A communication coverage system and method of a UAV cooperating with a communication vehicle

Abstract

This invention relates to a communication coverage system and method integrating a drone and a communication vehicle, belonging to the fields of mobile communication and drone application technology. The system includes a drone communication coverage module, a laser communication transmission module, a communication vehicle relay module, and a control center interaction module. The drone body integrates a solar power unit for all-weather, long-endurance operation. The communication coverage unit is mounted on the underside of the drone, supports multiple frequency bands, and can dynamically adjust its coverage range according to flight altitude. The laser communication module and the communication vehicle relay module establish a highly stable, low-latency bidirectional link, and the data relay forwarding unit enables bidirectional data transmission. This application, through its collaborative architecture design, solves problems such as insufficient coverage in near-shore signal blind spots, unstable transmission, and limited endurance. It is suitable for various scenarios such as emergency rescue, fishery operations, and maritime patrol, meeting the urgent need for temporary, efficient, and secure communication in a 5G private network environment.

Description

Technical Field

[0001] This invention relates to the fields of mobile communication and drone application technology, and in particular to a communication coverage system and method for the collaboration of drones and communication vehicles. Background Technology

[0002] With the increasing frequency of nearshore fishing, coastal rescue, and maritime patrol activities, higher demands are being placed on the communication network coverage in the surrounding coastal areas. Stable signals have become the foundation for ensuring operational safety and efficiency.

[0003] Currently, to address the signal coverage issue in near-shore areas, drones equipped with communication modules are used for aerial signal coverage and to wirelessly transmit signals back to the shore.

[0004] However, in areas with complex terrain, such as reef areas or aquaculture areas far from the coast, signals cannot reach effectively, creating natural coverage blind spots. The wireless backhaul links relied upon by drone-based coverage solutions are highly susceptible to interference in the strong electromagnetic environment of the ocean and complex terrain, leading to unstable or even interrupted data transmission. Furthermore, limited battery life prevents drones from operating for extended periods, making it difficult to meet the requirements of continuous coverage missions. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a communication coverage system and method for the collaboration of UAVs and communication vehicles, aiming to solve at least one of the above-mentioned technical problems.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: Firstly, this application provides a communication coverage system that coordinates unmanned aerial vehicles (UAVs) and communication vehicles, employing the following technical solution: A communication coverage system that coordinates unmanned aerial vehicles (UAVs) and communication vehicles includes: The UAV communication coverage module includes a UAV body, a solar power supply unit, and a communication coverage unit. The solar power supply unit is integrated on the top of the UAV body, and the communication coverage unit is mounted on the lower end of the UAV body. The solar power supply unit is used to power the UAV body and the equipment mounted on the UAV body. The communication coverage unit is used to transmit communication signals to near-shore target areas to construct a temporary communication network. A laser communication transmission module is deployed at the lower end of the UAV body and is used to establish a two-way laser communication link with the relay module of the communication vehicle. The communication vehicle relay module includes a laser communication terminal and a data relay forwarding unit; the laser communication terminal is used to establish the bidirectional laser communication link with the laser communication transmission module; the data relay forwarding unit is used to send data received through the bidirectional laser communication link to the control center interaction module, and to transmit instructions from the control center interaction module to the UAV body through the bidirectional laser communication link. The control center interaction module is communicatively connected to the relay module of the communication vehicle, and is used to receive data forwarded by the data relay forwarding unit and to issue control commands to the UAV body.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the solar power supply unit includes a solar photovoltaic panel, an energy storage battery, and a charge / discharge controller. The solar photovoltaic panel charges the energy storage battery through the charge / discharge controller, and the energy storage battery continuously supplies power to the UAV body and its mounting modules.

[0009] Furthermore, the solar power supply unit also includes a power supply voltage regulation and distribution unit, which is used for: The power supply to the UAV body and its mounted equipment is tiered based on a preset power supply priority, wherein the power supply priority of the flight system of the UAV body is the highest priority. When the energy storage battery charge is lower than the preset charge threshold, all electrical loads except the flight system are shut down and a forced return to base is triggered.

[0010] Furthermore, the communication coverage unit and the mounting base of the UAV body are fixed by a rigid connection, and the communication coverage unit and the laser communication transmission module are arranged in the same direction; The communication coverage unit is an AAU communication coverage module that supports at least one frequency band among 700MHz, 2.6GHz and 3.5GHz, and adjusts the coverage radius by adjusting the flight altitude of the UAV body.

[0011] Furthermore, the UAV communication coverage module also includes a status monitoring and flight control unit, a protection unit, and a mounting shock absorption unit; The status monitoring and flight control unit integrates multiple types of sensors to collect in real time the power supply status of the solar power unit, the flight status of the UAV body, and the signal coverage status of the communication coverage unit, and transmits the collected status data back to the communication vehicle relay module in real time through the bidirectional laser communication link; The protective unit is designed with waterproof, fog-proof and salt spray corrosion-resistant materials for the UAV body and its mounted equipment; The mounting vibration damping unit adopts a composite vibration isolation structure consisting of flexible suspension by steel cables around the perimeter and silicone vibration damping columns in the center. The steel cables are laid out along the four corners of the mounting frame to form a limiting constraint on the mounted equipment, and the silicone vibration damping columns are evenly distributed in the center to attenuate the high-frequency vibrations generated by rotor rotation and aerodynamic disturbances of the airframe.

[0012] Furthermore, the laser communication transmission module is mounted on the lower end of the UAV body via a gimbal base. The gimbal base is used to stabilize the laser transmitting and receiving unit. The laser communication transmission module includes: A laser emitting and receiving unit, comprising a laser emitting component and a laser receiving component; The photoelectric conversion unit is used for bidirectional conversion between electrical signals and laser signals; The tracking and aiming unit is used for a dual closed-loop control method based on RTK inertial navigation coarse alignment and high frame rate spot imaging fine alignment. It detects and compensates for the attitude deviation and optical path deviation of the UAV body in real time to maintain the alignment between the laser communication transmission module and the laser communication terminal.

