CN115551039A - 5G and ad hoc network integrated unmanned aerial vehicle group communication system - Google Patents
5G and ad hoc network integrated unmanned aerial vehicle group communication system Download PDFInfo
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Abstract
The invention provides a communication system integrating 5G and ad hoc network unmanned aerial vehicle groups, which comprises: the system comprises a 5G communication module, a self-networking communication module, a communication detection module and a communication switching module, wherein the communication detection module is used for respectively detecting the communication distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and a ground station, determining the maximum communication distance and judging whether the maximum communication distance is greater than a preset communication distance threshold value, and the communication switching module is used for switching the current communication mode of the unmanned aerial vehicle cluster into the first communication mode when the communication detection module determines that the maximum communication distance is greater than the preset communication distance threshold value; otherwise, the current communication mode of the unmanned aerial vehicle group is switched to the second communication mode, so that two sets of communication modes are established by utilizing the 5G technology and the ad hoc network technology, different communication modes are switched according to the communication requirements of the unmanned aerial vehicle group, and the corresponding communication modes can be switched according to the actual working condition of the unmanned aerial vehicle group in the actual work.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle communication, in particular to a 5G and ad hoc network integrated unmanned aerial vehicle cluster communication system.
Background
The unmanned aerial vehicle cluster is increasingly becoming a hot research technology, flexible, automatic and remote operation of the unmanned aerial vehicle cluster is increasingly concerned by human users, an ad hoc network radio station is generally adopted as a communication means in the current unmanned aerial vehicle cluster, and a ground station of the unmanned aerial vehicle cluster is networked with the unmanned aerial vehicle cluster through the ad hoc network radio station to realize issuing of flight control instructions and returning of load information, but the ad hoc network communication means is single, the communication distance is short, and the unmanned aerial vehicle cluster is not suitable for remote communication.
In view of the above, the present invention provides a 5G and ad hoc network unmanned aerial vehicle group communication system.
Disclosure of Invention
The invention provides a 5G and ad hoc network unmanned aerial vehicle group communication system which is used for establishing two sets of communication modes by utilizing a 5G technology and an ad hoc network technology, switching different communication modes according to the communication requirements of an unmanned aerial vehicle group, and switching corresponding communication modes according to the actual working conditions of the unmanned aerial vehicle group in actual work.
The invention provides a 5G and ad hoc network integrated unmanned aerial vehicle cluster communication system, which comprises:
the 5G communication module is used for providing a first communication mode for the unmanned aerial vehicle group;
the ad hoc network communication module is used for providing a second communication mode for the unmanned aerial vehicle group;
the communication detection module is used for respectively detecting the communication distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and the ground station, determining the maximum communication distance and judging whether the communication distance is greater than a preset communication distance threshold value or not;
the communication switching module is used for switching the current communication mode of the unmanned aerial vehicle cluster into a first communication mode when the communication detection module determines that the maximum communication distance is greater than a preset communication distance threshold value; otherwise, the current communication mode of the unmanned aerial vehicle cluster is switched to the second communication mode.
In one manner that may be implemented,
the first communication mode is to establish a 5G communication public network by using a 5G technology, and after the unmanned aerial vehicle group is accessed to the 5G communication public network, public network communication is realized.
In one manner that may be implemented,
the second communication mode is to establish ad hoc private network by using ad hoc network technology, and after the unmanned aerial vehicle group is connected to the ad hoc private network, private network communication is realized.
In one manner that may be implemented,
the communication detection module is further configured to:
detecting the communication fluency of the current networking mode;
the communication detection module includes:
the first detection unit is used for sending a specified data packet to the unmanned aerial vehicle group;
a second detection unit for:
acquiring the time delay of each unmanned aerial vehicle in the unmanned aerial vehicle cluster for receiving the designated data packet, and determining the maximum time delay;
and inquiring in a preset delay-fluency list according to the maximum delay, determining the communication fluency of the current networking mode, and displaying.
In one manner that may be implemented,
further comprising:
the communication encryption module is used for acquiring the unmanned aerial vehicles used for transmitting the professional data in the unmanned aerial vehicle cluster and recording the unmanned aerial vehicles as professional unmanned aerial vehicles;
acquiring professional data transmitted by the professional unmanned aerial vehicle, and encrypting the professional data to obtain encrypted professional data;
transmitting the encrypted professional data to the ground station.
