An unmanned aerial vehicle cluster dance differentiation supplement transmission method based on final waypoint back reading

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology and discloses a method for differentiated retransmission of UAV swarm dance steps based on terminal waypoint readback. The ground station dynamically determines the target UAV set. In the initial data transmission phase, all participating UAVs are included. In the differentiated retransmission phase, the data is updated to include abnormal UAVs that failed or timed out in the previous round of verification. The minimum available global memory for the current target set is obtained, and the packet distribution scheme for this round is determined accordingly. The dance step waypoint file is then distributed. After the file is distributed, the ground station actively sends a read request to obtain the actual terminal waypoint coordinates and compare them with the expected terminal waypoint coordinates. The system determines whether the UAV is in a verified or abnormal state, updates the target set to include abnormal UAVs, and iteratively triggers differentiated retransmission until all verifications are passed. During the takeoff preparation phase, the UAV flight control firmware compares the total number of waypoints in the notification message with the actual number stored. If they are inconsistent, the system remains locked and intercepted.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a method for differentiated supplementary transmission of UAV swarm dance steps based on terminal waypoint readback. Background Technology

[0002] In drone swarm performances, each drone must load a waypoint file corresponding to its unique identifier before flight. This involves a large amount of data and requires extremely high consistency and accuracy; otherwise, flight errors or collisions are highly likely. Existing technologies typically employ a passive retransmission mechanism with segmented uploading and drone self-reporting errors. The ground station sends data to the drones segment by segment, and during periodic checks, the drones return the segment sequence number when a segment is missing or erroneous, allowing the ground station to retransmit it accordingly.

[0003] However, this traditional passive self-reporting mechanism has the following technical defects in large-scale formation scenarios: 1. Error detection relies entirely on aircraft self-reporting. For silent damage, partial writes, or subsequent data wipes due to firmware flashing or power outages that the aircraft itself cannot or will not report, ground stations are completely unaware, making it easy to misjudge and allow flights, posing a serious security risk. 2. Retransmission is done at the data segment level. When faced with complete loss of aircraft movement due to on-site aircraft replacement or firmware flashing, it can only passively probe and retransmit segment by segment through a slow channel, lacking a mechanism for rapid and differentiated recovery at the drone level, resulting in extremely slow convergence. 3. It lacks adaptive coordination methods for the differences in available memory among heterogeneous drones. Checking the memory of each drone before concurrent uploads will bring huge serial latency, while using fixed-size packets directly can easily cause some low-memory drones to fail to write or freeze due to excessively large packets.

[0004] To address this issue, a method and system for differentiated supplementary transmission of UAV swarm dance steps based on terminal waypoint readback are proposed, thus resolving the aforementioned problems. Summary of the Invention

[0005] The purpose of this invention is to provide a method for differentiated retransmission of drone swarm dance steps based on final waypoint readback. The drone swarm includes a ground station and several drones equipped with flight control firmware. Each drone holds a unique dance step number, including: The ground station dynamically determines the target drone set for the current round of data transmission. In the initial data transmission phase, the target drone set is all participating drones. In the differentiated supplementary transmission phase, the target drone set is the abnormal drones that failed or timed out in the previous round of verification. The ground station obtains the minimum available global memory of the current target UAV set, determines the subcontracting scheme for this round, and issues the dance waypoint file accordingly; After the dance waypoint file is issued, the ground station actively sends a read request to the drones in the target drone set to obtain the actual stored end-way point entries and parse the actual end-way point coordinates. At the same time, it determines the corresponding expected end-way point coordinates according to the current subcontracting scheme. The ground station compares the actual terminal point coordinates with the expected terminal point coordinates to determine whether each UAV is in a valid or abnormal state. The ground station updates the target UAV set to consist only of UAVs that are determined to be in an abnormal state, and iteratively triggers the next acquisition, dynamic packet sub-packetization and differential retransmission based on the global minimum available memory of the updated target UAV set, until the entire field verification passes.