[0013] Furthermore, the communication vehicle relay module also includes: The main body of the communication vehicle is equipped with an on-board power supply system and an external power interface. A drone storage area is set at the rear of the main body of the communication vehicle for storing, quickly deploying and recovering the drone. The drone remote control unit is equipped with a visual control interface, which is used to display the drone's flight status, power supply status, coverage status and link status in real time, as well as to remotely control the drone and set operation parameters.

[0014] Furthermore, the laser communication terminal is mounted on the top of the communication vehicle body via a tracking gimbal. The tracking gimbal is used to match the position of the UAV body in real time and work with the tracking unit of the laser communication transmission module to complete laser alignment. The data relay forwarding unit is used to parse and integrate the data received from the UAV body through the bidirectional laser communication link and forward it to the control center interaction module, and to convert the instructions of the control center interaction module into laser signals and transmit them to the UAV body through the bidirectional laser communication link.

[0015] Secondly, this application provides a communication coverage method for the collaboration between a drone and a communication vehicle, employing the following technical solution: A communication coverage method for the collaboration between a drone and a communication vehicle includes: S1, based on the location information and coverage information of the target blind zone, determine the deployment point of the communication vehicle relay module, the flight path of the UAV body, and the hovering position; wherein, the deployment point satisfies the laser communication line-of-sight condition with the target blind zone; S2, in response to the takeoff command, controls the UAV body to fly along the flight path; during flight, the laser communication transmission module and the laser communication terminal of the communication vehicle relay module perform automatic tracking and aiming alignment to establish a two-way laser communication link; S3, after the UAV body reaches the hovering position, the communication coverage unit is activated to transmit communication signals to the target blind spot to build a temporary communication network; S4, the communication coverage unit gathers the service data of the terminal devices in the target blind zone and forwards it to the control center interaction module in sequence through the bidirectional laser communication link and the communication vehicle relay module. The communication vehicle relay module transmits the control data of the control center interaction module to the UAV body through the bidirectional laser communication link and is broadcast to the terminal device by the communication coverage unit. S5, acquire real-time signal quality data of the communication coverage unit; based on the real-time signal quality data, adjust the flight altitude and / or hovering position of the UAV body so that the signal coverage of the target blind zone meets the preset coverage requirements; S6, in response to the return-to-home command, controls the UAV body to return to the takeoff point along the preset return-to-home path, and sequentially shuts down the communication coverage unit and the laser communication transmission module.

[0016] Furthermore, automatic tracking and alignment are performed, including: Based on the inertial navigation positioning information of the UAV body, the relative orientation between the laser communication transmission module and the laser communication terminal is determined, and the optical axis deviation is adjusted to be lower than the first preset threshold. Based on the optical axis deviation, the optical axis deviation is adjusted to be lower than the second preset threshold through closed-loop feedback control to establish a bidirectional laser communication link, wherein the second preset threshold is less than the first preset threshold.

[0017] Furthermore, adjusting the flight altitude and / or hovering position of the UAV body based on the real-time signal quality data includes: Based on the real-time signal quality data of the terminal device, the preset geofence boundary, and the preset initial flight path, the optimal hovering position is calculated, and the UAV body is controlled to move to the optimal hovering position.

[0018] In summary, the beneficial effects of this invention are: 1. By integrating solar photovoltaic panels, energy storage batteries, and a charge / discharge controller on the top of the UAV, a dual-mode system of real-time solar power supply and energy storage battery power supply is achieved. The power supply stabilization and distribution unit intelligently manages power supply according to power priority, prioritizing the flight system. When the battery is too low, it automatically shuts down unnecessary payloads and forces the UAV to return to base, thus meeting the requirements of continuous coverage missions.

[0019] 2. Laser communication is adopted as the core backhaul link between the UAV and the communication vehicle, replacing the traditional wireless radio frequency backhaul which is susceptible to interference from the marine electromagnetic environment and complex terrain. Laser communication has inherent advantages such as long transmission distance, high speed, low latency, and strong resistance to electromagnetic interference. Simultaneously, by employing a dual closed-loop control method of coarse alignment and high-frame-rate spot imaging for precise alignment, coupled with gimbal stabilization equipment, it can detect and compensate for UAV attitude deviations and optical path deviations in real time. This ensures that the laser link remains stable, uninterrupted, and packet-free even under dynamic flight and complex weather conditions, guaranteeing high-quality backhaul of high-bandwidth services such as high-definition video and real-time data.

[0020] 3. Utilizing drones as aerial platforms to mount communication coverage modules supports multiple frequency bands. By adjusting the drone's flight altitude and hovering position, the signal coverage radius can be flexibly and dynamically adjusted, effectively overcoming coverage blind spots caused by terrain obstruction of shore-based fixed base stations.

[0021] 4. The communication vehicle integrates a laser communication terminal, data relay forwarding, UAV remote control, and onboard power supply system, possessing high mobility. It can be quickly deployed to a line-of-sight location suitable for laser communication, eliminating reliance on fixed shore-based facilities. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a communication coverage system that coordinates a drone and a communication vehicle, according to one embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a drone provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a communication vehicle provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a mounting shock absorption unit provided in one embodiment of the present invention; Figure 5 This is another structural schematic diagram of a mounting shock absorption unit provided in one embodiment of the present invention; Figure 6 This is a flowchart illustrating a communication coverage method for the collaboration between a drone and a communication vehicle, as provided in one embodiment of the present invention.

[0023] Reference numerals: 100, Communication coverage system integrating UAV and communication vehicle; 101, UAV communication coverage module; 1011, UAV body; 1012, Solar power supply unit; 1013, Communication coverage unit; 102, Laser communication transmission module; 1021, Laser transmitting and receiving unit; 1022, Mounted shock absorption unit; 10221, Steel cable; 10222, Silicone shock absorption column; 103, Communication vehicle relay module; 1031, Laser communication terminal; 1032, Data relay forwarding unit; 1033, Communication vehicle body; 104, Control center interaction module. Detailed Implementation

[0024] 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.