In one manner that may be implemented,
further comprising:
a correction processing module for:
acquiring a geographical area of the execution work of the unmanned aerial vehicle cluster;
inquiring the geographic area in a preset map database to obtain a target area map;
marking the position of a ground station on the target area map;
acquiring the current communication mode of the unmanned aerial vehicle cluster, and analyzing a communication range corresponding to the current communication mode by combining the ground station position;
acquiring a machine code corresponding to each unmanned aerial vehicle in the unmanned aerial vehicle cluster;
acquiring a working position corresponding to each unmanned aerial vehicle at the current moment, and generating a working position change list corresponding to each unmanned aerial vehicle by combining corresponding machine codes;
marking a communication range on the target area map based on the geographic position of the ground station, and drawing a working track corresponding to each unmanned aerial vehicle according to a working position change list corresponding to each unmanned aerial vehicle;
counting the number of boundary crossing times of each unmanned aerial vehicle leaving the communication range, extracting the unmanned aerial vehicles with the boundary crossing times larger than a preset number threshold value, and recording the unmanned aerial vehicles as target unmanned aerial vehicles;
acquiring historical data transmitted by the target unmanned aerial vehicle and a ground station;
analyzing the historical data, acquiring the data attribute of the historical data, and judging whether the data attribute belongs to the target data attribute;
if so, acquiring the maximum out-of-range distance of the target unmanned aerial vehicle to obtain a maximum out-of-range position;
moving the communication range until the maximum out-of-range position is within the moved communication range, acquiring the movement amount of the communication range, and analyzing the movement amount to obtain a first position correction parameter of the ground station position;
dividing the communication range into a plurality of sub-ranges, and respectively acquiring the contact ratio between each sub-range and each unmanned aerial vehicle working track;
rejecting a sub-range with the contact ratio lower than a preset contact ratio threshold value, and recording the residual communication range as a target communication range;
establishing a correction communication range by taking the target communication range as a center;
analyzing the corrected communication range to generate a second position correction parameter of the ground station position;
and obtaining a first corrected position of the ground station based on the first position correction parameter of the ground station position, obtaining a second corrected position of the ground station according to the second position correction parameter, taking the first corrected position and the second corrected position as focuses respectively, establishing an oval position range as the corrected position range of the ground station, and displaying the oval position range.
In one manner that may be implemented,
further comprising:
an emergency processing module to:
acquiring a communication signal of the ground station, and analyzing the communication signal to obtain the signal intensity of the communication signal;
if the signal intensity is smaller than a preset intensity threshold value, determining that the ground station is invalid, and generating a return flight instruction;
acquiring the current position of each unmanned aerial vehicle based on the return command, respectively analyzing the linear distance between any two unmanned aerial vehicles, and establishing an unmanned aerial vehicle distance comparison table;
sorting the linear distances in the unmanned aerial vehicle distance comparison table from large to small to obtain a distance queue sequence;
extracting a first straight line distance in the distance queuing sequence to be used as a first straight line distance, acquiring two unmanned aerial vehicles corresponding to the first straight line distance, and respectively recording the two unmanned aerial vehicles as a first test unmanned aerial vehicle and a second test unmanned aerial vehicle;
controlling the first test unmanned aerial vehicle and the second test unmanned aerial vehicle to carry out bidirectional communication, and if the first test unmanned aerial vehicle and the second test unmanned aerial vehicle successfully carry out bidirectional communication, recording a first straight line distance between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle as a farthest communication distance of the unmanned aerial vehicle cluster;
if the two-way communication between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle fails, extracting a second straight-line distance in the distance queuing sequence to be used as a second straight-line distance, obtaining two unmanned aerial vehicles corresponding to the second straight-line distance to repeat the test, and obtaining the farthest communication distance of the unmanned aerial vehicle cluster;
determining the sequence position of the farthest communication distance in the distance queuing sequence, acquiring the linear distance corresponding to the sequence position and the linear distance behind the sequence position, and recording as a target linear distance;
establishing an ad hoc link between two unmanned aerial vehicles corresponding to the target linear distance, and acquiring all the ad hoc links in the unmanned aerial vehicle cluster to obtain an ad hoc network;
selecting one unmanned aerial vehicle from the unmanned aerial vehicle group, and recording the unmanned aerial vehicle as a first returning unmanned aerial vehicle;
assigning a first return route for the first return unmanned aerial vehicle, and transmitting the first return route to a second return unmanned aerial vehicle connected with the first return unmanned aerial vehicle through an ad hoc network;
controlling the second returning unmanned aerial vehicle to avoid the first returning unmanned aerial vehicle to generate a second returning route, transmitting the second returning route to a third returning unmanned aerial vehicle connected with the second returning unmanned aerial vehicle through an ad hoc network, controlling the third returning unmanned aerial vehicle to avoid the first returning unmanned aerial vehicle and the second returning unmanned aerial vehicle to generate a second returning route, and repeatedly executing the transmission work and the work of automatically generating the returning route;
and after each unmanned aerial vehicle in the unmanned aerial vehicle cluster generates a corresponding return route, controlling each unmanned aerial vehicle in the unmanned aerial vehicle cluster to execute return operation according to the corresponding return route.
