority, and based on the currently effective combination priority, the optional alternative channel combinations that meet the preset priority selection conditions are determined as the target channel combinations.

[0129] Specifically, without triggering a combination priority correction, the currently effective combination priority can be the initial combination priority determined based on the combined score's improved revenue. When a combination priority correction is triggered, the currently effective combination priority is the combination priority corrected by combining the comprehensive score of the highest service priority radio link. Based on the currently effective combination priority, the system selects a combination from the available alternative channel combinations that meets preset priority selection conditions and designates it as the target channel combination. Here, the most recently determined combination priority refers to the last combination priority determined or corrected during the current target channel combination determination process, and does not indicate the retrieval of historical priority records from other time periods. This ensures that the determination result of the target channel combination remains consistent with the current combination revenue comparison result and the current service priority.

[0130] Through the embodiments of this application, when multiple alternative channel combinations all meet the inter-link interference constraints and combination benefit conditions, the initial combination priority is first determined based on the combination score to improve the benefit, and then the combination benefit is corrected by combining the comprehensive score of the highest service priority wireless link when they are close. This can avoid determining the target channel combination based solely on minor differences in the overall score, and make the target channel combination take into account both the overall communication improvement and the communication adaptability of high-priority services.

[0131] Regarding the implementation details of determining the score improvement benefit corresponding to channel switching in the method of this application embodiment, in some examples of this application embodiment, the current channel score of the current working channel corresponding to the wireless link to be switched is determined.

[0132] The system can determine the current channel score of the current working channel based on its channel environment parameters, frequency spacing between the current working channel and other wireless links, and the service requirements currently carried by the corresponding wireless link. The current channel score uses the same scoring range, direction, and evaluation factors as the comprehensive score of candidate channels, enabling the current working channel score to serve as a benchmark for evaluating the current channel quality of the corresponding wireless link to be switched. The channel environment parameters of the current working channel can be obtained from link quality sampling and channel environment detection results within the same evaluation period as the target channel evaluation; when the link status of the current working channel changes, the system can update the current channel score. Therefore, the current communication status corresponding to the target channel evaluation can represent the overall applicability of the existing working channel of the wireless link to be switched.

[0133] Obtain the comprehensive score corresponding to the target channel of the wireless link to be switched in the target channel combination, and record it as the target channel score.

[0134] The system reads the target channel corresponding to the radio link to be switched from the determined target channel combination, and obtains the comprehensive score of the target channel within the same evaluation period or effective evaluation time period, which is recorded as the target channel score. The target channel score includes the comprehensive evaluation result of the basic channel score and the inter-link conflict score corresponding to the target channel, which can simultaneously reflect the single-link communication conditions of the target channel itself and its frequency coexistence conditions with other radio links. When determining the target channel score, the system determines the corresponding inter-link constraint channel according to the frequency occupancy relationship in the target channel combination; when determining the current channel score, the system determines the corresponding inter-link constraint channel according to the frequency occupancy relationship in the current channel configuration. When the target channel combination includes multiple target channels, the system obtains the target channel score corresponding to each radio link to be switched according to the correspondence between the radio link and the target channel. Thus, each radio link to be switched can obtain a score result that matches its target channel and corresponding channel configuration.

[0135] Based on the difference between the target channel score and the current channel score, the score improvement benefit of the target channel relative to the current working channel of the corresponding radio link to be switched is determined.

[0136] The system determines the score improvement benefit by subtracting the current channel score from the target channel score. A positive score improvement benefit indicates that the target channel has improved in score compared to the current operating channel; the larger the score improvement benefit, the higher the overall improvement in the target channel's evaluation compared to the current operating channel; a score improvement benefit of 0 or negative indicates that the target channel has not improved in score or has a low overall evaluation compared to the current operating channel. For example, when the first wireless link is transmitting UAV video data, if the target channel has a better overall evaluation in terms of its own communication conditions or inter-link coexistence conditions, the target channel score is higher than the current channel score, and the system determines the corresponding positive score improvement benefit accordingly. For multiple wireless links to be switched, the system can determine the score improvement benefit corresponding to each target channel separately. Thus, the absolute score of the target channel can be converted into the actual degree of improvement relative to the current operating channel, avoiding the direct assumption that the target channel has sufficient switching improvement simply because its absolute score among candidate channels is high.

[0137] Through the embodiments of this application, the system uses the current working channel score as a comparison benchmark. Under the same scoring direction, scoring range and evaluation factors, it compares the comprehensive score of each target channel in the target channel combination with the corresponding current working channel score. This can accurately reflect the degree of score improvement of each wireless link to be switched after switching from the current channel configuration to the target channel combination.

[0138] As a further preferred embodiment of this application, before determining the comprehensive score of each candidate channel, the current task status of the vehicle-mounted UAV hangar is obtained; the current task status is used to characterize the current working stage of the vehicle-mounted UAV hangar, and the working stage includes at least one of standby state, take-off and landing state, cruise state and data transmission state.

[0139] Specifically, the system can identify the current task status by combining task command triggering with status information confirmation. After the interactive control terminal APP issues a task command, the system can write a pending confirmation status flag corresponding to the task command, control the vehicle-mounted drone hangar to perform corresponding actions, and then confirm whether the task status has been successfully transitioned based on hangar sensor information and drone-transmitted information. For example, upon receiving a one-click takeoff command, the system sequentially controls the hatch to open, the centering stick to release, and the drone to take off, and determines whether the drone has successfully taken off based on the hatch angle sensor, the centering stick position sensor, and the drone-transmitted altitude data; after confirming successful takeoff, the current task status is written as takeoff and landing status. When the drone reaches the starting position of the preset flight trajectory, the system can write the current task status as cruise status based on the drone-transmitted flight position data. Upon receiving a one-click return command, the system can determine whether the drone has successfully landed and is clamped at the preset position based on the final movement position of the centering stick.

[0140] When the drone completes landing and the interactive control terminal APP does not issue other operation commands within a preset time, the system can write the current task status as standby. Upon initial power-up, the system can also determine whether the drone is in the vehicle-mounted drone hangar based on the position of the centering pole; if the drone is in position, the current task status is written as standby; if the drone is not in position, the current task status is written as an abnormal status, and a message indicating that the drone is not in the hangar is reported to the interactive control terminal APP. Upon receiving a file copy or video transmission command, the system can first confirm that the drone is in the hangar based on the centering pole position, then the image transmission chip on the drone side sends the data transmission status to the image transmission receiving chip on the hangar side, and the image transmission receiving chip transmits the data transmission status to the central processing unit (CPU); the CPU determines whether the data transmission service is normal based on the data transmission status and writes the corresponding task status flag. Therefore, the task status can be confirmed using operation commands, mechanism action results, and drone operation information, reducing the identification bias caused by inferring the task status based on a single command.