[0025] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0026] like Figure 1 , Figure 2 and Figure 3 As shown in the figure, this application provides a communication coverage system 100 for the collaboration of a drone and a communication vehicle, which mainly includes: The UAV communication coverage module 101 includes a UAV body 1011, a solar power supply unit 1012, and a communication coverage unit 1013. The solar power supply unit 1012 is integrated on the top of the UAV body 1011, and the communication coverage unit 1013 is mounted on the lower end of the UAV body 1011. The solar power supply unit 1012 is used to power the UAV body 1011 and the equipment mounted on the UAV body 1011. The communication coverage unit 1013 is used to transmit communication signals to near-shore target areas to construct a temporary communication network. A laser communication transmission module 102 is deployed at the lower end of the UAV body 1011 and is used to establish a two-way laser communication link with the communication vehicle relay module 103. The communication vehicle relay module 103 includes a laser communication terminal 1031 and a data relay forwarding unit 1032; the laser communication terminal 1031 is used to establish the bidirectional laser communication link with the laser communication transmission module 102; the data relay forwarding unit 1032 is used to send data received through the bidirectional laser communication link to the control center interaction module 104, and to transmit the instructions of the control center interaction module 104 to the UAV body 1011 through the bidirectional laser communication link; The control center interaction module 104 is communicatively connected to the communication vehicle relay module 103, and is used to receive data forwarded by the data relay forwarding unit 1032, and to issue control commands to the UAV body 1011.

[0027] In this embodiment of the application, the target blind spot refers to the nearshore area where the fixed base station signal cannot be effectively covered due to terrain obstruction, distance limitation and other reasons, such as the reef area around the coast, offshore aquaculture area, tidal flat and shallow sea area, etc., and the communication coverage network is a 5G private network.

[0028] The 1011 UAV body adopts a heavy-duty multi-rotor model with a wind resistance of no less than level 6. It has reserved standardized mounting interfaces, including electrical interfaces (24-48V power supply, with overcurrent / reverse connection protection and power distribution specifications) and data interfaces (CAN, Ethernet, USB 3.0, UART, supporting control, image and sensor data transmission). It supports precise adjustment of flight altitude and hovering position and is adapted to complex coastal weather conditions.

[0029] The solar power unit 1012 is integrated with the fuselage and utilizes lightweight photovoltaic materials to achieve a dual power supply mode of real-time solar power supply and energy storage while ensuring flight performance. The communication coverage unit 1013 is responsible for transmitting 5G communication signals to the blind zone of near-shore targets to build a temporary communication network, enabling terminal devices in the blind zone to access the network for voice calls, video transmission and data communication.

[0030] The data relay forwarding unit 1032 in the communication vehicle relay module 103 is used to parse and integrate the UAV backhaul data (including service data of the terminal in the coverage area, UAV status data, etc.) received through the two-way laser communication link, and forward it to the control center interaction module 104 through wired or wireless means; at the same time, it converts the control commands of the control center interaction module 104 into a signal format adapted to laser transmission, and transmits it uplink to the UAV body 1011 through the two-way laser communication link, so as to realize the remote control of the UAV by the control center.

[0031] The control center interaction module 104 includes a data processing module, a visualization monitoring module, a command issuing module, and a data storage module. The data processing module receives and parses various types of data forwarded by the communication vehicle relay module 103; the visualization monitoring module displays the communication status of the coverage area and the UAV's operational status in real time; the command issuing module issues control commands such as flight control and coverage parameter adjustment to the UAV itself 1011 based on monitoring results or operator operations; and the data storage module stores and archives historical data, supporting data traceability and analysis.

[0032] Furthermore, the solar power supply unit 1012 includes a solar photovoltaic panel, an energy storage battery, and a charge / discharge controller. The solar photovoltaic panel, made of lightweight, high-conversion-efficiency materials, is directly integrated onto the top surface of the UAV body 1011, continuously converting solar energy into electrical energy under sunlight. The charge / discharge controller is connected between the solar photovoltaic panel and the energy storage battery, controlling the charging process of the energy storage battery by the solar photovoltaic panel to prevent overcharging and over-discharging, thus extending the battery's lifespan. While the solar photovoltaic panel is charging, the energy storage battery continuously supplies power to the UAV body 1011 and its mounting modules. When solar power is sufficient, excess energy is stored in the energy storage battery; when solar power is insufficient, the energy storage battery independently powers the system, ensuring operational continuity.

[0033] Furthermore, the solar power supply unit 1012 also includes a power stabilization and distribution unit. This unit provides tiered power supply to the UAV body 1011 and its mounted equipment based on preset power supply priorities. Specifically, the power supply priorities are divided into multiple levels, with the flight system of the UAV body 1011 (including motor drive, flight controller, GPS positioning, etc.) having the highest priority to ensure flight safety under all circumstances. The communication coverage unit 1013 and the laser communication transmission module 102 have the next highest priority, while auxiliary equipment such as status monitoring sensors have the lowest priority. When the energy storage battery charge falls below a preset threshold, the power stabilization and distribution unit automatically shuts down all electrical loads except the flight system, including the communication coverage unit 1013 and the laser communication transmission module 102. Simultaneously, it triggers a forced return-to-home command, controlling the UAV body 1011 to safely return to the takeoff point along a preset return-to-home path, preventing a crash due to battery depletion.

