A method for discovering a drone swarm directional antenna beam

Abstract

The application provides a UAV group directional antenna beam discovery method, which is used to solve the problem that in the prior art, in the initial network building and capturing stage, the initial capture signal sent by the cluster head of the UAV cannot be captured when the UAV member is in the leading or lagging time slot. The UAV group directional antenna beam discovery method re-plans the initial capture wave position, reserves a redundant wave position, that is, under the premise of meeting the antenna networking distance, the antenna covers the fixed airspace with as few wave positions as possible, which reduces the scanning time of the airspace, thereby leaving a redundant time slot to tolerate the time error between nodes. The method of the application has simple interaction information, high time compensation accuracy, and is suitable for initial network building of the UAV group.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a method for discovering directional antenna beams in a swarm of unmanned aerial vehicles (UAVs). Background Technology

[0002] In UAV swarm networks using directional antennas, nodes transmit data based on the narrow beams of high-gain spatial directional antennas. To maximize channel utilization, Time-Digital Access Control (TDMA) is typically used for time slot allocation and scheduling. All nodes within the network must maintain precise time frame synchronization to achieve conflict-free channel access and communication. Therefore, time frame synchronization technology is a prerequisite for UAV swarm network architecture based on directional antennas and is fundamental to the normal operation of directional nodes in network establishment, network management, time frame maintenance, and network communication link-layer protocols.

[0003] Existing methods for directional antenna UAV swarm networking rely on a precise, globally-based, externally generated unified clock reference, such as satellite (GPS, BeiDou) time synchronization, to achieve time frame synchronization among all network nodes. However, in complex environments, nodes cannot obtain accurate time synchronization, leading to significant time synchronization errors between nodes. Furthermore, time errors caused by clock drift, hardware processing delays, and Doppler shift due to motion further amplify these inter-node time errors.

[0004] This excessive reliance on external timing systems such as GPS / BeiDou will result in poor robustness and resilience of the drone swarm network, while also significantly reducing network reliability and shortening its lifespan. Summary of the Invention

[0005] This invention provides a method for discovering directional antenna beams in a UAV swarm, which solves the problem in the prior art that the initial acquisition signal sent by the UAV swarm leader cannot be captured during the initial acquisition phase of network construction, when UAV members are in the leading or lagging time slots.

[0006] The method for directional antenna beam discovery of unmanned aerial vehicle (UAV) swarms according to embodiments of the present invention includes: Obtain the initial number of acquisition signaling N broadcast by the cluster head during the network construction scanning period, and set the number of redundant spectral bits n; The broadcast beamwidth of the cluster head Divide into Nn The initial capture point plan is formed by selecting the wave positions and planning the first Nn capture time slots out of N capture time slots to search for the Nn wave positions sequentially, and the remaining n capture time slots to repeatedly search for the first n wave positions out of the Nn wave positions. In the initial acquisition signaling reception mode, the antenna is controlled according to the initial acquisition wave point plan. Search for the beamwidth; If a valid initial acquisition signaling is found in the first Nn acquisition time slots, the system switches to the reference distribution message receiving mode in the N-n+1 acquisition time slot and controls the antenna beam to point to the position corresponding to the initial acquisition signaling with the best signal-to-noise ratio. If a valid initial acquisition signaling is found in the i-th acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)-th acquisition slot and controls the antenna beam to point to the corresponding position of the i-th acquisition slot. Receive the reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; The local clock is adjusted according to the reference information, and the antenna beam is directed toward the cluster head.

[0007] According to some embodiments of the present invention, the method further includes: Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

[0008] According to some embodiments of the present invention, the method further includes: The adjustment time t32 is determined using Formula 2: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in units of FPGA clock cycles; The adjustment amount 'a' for the time element number, time frame number, and time slot number is determined using Formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the reference information arrives; | represents the absolute value operator.