In one manner that may be implemented,
the communication detection module is further configured to:
detecting the current communication security of the unmanned aerial vehicle cluster in a preset time period, and if the security is smaller than a preset security threshold value, generating and displaying reminding information.
In one manner that may be implemented,
the correction processing module is further configured to:
and after generating the corrected position range of the ground station, marking the corrected position range on the target area map, generating a plurality of ground station corrected paths based on the ground station position, and displaying the paths.
In one manner that may be implemented,
the communication switching module is further configured to:
performing network switching according to a switching instruction of a user;
the communication switching module comprises:
the first switching unit is used for receiving a switching instruction input by a user;
and the second switching unit is used for analyzing the switching instruction, obtaining a communication mode to be switched by the user, marking the communication mode to be switched and switching the current communication mode to the communication mode to be switched.
Compared with the prior art, the invention has the following beneficial effects:
in order to ensure that the unmanned aerial vehicle group can normally carry out long-distance communication on the basis of ensuring that the unmanned aerial vehicle group can normally carry out short-distance communication, a 5G communication module and an ad hoc network communication module are respectively arranged for providing two different communication modes, so that different communication modes can be used according to different working states of the unmanned aerial vehicle group, and different communication modes can be switched according to the current requirements when the unmanned aerial vehicle group works, thereby achieving the purpose of stable communication.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram illustrating a 5G and ad hoc network unmanned aerial vehicle group communication system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a communication detection module of a converged 5G and ad hoc network unmanned aerial vehicle group communication system in an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a configuration of a communication switching module of a converged 5G ad hoc network unmanned aerial vehicle group communication system in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
Example 1
A converged 5G and ad hoc networked drone group communication system, as shown in fig. 1, comprising:
the 5G communication module is used for providing a first communication mode for the unmanned aerial vehicle group;
the ad hoc network communication module is used for providing a second communication mode for the unmanned aerial vehicle group;
the communication detection module is used for respectively detecting the communication distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and the ground station, determining the maximum communication distance and judging whether the communication distance is greater than a preset communication distance threshold value or not;
the communication switching module is used for switching the current communication mode of the unmanned aerial vehicle group into a first communication mode when the communication detection module determines that the maximum communication distance is larger than a preset communication distance threshold value; otherwise, the current communication mode of the unmanned aerial vehicle cluster is switched to the second communication mode.
In this example, the first communication mode indicates a mode of communication through a 5G network;
in this example, the second communication mode indicates a mode of communication through an ad hoc network;
in this example, the ground station means a base station provided on the ground to command the unmanned aerial vehicle group;
in this example, the communication distance represents a straight line distance between the drone and the ground station.
The working principle and the beneficial effects of the technical scheme are as follows: in order to add the long-distance communication function on the basis of ensuring that the unmanned aerial vehicle group normally carries out short-distance communication, a 5G communication module and an ad hoc network communication module are arranged to respectively provide two different communication modes, so that different communication modes can be used according to different working states of the unmanned aerial vehicle group, and different communication modes are switched according to the current requirements when the unmanned aerial vehicle group works, and the purpose of stable communication is achieved.