[0034] Furthermore, the communication coverage unit 1013 and the mounting base of the UAV body 1011 are rigidly connected and fixed. The communication coverage unit 1013 is rigidly fixed to the mounting base by bolts or clips, ensuring that the equipment is stable and does not loosen during flight. The communication coverage unit 1013 and the laser communication transmission module 102 are set in the same direction, that is, the working surfaces of both face the same side of the UAV body 1011 (facing the target blind zone and the direction of the communication vehicle). This ensures that the communication coverage unit 1013 accurately radiates signals to the target area, and also ensures that the optical path between the laser communication transmission module 102 and the laser communication terminal 1031 at the communication vehicle end is unobstructed, avoiding the UAV body 1011 structure from blocking the laser communication. The communication coverage unit 1013 is an AAU (Active Antenna Unit) communication coverage module, supporting at least one of the mainstream 5G frequency bands of 700MHz, 2.6GHz, and 3.5GHz. It can select the corresponding frequency band or a combination of multiple frequency bands to work according to the needs of the coverage scenario. The 700MHz band boasts strong penetration and wide coverage, making it suitable for broad-area basic coverage. The 2.6GHz and 3.5GHz bands offer large bandwidth and high speed, ideal for high-definition video and high-data-volume transmission scenarios. The coverage radius is dynamically adjusted by regulating the flight altitude of the UAV (1011). Higher altitudes result in a larger coverage radius (ranging from 1 to 15 kilometers), while lower altitudes provide stronger signal strength but a correspondingly smaller coverage area. This allows for flexible adaptation of optimal coverage parameters based on the area of ​​target blind spots and terminal distribution.

[0035] Furthermore, the UAV communication coverage module 101 also includes a status monitoring and flight control unit, a protection unit, and a mounted shock absorption unit 1022.

[0036] The Condition Monitoring and Flight Control Unit integrates multiple types of sensors, including current sensors, voltage sensors, inertial measurement units (IMUs) and GPS or RTK positioning modules, as well as signal quality detection sensors. The Condition Monitoring and Flight Control Unit transmits all collected condition data back in real-time to the communication vehicle relay module 103 via a two-way laser communication link for operator monitoring and system decision-making. Simultaneously, the Condition Monitoring and Flight Control Unit receives flight control commands from the communication vehicle relay module 103, executing flight maneuvers such as attitude adjustments, altitude changes, and position movements, supporting both remote control and autonomous operation modes.

[0037] The protective unit for the UAV 1011 and its mounted equipment is designed with waterproof, fog-proof, and salt spray corrosion-resistant materials. Specifically, the equipment shell adopts a sealed design with a protection level of no less than IP65, all electrical interfaces use waterproof sealed connectors, the surface of key circuit boards is coated with conformal coating (moisture-proof, salt spray-proof, and mildew-proof), and the optical window is treated with a hydrophobic coating to ensure long-term stable operation of the system in the harsh environment of high humidity, high salinity, and frequent fog on the coast.

[0038] like Figure 4 and Figure 5 As shown, the mounted vibration damping unit 1022 adopts a composite vibration isolation structure consisting of flexible suspension by steel cables 10221 around the perimeter and silicone vibration damping columns 10222 in the center. The steel cables 10221 are arranged along the four corners of the mounting frame. One end of the steel cable 10221 is fixed to the frame structure of the UAV body 1011, and the other end is connected to the four corner points of the mounting equipment frame, forming a limiting constraint on the mounting equipment. Under the conditions of high-maneuver flight and severe turbulence of the UAV body 1011, the load is reliably locked, preventing the mounting equipment from falling off or loosening. At the same time, the elasticity of the steel cable 10221 itself can absorb some low-frequency large-amplitude vibrations. Silicone shock-absorbing columns 10222 are evenly distributed in the middle area between the mounting frame and the mounting equipment. Utilizing the high damping characteristics of silicone material, they are used to attenuate the high-frequency vibrations generated by rotor rotation and aerodynamic disturbances of the airframe, weaken the transmission of high-frequency vibrations to the interior of the airborne equipment, and prevent damage to electronic components in the mounting equipment from alternating vibrations, such as loosening of contacts, cracking of solder joints, and misalignment of optical components, thus ensuring the long-term reliable operation of the electrical structure of the mounted terminal.

[0039] Furthermore, the laser communication transmission module 102 is mounted on the lower end of the UAV body 1011 via a gimbal base. The gimbal base is used to stabilize the laser transmitting and receiving unit 1021. The gimbal base adopts a three-axis stabilized gimbal design to compensate for the pitch, roll, and yaw motion of the UAV body in real time during flight, stabilize the optical axis pointing of the laser transmitting and receiving unit 1021, and ensure that the laser beam is always accurately aligned with the laser communication terminal 1031 at the communication vehicle end.

[0040] The laser communication transmission module 102 includes a laser transmitting and receiving unit 1021, a photoelectric conversion unit, and a tracking and aiming unit. The laser transmitting and receiving unit 1021 includes a laser transmitting component and a laser receiving component. The laser transmitting component uses a high-power, narrow-linewidth laser to output a highly directional laser beam carrying the data signal to be transmitted; the laser receiving component uses a large-aperture optical antenna and a high-sensitivity photodetector to receive the laser signal returned from the communication vehicle and convert it into an electrical signal.

[0041] The photoelectric conversion unit is used for bidirectional conversion between electrical signals and laser signals. In the uplink direction, the photoelectric conversion unit modulates the electrical signals, such as terminal service data and status monitoring data collected by the communication coverage unit 1013, onto the laser carrier, converts them into laser signals, and then emits them through the laser emitting component. In the downlink direction, the photoelectric conversion unit demodulates the laser signals received by the laser receiving component from the communication vehicle end and restores them to electrical signals, which are then transmitted to the communication coverage unit 1013 or the flight control unit to perform corresponding operations.

[0042] The tracking and aiming unit is used for a dual closed-loop control method based on RTK inertial navigation coarse alignment and high frame rate spot imaging fine alignment. It detects and compensates for the attitude deviation and optical path deviation of the UAV body 1011 in real time to maintain the alignment between the laser communication transmission module 102 and the laser communication terminal 1031. Specifically, the tracking and aiming unit includes a coarse alignment subunit and a fine alignment subunit. The coarse alignment subunit uses the RTK differential positioning module and inertial navigation system (INS) on the UAV body 1011 to obtain the precise three-dimensional coordinates and attitude angles of the UAV body 1011 and the communication vehicle in real time, calculates the relative azimuth and pitch angles between them, drives the gimbal base to quickly point the laser optical axis towards the communication vehicle, and adjusts the optical axis deviation to within the coarse alignment range (deviation angle not greater than ±0.5°), with the coarse alignment time not exceeding 2 seconds. The precision alignment subunit employs a high frame rate (no less than 50Hz) spot imaging detector to capture the position of the beacon light from the communication vehicle on the imaging surface in real time. Image processing algorithms calculate the offset between the spot center and the detector target center, forming a closed-loop feedback control signal. This signal drives the fast mirror (FSM) to perform sub-milliradian-level fine adjustments, bringing the alignment accuracy within the precision alignment range (static alignment accuracy no greater than ±0.02°, dynamic tracking accuracy no greater than ±0.05°), with a precision alignment time of no more than 0.5 seconds. This dual closed-loop control method enables the tracking and aiming unit to maintain precise alignment of the laser transceiver terminal even under dynamic flight conditions of the UAV (including attitude shifts and flight jitter) and slight weather changes (such as gusts), ensuring uninterrupted and packet-free link operation.