[0009] The UAV swarm directional antenna beam detection system of this invention includes: The initial acquisition beampoint planning module is used to: obtain the number N of initial acquisition signaling broadcast by the cluster head during the network establishment scanning period, and set the number of redundant beampoints n; and set the broadcast beamwidth of the cluster head. Divide into Nn The initial capture point plan is formed by selecting the first Nn capture time slots out of N capture time slots to search for the Nn capture points sequentially, and the remaining n capture time slots are used to repeatedly search for the first n capture points out of the Nn capture points. The initial acquisition signaling receiving module is configured to: in the initial acquisition signaling receiving mode, control the antenna to, according to the initial acquisition wave point plan, […]. The beamwidth is searched; if a valid initial acquisition signal is found in the first Nn acquisition slots, the system switches to the reference distribution message receiving mode in the (N-n+1)th acquisition slot and controls the antenna beam to point to the position corresponding to the initial acquisition signal with the best signal-to-noise ratio; if a valid initial acquisition signal is found in the ith acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)th acquisition slot and controls the antenna beam to point to the position corresponding to the ith acquisition slot. The reference distribution message receiving module is used to: receive reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; adjust the local clock according to the reference information, and adjust the antenna beam to point to the cluster head.

[0010] According to some embodiments of the present invention, the system further includes: The initial acquisition time compensation module is used for: Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

[0011] According to some embodiments of the present invention, the system further includes: The baseline distribution time compensation module is used for: The adjustment time t32 is determined using Formula 2: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in units of FPGA clock cycles; The adjustment amount a is determined using formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the baseline information arrives; | represents the absolute value operator.

[0012] This invention also proposes a drone equipped with the drone swarm directional antenna beam detection system described above.

[0013] This invention also proposes a drone swarm, including a leader and members; The cluster head includes an initial capture signaling sending module and a baseline distribution message sending module; The initial capture signaling sending module is used to broadcast and send the initial capture signaling; The benchmark distribution message sending module is used to broadcast benchmark information. The members are the drones described above.

[0014] This invention also proposes a computer-readable storage medium storing an information transmission implementation program, which, when executed by a processor, implements the UAV swarm directional antenna beam discovery method described above.

[0015] This invention also proposes a computer program product, including a computer program that, when executed by a processor, implements the UAV swarm directional antenna beam discovery method as described above.

[0016] This invention achieves antenna coverage of a fixed airspace with as few waveforms as possible, leaving redundant time slots to tolerate time errors between nodes, effectively solving the beam discovery problem under large timing errors.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. In the drawings: Figure 1 This is a flowchart of the UAV swarm directional antenna beam discovery method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the initial acquisition signaling time compensation principle in an embodiment of the present invention; Figure 3This is a schematic diagram of the reference information time compensation principle in an embodiment of the present invention. Detailed Implementation

[0019] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art. Furthermore, in some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0020] Reference Figure 1 As shown, the UAV swarm directional antenna beam discovery method of this invention includes: Obtain the initial acquisition signaling count N broadcast by the cluster head during the network construction scanning period, and set the number of redundant spectral bits n; the number of redundant spectral bits is related to the maximum time error within the UAV cluster and is determined based on the satellite navigation timing accuracy.

[0021] The broadcast beamwidth of the cluster head Divide into Nn The beamwidth here can be understood as the width of the beam coverage of the antenna at the cluster head when broadcasting the initial acquisition signaling, which is generally the maximum beamwidth of the antenna.

[0022] One wavelength position occupies one acquisition time slot. The first Nn acquisition time slots out of the planned N acquisition time slots are used to sequentially search for the Nn wavelength positions. This search can be understood as receiving the initial acquisition signal at the corresponding wavelength position. The remaining n acquisition time slots are used to repeatedly search for the first n wavelength positions out of the Nn wavelength positions to form the initial acquisition wavelength position plan.

[0023] In the initial acquisition signaling reception mode, the antenna is controlled according to the initial acquisition wave point plan. Search for the beamwidth; The beamwidth can cover the corresponding wave position. For example, it can be set to... The beamwidth is just enough to cover the corresponding wave position.

[0024] If a valid initial acquisition signaling is found in the first Nn acquisition slots, the system switches to the reference distribution message receiving mode in the N-n+1 acquisition slot and controls the antenna beam to point to the position corresponding to the initial acquisition signaling with the best signal-to-noise ratio. It can be understood that the signal-to-noise ratio of the valid initial acquisition signaling is calculated for each valid initial acquisition signaling found in a position.