[0141] The status policy parameters are determined based on the current task status; the status policy parameters include the service priority of each wireless link, the scoring weight corresponding to each wireless link, and the preset revenue threshold corresponding to each wireless link.

[0142] The system can pre-configure corresponding status strategy parameters for different working stages and read the corresponding parameters according to the current task status. In standby mode, the service priority of the first and second wireless links can be determined based on the interaction requirements of the interactive control terminal and the transmission requirements of device status. In take-off and landing mode, the continuity of communication between the UAV and the vehicle-mounted UAV hangar can be prioritized, and a more conservative benefit requirement can be adopted for unnecessary channel switching. In cruise mode, the service priority of the first wireless link can be adjusted according to the transmission requirements of UAV video, telemetry, or control services. In data backhaul mode, the service priority of the second wireless link can be adjusted according to the data transmission requirements between the vehicle-mounted UAV hangar and the interactive control terminal. For different working stages, scoring weights and preset benefit thresholds can also be configured separately to match the scoring evaluation focus and switching decision conditions with the service requirements of the corresponding stage.

[0143] Wherein, the service priority is used to represent the communication guarantee order of different wireless links in the current task state, the scoring weight is used to adjust the degree of influence of each channel evaluation result on the comprehensive score of the corresponding wireless link, and the weight component corresponding to each evaluation result reflects the relative influence of the basic channel score and the inter-link conflict score, and the preset benefit threshold is used to represent the minimum score improvement required to perform channel handover.

[0144] When using a comprehensive scoring method that directly weights and sums the evaluation results, the scoring weight corresponding to the first wireless link can be expanded as follows: to The scoring weights corresponding to the second wireless link can be expanded as follows: to For the first wireless link, to These can be respectively evaluated for signal-to-noise ratio, throughput, packet loss, historical usage status, list status, external device occupancy, and subchannel interference. This can correspond to the inter-link collision evaluation item between the first and second wireless links; for the second wireless link, to Each can correspond to a specific single-link channel evaluation item. This can correspond to the inter-link conflict evaluation item between the second and first wireless links. When the first wireless link does not involve multiple sub-channel combinations, it corresponds to sub-channel interference. It can be set to 0.

[0145] When the current task status changes, the system can update the corresponding information to reflect the changed task status. and In the first wireless link, This indicates the overall impact of each single-link channel evaluation item on the comprehensive score. This indicates the degree of influence of the inter-link collision evaluation item on the overall score; in the second wireless link, This indicates the overall impact of each single-link channel evaluation item on the comprehensive score. This indicates the degree of influence of the inter-link conflict evaluation item on the overall score. Since the weights of each group of scores satisfy: Therefore, improve or When the relative proportions are high, the impact of inter-link frequency coexistence conditions on the overall score increases; improving... to or to When the overall proportion is high, the communication conditions of the candidate channel itself have a greater impact on the comprehensive score.

[0146] Based on the state policy parameters, the comprehensive score determination process for each candidate channel and the handover decision process for the corresponding target channel are adjusted; wherein, the score weight is used to adjust the influence of the basic channel score and the inter-link conflict score on the comprehensive score, and the preset benefit threshold is used to determine whether the score improvement benefit corresponding to the target channel meets the handover conditions.

[0147] When using the above-mentioned direct weighted summation comprehensive scoring method, the system can determine the appropriate scoring method based on the current task status. and Update the impact of each evaluation result on the overall score. When the first wireless link... to When the overall proportion increases, the channel environment, historical availability, and service adaptability of the candidate channel itself have a greater impact on the comprehensive score; when As the proportion increases, the impact of frequency coexistence conditions between the first and second wireless links on the overall score increases. For the second wireless link, it can be calculated according to... to The overall proportion and The proportion of each factor is used to adjust the impact of single-link channel conditions and inter-link frequency coexistence conditions on the overall score.

[0148] The system also compares the score improvement gain of the target channel relative to the current operating channel with a preset gain threshold corresponding to the current task state to determine whether the handover conditions are met. When the current task state changes, the system can reread the score weights and preset gain thresholds corresponding to the changed operating stage, and evaluate candidate channels and make handover decisions according to the updated score weights. Therefore, the comprehensive scoring and handover decisions can simultaneously adapt to changes in task state, changes in service priority, and the spectrum coexistence requirements of multiple radio links.

[0149] In a specific configuration example, the aforementioned comprehensive score uses a weighted summation of the evaluation results, and the weights of each score item can be stored as fixed-point numbers with a denominator of 256. In standby mode, the weights of the score items corresponding to the first wireless link can be configured as follows: The weight of the scoring sub-item corresponding to the second wireless link can be configured as follows: The weights of the two sets of scoring sub-items mentioned above satisfy the following conditions: In this configuration example, the preset revenue threshold for the first wireless link can be set to 48, and the preset revenue threshold for the second wireless link can be set to 50. The second wireless link is then configured as a higher-priority wireless link in standby mode. The above parameters are merely a configuration example based on testing; in actual use, adjustments can be made according to the performance of the wireless communication module and task requirements. and A comprehensive scoring method used for direct weighted summation.

[0150] In this configuration example, the total weight of the single-link channel evaluation item for the first wireless link is: The weights corresponding to the inter-link collision evaluation items for the first wireless link are: The total weights corresponding to the single-link channel evaluation items of the second wireless link are: The weights corresponding to the inter-link collision evaluation items of the second wireless link are: The above configuration indicates that, and It is used to represent the weight of each evaluation result, and also to reflect the relative influence of basic channel evaluation and inter-link conflict evaluation on the overall score.

[0151] During takeoff and landing and cruise operations, the first wireless link can be set as a high-priority wireless link to prioritize the transmission of control information, telemetry data, and video data between the UAV and the vehicle-mounted UAV hangar. During data transmission, the second wireless link can be set as a high-priority wireless link to prioritize data transmission between the vehicle-mounted UAV hangar and the interactive control terminal. For operational phases such as takeoff and landing where unnecessary switching is undesirable, the corresponding preset benefit threshold can be increased, or the number of consecutive confirmations for benefit conditions can be increased. When a high-priority wireless link experiences continuous degradation, the switching restriction of that wireless link can be reduced according to the corresponding state strategy to ensure it avoids operational channels with unacceptable communication quality. Thus, the scoring weights, service priorities, and preset benefit thresholds can all adapt to the communication assurance requirements under different mission states.