[0043] Furthermore, the communication vehicle relay module 103 also includes the communication vehicle body 1033 and the UAV remote control unit.

[0044] The main body of the communication vehicle 1033 serves as the ground platform for the system, equipped with an onboard power supply system and an external power interface. The onboard power supply system consists of an onboard generator set or a large-capacity battery pack, providing continuous power to all equipment on the communication vehicle. The external power interface supports mains power or a mobile generator for external power supply, enabling rapid charging and long-term uninterrupted operation. A drone storage area is located at the rear of the main body of the communication vehicle 1033, equipped with drone racks and protective covers for storing, rapidly deploying, taking off, and recovering the drone body 1011. The time from storage to takeoff and deployment for the drone is no more than 5 minutes. The main body of the communication vehicle 1033 is highly mobile and can flexibly move to the optimal unobstructed location for coastal laser communication based on blind spot conditions, eliminating reliance on fixed shore-based facilities.

[0045] The UAV remote control unit is equipped with a visual control interface, which integrates a flight status display area (real-time display of the UAV's altitude, speed, position coordinates, attitude angle, GPS satellite count, etc.), a power supply status display area (real-time display of solar photovoltaic panel output power, remaining battery power percentage, power consumption of each load, etc.), a coverage status display area (real-time display of the communication coverage unit 1013's operating frequency band, transmission power, coverage radius, number of connected terminals, signal quality indicators, etc.), and a link status display area (real-time display of the laser communication link's alignment accuracy, transmission rate, bit error rate, link margin, etc.). Operators can remotely control the UAV 1011's takeoff, flight, hovering, and return-to-home actions, as well as set operational parameters (including flight altitude, hovering coordinates, cruise speed, geofence boundaries, communication coverage frequency band, and power, etc.) through the visual control interface.

[0046] Furthermore, the laser communication terminal 1031 is mounted on the top of the communication vehicle body 1033 via a tracking gimbal. The tracking gimbal is a precision servo turntable with azimuth and elevation rotation capabilities, used to match the real-time position changes of the UAV body 1011, driving the optical axis of the laser communication terminal 1031 to always point towards the UAV, and cooperating with the tracking unit of the laser communication transmission module 102 to complete laser alignment. Specifically, the tracking gimbal receives real-time coordinate information transmitted back by the UAV body 1011 via RTK positioning, calculates the azimuth and elevation angles from the communication vehicle to the UAV, and drives the gimbal to rotate to achieve coarse pointing; simultaneously, the laser communication terminal 1031 on the communication vehicle side is also equipped with a spot imaging detector, cooperating with the tracking unit on the UAV side for fine alignment. Both ends synchronously adjust the optical axis to achieve closed-loop tracking, ensuring that the laser link remains stably aligned under conditions such as UAV position changes and wind disturbances.

[0047] The data relay forwarding unit 1032 is used to parse and integrate the data received from the UAV body 1011 via the bidirectional laser communication link. Specifically, the data relay forwarding unit 1032 performs photoelectric conversion, demodulation, and decoding on the received laser signals, and then classifies and parses them according to data type. Service data (voice, video, and data streams from terminals in the coverage area) is converted according to the protocol and forwarded to the control center interaction module 104 via wired fiber optic or wireless private network; status data (UAV flight status, power supply status, coverage status, and link status) is forwarded to the visual control interface of the UAV remote control unit for real-time display, and simultaneously forwarded to the control center interaction module 104 for recording and archiving. In the downlink direction, the data relay forwarding unit 1032 receives control commands and downlink service data issued by the control center interaction module 104, encodes, modulates, and converts them into laser signal format, and transmits them to the UAV body 1011 via the bidirectional laser communication link through the laser communication terminal 1031. The communication coverage unit 1013 broadcasts the downlink service data to terminal devices in the coverage area, and the flight control unit executes the control commands.

[0048] Figure 6 A flowchart illustrating a communication coverage method that integrates a drone and a communication vehicle is shown.

[0049] like Figure 6 As shown, a communication coverage method for the collaboration between a drone and a communication vehicle mainly includes: S1, based on the location information and coverage information of the target blind zone, determine the deployment point of the communication vehicle relay module, the flight path of the UAV body, and the hovering position; wherein, the deployment point satisfies the laser communication line-of-sight condition with the target blind zone; In this embodiment, the operator obtains the location information (such as the GPS coordinate range of the coastal reef area, the geographical boundary of the aquaculture area, etc.) and coverage information (such as the blind area area of ​​approximately 3 square kilometers, and the terminal devices mainly distributed within a 2-kilometer radius of the center of the blind area) of the target blind area according to the task requirements, and marks the blind area location on an electronic map. Subsequently, based on the line-of-sight conditions of laser communication, communication vehicle deployment points that meet the following conditions are selected on the coastline around the blind area: there are no buildings, reefs, trees, or other obstacles obstructing the line between the point and the target blind area; the point is relatively high or open, facilitating the laser communication terminal to obtain a good elevation angle view; and the point has conditions for vehicle passage and parking. After determining the deployment points, the optimal hovering height and horizontal position of the UAV are calculated based on the distance between the deployment point and the center of the target blind area and the blind area area. The hovering height must ensure that the coverage radius of the AAU communication coverage module at that height can cover the entire target blind area, and the hovering horizontal position is usually located directly above the center of the target blind area or optimized by offset according to the terminal distribution density. Finally, the flight path of the UAV after taking off from the storage area of ​​the communication vehicle and flying to the hovering position should be planned. This path should avoid known obstacles and restricted airspace areas, and meet the laser communication line-of-sight conditions with the communication vehicle throughout the entire process, so that a laser link can be established during the flight.