[0006] Furthermore, the ground station obtaining the minimum global available memory of the current target UAV set includes: The ground station iterates through each drone in the target drone set and reads the available memory field currently reported by each drone. When the available memory field in bytes is zero, read the extended available memory field in kilobytes and convert it to bytes. When the available memory field in bytes is greater than zero, the available memory field is read directly; During the traversal, the minimum positive value in the available memory of each drone is continuously extracted and used as the unified global minimum available memory for the entire field.

[0007] Furthermore, before the ground station finalizes the subcontracting plan, it also includes: The ground station parses the dance step waypoint file and reads the waypoint 3D coordinates. Based on the latitude, longitude, and altitude of the preset setup reference point, the waypoint 3D coordinates are converted into absolute latitude and longitude coordinates. An onboard task entry containing absolute latitude and longitude coordinates and lighting color information is constructed as the raw data for sub-packet distribution.

[0008] Furthermore, the determination of the subcontracting scheme for this round includes: Using the minimum available global memory obtained in this round as input, after reserving a fixed amount of storage and running memory, the maximum number of waypoints that a single packet can accommodate is calculated based on the fixed number of bytes of a single task entry, and the maximum number of waypoints per packet in this round is determined without exceeding the preset single packet limit. The task entries to be issued are divided into one or more sub-packets based on the maximum number of waypoints per package, and a file header containing the starting waypoint index and the number of waypoints in the package is placed at the beginning of each sub-packet.

[0009] Furthermore, determining the corresponding expected final waypoint coordinates based on this round of subcontracting scheme includes: The ground station extracts the header of the last packet, reads the waypoint number I and the starting waypoint index S from it, and calculates the expected final waypoint number V according to the following formula: Meanwhile, the longitude and latitude are extracted from the preset longitude offset position and preset latitude offset position of the last task entry to be issued, and the calculated expected terminal waypoint number and expected terminal waypoint coordinates are written into the verification cache.

[0010] Furthermore, actively sending read requests to drones in the target drone set and performing consistency comparisons includes: The ground station extracts the expected terminal waypoint number from the verification cache and sends an entry read request for the expected terminal waypoint number to the corresponding UAV via a preset task readback protocol. The ground station receives the actual terminal point entry transmitted back by the UAV, and extracts the actual terminal point longitude and actual terminal point latitude from the preset longitude offset position and the preset latitude offset position of the actual terminal point entry respectively to obtain the actual terminal point coordinates. The UAV is considered to be in a valid state if and only if the actual terminal longitude is consistent with the expected terminal longitude and the actual terminal latitude is consistent with the expected terminal latitude; otherwise, it is considered to be in an abnormal state.

[0011] Furthermore, before the iterative triggering of differentiated retransmission, it also includes: The ground station maintains the data transmission mapping between the drone's dance step number and the dance step waypoint file, collects the dance step numbers of drones that are determined to be in an abnormal state, retrieves the corresponding original dance step waypoint file from the data transmission mapping, and constructs a differentiated retransmission mapping only for abnormal drones.

[0012] Furthermore, the takeoff preparation phase, following the successful completion of all field verifications, also includes takeoff interception verification on the UAV flight control firmware: When the UAV flight control firmware receives a takeoff message from the ground station to synchronize takeoff time, it parses the preset total waypoint count field in the takeoff message and compares it with the actual number of mission waypoints currently stored on the device. If the two are inconsistent, the takeoff message is discarded and the device remains locked to prevent the UAV with missing dance data from taking off out of sync.