[0025] If a valid initial acquisition signaling is found in the i-th acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)-th acquisition slot and controls the antenna beam to point to the corresponding position of the i-th acquisition slot. Receive the reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; The local clock is adjusted according to the reference information, and the antenna beam is directed toward the cluster head.

[0026] If the baseline information is not received, wait for the next network access and repeat the above steps.

[0027] In this embodiment of the invention, the initially captured wave points are replanned and redundant wave points are reserved. That is, under the premise of meeting the antenna networking distance, the antenna coverage of a fixed airspace is achieved with as few wave points as possible. This reduces the airspace scanning time and leaves redundant time slots to tolerate time errors between nodes.

[0028] Based on the above embodiments, further variant embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in each variant embodiment.

[0029] According to some embodiments of the present invention, the method further includes: Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

[0030] This step allows for local time compensation before receiving the reference information, thereby improving the success rate of reference information reception.

[0031] According to some embodiments of the present invention, the method further includes: The adjustment time t32 is determined using Formula 2: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in FPGA clock cycles; The adjustment amount 'a' for the time element number, time frame number, and time slot number is determined using Formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the baseline information arrives; | represents the absolute value operator.

[0032] The following detailed description of the UAV swarm directional antenna beam discovery method according to a specific embodiment of the present invention is provided. It is important to understand that the following description is merely exemplary and should not be construed as a specific limitation of the present invention.

[0033] This invention proposes a method for beam discovery using directional antennas in UAV swarms. Addressing the impact of large time errors on network establishment between UAV swarm nodes, it focuses on solving the problem of failing to capture the initial acquisition signal sent by the cluster head when members are in leading or lagging time slots during the initial acquisition phase of network establishment. The method re-plans the initial acquisition beam points, reserving redundant beam points. That is, while meeting the antenna networking distance requirements, it achieves antenna coverage of a fixed airspace with as few beam points as possible. This reduces the airspace scanning time, thereby reserving redundant time slots to tolerate time errors between nodes, and provides a method for compensating for local time.

[0034] The UAV swarm directional antenna beam discovery method of this invention is implemented through the following steps: Obtain the initial number of acquisition signaling N broadcast by the cluster head during the network construction scanning period, and set the number of redundant spectral bits n; The broadcast beamwidth of the cluster head Divide into Nn The initial capture point plan is formed by selecting the wave positions and planning the first Nn capture time slots out of N capture time slots to search for the Nn wave positions sequentially, and the remaining n capture time slots to repeatedly search for the first n wave positions out of the Nn wave positions. In the initial acquisition signaling reception mode, the antenna is controlled according to the initial acquisition wave point plan. Search for the beamwidth; If a valid initial acquisition signaling is found in the first Nn acquisition time slots, the system switches to the reference distribution message receiving mode in the N-n+1 acquisition time slot and controls the antenna beam to point to the position corresponding to the initial acquisition signaling with the best signal-to-noise ratio. If a valid initial acquisition signaling is found in the i-th acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)-th acquisition slot and controls the antenna beam to point to the corresponding position of the i-th acquisition slot. Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

[0035] Receive the reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; Adjust the antenna beam to point towards the cluster head; The time element number, time frame number, and time slot number are determined using Formula 2 to adjust time t32: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in FPGA clock cycles; The adjustment amount 'a' for the time element number, time frame number, and time slot number is determined using Formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the baseline information arrives; | represents the absolute value operator.

[0036] This achieves the capability of directional antenna beam detection for UAV swarms that can adapt to large time errors.

[0037] The method in this invention replans the initially acquired beam points, reserving redundant beam points. That is, while meeting the antenna networking distance requirements, it achieves antenna coverage of a fixed airspace with as few beam points as possible. This reduces the airspace scanning time, thereby reserving redundant time slots to tolerate time errors between nodes, and provides a method for local time compensation. The method in this invention features simple information exchange, high time compensation accuracy, and is suitable for the initial network establishment of UAV swarms. This method effectively solves the beam discovery problem under large timing errors, and can effectively improve the robustness and survivability of UAV swarm networks.

[0038] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0039] This invention also proposes a computer-readable storage medium storing an information transmission implementation program, which, when executed by a processor, implements the UAV swarm directional antenna beam discovery method described above.