[0050] S2, in response to the takeoff command, controls the UAV body to fly along the flight path; during flight, the laser communication transmission module and the laser communication terminal of the communication vehicle relay module perform automatic tracking and aiming alignment to establish a two-way laser communication link; In this embodiment, after the communication vehicle is deployed and powered on, the operator confirms that all systems are functioning normally through a visual control interface and issues a takeoff command. The UAV responds to the command, starts its motors, and takes off from the UAV storage area behind the communication vehicle, flying towards the hovering position above the target blind spot according to the flight path planned in step S1. After the UAV takes off and begins flight, the laser communication transmission module and the laser communication terminal on the communication vehicle immediately initiate an automatic tracking and aiming procedure.

[0051] The alignment process consists of two stages: coarse alignment and fine alignment. First, based on the UAV's inertial navigation positioning information (RTK differential positioning coordinates and IMU attitude angle data), the coarse alignment subsystem of the tracking and aiming unit calculates the relative position (including azimuth and pitch angles) between the laser communication transmission module and the laser communication terminal. It then drives the gimbal base and the tracking and aiming gimbal on the communication vehicle to point their respective optical axes towards each other, adjusting the optical axis deviation to below a first preset threshold (no more than 0.5°). The coarse alignment time does not exceed 2 seconds. Next, based on the optical axis deviation (obtained by detecting the offset of the beacon spot on the target surface using a high-frame-rate spot imaging detector), the fine alignment subsystem of the tracking and aiming unit uses closed-loop feedback control to drive a fast-reflecting mirror for fine angle adjustments, adjusting the alignment accuracy to below a second preset threshold (no more than 0.02° statically and no more than 0.05° dynamically). The fine alignment time does not exceed 0.5 seconds.

[0052] After precise alignment, the two-way laser communication link was successfully established, and the UAV began transmitting status data. The communication vehicle confirmed that the link was normal (transmission rate and bit error rate both met preset targets). During the continued flight of the UAV, the tracking and aiming unit continuously operated dual closed-loop control at a response frequency of no less than 50Hz to compensate for optical axis deviations caused by changes in UAV attitude and position movement in real time, ensuring the stability of the link throughout the entire process.

[0053] S3, after the UAV body reaches the hovering position, the communication coverage unit is activated to transmit communication signals to the target blind spot to build a temporary communication network; In this embodiment, after the UAV flies along the flight path to the hovering position determined in step S1, the flight control unit switches to hovering mode and uses RTK precise positioning to control the position deviation within centimeter-level accuracy, maintaining stable hovering of the UAV over the target blind zone. After stable hovering, the operator confirms the correct UAV position through the visual control interface and issues a communication coverage activation command. Upon receiving the command, the communication coverage unit (AAU module) powers on and starts up, transmitting 5G communication signals to the ground in the target blind zone according to the preset or real-time set operating frequency band (one or more combinations of 700MHz / 2.6GHz / 3.5GHz) and transmission power, thus constructing a temporary 5G private network. Terminal devices in the blind zone (including mobile phones, walkie-talkies, IoT sensor terminals, law enforcement recorders, etc.) can initiate network access requests after detecting the 5G signal. After access authentication by the AAU module, they successfully access the temporary communication network and begin various service communications such as voice, video, and data. Based on the signal coverage detection data (such as the signal strength distribution in each area) returned by the communication coverage unit, the operator can further fine-tune the flight altitude and horizontal position of the UAV to achieve the optimal signal coverage effect in the target blind zone.

[0054] For example, if the detection data shows that the signal strength at the edge of the blind zone is insufficient, the flight altitude can be appropriately increased to expand the coverage radius; if the detection data shows that the signal quality in the dense area of ​​terminals in the center of the blind zone is low, the flight altitude can be appropriately decreased to enhance the signal strength.

[0055] S4, the communication coverage unit gathers the service data of the terminal devices in the target blind zone and forwards it to the control center interaction module in sequence through the bidirectional laser communication link and the communication vehicle relay module. The communication vehicle relay module transmits the control data of the control center interaction module to the UAV body through the bidirectional laser communication link and is broadcast to the terminal device by the communication coverage unit. In this embodiment, terminal devices within the target blind zone transmit service data to the communication coverage unit (AAU module) via a 5G air interface. The AAU module aggregates, encodes, and performs baseband processing on the received multi-channel terminal data, then transmits the processed data stream to the photoelectric conversion unit of the laser communication transmission module. The photoelectric conversion unit modulates the electrical signal onto the laser carrier, which is then transmitted by the laser emitting component to the laser communication terminal at the communication vehicle end via an established bidirectional laser communication link. The laser communication terminal at the communication vehicle end receives the laser signal and completes photoelectric conversion, transmitting the restored electrical signal to the data relay forwarding unit. The data relay forwarding unit parses, converts, and integrates the data, then forwards the service data to the control center interaction module via a wired fiber optic leased line or a wireless private network. The data processing module of the control center interaction module receives the data and performs further processing, distribution, and storage.

[0056] The control center's interaction module generates control data based on monitoring needs or operator instructions and sends it to the data relay forwarding unit of the communication vehicle's relay module. The data relay forwarding unit encodes and modulates the control data, converting it into a laser signal format, and transmits it via a two-way laser communication link to the laser communication transmission module on the UAV. The photoelectric conversion unit of the laser communication transmission module demodulates the received laser signal into an electrical signal and transmits it according to its data type. Flight control commands are transmitted to the flight control unit for execution (e.g., adjusting altitude, changing hovering position), communication parameter adjustment commands are transmitted to the communication coverage unit for execution (e.g., switching frequency bands, adjusting power), and downlink service data is transmitted to the communication coverage unit, which then broadcasts it to target terminal devices within the coverage area via the AAU module through the 5G air interface. This forms a complete two-way data path from the coverage area terminal to the control center and from the control center to the coverage area terminal, enabling real-time collaboration.