Example 2
On the basis of the embodiment 1, the converged 5G and ad hoc network unmanned aerial vehicle group communication system comprises:
the first communication mode is to establish a 5G communication public network by using a 5G technology, and after the unmanned aerial vehicle group is accessed to the 5G communication public network, public network communication is realized.
The working principle and the beneficial effects of the technical scheme are as follows: A5G communication public network is established by utilizing a 5G technology, public network communication is established for the unmanned aerial vehicle group, and the purpose of remote communication is achieved.
Example 3
On the basis of the embodiment 1, the hybrid 5G and ad hoc network unmanned aerial vehicle group communication system comprises:
the second communication mode is to establish ad hoc private network by using ad hoc network technology, and after the unmanned aerial vehicle group is connected to the ad hoc private network, private network communication is realized.
The working principle and the beneficial effects of the technical scheme are as follows: the ad hoc network communication private network is established by utilizing the ad hoc network technology, private network communication is established for the unmanned aerial vehicle group, and the function of short-distance communication of the unmanned aerial vehicle group is reserved.
Example 4
On the basis of embodiment 1, the communication detection module is further configured to:
detecting the communication fluency of the current networking mode;
as shown in fig. 2, the communication detection module includes:
the first detection unit is used for sending a specified data packet to the unmanned aerial vehicle group;
a second detection unit for:
acquiring the time delay of each unmanned aerial vehicle in the unmanned aerial vehicle cluster for receiving the designated data packet, and determining the maximum time delay;
and inquiring in a preset delay-fluency list according to the maximum delay, determining the communication fluency of the current networking mode, and displaying.
In this example, the designated data packet represents data for testing the communication smoothness of each drone in the drone group;
in this example, the time delay represents the maximum time length for all the unmanned aerial vehicles in the unmanned aerial vehicle cluster to receive the designated data packet;
in this example, the preset delay-fluency list indicates the correspondence between different delays and fluency.
The working principle and the beneficial effects of the technical scheme are as follows: in order to judge whether the communication of the unmanned aerial vehicle cluster is in a flow or not, an appointed data packet is sent to the unmanned aerial vehicle cluster, and whether the current communication mode is smooth or not is further analyzed according to the time delay of the unmanned aerial vehicle cluster for receiving the data packet, so that a user can refer to the data packet.
Example 5
On the basis of embodiment 1, the system for converged 5G and ad hoc network unmanned aerial vehicle group communication further includes:
the communication encryption module is used for acquiring the unmanned aerial vehicles used for transmitting the professional data in the unmanned aerial vehicle cluster and recording the acquired unmanned aerial vehicles as professional unmanned aerial vehicles;
acquiring professional data transmitted by the professional unmanned aerial vehicle, and encrypting the professional data to obtain encrypted professional data;
transmitting the encrypted professional data to the ground station.
The working principle and the beneficial effects of the technical scheme are as follows: because different unmanned aerial vehicles in the unmanned aerial vehicle crowd carry out different work, some data belong to professional data, in order to avoid professional data to be revealed, before data transmission, encrypt professional data earlier, transmit again, and then reach the purpose of protection data.
Example 6
On the basis of embodiment 1, the system for converged 5G and ad hoc network unmanned aerial vehicle group communication further includes:
a correction processing module for:
acquiring a geographical area of the execution work of the unmanned aerial vehicle cluster;
inquiring the geographic area in a preset map database to obtain a target area map;
marking the position of a ground station on the target area map;
acquiring the current communication mode of the unmanned aerial vehicle cluster, and analyzing a communication range corresponding to the current communication mode by combining the ground station position;
acquiring a machine code corresponding to each unmanned aerial vehicle in the unmanned aerial vehicle cluster;
acquiring a working position corresponding to each unmanned aerial vehicle at the current moment, and generating a working position change list corresponding to each unmanned aerial vehicle by combining corresponding machine codes;
marking a communication range on the target area map based on the geographic position of the ground station, and drawing a working track corresponding to each unmanned aerial vehicle according to a working position change list corresponding to each unmanned aerial vehicle;
counting the number of boundary crossing times of each unmanned aerial vehicle leaving the communication range, extracting the unmanned aerial vehicles with the boundary crossing times larger than a preset number threshold value, and recording the unmanned aerial vehicles as target unmanned aerial vehicles;
acquiring historical data transmitted by the target unmanned aerial vehicle and a ground station;
analyzing the historical data, acquiring the data attribute of the historical data, and judging whether the data attribute belongs to the target data attribute;
if so, acquiring the maximum out-of-range distance of the target unmanned aerial vehicle to obtain a maximum out-of-range position;
moving the communication range until the maximum out-of-range position is within the moved communication range, acquiring the movement amount of the communication range, and analyzing the movement amount to obtain a first position correction parameter of the ground station position;
dividing the communication range into a plurality of sub-ranges, and respectively acquiring the contact ratio between each sub-range and each unmanned aerial vehicle working track;
rejecting a sub-range with the contact ratio lower than a preset contact ratio threshold value, and recording the residual communication range as a target communication range;
establishing a correction communication range by taking the target communication range as a center;
analyzing the corrected communication range to generate a second position correction parameter of the ground station position;
and obtaining a first corrected position of the ground station based on the first position correction parameter of the ground station position, obtaining a second corrected position of the ground station according to the second position correction parameter, taking the first corrected position and the second corrected position as focuses respectively, establishing an elliptical position range as the corrected position range of the ground station, and displaying the elliptical position range.