[0152] In some examples, the system can update the target channel score and the current channel score according to a preset sampling period, and continuously determine the score improvement benefit corresponding to the target channel. For example, the preset sampling period can be 500 ms; when the score improvement benefit determined for three consecutive sampling periods meets the corresponding preset benefit threshold, the system determines that the target channel meets the switching benefit condition. If the score improvement benefit in any sampling period does not meet the preset benefit threshold, the system can continue to maintain the current working channel. The sampling period and the number of consecutive confirmations can be configured according to the performance of the wireless communication module and the current task status, and are not limited to the above example. This can reduce unnecessary channel switching caused by single score fluctuations or short-term changes in the wireless environment.

[0153] Through the embodiments of this application, the current task status of the vehicle-mounted UAV hangar is determined based on the operation instructions of the interactive control terminal, the sensor information of the hangar structure, and the UAV backhaul information. The service priority, scoring weight, and preset benefit threshold are adjusted according to the current task status. This enables the candidate channel evaluation and handover decision to match the communication guarantee requirements of different working stages such as standby, take-off and landing, cruise, and data backhaul, reducing the service adaptation deviation caused by using unified evaluation parameters and unified handover conditions.

[0154] Based on the above-described comprehensive scoring method, in some examples of this application's embodiments, the evaluation results corresponding to the basic channel score and the inter-link conflict score can be expanded and weighted to obtain the comprehensive scores corresponding to the first and second wireless links, respectively. Each evaluation result can be converted to a score range of 0 to 255; the higher the score, the higher the communication suitability of the candidate channel relative to the corresponding wireless link. For evaluation items where the degree of interference is represented by a penalty value, it can be calculated according to... The method to punish value Convert to evaluation results This ensures that the converted scoring direction remains consistent with other evaluation items.

[0155] First Wireless Link's Overall Rating It can be determined according to the following formula: Overall score of the second wireless link It can be determined according to the following formula: in, to Let be the weighting coefficients corresponding to the first wireless link, and satisfy . , to Let be the weighting coefficients corresponding to the second wireless link, and satisfy . , This represents the signal-to-noise ratio score. Indicates the bitstream adaptation score. This indicates the conversion score for packet loss penalty. Indicates historical stability score. Indicates the availability score of the list. This indicates the conversion score for external occupancy penalties. This indicates the sub-channel interference penalty conversion score. This represents the inter-link collision score of the candidate channel of the first wireless link relative to the second wireless link. This represents the inter-link collision score of the candidate channels of the second wireless link relative to the first wireless link. When the first wireless link uses a 20 MHz channel bandwidth and does not involve multiple sub-channel combinations, it can be set as follows: .

[0156] For signal-to-noise ratio score The system can read the actual signal-to-noise ratio (SNR) value corresponding to the candidate channel through the interface provided by the wireless communication module, and map it according to the following formula: , When calculated If the score is not an integer, it can be converted to an integer score using a preset rounding method. By truncating and linearly normalizing the signal-to-noise ratio (SNR), candidate channels with higher SNR can be assigned higher scores, while avoiding abnormally high or negative values ​​from having an inappropriate impact on the overall score.

[0157] For bitstream adaptation score This allows us to determine the available throughput capacity of candidate channels. Compared with the target bitrate of current video services The ratio between ,in: , It can be the maximum actual throughput measured during the candidate channel's most recent use or test, or it can be an estimate of the available throughput capacity determined based on the candidate channel's historical throughput records and current detection results. The mapping relationship can be determined according to the following: when hour, ;when hour, ;when hour, ;when hour, ;when hour, ;when hour, ;when hour, The above mapping can significantly limit the scoring of candidate channels with throughput lower than the target code rate.

[0158] Converting packet loss penalty into a score The packet loss rate can be calculated based on the statistics of the wireless communication module. Perform segmented mapping. When hour, ;when hour, ;when hour, ;when hour, ;when hour, ;when hour, ;when hour, By employing the segmented mapping described above, the communication capacity that can be compensated by buffering and retransmission can be preserved during minor packet loss, and the score reduction can be increased when the packet loss rate enters the medium to high range.

[0159] Historical stability score The availability score can be determined based on the comprehensive score of the candidate channel in the previous round of use, or the statistical results of the comprehensive scores over multiple historical usage periods. If there is no historical record for the candidate channel, a preset initial score can be used. (List availability score) This indicates the whitelist matching status of candidate channels. In implementations where hard blacklist filtering is enabled, channels matching the blacklist have already been excluded during the candidate channel set generation process and will not enter the comprehensive scoring process. For candidate channels that are retained but not matched, whitelist-matching channels can receive higher list availability scores, while candidate channels not matched are processed according to a preset default score. In implementations where hard blacklist filtering is not enabled, the list availability score corresponding to a blacklist-matching candidate channel can also be set to 0 to restrict that candidate channel from being selected as a target channel.

[0160] External occupancy penalty conversion score The system can determine the number of visible external access points within the candidate channel. and the received signal strength of the strongest external signal. Perform mapping. When and hour, ;when and hour, ;when and hour, ;when and hour, ;when and hour, ;when and hour, ;when hour, Therefore, the number of external devices and the strength of external signals can be reflected in the external occupancy score.

[0161] Sub-channel interference penalty conversion score This approach is primarily applicable to wireless links where multiple sub-channels jointly form the working channel. For example, when a second wireless link uses an 80 MHz channel bandwidth in the 5 GHz band, one working channel can consist of four 20 MHz sub-channels. The working channels corresponding to the center channel 42 can include channels 36, 40, 44, and 48. When the system scans one of the sub-channels, it can simultaneously obtain the occupancy status of the other sub-channels that make up the corresponding working channel. Let the absolute value of the channel number difference between the channel where the external access point is located and the candidate channel be... When the external access point and the candidate channel are on the same channel, ;when hour, ;when hour, ;when hour, When no external access point is detected, When the first wireless link uses a 20 MHz channel bandwidth and does not involve sub-channel combination, calculation is not required. .

[0162] for and It can determine the absolute value of the channel number difference between the currently evaluated candidate channel and the inter-link constraint channels of other wireless links. and will Convert to a score range of 0 to 255. In some examples, the inter-link collision score can be determined using the following formula: , in, This represents the conversion coefficient determined based on the operating frequency band and channel numbering system. Under a specific channel numbering system, it can be set as follows: When different frequency bands use different channel numbering intervals, corresponding configurations can be made separately. When two channels are located in non-overlapping frequency bands, it can be The value is set to 255. For the first wireless link, the above can be used... Recorded as For the second wireless link, it can be denoted as... Therefore, it is possible to avoid using the same channel number conversion relationship to evaluate different frequency bands, and to obtain higher inter-link coexistence scores for channel combinations with larger frequency intervals.

[0163] The above scoring values, segment ranges, and conversion coefficients are examples formed through product testing and can be adjusted according to the operating frequency band, channel bandwidth, and test results of the wireless communication module, and do not constitute a limitation.