[0040] This invention also proposes a computer program product, including a computer program that, when executed by a processor, implements the UAV swarm directional antenna beam discovery method as described above.

[0041] The UAV swarm directional antenna beam detection system of this invention includes: The initial acquisition beampoint planning module is used to: obtain the number N of initial acquisition signaling broadcast by the cluster head during the network establishment scanning period, and set the number of redundant beampoints n; and set the broadcast beamwidth of the cluster head. Divide into Nn The initial capture point plan is formed by selecting the wave positions and planning the first Nn capture time slots out of N capture time slots to search for the Nn wave positions sequentially, and the remaining n capture time slots to repeatedly search for the first n wave positions out of the Nn wave positions. The initial acquisition signaling receiving module is configured to: in the initial acquisition signaling receiving mode, control the antenna to, according to the initial acquisition wave point plan, […]. The beamwidth is searched; if a valid initial acquisition signal is found in the first Nn acquisition slots, the system switches to the reference distribution message receiving mode in the (N-n+1)th acquisition slot and controls the antenna beam to point to the position corresponding to the initial acquisition signal with the best signal-to-noise ratio; if a valid initial acquisition signal is found in the ith acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)th acquisition slot and controls the antenna beam to point to the position corresponding to the ith acquisition slot. The reference distribution message receiving module is used to: receive reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; adjust the local clock according to the reference information, and adjust the antenna beam to point to the cluster head.

[0042] According to some embodiments of the present invention, the system further includes: The initial capture time compensation module is used for: Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

[0043] According to some embodiments of the present invention, the system further includes: The baseline distribution time compensation module is used for: The adjustment time t32 is determined using Formula 2: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in FPGA clock cycles; The adjustment amount a is determined using formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the baseline information arrives; | represents the absolute value operator.

[0044] This invention also proposes a drone equipped with the drone swarm directional antenna beam detection system described above.

[0045] This invention also proposes a drone swarm, including a leader and members; The cluster head includes an initial capture signaling sending module and a baseline distribution message sending module; The initial capture signaling sending module is used to broadcast and send the initial capture signaling; The benchmark distribution message sending module is used to broadcast benchmark information. The members are the drones described above.

[0046] The drone swarm of embodiments of the present invention will now be described in detail with reference to the accompanying drawings through a specific example. It is to be understood that the following description is merely exemplary and should not be construed as a specific limitation of the present invention.

[0047] The UAV swarm in this embodiment of the invention consists of multiple UAV swarm network nodes, including a cluster head and multiple members. The cluster head includes: an initial acquisition signaling sending module and a reference distribution message sending module. The members include: an initial acquisition position planning module, an initial acquisition signaling receiving module, an initial acquisition time compensation module, a reference distribution message receiving module, and a reference distribution time compensation module.

[0048] The initial acquisition signaling sending module of the cluster head is connected to the reference distribution message sending module; the initial acquisition position planning module of the member is connected to the initial acquisition signaling receiving module, the initial acquisition signaling receiving module is connected to the initial acquisition time compensation module, the initial acquisition time compensation module is connected to the reference distribution message receiving module, and the reference distribution message receiving module is connected to the reference distribution time compensation module.

[0049] The function of the initial acquisition signaling sending module is as follows: the cluster head starts the initial acquisition signaling sending at the specified time cell according to the scanning cycle requirements of the network construction phase, and broadcasts the initial acquisition signaling to the members in an omnidirectional radiation manner, for a total of N times; The function of the baseline distribution message sending module is as follows: the cluster head broadcasts baseline messages to its members using an omnidirectional radiation method during the baseline distribution time slot; The function of the initial acquisition point planning module is: members plan the initial acquisition points, reserve a number of redundant points, and use as few points as possible to achieve antenna coverage of a fixed airspace. The function of the initial acquisition signaling receiving module is as follows: the member acquires the relevant detection value of the received synchronization pulse signal in each acquisition time slot and converts it into signal-to-noise ratio, records the maximum value of the signal-to-noise ratio, and selects the scanning wave position of the next time slot according to the planned wave position. The function of the initial capture time compensation module is to adjust the member's time slot interrupt trigger edge to align with the cluster head by compensating for the capture time parameter within the time slot; The function of the reference distribution message receiving module is: members attempt to receive cluster head reference messages in the direction of the valid initial acquisition signaling beam obtained during initial acquisition in the reference distribution time slot; The function of the baseline distribution time compensation module is as follows: members obtain the cluster head time information (including time element, time frame, and time slot) through the baseline distribution message, get the time difference between the member and the cluster head, and adjust the local time to be consistent with the cluster head (compensation to the time slot level). The UAV swarm implementation method of the present invention realizes the directional antenna beam discovery method of UAV swarm through the above-mentioned functional modules, specifically including the following steps: Step 1: The initial capture point planning module executes the initial capture point planning for its members; Members adopt a local scanning mode to plan the initial captured wave positions and reserve several redundant wave positions. While meeting the communication distance requirements, the antenna covers a fixed airspace with as few wave positions as possible to tolerate the time error between members and the cluster head.