In this example, the geographic region represents where the drone swarm performs work;
in this example, the target area map represents a map of where the drone swarm is performing work;
in this example, the drone group working model represents a virtual model that simulates the operation of the drone group;
in this example, the communication range indicates a range in which the drone group can communicate today in the current communication mode;
in this example, the machine code means a code set in advance for each drone for distinguishing different drones;
in this example, the working position change list indicates a corresponding position change statistical table at different times during the working process of each unmanned aerial vehicle;
in this example, the number of times of border crossing indicates the number of times that the drone leaves the communication range;
in this example, the target drone represents a drone performing core work;
in this example, the target data attributes represent data attributes corresponding to core work;
in this example, the first position correction parameter represents a parameter for correcting the position of the ground station according to the out-of-range position at which the target drone operates;
in this example, the second correction parameter represents a parameter for correcting the position of the ground station in accordance with the position of the target communication range;
in this example, the first correction position and the second correction position are respectively taken as the focus, and the process of establishing the elliptical position range is as follows: and drawing by combining a preset ellipse equation to obtain a position range.
The working principle and the beneficial effects of the technical scheme are as follows: because the ground station is a control center for controlling the unmanned aerial vehicle cluster to execute work, and the communication range is limited, in order to ensure that the unmanned aerial vehicle cluster can normally communicate, the communication condition of each unmanned aerial vehicle is detected in the process of executing work of the unmanned aerial vehicle cluster, the unmanned aerial vehicle is prevented from being damaged due to the fact that the unmanned aerial vehicle is separated from the communication range for a long time, the position of the ground station is corrected under necessary conditions, each unmanned aerial vehicle in the unmanned aerial vehicle cluster is ensured to be in the communication range, and the purpose of effective communication is achieved.
Example 7
On the basis of the embodiment 1, the system for integrating 5G and ad hoc network unmanned aerial vehicle group communication further includes:
an emergency processing module to:
acquiring a communication signal of the ground station, and analyzing the communication signal to obtain the signal intensity of the communication signal;
if the signal intensity is smaller than a preset intensity threshold value, determining that the ground station is invalid, and generating a return flight instruction;
acquiring the current position of each unmanned aerial vehicle based on the return command, respectively analyzing the linear distance between any two unmanned aerial vehicles, and establishing an unmanned aerial vehicle distance comparison table;
sorting the linear distances in the unmanned aerial vehicle distance comparison table from large to small to obtain a distance queue sequence;
extracting a first straight line distance in the distance queuing sequence to be used as a first straight line distance, acquiring two unmanned aerial vehicles corresponding to the first straight line distance, and respectively recording the two unmanned aerial vehicles as a first test unmanned aerial vehicle and a second test unmanned aerial vehicle;
controlling the first test unmanned aerial vehicle and the second test unmanned aerial vehicle to carry out bidirectional communication, and recording a first linear distance between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle as a farthest communication distance of the unmanned aerial vehicle cluster if the bidirectional communication between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle is successful;
if the two-way communication between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle fails, extracting a second linear distance in the distance queuing sequence as a second linear distance, acquiring two unmanned aerial vehicles corresponding to the second linear distance to repeat the test, and acquiring the farthest communication distance of the unmanned aerial vehicle cluster;
determining the sequence position of the farthest communication distance in the distance queuing sequence, acquiring the linear distance corresponding to the sequence position and the linear distance behind the sequence position, and recording as a target linear distance;
establishing an ad hoc link between two unmanned aerial vehicles corresponding to the target linear distance, and acquiring all the ad hoc links in the unmanned aerial vehicle cluster to obtain an ad hoc network;