[0164] Figure 5 An operational flowchart of an example of wireless link channel switching control in a method according to an embodiment of this application is shown.

[0165] like Figure 5 As shown, in step S510, a channel switching command is generated based on the target channel combination, and the channel switching command is sent to the corresponding link peer device. The channel switching command includes the identifier of the wireless link to be switched, the corresponding target channel, the switching effective time, the fallback channel, the fallback timeout parameter, and handshake confirmation parameters for performing link recovery confirmation after the switch. The link peer device includes the UAV or the interactive control terminal.

[0166] Specifically, the system can generate channel switching commands for each wireless link to be switched based on the correspondence between each wireless link to be switched and the target channel in the target channel combination. For the first wireless link, the system can send the channel switching command to the UAV through the current working channel, enabling the image transmission communication module on the UAV hangar side and the wireless communication equipment on the UAV side to switch to the same target channel. For the second wireless link, the system can send the channel switching command to the interactive control terminal through the current working channel or the corresponding control interface. The switching effective time is used to agree on the time for both communicating parties to perform channel switching, the fallback channel is used to restore communication if the target channel communication fails to recover, the fallback timeout parameter is used to limit the link recovery waiting time on the target channel, and the handshake confirmation parameter is used to limit the method of sending handshake messages, heartbeat messages, or other link confirmation information after switching. Thus, both communicating parties can obtain consistent switching parameters and fallback parameters before leaving the current working channel, reducing link recovery failures caused by inconsistent channel configurations or switching timing.

[0167] In step S520, backoff conditions for the corresponding wireless link to be switched are established based on the backoff channel and the backoff timeout parameter, and when the switching takes effect, the corresponding wireless link to be switched is controlled to switch to the corresponding target channel.

[0168] The system can save backoff channels and backoff timeout parameters on both the vehicle-mounted UAV hangar side and the link peer device side, and define failure to complete link recovery confirmation within a limited time as a backoff condition. When the handover effective time arrives, both communicating parties switch their wireless communication devices to the target channel according to the handover effective time or its corresponding predetermined handover sequence, and start a local timer when the channel handover begins or when entering the target channel. Both communicating parties can send or listen for link confirmation information on the target channel according to the handshake confirmation parameters; if the link recovery confirmation is not completed after the local timer reaches the time limit specified by the backoff timeout parameter, each communicating device autonomously performs backoff based on the pre-saved backoff channel, without relying on temporary control commands on the target channel. Therefore, the duration of communication interruption can be limited when communication cannot be restored normally on the target channel, and both communicating parties can return to a pre-agreed communicable channel.

[0169] For the second wireless link, the Wi-Fi chip on the hangar side of the vehicle-mounted UAV can operate in access point mode and send a channel change notification to the interactive control terminal while the current working channel is still capable of communication. The channel change notification can carry the target channel and the handover activation time. When the handover activation time is reached, the Wi-Fi chip switches to the target channel, and the interactive control terminal performs automatic re-association or fast reconnection on the target channel. In a specific example, the fallback timeout parameter can be set to 2000 ms. Both communicating parties start a local timer when they begin handover. If a handshake confirmation is completed within the time limit specified by the fallback timeout parameter, communication continues on the target channel; otherwise, they return to the fallback channel. The fallback timeout parameter can be adjusted according to the channel switching speed and link recovery time of the wireless communication module, and is not limited to the above example.

[0170] In step S530, the handshake confirmation parameters are used to confirm the handshake of the switched wireless link. After receiving the corresponding handshake confirmation information, the handshake verification parameters of the switched wireless link are obtained within a preset verification time. The handshake verification parameters include link quality parameters and link recovery parameters. The link recovery parameters include at least one of the following: link recovery time, video recovery time, and handshake confirmation time.

[0171] After switching to the target channel, the system can send handshake messages, heartbeat messages, or other link confirmation information according to the handshake confirmation parameters, and listen for the handshake confirmation information returned by the peer device. Upon receiving the handshake confirmation information, the system records the time from the handshake taking effect or the local start of the handshake to the completion of the handshake confirmation, obtaining the link recovery time or handshake confirmation time. Within a preset verification duration, the system collects at least one link quality parameter from the target channel: received signal strength, signal-to-noise ratio, packet loss rate, retransmission rate, throughput, and communication latency. For wireless links carrying video transmission services, the system can also record the time from the execution of the channel switch to the resumption of effective video data transmission, obtaining the video recovery time. Therefore, the actual handshake result of the target channel can be characterized from two aspects: link recovery speed and communication quality after recovery.

[0172] In step S541, when the target channel is determined to meet the handover success conditions according to the post-handover verification parameters, the handover result is determined to be a successful handover, and a channel history evaluation record is established or updated; the channel history evaluation record includes the link quality parameters, channel environment parameters and handover result corresponding to the target channel.

[0173] The system can compare the link quality parameters and link recovery parameters obtained within a preset verification period with the corresponding handover success conditions. When the link quality parameters on the target channel meet the corresponding quality requirements, and the link recovery time, video recovery time, or handover confirmation time meets the corresponding requirements, the system determines that the target channel has met the handover success conditions. For example, multiple sets of link quality parameters can be continuously collected within the preset verification period, and a handover success can be determined when a preset number of collected results meet the quality requirements, thus reducing the impact of instantaneous parameter fluctuations on the handover result judgment. After a successful handover, the system writes the link quality parameters, channel environment parameters, and handover result corresponding to the target channel into the channel history evaluation record; if the target channel already has historical records, the corresponding records can be updated. Therefore, the actual performance of the target channel can be associated with and saved in relation to the corresponding channel environment and handover result.

[0174] In step S543, when a handover failure event occurs, the handover result is determined to be a handover failure. The corresponding radio link is restored to the fallback channel, and the target channel is marked as a restricted channel. This is to prevent the restricted channel from being included in the candidate channel set when the candidate channel set for the corresponding radio link is generated again. The handover failure event includes an event where the corresponding handover confirmation information is not received within the duration specified by the fallback timeout parameter, and / or an event where the target channel does not meet the handover success condition based on the post-handover verification parameters.

[0175] If a handover confirmation is not received within the time limit specified by the fallback timeout parameter, the system determines that the link on the target channel has failed to recover. The vehicle-mounted UAV hangar side and the link peer device side can autonomously switch to the fallback channel based on their locally stored fallback channel and fallback timeout parameters. If a handover confirmation has been received, but the post-handover verification parameters do not meet the handover success conditions, the system can send a fallback command to the link peer device through the still-connected wireless link, causing both parties to return to the fallback channel. If the wireless link is interrupted, both parties will still autonomously execute the fallback according to the pre-saved fallback conditions. The system can also associate the handover failure result with the target channel and mark the target channel as a temporarily restricted channel or a restricted channel within the current task range. When generating a candidate channel set for the corresponding wireless link again, the system restricts the target channel from being included in the candidate channel set based on the restricted status. This allows for the restoration of the original communication connection and reduces the immediate reuse of the failed handover target channel under the same usage conditions.