[0057] S5, acquire real-time signal quality data of the communication coverage unit; based on the real-time signal quality data, adjust the flight altitude and / or hovering position of the UAV body so that the signal coverage of the target blind zone meets the preset coverage requirements; In this embodiment, the flight path is planned using a combination of preset routes and dynamic corrections. In the initial stage, based on the near-shore blind zone geographic information determined in step S1, the takeoff, cruising, and hovering points and safe flight routes for the UAV are preset. After the link is established and coverage begins, the system enters a dynamic adjustment phase. The communication coverage unit continuously collects real-time signal quality data of the coverage area and transmits it back via the laser link. The system supports both semi-automatic and automatic modes for coverage optimization. In semi-automatic mode, operators can view the real-time signal quality data visualization distribution map through the visual control interface on the communication vehicle. Based on the location of the weak signal area, they can manually issue commands to adjust the flight altitude or move the hovering position. After the UAV executes the command, it will check the signal quality data again. Based on the adjustment effect, the operator will decide whether to continue fine-tuning, forming a closed-loop optimization process of detection, adjustment, and verification.

[0058] In automatic mode, the optimal hovering position is calculated using an optimization algorithm based on real-time signal quality data of the terminal devices, preset geofence boundaries, and preset initial flight paths. Specifically, the calculation process involves maximizing the minimum signal strength of all terminal devices within the coverage area as the optimization objective, using the geofence boundaries as constraints, and the current hovering position as the initial solution. An iterative search algorithm then calculates the optimal three-dimensional hovering coordinates under the current terminal distribution and signal propagation conditions.

[0059] After the calculation is completed, the flight control unit automatically controls the UAV to move to the optimal hovering position and continuously monitors the signal quality data after the movement. If the preset coverage requirements are still not met, it continues to iterate and optimize until the requirements are met or the optimization convergence conditions are met.

[0060] Furthermore, during the continuous operation of S5, the solar power supply unit continuously supplies power to the system. The solar photovoltaic panels continuously generate electricity under sunlight, replenishing the energy storage battery through the charge / discharge controller, ensuring the drone's continuous aerial operation. When the solar photovoltaic panel's power generation exceeds the system's total power consumption, the excess energy is stored in the energy storage battery; when the power generation is less than the total power consumption (such as in cloudy weather or evening), the energy storage battery discharges to compensate for the difference, ensuring uninterrupted power supply. The power supply stabilization and distribution unit monitors the energy storage battery's charge level in real time. When the charge is sufficient, it maintains normal power supply to all equipment; when the charge drops to a preset alarm threshold, it sends a low-battery alarm message to the communication vehicle via the laser link to alert the operator; when the charge drops to the preset charge threshold, it automatically triggers the forced return-to-home process, executing step S6.

[0061] S6, in response to the return-to-home command, controls the UAV body to return to the takeoff point along the preset return-to-home path, and sequentially shuts down the communication coverage unit and the laser communication transmission module.

[0062] In this embodiment, when the mission is completed or the return-to-home condition is triggered, the UAV responds to the return-to-home command. The flight control unit first controls the communication coverage unit to stop transmitting communication signals and power it off, releasing the temporary communication network in the coverage area. Subsequently, the UAV begins to fly towards the takeoff point along the preset return-to-home path. During the return flight, the bidirectional laser communication link between the laser communication transmission module and the laser communication terminal on the communication vehicle remains stable throughout the entire process. The tracking and aiming unit continues to work to maintain alignment, and status monitoring data is continuously transmitted back. Operators can monitor the return-to-home progress and flight safety status in real time through a visual control interface. When the UAV flies near the communication vehicle and enters the landing route, the laser communication transmission module is turned off, and the bidirectional laser communication link is disconnected. The UAV executes the landing procedure and lands precisely in the UAV storage area behind the communication vehicle, completing the recovery. After landing, the operator turns off the power to all modules of the UAV and securely stores the UAV. The operator on the communication vehicle confirms that the mission is completed and turns off the laser communication terminal, data relay forwarding unit, and other vehicle-mounted equipment. The communication vehicle can then move to other blind spot locations to perform new missions as needed, or return to the base to stand by.

[0063] 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.

[0064] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. A communication coverage system that coordinates unmanned aerial vehicles (UAVs) and communication vehicles, characterized in that, include: The UAV communication coverage module includes a UAV body, a solar power supply unit, and a communication coverage unit. The solar power supply unit is integrated on the top of the UAV body, and the communication coverage unit is mounted on the lower end of the UAV body. The solar power supply unit is used to power the UAV body and the equipment mounted on the UAV body. The communication coverage unit is used to transmit communication signals to near-shore target areas to construct a temporary communication network. A laser communication transmission module is deployed at the lower end of the UAV body and is used to establish a two-way laser communication link with the relay module of the communication vehicle. The communication vehicle relay module includes a laser communication terminal and a data relay forwarding unit; the laser communication terminal is used to establish the bidirectional laser communication link with the laser communication transmission module; the data relay forwarding unit is used to send data received through the bidirectional laser communication link to the control center interaction module, and to transmit instructions from the control center interaction module to the UAV body through the bidirectional laser communication link. The control center interaction module is communicatively connected to the communication vehicle relay module, and is used to receive data forwarded by the data relay forwarding unit and to issue control commands to the UAV body.

2. The communication coverage system for the collaboration of a drone and a communication vehicle according to claim 1, characterized in that, The solar power supply unit includes a solar photovoltaic panel, an energy storage battery, and a charge / discharge controller. The solar photovoltaic panel charges the energy storage battery through the charge / discharge controller, and the energy storage battery continuously supplies power to the UAV body and its mounting modules.