[0050] The drones all use standardized antennas. Members will then cover the airspace within the current antenna's range. The corner domain is further divided into Nn The wavelengths are defined by the time slot length tcap. Each time slot can complete the search for one wavelength. The first Nn capture time slots out of the N capture time slots are used to search for the Nn wavelengths sequentially, and the remaining n capture time slots are used to repeatedly search for the first n wavelengths out of the Nn wavelengths to form the initial capture wavelength position plan. Assuming the maximum intra-cluster time error is (n*tcap) ms, then n redundant positions are required. Position planning necessitates the use of Nn broadened positions to fully cover the cluster. airspace.

[0051] Step 2: The initial capture signaling sending module executes the cluster head initial capture signaling sending; The cluster head initiates initial acquisition signaling transmission at the specified time interval according to the scanning cycle requirements of the network construction phase. In each initial acquisition time slot, the cluster head uses omnidirectional radiation (beamwidth: The initial acquisition signal is broadcast to members, once per time slot, for a total of N time slots. If one antenna can achieve omnidirectional radiation, then the UAV carries one antenna; if one antenna cannot achieve this, then multiple antennas are used in combination. All UAVs carry the same number of antennas and have the same parameters.

[0052] Step 3: The initial acquisition signaling receiving module performs initial acquisition signaling reception for members; The initial capture signaling reception module is executed by a member to receive the initial capture signaling. The member uses the initial capture time slot... The beam sequentially attempts to receive initial acquisition signals at pre-planned beam positions, acquires relevant detection values ​​of the received synchronization pulse signal and converts them into signal-to-noise ratio (SNR), records the maximum SNR value, and selects the scanning beam position for the next time slot according to the planned beam positions. If a valid initial acquisition signal is received, the member enters the reference distribution phase, waiting at the beam position with the highest SNR to receive the reference message sent by the cluster head. If no valid initial acquisition signal is received, a new round of initial acquisition is attempted.

[0053] If a valid initial acquisition signaling is found in the first Nn acquisition time slots, the system switches to the reference distribution message receiving mode in the N-n+1 acquisition time slot and controls the antenna beam to point to the position corresponding to the initial acquisition signaling with the best signal-to-noise ratio. If a valid initial acquisition signaling is found in the i-th acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)-th acquisition slot and controls the antenna beam to point to the corresponding position of the i-th acquisition slot. Step 4: The initial capture time compensation module performs initial capture time compensation for members; The initial capture time compensation module members compensate by adjusting the capture time parameters within the time slot to align the member's time slot interrupt trigger edge with the cluster head.

[0054] During the initial capture phase, the misalignment of the member and cluster head time slot interrupt trigger edges includes both leading and lagging cases, such as... Figure 2 As shown.

[0055] The following is about Figure 2 The definition of time is explained as follows: T01: The moment when the cluster head sends the initial acquisition signaling; t01: The moment when a member triggers a local time slot interrupt; t11: The time when the cluster head's initial capture signal arrives at the member; t21: The moment when the member successfully verifies the initial acquisition signaling; T31: The moment when members uniformly adjust the time element number, time frame number, time slot number, and local clock count; Tn1 time: The trigger time for the next time slot interrupt of the cluster head; Δt1: Logic processing delay, in FPGA clock cycles.