[0013] Compared with the prior art, the present invention has the following advantages: (1) By actively sending a terminal waypoint reading request through the ground station, the actual terminal waypoint coordinates of the landing disk are strictly compared with the theoretical expected coordinates. This can accurately capture various hidden failures and avoid misjudgment and release. At the same time, combined with the total waypoint comparison and interception mechanism of the UAV flight control firmware, it prevents UAVs with missing dance data from taking off with defects and eliminates serious safety hazards such as mid-air collisions. (2) By dynamically maintaining the target UAV set through the ground station, only abnormal UAVs that fail the verification or time out are included in the target set during the retransmission phase, and a differentiated retransmission mapping is accurately constructed. The retransmission data is only sent to the abnormal UAVs, and normal UAVs that pass the verification do not participate. This not only saves valuable airborne wireless channel bandwidth, but also realizes rapid differentiated data recovery at the whole-machine level, and greatly shortens the overall verification convergence time; (3) By using a memory parsing algorithm compatible with both byte and kilobyte extended fields, the system can perceive the global minimum available memory of the target UAV set in real time. Based on a reserved safety margin, it adaptively calculates and uniformly determines the maximum number of waypoints per packet in this round. This dynamic packet subdivision scheme avoids the huge transmission delay caused by serial queries for each UAV and ensures that the issued packets strictly match the carrying capacity of low-memory UAVs in the current set. This prevents low-memory UAVs from experiencing write failures, freezing, or memory overflows due to excessively large packets, thus ensuring the stability of cluster data transmission. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the process of the present invention; Figure 2 This is a schematic diagram illustrating the dynamic determination of the target UAV ensemble according to the present invention; Figure 3 This is a schematic diagram of the final waypoint readback verification and differential retransmission of the present invention; Figure 4 This is a schematic diagram of the subcontracting scheme of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. The embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figures 1 to 4 This invention provides a technical solution: a method for differentiated retransmission of drone swarm dance steps based on final waypoint readback. The drone swarm includes a ground station and several drones equipped with flight control firmware. Each drone holds a unique dance step number. The method includes: the ground station maintaining a target drone set. In the initial data transmission phase, the initial round k=1, and the target drone set is the complete set of all drones participating in this formation performance. ,Right now: During the differential transmission phase, in subsequent iterations k>1, the target UAV set is dynamically updated to the set of abnormal UAVs that were judged to have failed or timed out in the previous round of verification. ,Right now: The ground station actively assembles towards the current target drone. Send a memory query command to obtain the current available memory of each drone, and extract the minimum value across the entire field as the global minimum available memory. Based on this, an adaptive dynamic packet sub-scheme is calculated for this round, and the corresponding waypoint files are sub-packaged and sent to the target UAV.

[0017] After the waypoint files for the dance steps are distributed, the ground station does not rely on the drones to report errors themselves, but instead proactively reports them to the drones. Each drone in the process sends a read request for the expected end-of-way number for this round, retrieves the actual end-of-way entry that has been stored on the drone's disk, and parses out the actual end-of-way coordinates. Meanwhile, the ground station calculated the theoretically achievable terminal point coordinates based on the subcontracting scheme for this round. .

[0018] The ground station will analyze the obtained and A rigorous coordinate consistency comparison is performed. If the two coordinates match perfectly and no communication timeout occurs, the drone is considered to be in the "Passed" state. Conversely, if the coordinates do not match or a communication timeout or abnormality occurs, the drone is considered to be in the "Abnormal" state.

[0019] The ground station updates the target drone set to consist only of drones that were identified as being in an abnormal state in this round. .like If not empty, the next retransmission process will be automatically triggered iteratively: re-acquire the minimum available global memory for this subset, re-dynamically re-segment the data, and only retransmit to the faulty machine. empty set If the dance steps are verified, the entire performance is considered successful, and the re-enactment ends.

[0020] Before the ground station finalizes the subcontracting plan, the original dance step design file needs to be converted into landing task entries that can be directly parsed by the UAV flight control firmware. The ground station parses the original dance step waypoint file and reads the three-dimensional local coordinates of each waypoint relative to the performance area. Based on the absolute latitude, longitude, and altitude of the pre-set performance venue reference point. The three-dimensional local coordinate mapping is converted into absolute geographic latitude, longitude and altitude coordinates. Combined with RGB lighting color control information at various times Construct a fixed byte length In-flight mission entries Fixed byte length For example, each entry occupies 24 bytes as the raw data for subsequent sub-packet distribution.

[0021] Based on the above technical solution, please refer to Figure 4 Because drone swarms may have heterogeneous models, different firmware versions, or runtime memory fragmentation issues, directly sending fixed large packets can easily cause some low-memory drones to overflow or freeze.