selecting one unmanned aerial vehicle from the unmanned aerial vehicle group, and recording the unmanned aerial vehicle as a first returning unmanned aerial vehicle;
assigning a first return route for the first return unmanned aerial vehicle, and transmitting the first return route to a second return unmanned aerial vehicle connected with the first return unmanned aerial vehicle through an ad hoc network;
controlling the second returning unmanned aerial vehicle to avoid the first returning unmanned aerial vehicle to generate a second returning route, transmitting the second returning route to a third returning unmanned aerial vehicle connected with the second returning unmanned aerial vehicle through an ad hoc network, controlling the third returning unmanned aerial vehicle to avoid the first returning unmanned aerial vehicle and the second returning unmanned aerial vehicle to generate a second returning route, and repeatedly executing the transmission work and the work of automatically generating the returning route;
and after each unmanned aerial vehicle in the unmanned aerial vehicle cluster generates a corresponding return route, controlling each unmanned aerial vehicle in the unmanned aerial vehicle cluster to execute return operation according to the corresponding return route.
In this example, the communication signal represents a signal sent by a ground station to a group of drones;
in this example, the reasons for the failure of the ground station include the shutdown of the ground station, the damage of the ground station, and the over-distance between the ground station and the unmanned aerial vehicle group;
in this example, the unmanned aerial vehicle distance comparison table represents a comparison table including the linear distance between any two unmanned aerial vehicles in the unmanned aerial vehicle cluster;
in this example, the distance queue sequence represents the results of sorting according to the order of the straight-line distances from large to small;
in this example, the first test drone and the second test drone represent the drones used to test the farthest communication distances;
in this example, the purpose of obtaining the communication distance threshold value by using two-way communication between different drones is to: the communication test is carried out by utilizing the unmanned aerial vehicles with different distances, so that the farthest communication distance of the unmanned aerial vehicle cluster in the current environment and different unmanned aerial vehicles can be quickly obtained, and networking distance reference can be provided for subsequent networking work;
in this example, the first returning drone represents the first drone to perform the returning operation;
in this example, the return work represents the work of recalling the drone.
The working principle and the beneficial effects of the technical scheme are as follows: in order to guarantee the safety of each unmanned aerial vehicle in the unmanned aerial vehicle cluster, when the ground station communication signal is weak, the unmanned aerial vehicle needs to be recalled, avoid the unmanned aerial vehicle to collide at the in-process of returning a voyage, establish the private network for the unmanned aerial vehicle cluster through the mode of self-organizing network, then transmit the route of returning a voyage in the private network, then carry out the line adjustment between the unmanned aerial vehicle of difference, generate one set of complete route of returning a voyage, realize recalling work at last, avoided unmanned aerial vehicle to break away from the communication range for a long time and cause unnecessary injury.
Example 8
On the basis of embodiment 1, the communication detection module is further configured to:
detecting the current communication security of the unmanned aerial vehicle cluster in a preset time period, and if the security is smaller than a preset security threshold value, generating and displaying reminding information.
The working principle and the beneficial effects of the technical scheme are as follows: in order to avoid stealing data of the unmanned aerial vehicle cluster, the safety of the unmanned aerial vehicle cluster is tested within a preset time period, and corresponding reminding information is made for the user to refer.
Example 9
On the basis of embodiment 6, the modification processing module is further configured to:
and after the corrected position range of the ground station is generated, marking the corrected position range on the target area map, generating a plurality of ground station corrected paths based on the ground station position, and displaying the paths.
The working principle and the beneficial effects of the technical scheme are as follows: in order to fit the actual scene, after the correction range position of the ground station is generated, a plurality of ground station correction paths are established for the reference of a user.