[0056] The method for compensating for the initial capture time of members is as follows: The offset of the time slot interrupt from when the member receives the initial capture: offset = t11 - t01; offset is a signed value; Δt1 is obtained through FPGA simulation and used as the input for time compensation; The moment t31 for determining the member adjustment time: t31 = t21 - offset + Δt1; The trigger edge of the time slot interrupt is adjusted at t31 and aligned with the cluster head to complete the time compensation for the initial capture of the member.

[0057] Step 5: The baseline distribution message sending module executes the cluster head baseline message sending; Reference distribution refers to the cluster head using omnidirectional radiation in the reference distribution time slot (beamwidth: The process of sending a reference message and the member waiting to join the network attempting to receive the cluster head position in the beam direction of the valid initial acquisition signaling obtained during initial acquisition.

[0058] The cluster head is configured with the same antenna as in the initial acquisition within the reference distribution time slot. The cluster head continues to use the omnidirectional radiation direction (beamwidth: ), send the baseline message.

[0059] The baseline message includes the time cell number, time frame number, time slot number, location information, and velocity information of the current time slot of the cluster head.

[0060] Step Six: The baseline distribution message receiving module performs member baseline message reception and parsing; Members or cluster heads check the initial acquisition reception flag. If initial acquisition is received, they attempt to receive a reference message in the beam direction of the valid initial acquisition signaling obtained during initial acquisition. If not, they wait for the next network entry.

[0061] If a node does not receive a reference message in the direction of the largest beam obtained from the initial acquisition within the current time cell, the node will proceed to the next network entry process; if a reference message is received, the antenna beam pointing will be updated according to the cluster head position information in the reference message.

[0062] Step 7: The baseline distribution time compensation module performs baseline distribution time compensation for members; During the baseline distribution phase, members compensate by using the capture time parameters within the time slot to adjust their clock counts to align with the cluster head.

[0063] The misalignment of member node clock counts with the cluster head includes two scenarios: leading and lagging. Figure 3 As shown.

[0064] The following is about Figure 3 The definition of time is explained as follows: T02 time: The time when the cluster head sends the baseline distribution. In the resource allocation during the baseline distribution phase, the time element number, time frame number, and time slot number are fixed values. t02: The moment when the member's time slot is interrupted; t12: The time when the cluster head reference information arrives at the member; Time t22: The moment when the member successfully performs CRC verification on the baseline information; T32: The moment when members uniformly adjust the time element number, time frame number, time slot number, and local clock count; Tn2 time: The trigger time for the next time slot interrupt of the cluster head; Δt2: Logic processing delay, in FPGA clock cycles.

[0065] Reference Figure 3 The methods for handling time adjustments include: At time t22, obtain the time element number, time frame number, and time slot number from the reference message, denoted as Tpos ( , , ); Δt2 is obtained through FPGA simulation and used as the input for time compensation; The time t32 when members adjust their time is determined is their local absolute time. t32 = t22 + Δt2; The adjusted time element number, time frame number, and time slot number are Tpos' ( , , ): Tpos'=Tpos+(t22-t12)+Δt2; exist The local time element number, time frame number, and time slot number are constantly adjusted to Tpos' ( , , Aligned with the cluster head, it completes time compensation for large timing errors.

[0066] This achieves the capability of directional antenna beam detection for UAV swarms that can adapt to large time errors.

[0067] The embodiments of this invention feature simple interactive information and high time compensation accuracy, making them suitable for the initial network establishment of UAV swarms. This method effectively solves the beam discovery problem under large timing errors, and can effectively improve the robustness and persistence of UAV swarm networks.

[0068] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for discovering directional antenna beams in a swarm of unmanned aerial vehicles (UAVs), characterized in that, include: Obtain the initial number of acquisition signaling N broadcast by the cluster head during the network construction scanning period, and set the number of redundant spectral bits n; The broadcast beamwidth of the cluster head Divide into Nn The initial capture point plan is formed by selecting the wave positions and planning the first Nn capture time slots out of N capture time slots to search for the Nn wave positions sequentially, and the remaining n capture time slots to repeatedly search for the first n wave positions out of the Nn wave positions. In the initial acquisition signaling reception mode, the antenna is controlled according to the initial acquisition wave point plan. Search for the beamwidth; If a valid initial acquisition signaling is found in the first Nn acquisition time slots, the system switches to the reference distribution message receiving mode in the N-n+1 acquisition time slot and controls the antenna beam to point to the position corresponding to the initial acquisition signaling with the best signal-to-noise ratio. If a valid initial acquisition signaling is found in the i-th acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)-th acquisition slot and controls the antenna beam to point to the corresponding position of the i-th acquisition slot. Receive the reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; The local clock is adjusted according to the reference information, and the antenna beam is directed toward the cluster head.