[0022] To eliminate the huge latency of serial queries and ensure protocol compatibility, the ground station adopts the following memory parsing logic: The ground station traverses the target set. Each drone in Read the byte-level available memory field from its reported status message. With kilobyte-level extended available memory fields The drone's current available memory The conversion formula is as follows: In the current target drone collection Inside, it goes through every drone. Take the minimum value among them. If condition st is met, only drones with available memory greater than 0 are calculated. The ground station continuously extracts the minimum positive value of available memory among all target drones, which is used as the unified global minimum available memory for this round. : Ground station with A fixed amount of system operating and storage capacity is reserved for input. For example, 2KB, a fixed number of bytes per individual task entry. Theoretical maximum number of waypoints that can be accommodated per package : To prevent excessively long single frames at the network link layer, a preset upper limit for each packet is set. For example, with 50 waypoints, the maximum number of waypoints per package will ultimately be determined uniformly for this round. : in accordance with Divide the sequence of task items to be issued into... Subcontracts ( Each packet header contains an index of the origin waypoint. Number of waypoints in this package The file header.

[0023] Based on the above technical solution, please refer to Figure 3 The ground station retrieved the last sub-package. Read the number of waypoints for this packet from the file header. with the starting waypoint index Calculate the expected final destination number of the entire dance sequence according to the following formula. : The ground station starts from the last pending mission entry. Preset longitude offset position offset position from preset latitude Extract the longitude and latitude at each location to obtain the desired terminal waypoint coordinates. and will Write to ground station verification cache .

[0024] After the dance step data was distributed, the ground station from Extract the expected final waypoint number The command is sent to the target drone via the readback protocol. After receiving the request, the drone's flight controller reads the actual stored data. The ground station parses the returned waypoint data to obtain the actual final waypoint coordinates. .

[0025] The drone is considered to have passed verification if and only if the following conditions are met; otherwise, it is considered to be in an abnormal state: In the above formula, Indicates the number is The final verification status determination result of the target drone. and They represent drones The actual terminal longitude and actual terminal latitude resolved from the flight control storage medium and These represent the expected longitude and expected latitude of the final waypoint, respectively, which are pre-written into the verification cache by the ground station. This represents the two-dimensional geographic coordinates extracted by the ground station under the premise that the communication does not time out. with expected coordinates Perform a precise comparison. This is due to logical operators. This indicates that multiple conditions must be met simultaneously, therefore longitude matching and latitude matching must be satisfied at the same time.

[0026] This indicates the ground station to the drone. Send the desired final waypoint sequence number Upon receiving an entry read request, a preset timeout timer is started. This timeout timer is activated only when the ground is standing in the preset timeout waiting window. The drone was received smoothly. When sending the response message back, it is determined that the communication status meets the non-timeout condition, i.e. If packet loss occurs in the air channel or the serial port response is delayed, causing the timer to overflow, the communication will be directly considered to have timed out, triggering an exception judgment.

[0027] This means that as long as any one of the three conditions mentioned above—communication not timed out, longitude consistent, and latitude consistent—is not met, the formula will be incomplete. Regardless of the cause—whether it's a channel interruption, silent bad block, power failure clearing, or data bit flipping—the ground station will veto the drone immediately. status Set the drone to an abnormal state and include it in the target set for the next round of differentiated retransmission.

[0028] An abnormal state refers to a physical or logical failure state in which a UAV fails to pass the end-of-way consistency check at the ground station during the data transmission, disk landing, or storage verification stages of its dance steps. Traditional technologies rely solely on the UAV actively reporting errors, failing to detect hidden failures. This application, through active end-of-way reading, can accurately capture and classify the following four types of abnormal states: Abnormal Status Classification 1: Communication Packet Loss and Response Timeout Abnormalities The ground station sends out the desired terminal point sequence number. After receiving the read command, if the request message or the UAV's reply message is lost due to co-channel interference in the airborne radio channel or busy UAV serial port communication, and the ground station does not receive a reply frame from the UAV within a preset timeout waiting window, such as 500ms, the ground station will directly determine that the UAV is in an abnormal state, add it to the retransmission set, and re-trigger the connection and data transmission in the next round of retransmission.