[0176] In this embodiment, before channel switching, the target channel, switching timing, backoff parameters, and handshake confirmation parameters are sent to the peer device on the link. After switching, the actual switching result is determined based on the link confirmation result and the post-switching verification parameters. When communication cannot be restored on the target channel or the quality of restored communication does not meet the requirements, both communicating parties can return to the pre-agreed backoff channel and restrict the failed target channel from re-entering the candidate range. This improves the executability and fault recovery capability of wireless link channel switching and reduces the impact of channel switching failure on the continuity of video data, telemetry data, and control information transmission.

[0177] As a further preferred embodiment of this application, the system can also associate the geographical location of the vehicle or drone with the channel quality information of the corresponding location to form a historical spectrum profile corresponding to different geographical locations or different regions. The historical spectrum profile can record at least one of the following: region identifier, wireless link identifier, working channel, link quality parameters, channel environment parameters, handover result, and recording time. The system can determine whether it is about to enter an area with poor historical channel quality or high external device occupancy based on the current location, driving direction, or preset flight trajectory of the vehicle or drone. When it is determined that it is about to enter a historically high-congestion area, the system can shorten the link quality sampling period, increase the candidate channel scanning frequency, or prioritize scanning channels with high historical stability in the corresponding area, and obtain the channel environment parameters of available channels in advance before the current working channel deteriorates significantly. When the link quality parameters of at least one wireless link meet the channel reassessment triggering condition, and the determined target channel combination meets the preset inter-link interference constraint and the corresponding score improvement benefit meets the preset benefit threshold, the system performs the corresponding channel handover. Thus, the channel detection timing can be adjusted in advance by utilizing the historical spectrum differences of different regions, while ensuring that the actual channel handover is still limited by the channel reassessment triggering condition and the handover benefit condition.

[0178] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of combined actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application. In the above embodiments, the descriptions of each embodiment have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0179] Figure 6 A schematic diagram of an example system architecture of a vehicle-mounted unmanned aerial vehicle hangar system according to an embodiment of this application is shown.

[0180] like Figure 6 As shown, the vehicle-mounted drone hangar system includes a vehicle-mounted drone hangar, a first wireless communication module 610, a second wireless communication module 620, and a channel management and control module 630.

[0181] The first wireless communication module 610 is installed in the vehicle-mounted drone hangar and is used to establish a first wireless link between the vehicle-mounted drone hangar and the drone.

[0182] The second wireless communication module 620 is installed in the vehicle-mounted drone hangar and is used to establish a second wireless link between the vehicle-mounted drone hangar and the interactive control terminal.

[0183] The channel management control module 630 is installed in the vehicle-mounted UAV hangar and is connected to the first wireless communication module 610 and the second wireless communication module 620 respectively. It is used to perform link status acquisition, candidate channel set generation, channel scoring, target channel combination determination and channel switching control on multiple wireless links including the first wireless link and the second wireless link, so as to realize the multi-link cooperative wireless channel management method of the vehicle-mounted UAV hangar as described in any one of the above applications.

[0184] In some embodiments, the vehicle-mounted drone hangar may include a housing and an opening / closing mechanism, a centering mechanism, a charging module, a main controller, and vehicle mounting components disposed within the housing. The housing may consist of a bottom shell, a middle frame, a front cover module, and a rear shell module. The opening / closing mechanism drives the corresponding covers to open or close. The centering mechanism centers the drone stored within the hangar. The charging module recharges the drone. The vehicle mounting components may include a suction cup module or a connector module for mounting the hangar to the vehicle's mounting location. Depending on the hangar's functional configuration, one or more of the following may be included: a button mechanism, a beacon module, a camera bracket, a gimbal protection module, an air conditioning module, and a battery module. The first wireless communication module 610, the second wireless communication module 620, and the channel management and control module 630 may be disposed within the interior space of the housing, or at least some of these modules may be integrated into the main controller. The aforementioned physical structure provides the necessary support conditions for the drone's vehicle-mounting, take-off and landing, storage, recharging, and wireless communication; its specific structural form does not constitute a limitation on the wireless link anti-interference method.

[0185] Figure 7 A schematic diagram of the communication structure of an example of a vehicle-mounted unmanned aerial vehicle hangar system according to an embodiment of this application is shown.

[0186] like Figure 7 As shown, the vehicle-mounted UAV hangar system includes a central processing unit (CPU), an image transmission chip, a Wi-Fi chip, an image transmission antenna, and a Wi-Fi antenna. The CPU is connected to both the image transmission chip and the Wi-Fi chip via a communication bus. The image transmission chip is connected to the image transmission antenna and establishes a first wireless link with the UAV through the image transmission antenna. The Wi-Fi chip is connected to the Wi-Fi antenna and establishes a second wireless link between the vehicle-mounted UAV hangar and the interactive control terminal through the Wi-Fi antenna. The image transmission chip and the image transmission antenna can together constitute a first wireless communication module, and the Wi-Fi chip and the Wi-Fi antenna can together constitute a second wireless communication module. The CPU can constitute a channel management and control module and act as a controller for executing the wireless link anti-interference method.

[0187] exist Figure 7 In the illustrated embodiment, the interactive control terminal interacts with the vehicle-mounted drone hangar via the second wireless link. The interactive control terminal can be used to receive at least one of drone video data, telemetry data, and vehicle-mounted drone hangar operating status data forwarded by the hangar. It can also be used to send hangar control commands to the hangar, or send control commands to the drone via the hangar. The interactive control terminal can be a vehicle-mounted terminal, such as a car infotainment system, or it can be a smartphone, tablet, portable computer, or dedicated drone control terminal. This application does not limit the specific device form, operating system, or installation location of the interactive control terminal.

[0188] As the unified communication management center of the vehicle-mounted UAV hangar, the central processing unit (CPU) can acquire the wireless link status information corresponding to the image transmission chip and Wi-Fi chip through the communication bus, and perform joint perception, joint evaluation, joint decision-making, and coordinated switching of the first and second wireless links. When transmitting video data, telemetry data, or control information between the UAV and the vehicle-mounted UAV hangar, and when transmitting video data, operation commands, or equipment status information between the vehicle-mounted UAV hangar and the interactive control terminal, the CPU can combine the current operating channel, link quality, and channel environment of the two wireless links to uniformly process the frequency occupancy relationship of the two wireless links, so as to reduce the possibility of co-channel or adjacent-channel interference between the image transmission link and the Wi-Fi link.