3. A communication coverage system for the coordinated operation of a drone and a communication vehicle according to claim 2, characterized in that, The solar power supply unit also includes a power supply voltage regulation and distribution unit, which is used for: The power supply to the UAV body and its mounted equipment is tiered based on a preset power supply priority, wherein the power supply priority of the flight system of the UAV body is the highest priority. When the energy storage battery charge is lower than the preset charge threshold, all electrical loads except the flight system are shut down and a forced return to base is triggered.

4. A communication coverage system for the collaboration of a drone and a communication vehicle according to claim 1, characterized in that, The communication coverage unit is rigidly connected to the mounting base of the UAV body, and the communication coverage unit and the laser communication transmission module are arranged in the same direction. The communication coverage unit is an AAU communication coverage module that supports at least one frequency band among 700MHz, 2.6GHz and 3.5GHz, and adjusts the coverage radius by adjusting the flight altitude of the UAV body.

5. A communication coverage system for the collaboration of a drone and a communication vehicle according to claim 1, characterized in that, The UAV communication coverage module also includes a status monitoring and flight control unit, a protection unit, and a mounting shock absorption unit; The status monitoring and flight control unit integrates multiple types of sensors to collect in real time the power supply status of the solar power unit, the flight status of the UAV body, and the signal coverage status of the communication coverage unit, and transmits the collected status data back to the communication vehicle relay module in real time through the bidirectional laser communication link; The protective unit is designed with waterproof, fog-proof and salt spray corrosion-resistant materials for the UAV body and its mounted equipment; The mounting vibration damping unit adopts a composite vibration isolation structure consisting of flexible suspension by steel cables around the perimeter and silicone vibration damping columns in the center. The steel cables are laid out along the four corners of the mounting frame to form a limiting constraint on the mounted equipment, and the silicone vibration damping columns are evenly distributed in the center to attenuate the high-frequency vibrations generated by rotor rotation and aerodynamic disturbances of the airframe.

6. A communication coverage system for the coordinated operation of a drone and a communication vehicle according to claim 1, characterized in that, The laser communication transmission module is mounted on the lower end of the UAV body via a gimbal base. The gimbal base is used to stabilize the laser transmitting and receiving unit. The laser communication transmission module includes: A laser emitting and receiving unit, comprising a laser emitting component and a laser receiving component; The photoelectric conversion unit is used for bidirectional conversion between electrical signals and laser signals; The tracking and aiming unit is used for a dual closed-loop control method based on RTK inertial navigation coarse alignment and high frame rate spot imaging fine alignment. It detects and compensates for the attitude deviation and optical path deviation of the UAV body in real time to maintain the alignment between the laser communication transmission module and the laser communication terminal.

7. A communication coverage system for the coordinated operation of a drone and a communication vehicle according to claim 1, characterized in that, The communication vehicle relay module also includes: The main body of the communication vehicle is equipped with an on-board power supply system and an external power interface. A drone storage area is set at the rear of the main body of the communication vehicle for storing, quickly deploying and recovering the drone. The drone remote control unit is equipped with a visual control interface, which is used to display the drone's flight status, power supply status, coverage status and link status in real time, as well as to remotely control the drone and set operation parameters.

8. A communication coverage system for the coordinated operation of a drone and a communication vehicle according to claim 7, characterized in that, The laser communication terminal is mounted on the top of the main body of the communication vehicle via a tracking gimbal. The tracking gimbal is used to match the position of the UAV body in real time and work with the tracking unit of the laser communication transmission module to complete laser alignment. The data relay forwarding unit is used to parse and integrate the data received from the UAV body through the bidirectional laser communication link and forward it to the control center interaction module, and to convert the instructions of the control center interaction module into laser signals and transmit them to the UAV body through the bidirectional laser communication link.

9. A communication coverage method for collaborative operation between a drone and a communication vehicle based on the system described in any one of claims 1 to 8, characterized in that, include: S1, based on the location information and coverage information of the target blind zone, determine the deployment point of the communication vehicle relay module, the flight path of the UAV body, and the hovering position; wherein, the deployment point satisfies the laser communication line-of-sight condition with the target blind zone; S2, in response to the takeoff command, controls the UAV body to fly along the flight path; during flight, the laser communication transmission module and the laser communication terminal of the communication vehicle relay module perform automatic tracking and aiming alignment to establish a two-way laser communication link; S3, after the UAV body reaches the hovering position, the communication coverage unit is activated to transmit communication signals to the target blind spot to build a temporary communication network; S4, the communication coverage unit gathers the service data of the terminal devices in the target blind zone and forwards it to the control center interaction module in sequence through the bidirectional laser communication link and the communication vehicle relay module. The communication vehicle relay module transmits the control data of the control center interaction module to the UAV body through the bidirectional laser communication link and is broadcast to the terminal device by the communication coverage unit. S5, acquire real-time signal quality data of the communication coverage unit; based on the real-time signal quality data, adjust the flight altitude and / or hovering position of the UAV body so that the signal coverage of the target blind zone meets the preset coverage requirements; S6, in response to the return-to-home command, controls the UAV body to return to the takeoff point along the preset return-to-home path, and sequentially shuts down the communication coverage unit and the laser communication transmission module.

10. A communication coverage method for collaborative use of a drone and a communication vehicle according to claim 9, characterized in that, Perform automatic tracking and alignment, including: Based on the inertial navigation positioning information of the UAV body, the relative orientation between the laser communication transmission module and the laser communication terminal is determined, and the optical axis deviation is adjusted to be lower than the first preset threshold. Based on the optical axis deviation, the optical axis deviation is adjusted to be lower than the second preset threshold through closed-loop feedback control to establish a bidirectional laser communication link, wherein the second preset threshold is less than the first preset threshold.

11. A communication coverage method for collaborative use of a drone and a communication vehicle according to claim 9, characterized in that, The step of adjusting the flight altitude and / or hovering position of the UAV body based on the real-time signal quality data includes: Based on the real-time signal quality data of the terminal device, the preset geofence boundary, and the preset initial flight path, the optimal hovering position is calculated, and the UAV body is controlled to move to the optimal hovering position.

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