2. The method as described in claim 1, characterized in that, The method further includes: Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

3. The method as described in claim 1 or 2, characterized in that, The method further includes: The adjustment time t32 is determined using Formula 2: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in units of FPGA clock cycles; The adjustment amount 'a' for the time element number, time frame number, and time slot number is determined using Formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the reference information arrives; | represents the absolute value operator.

4. A directional antenna beam detection system for unmanned aerial vehicle (UAV) swarms, characterized in that, include: The initial acquisition beampoint planning module is used to: obtain the number N of initial acquisition signaling broadcast by the cluster head during the network establishment scanning period, and set the number of redundant beampoints n; and set the broadcast beamwidth of the cluster head. Divide into Nn The initial capture point plan is formed by selecting the first Nn capture time slots out of N capture time slots to search for the Nn capture points sequentially, and the remaining n capture time slots are used to repeatedly search for the first n capture points out of the Nn capture points. The initial acquisition signaling receiving module is configured to: in the initial acquisition signaling receiving mode, control the antenna to, according to the initial acquisition wave point plan, The beamwidth is searched; if a valid initial acquisition signal is found in the first Nn acquisition slots, the system switches to the reference distribution message receiving mode in the (N-n+1)th acquisition slot and controls the antenna beam to point to the position corresponding to the initial acquisition signal with the best signal-to-noise ratio; if a valid initial acquisition signal is found in the ith acquisition slot among the remaining n acquisition slots, the system switches to the reference distribution message receiving mode in the (i+1)th acquisition slot and controls the antenna beam to point to the position corresponding to the ith acquisition slot. The reference distribution message receiving module is used to: receive reference information broadcast by the cluster head, the reference information including the current time cell number, time frame number, and time slot number of the cluster head, as well as the position information and velocity information of the cluster head; adjust the local clock according to the reference information, and adjust the antenna beam to point to the cluster head.

5. The system as described in claim 4, characterized in that, The system also includes: The initial acquisition time compensation module is used for: Based on the time when the local time slot interrupt is triggered by the initial capture signaling and the time when the initial capture signaling arrives, determine the offset of the time slot interrupt from the time when the initial capture is received; The adjustment time t31 is determined using Formula 1: t31=t21-offset+Δt1 Formula 1, Where t21 corresponds to the moment when the initial acquisition signaling verification is successful; Δt1 is the logic processing delay, in units of FPGA clock cycles; Adjust the trigger edge of the time slot interrupt at t31 to align it with the cluster head.

6. The system as described in claim 4 or 5, characterized in that, The system also includes: The baseline distribution time compensation module is used for: The adjustment time t32 is determined using Formula 2: t32=t22+Δt2 Formula 2, Where t22 corresponds to the moment when the reference information verification is successful; Δt2 is the logic processing delay, in units of FPGA clock cycles; The adjustment amount a is determined using formula 3: a=|t22-t12+Δt2| Formula 3, Where t12 corresponds to the time when the reference information arrives; | represents the absolute value operator.

7. A drone, characterized in that, The drone is equipped with a drone swarm directional antenna beam detection system as described in any one of claims 4-6.

8. A swarm of unmanned aerial vehicles (UAVs), characterized in that, Including the cluster leader and members; The cluster head includes an initial capture signaling sending module and a baseline distribution message sending module; The initial capture signaling sending module is used to broadcast and send the initial capture signaling; The benchmark distribution message sending module is used to broadcast benchmark information. The member is the drone as described in claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an implementation program for information transmission, which, when executed by a processor, implements the UAV swarm directional antenna beam discovery method as described in any one of claims 1 to 3.

10. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the UAV swarm directional antenna beam discovery method as described in any one of claims 1 to 3.

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