[0189] In some examples of this implementation, the cooperative anti-interference processing of dual wireless links does not require additional configuration of RF isolation structures, RF shielding structures, filtering structures, or dedicated electromagnetic compatibility structures. Even if the image transmission antenna and Wi-Fi antenna are not equipped with dedicated RF isolation hardware, the central processing unit can reduce the impact of external hotspots, external terminals, and frequency occupancy conflicts between the two wireless links on communication quality by performing joint channel evaluation and cooperative switching on the two wireless links. Therefore, the vehicle-mounted UAV hangar can utilize the aforementioned image transmission chip, Wi-Fi chip, and corresponding antennas to achieve cooperative anti-interference processing of dual wireless links.

[0190] It should be understood that the first wireless link is not limited to software-defined radio image transmission; it can also employ dedicated image transmission based on orthogonal frequency division multiplexing, Wi-Fi image transmission, or other short-range broadband wireless communication methods. The second wireless link is not limited to Wi-Fi access point mode; it can also employ point-to-point communication mode or cellular-assisted link. Candidate channel scoring is not limited to the weighted summation method described above; it can also employ rule trees, threshold comparison, fuzzy control, or machine learning methods to determine the corresponding score based on the same channel environment parameters, historical evaluation information, service transmission requirements, and frequency relationships between links. The whitelist can be generated based on factory configuration or updated based on historical channel evaluation records formed during long-term use. Predictive channel processing can use GPS location, historical task logs, geofence information, or vehicle speed information to identify upcoming high-congestion areas. The communication session initiation relationship or link master-slave relationship between the interactive control terminal, the vehicle-mounted UAV hangar, and the UAV can also be adjusted according to the communication standard. As long as the vehicle-mounted UAV hangar undertakes the collaborative channel management function of the first and second wireless links, the processing method described in the embodiments of this application can be adopted.

[0191] Figure 8 A schematic diagram illustrating an example application scenario of a vehicle-mounted unmanned aerial vehicle hangar system according to an embodiment of this application is shown.

[0192] like Figure 8 As shown, the vehicle-mounted drone hangar system may include a drone, a vehicle-mounted drone hangar located at the vehicle's mounting position, and a vehicle-mounted terminal located inside the vehicle. The drone and the vehicle-mounted drone hangar can transmit aerial video, telemetry data, and control information via a first wireless link. The vehicle-mounted drone hangar and the vehicle-mounted terminal can transmit video streams, control commands, and device status information via a second wireless link. In a specific example, the first wireless link uses image transmission communication, and the second wireless link uses Wi-Fi communication. The vehicle-mounted drone hangar, acting as an intermediate communication node between the drone and the vehicle-mounted terminal (interactive control terminal), can perform communication aggregation, protocol adaptation, and buffering forwarding of data transmitted through the two wireless links, and can uniformly manage the current operating channel, link quality, and channel environment of the two wireless links.

[0193] In some embodiments, this application also provides a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute any of the above-described multi-link cooperative wireless channel management methods for vehicle-mounted unmanned aerial vehicle hangars.

[0194] In some embodiments, this application also provides an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a multi-link cooperative wireless channel management method for a vehicle-mounted unmanned aerial vehicle hangar.

[0195] The apparatus described in the embodiments of this application can be used to execute the multi-link cooperative wireless channel management method for vehicle-mounted UAV hangars described in the embodiments of this application, and accordingly achieve the technical effects achieved by the multi-link cooperative wireless channel management method for vehicle-mounted UAV hangars described in the embodiments of this application, which will not be elaborated here. In the embodiments of this application, the relevant functional modules can be implemented using a hardware processor.

[0196] Figure 9 This is a schematic diagram of the hardware structure of an electronic device for implementing a multi-link cooperative wireless channel management method for a vehicle-mounted unmanned aerial vehicle hangar, as provided in another embodiment of this application. Figure 9 As shown, the device includes: One or more processors 910 and memory 920, Figure 9 Take the 910 processor as an example.

[0197] The device for implementing the multi-link cooperative wireless channel management method for vehicle-mounted unmanned aerial vehicle hangars may further include: an input device 930 and an output device 940.

[0198] The processor 910, memory 920, input device 930, and output device 940 can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0199] The memory 920, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the multi-link cooperative wireless channel management method for the vehicle-mounted UAV hangar in this embodiment of the application. The processor 910 executes various server functions and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 920, thereby implementing the multi-link cooperative wireless channel management method for the vehicle-mounted UAV hangar in the above-described method embodiment.

[0200] The memory 920 may include a program storage area and a data storage area, wherein 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 device, etc. Furthermore, the memory 920 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 920 may optionally include memory remotely located relative to the processor 910, and these remote memories may be connected to the 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.

[0201] Input device 930 can receive input digital or character information and generate signals related to user settings and function control of the device. Output device 940 may include display devices such as a display screen.

[0202] The one or more modules are stored in the memory 920, and when executed by the one or more processors 910, they execute the multi-link cooperative wireless channel management method for vehicle-mounted UAV hangars in any of the above method embodiments.

[0203] The above-described product can perform the methods provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for performing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of this application.

[0204] The electronic devices in this application embodiments exist in various forms, including but not limited to: (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0205] (2) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0206] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes audio and video players (such as iPods), handheld game consoles, e-book readers, as well as smart toys and portable car navigation devices.

[0207] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0208] (5) Other electronic devices with data interaction functions.

[0209] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0210] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0211] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-link collaborative wireless channel management method for a vehicle-mounted unmanned aerial vehicle (UAV) hangar, wherein the UAV hangar is communicatively connected to the UAV and an interactive control terminal, the method comprising: Obtain the link status information of multiple wireless links managed by the vehicle-mounted UAV hangar; The multiple wireless links include at least a first wireless link for communication between the vehicle-mounted drone hangar and the drone, and a second wireless link for communication between the vehicle-mounted drone hangar and the interactive control terminal; the link status information includes the current operating channel and link quality parameters of each wireless link. When the link quality parameters of at least one of the wireless links meet the channel reassessment triggering conditions, the channel environment parameters of the available channels are obtained, and a candidate channel set corresponding to each wireless link is generated based on the channel environment parameters. For any candidate channel of the aforementioned wireless link, a basic channel score is determined based on the channel environment parameters of the candidate channel, and an inter-link conflict score is determined based on the frequency spacing between the candidate channel and the inter-link constraint channels of other wireless links. The inter-link constraint channels are channels used to characterize the frequency positions occupied by the other wireless links during the target channel combination determination process. The inter-link conflict score is used to characterize the inter-link interference risk between the candidate channel and the other wireless links based on the frequency spacing. The inter-link interference risk includes co-channel interference risk and adjacent-channel interference risk. Based on the basic channel score and the inter-link conflict score, a comprehensive score for each candidate channel is determined, and a target channel combination is determined based on the comprehensive score of each candidate channel. The target channel combination includes at least one target channel corresponding to a wireless link to be switched, and the target channel combination satisfies a preset inter-link interference constraint. The preset inter-link interference constraint is used to constrain the frequency spacing between the target channel in the target channel combination and the inter-link constraint channels of other wireless links to meet a preset protection interval condition. The score improvement benefit of each target channel in the target channel combination relative to the current working channel of the corresponding wireless link to be switched is determined, and when the score improvement benefit of each target channel meets the corresponding preset benefit threshold, each wireless link to be switched is controlled to switch to the corresponding target channel.