[0029] Abnormal Status Classification 2: Silent Corruption and Partial Write Anomalies During the wireless data transmission phase, although the UAV received the initial data packets, subsequent packets failed to be successfully downloaded due to a momentary busy internal bus or deterioration in channel quality in the latter half of the transmission. Because the UAV's flight control firmware lacked global awareness, it did not proactively report the error; the ground station then actively requested the data transmission... When setting waypoints, the drone flight controller is limited by the maximum number of waypoints actually stored locally. It returns an error code to the ground station, or sends back an all-zero or empty entry. The extracted... Invalid value, compared to expected coordinates If there is an inconsistency, it is determined to be an abnormal state.

[0030] Abnormal Status Category 3: Abnormalities in Full Device Power Loss Reset and Firmware Flashing / Clearing During the preparation period after the initial transmission and before takeoff, some drones experienced battery power loss and reset due to on-site battery replacement, on-site firmware flashing by staff, or flight controller triggering a hard reset, resulting in the complete loss or initialization of previously downloaded dance data. The drones themselves do not proactively send data clearing alerts to the ground station. Only when the ground station initiates a final waypoint... Upon readback, if the drone's dance library is empty, it either refuses to respond or returns to the initial default waypoint coordinates. Judgment result The ground station immediately detected the loss of data from the entire machine and marked it as an abnormal state.

[0031] Category 4 of Abnormal States: Data Bit Flip and Logical Error Abnormalities When the drone writes dance data to the Flash erase / write area, bit flips may occur due to voltage fluctuations, or index misalignment may occur during packet reassembly, resulting in the... The actual geographic coordinates of the waypoint were slightly damaged. The drone successfully transmitted the first... Waypoints, but the resolved or Within the range of floating-point precision and the expected value There is a deviation, as long as or This triggers a veto and is judged as an abnormal state.

[0032] For the drones identified as being in an abnormal state, the ground station performs the following differential mapping construction before triggering the next round of retransmission: The ground station maintains a global dance step mapping table. The ground station collected the dance number of all abnormal drones in this round. ,from The original dance step files corresponding to each abnormal machine are accurately retrieved, and a differentiated retransmission mapping table is constructed specifically for the abnormal machines. The next round of data transmission will only proceed along... Targeted point-to-point delivery is performed, and normally operating and verified drones do not participate at all, which greatly saves wireless channel bandwidth.

[0033] To prevent the extremely rare occurrence of software malfunctions or human error during takeoff at the ground station, a safety interception mechanism was implemented in the UAV flight control firmware. During the takeoff preparation phase after successful field verification, the ground station broadcasts a takeoff time signal to all UAVs in the field, explicitly embedding the preset total number of waypoints to be included in the flight path file. After receiving the takeoff authorization message, the drone's flight control firmware does not immediately unlock the motors, but first parses the message... And compared with the total number of actual mission waypoints that have been successfully stored on the machine. A rigorous comparison was conducted. If... The flight control firmware will directly discard the takeoff message, the buzzer will sound an alarm, and the motors will remain in a forced lock state, completely preventing the drone with missing dance data from taking off with a malfunction and avoiding mid-air collision accidents.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for differentiated retransmission of drone swarm dance steps based on final waypoint readback, wherein the drone swarm includes a ground station and several drones equipped with flight control firmware, each drone holding a unique dance step number, characterized in that, include: The ground station dynamically determines the target drone set for the current round of data transmission. In the initial data transmission phase, the target drone set is all participating drones. In the differentiated supplementary transmission phase, the target drone set is the abnormal drones that failed or timed out in the previous round of verification. The ground station obtains the minimum available global memory of the current target UAV set, determines the subcontracting scheme for this round, and issues the dance waypoint file accordingly; After the dance waypoint file is issued, the ground station actively sends a read request to the drones in the target drone set to obtain the actual stored end-way point entries and parse the actual end-way point coordinates. At the same time, it determines the corresponding expected end-way point coordinates according to the current subcontracting scheme. The ground station compares the actual terminal point coordinates with the expected terminal point coordinates to determine whether each UAV is in a valid or abnormal state. The ground station updates the target UAV set to consist only of UAVs that are determined to be in an abnormal state, and iteratively triggers the next acquisition, dynamic packet sub-packetization and differential retransmission based on the global minimum available memory of the updated target UAV set, until the entire field verification passes.

2. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback as described in claim 1, characterized in that, The ground station obtains the minimum available global memory for the current target UAV set, including: The ground station iterates through each drone in the target drone set and reads the available memory field currently reported by each drone. When the available memory field in bytes is zero, read the extended available memory field in kilobytes and convert it to bytes. When the available memory field in bytes is greater than zero, the available memory field is read directly; During the traversal, the minimum positive value in the available memory of each drone is continuously extracted and used as the unified global minimum available memory for the entire field.

3. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback according to claim 1, characterized in that: Before the subcontracting plan is finalized at the ground station, the following steps are also included: The ground station parses the dance step waypoint file and reads the waypoint 3D coordinates. Based on the latitude, longitude, and altitude of the preset setup reference point, the waypoint 3D coordinates are converted into absolute latitude and longitude coordinates. An onboard task entry containing absolute latitude and longitude coordinates and lighting color information is constructed as the raw data for sub-packet distribution.

4. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback according to claim 3, characterized in that, The subcontracting scheme for this round of determination includes: Using the minimum available global memory obtained in this round as input, after reserving a fixed amount of storage and running memory, the maximum number of waypoints that a single packet can accommodate is calculated based on the fixed number of bytes of a single task entry, and the maximum number of waypoints per packet in this round is determined without exceeding the preset single packet limit. The task entries to be issued are divided into one or more sub-packets based on the maximum number of waypoints per package, and a file header containing the starting waypoint index and the number of waypoints in the package is placed at the beginning of each sub-packet.

5. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback according to claim 4, characterized in that, The determination of the expected final destination coordinates based on this round of subcontracting scheme includes: The ground station extracts the header of the last packet, reads the waypoint number I and the starting waypoint index S from it, and calculates the expected final waypoint number V according to the following formula: Meanwhile, the longitude and latitude are extracted from the preset longitude offset position and preset latitude offset position of the last task entry to be issued, and the calculated expected terminal waypoint number and expected terminal waypoint coordinates are written into the verification cache.

6. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback according to claim 5, characterized in that, Actively sending read requests to drones in the target drone set and performing consistency comparisons includes: The ground station extracts the expected terminal waypoint number from the verification cache and sends an entry read request for the expected terminal waypoint number to the corresponding UAV via a preset task readback protocol. The ground station receives the actual terminal point entry transmitted back by the UAV, and extracts the actual terminal point longitude and actual terminal point latitude from the preset longitude offset position and the preset latitude offset position of the actual terminal point entry respectively to obtain the actual terminal point coordinates. The UAV is considered to be in a valid state if and only if the actual terminal longitude is consistent with the expected terminal longitude and the actual terminal latitude is consistent with the expected terminal latitude; otherwise, it is considered to be in an abnormal state.

7. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback according to claim 1, characterized in that, Before the iterative triggering of differentiated retransmission, it also includes: The ground station maintains the data transmission mapping between the drone's dance step number and the dance step waypoint file, collects the dance step numbers of drones that are determined to be in an abnormal state, retrieves the corresponding original dance step waypoint file from the data transmission mapping, and constructs a differentiated retransmission mapping only for abnormal drones.

8. The method for differentiated retransmission of UAV swarm dance steps based on final waypoint readback according to claim 1, characterized in that, The takeoff preparation phase, following successful field verification, also includes takeoff interception verification on the drone flight control firmware: When the UAV flight control firmware receives a takeoff message from the ground station to synchronize takeoff time, it parses the preset total waypoint count field in the takeoff message and compares it with the actual number of mission waypoints currently stored on the device. If the two are inconsistent, the takeoff message is discarded and the device remains locked to prevent the UAV with missing dance data from taking off out of sync.

Images