2. The method according to claim 1, wherein, When the link quality parameters of at least one of the wireless links meet the channel reassessment triggering condition, the channel environment parameters of the available channels are obtained, including: The link quality parameters of each wireless link and the interference detection results of the current working channel are periodically statistically analyzed to obtain the link quality change trend of the corresponding wireless link; the link quality parameters include at least one of the following: received signal strength, signal-to-noise ratio, packet loss rate, retransmission rate, throughput and communication delay; When any of the wireless links meets the preset degradation conditions, it is determined that the wireless link meets the channel reassessment trigger condition; the preset degradation conditions include at least one of the following: at least one link quality parameter of the wireless link does not meet the corresponding quality threshold, the link quality of the wireless link shows a continuous degradation trend, the video transmission throughput of the wireless link is continuously lower than the video transmission demand threshold when the wireless link carries video transmission services, the communication delay of the wireless link meets the delay anomaly condition, and the interference detection result of the current working channel of the wireless link indicates that the current working channel has co-channel interference or adjacent channel interference; In response to any of the wireless links satisfying the channel reassessment triggering condition, the available channel corresponding to the wireless link is determined, and the channel environment parameters of the available channel are obtained; wherein, the available channel is a channel that satisfies the communication standard, supported frequency band, and regional channel restrictions of the wireless link.

3. The method according to claim 1, wherein, The method for obtaining the channel environment parameters of available channels includes: According to a preset low duty cycle candidate channel scanning strategy, a channel to be scanned is determined from the available channels, and the scanning timing corresponding to the channel to be scanned is determined; the scanning timing is the service idle period of the current communication service. During the scanning period, a channel scan is performed on the channel to be scanned to obtain the channel environment parameters of the channel to be scanned; wherein, the channel environment parameters of the channel to be scanned include at least one of the following: channel energy intensity, external device occupancy, adjacent channel occupancy, historical stability, blacklist hit status, whitelist matching status, and whether the frequency interval between the channel to be scanned and the current working channel of other wireless links does not meet the preset guard interval condition.

4. The method according to claim 3, wherein, The step of generating candidate channel sets for each wireless link based on the channel environment parameters includes: Based on the channel bandwidth requirements of each wireless link, an initial candidate channel that satisfies the corresponding wireless link communication constraints is determined from the channels to be scanned, thus obtaining an initial candidate channel set. Historical channel evaluation information of each initial candidate channel in the initial candidate channel set is obtained. Based on the channel environment parameters of each initial candidate channel and the historical channel evaluation information, initial candidate channels that meet preset exclusion conditions are filtered out. The initial candidate channels that do not meet the preset exclusion conditions constitute the candidate channel set of the corresponding wireless link. The preset exclusion conditions include at least one of the following: channel energy intensity exceeds the energy threshold, external device occupancy meets the congestion condition, historical stability determined according to the historical channel evaluation information is lower than the stability threshold, hit the blacklist, in a temporary disabled state, the number of recent handover failures determined according to the historical channel evaluation information reaches a preset number, and the frequency interval between the current working channel of other wireless links does not meet the preset protection interval condition.

5. The method according to claim 1, wherein, The channel environment parameters include channel energy intensity, external device occupancy, adjacent channel occupancy, historical stability, blacklist hit rate, and whitelist matching rate. The step of determining the basic channel score based on the channel environment parameters of the candidate channels includes: The channel energy interference level of the candidate channel is determined based on the channel energy intensity of the candidate channel. The degree of external occupancy impact of the candidate channel is determined based on the external device occupancy status of the candidate channel; The degree of interference from adjacent channels of the candidate channel is determined based on the adjacent channel occupancy status of the candidate channel. The historical availability evaluation results of the candidate channels are determined based on the historical stability, blacklist hit rate, and whitelist matching rate of the candidate channels. Based on the target transmission requirements of the corresponding wireless link carrying service, the service adaptability of the candidate channel to the carrying service is determined; the target transmission requirements include at least one of the target bitstream requirements, target throughput requirements, and target communication latency requirements corresponding to the carrying service. Based on the channel energy interference level, the external occupancy impact level, the adjacent channel interference impact level, the historical availability evaluation results, and the service adaptability level, the candidate channel's basic channel score relative to the corresponding wireless link is determined.

6. The method according to claim 1, wherein, The step of determining the inter-link collision score based on the frequency spacing between the candidate channel and the inter-link constraint channels of other wireless links includes: During the target channel combination determination process, a current candidate channel combination that includes the candidate channels is determined; the current candidate channel combination includes at least one candidate channel corresponding to a radio link. Determine whether the other wireless links are included in the current candidate channel combination; If the other wireless links are not included in the current candidate channel combination, the current working channel of the other wireless links is determined as the corresponding inter-link constraint channel; When the other wireless links are included in the current candidate channel combination, the candidate channels of the other wireless links in the current candidate channel combination are determined as the corresponding inter-link constraint channels; Based on the frequency interval between the candidate channel and the inter-link constraint channel, the mutual interference relationship type of the candidate channel relative to the inter-link constraint channel is determined; the mutual interference relationship type is one of the following types: co-frequency conflict type, adjacent frequency conflict type, and guard interval satisfied type; Based on the mutual interference relationship type and the frequency interval, the inter-link conflict score of the candidate channel is determined.

7. The method according to claim 1, wherein, The determination of the comprehensive score for each candidate channel based on the basic channel score and the inter-link conflict score includes: The degree of single-link communication adaptation of the candidate channel to the corresponding wireless link is determined based on the basic channel score. The inter-link coexistence adaptation degree of the candidate channel relative to other wireless links is determined based on the inter-link conflict score; wherein, the inter-link coexistence adaptation degree is positively correlated with the inter-link conflict score; Determine the service priority of the radio link corresponding to the candidate channel, and determine the score fusion weights corresponding to the basic channel score and the inter-link conflict score respectively based on the service priority; The basic channel score and the inter-link conflict score are fused based on the scoring fusion weight to obtain the comprehensive score of the candidate channel.

8. The method according to claim 1, wherein, The process of determining the target channel combination based on the comprehensive score of each candidate channel includes: Based on the comprehensive score of the candidate channels in the candidate channel set corresponding to each wireless link, the ranking result of the candidate channels corresponding to each wireless link is determined, and the initial channel combination is determined based on the ranking result of the candidate channels; the initial channel combination includes the initial target channel corresponding to each wireless link, and the initial target channel is the candidate channel in the ranking result of the corresponding candidate channel that meets the preset initial selection conditions; If the initial channel combination satisfies the preset inter-link interference constraint, the initial channel combination is determined as the target channel combination; If the initial channel combination does not meet the preset inter-link interference constraint, at least one alternative channel combination is constructed based on the candidate channel ranking result; the alternative channel combination includes at least one alternative candidate channel for replacing the initial target channel; For any of the alternative channel combinations, the combined comprehensive score of the alternative channel combination is determined based on the comprehensive score of each alternative candidate channel in the alternative channel combination, and the combined score improvement benefit of the alternative channel combination is determined based on the improvement of the combined comprehensive score relative to the current working channel score of the corresponding radio link. The target channel combination is determined from the alternative channel combinations that satisfy the preset inter-link interference constraints and whose combined score improvement benefits satisfy the preset combined benefit conditions.

9. The method according to claim 8, wherein, The step of determining the target channel combination from alternative channel combinations that satisfy the preset inter-link interference constraints and whose combined score improvement gains satisfy the preset combined gain conditions includes: The alternative channel combinations that satisfy the preset inter-link interference constraints and whose combined score improvement benefits satisfy the preset combined benefit conditions are determined as optional alternative channel combinations. When the number of optional alternative channel combinations is one, the optional alternative channel combination is determined as the target channel combination; When there are multiple alternative channel combinations, the initial combination priority of each alternative channel combination is determined based on the combination score improvement benefit corresponding to each alternative channel combination, and the initial combination priority is used as the combination priority of the corresponding alternative channel combination. If the difference between the highest combined score improvement benefit and the second highest combined score improvement benefit is less than a preset difference threshold, the highest service priority radio link in the current target channel combination determination process is determined, and the combination priority is corrected based on the comprehensive score of the highest service priority radio link in each of the optional alternative channel combinations; the highest service priority radio link is the radio link with the highest service priority in the current target channel combination determination process. The most recently determined combination priority is taken as the currently effective combination priority, and based on the currently effective combination priority, the optional alternative channel combinations that meet the preset priority selection conditions are determined as the target channel combinations.

10. The method according to claim 1, wherein, The determination of the score improvement gain of each target channel in the target channel combination relative to the current operating channel of the corresponding radio link to be switched includes: Determine the current channel score of the current operating channel corresponding to the wireless link to be switched; Obtain the comprehensive score corresponding to the target channel of the wireless link to be switched in the target channel combination, and record it as the target channel score; Based on the difference between the target channel score and the current channel score, the score improvement benefit of the target channel relative to the current working channel of the corresponding radio link to be switched is determined.

11. The method according to claim 1, wherein, Before determining the overall score for each candidate channel, the method further includes: Obtain the current task status of the vehicle-mounted drone hangar; the current task status is used to characterize the current working stage of the vehicle-mounted drone hangar, and the working stage includes at least one of standby state, take-off and landing state, cruise state and data transmission state; The status policy parameters are determined based on the current task status; the status policy parameters include the service priority of each wireless link, the scoring weight corresponding to each wireless link, and the preset revenue threshold corresponding to each wireless link. Based on the state policy parameters, the comprehensive score determination process for each candidate channel and the handover decision process for the corresponding target channel are adjusted; wherein, the score weight is used to adjust the influence of the basic channel score and the inter-link conflict score on the comprehensive score, and the preset benefit threshold is used to determine whether the score improvement benefit corresponding to the target channel meets the handover conditions.

12. The method according to claim 1, wherein, The control of each of the radio links to be switched to the corresponding target channel includes: A channel switching instruction is generated based on the target channel combination, and the channel switching instruction is sent to the corresponding link peer device. The channel switching instruction includes the wireless link identifier to be switched, the corresponding target channel, the switching effective time, the fallback channel, the fallback timeout parameter, and the handshake confirmation parameter for performing link recovery confirmation after the switch. The link peer device includes the UAV or the interactive control terminal. Based on the fallback channel and the fallback timeout parameter, the fallback conditions for the corresponding wireless link to be switched are established, and when the switching takes effect time, the corresponding wireless link to be switched is controlled to switch to the corresponding target channel. Based on the handshake confirmation parameters, the handshake confirmation is performed on the switched wireless link, and after receiving the corresponding handshake confirmation information, the handshake verification parameters of the switched wireless link are obtained within a preset verification time. The handshake verification parameters include link quality parameters and link recovery parameters. The link recovery parameters include at least one of the following: link recovery time, video recovery time, and handshake confirmation time. When the target channel meets the handover success conditions based on the handover verification parameters, the handover result is determined to be a successful handover, and a channel history evaluation record is established or updated; the channel history evaluation record includes the link quality parameters, channel environment parameters, and handover result corresponding to the target channel; When a handover failure event occurs, the handover result is determined to be a handover failure. The corresponding radio link is restored to the fallback channel, and the target channel is marked as a restricted channel, so that when the candidate channel set for the corresponding radio link is generated again, the restricted channel is restricted from being included in the candidate channel set. The handover failure event includes an event in which the corresponding handover confirmation information is not received within the time limit specified by the fallback timeout parameter, and / or an event in which the target channel is determined to have not met the handover success condition based on the handover verification parameter.

13. A computer program product comprising a computer program stored on a storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform the steps of the method according to any one of claims 1-12.

14. A vehicle-mounted unmanned aerial vehicle (UAV) hangar system, comprising: Vehicle-mounted drone hangar; A first wireless communication module is installed in the vehicle-mounted drone hangar and is used to establish a first wireless link between the vehicle-mounted drone hangar and the drone. The second wireless communication module is installed in the vehicle-mounted drone hangar and is used to establish a second wireless link between the vehicle-mounted drone hangar and the interactive control terminal. A channel management and control module is installed in the vehicle-mounted UAV hangar and is connected to the first wireless communication module and the second wireless communication module respectively. It is used to perform link status acquisition, candidate channel set generation, channel scoring, target channel combination determination and channel switching control on multiple wireless links including the first wireless link and the second wireless link, so as to realize the method as described in any one of claims 1-12.

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