Example 10
On the basis of embodiment 1, the communication switching module is further configured to:
performing network switching according to a switching instruction of a user;
as shown in fig. 3, includes:
the first switching unit is used for receiving a switching instruction input by a user;
and the second switching unit is used for analyzing the switching instruction, obtaining the communication mode to be switched by the user, marking the communication mode to be switched and switching the current communication mode to the communication mode to be switched.
The working principle and the beneficial effects of the scheme are as follows: the function of manual switching is established, the network can be switched according to the requirements of users, and the intelligence of the system is improved.
Example 11
On the basis of embodiment 4, in the system for converged 5G and ad hoc network unmanned aerial vehicle group communication, the second detection unit is further configured to:
acquiring the bandwidth corresponding to each unmanned aerial vehicle and recording the bandwidth as K i ；
Respectively obtaining the detection distance between each unmanned aerial vehicle and the corresponding unmanned aerial vehicle, and recording the detection distance as X i ；
Calculating and acquiring the time delay of each unmanned aerial vehicle in the unmanned aerial vehicle cluster for receiving the specified data packet according to a formula (I);
wherein, T i Representing a time delay, X, of the designated data packet to arrive at an ith drone in the drone swarm i The detection distance K between the ith unmanned aerial vehicle in the unmanned aerial vehicle cluster and the communication detection module is represented i Representing the bandwidth corresponding to the ith unmanned aerial vehicle in the unmanned aerial vehicle cluster, b i The bandwidth signal-to-noise ratio corresponding to the ith unmanned aerial vehicle in the unmanned aerial vehicle cluster is represented, gamma represents the probability that the known data packet can be successfully transmitted to the unmanned aerial vehicle cluster, S represents the data volume contained in the specified data packet, v represents the transmission rate of the data packet, and k represents the time length for analyzing the specified data packet by the unmanned aerial vehicle cluster;
calculating the time delay of the unmanned aerial vehicle group for receiving the specified data packet according to a formula (II);
T s ＝t+max(T i ) (Ⅱ)
wherein, T s Representing the time delay of the unmanned aerial vehicle group for receiving the specified data packet, t representing the required time length of the specified data packet for returning to the first detection unit, and max () representing the maximum value of the time delay of the unmanned aerial vehicle for receiving the specified data packet;
and (3) acquiring the time delay of the unmanned aerial vehicle group for receiving the specified data packet according to the calculation result of the formula (II), and displaying the time delay.
The working principle and the beneficial effects of the technical scheme are as follows: the calculation of the time delay of the unmanned aerial vehicle group for receiving the designated datagram is a standard reflecting the communication fluency of the unmanned aerial vehicle group, so that multiple factors need to be considered in the process of obtaining the time delay, the time delay of each unmanned aerial vehicle for receiving the designated data packet is calculated by using a formula, and then the time delay of the unmanned aerial vehicle group for receiving the designated data packet is obtained by combining the time length of generating the designated data packet, so that the fluency of the unmanned aerial vehicle group is further obtained, and a user can know the working condition of the unmanned aerial vehicle group in real time in the actual use process.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A converged 5G and ad hoc network unmanned aerial vehicle group communication system is characterized by comprising:
the 5G communication module is used for providing a first communication mode for the unmanned aerial vehicle group;
the ad hoc network communication module is used for providing a second communication mode for the unmanned aerial vehicle group;
the communication detection module is used for respectively detecting the communication distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and the ground station, determining the maximum communication distance and judging whether the communication distance is greater than a preset communication distance threshold value or not;
the communication switching module is used for switching the current communication mode of the unmanned aerial vehicle cluster into a first communication mode when the communication detection module determines that the maximum communication distance is greater than a preset communication distance threshold value; otherwise, the current communication mode of the unmanned aerial vehicle group is switched to the second communication mode.
2. The converged 5G and ad hoc networked drone swarm communication system according to claim 1, wherein:
the first communication mode is to establish a 5G communication public network by using a 5G technology, and after the unmanned aerial vehicle group is accessed to the 5G communication public network, public network communication is realized.
3. The converged 5G and ad hoc networked drone swarm communication system according to claim 1, wherein:
the second communication mode is to establish ad-hoc private network by using ad-hoc network technology, and when the unmanned aerial vehicle group is connected to the ad-hoc private network, private network communication is realized.
4. The converged 5G and ad-hoc network drone swarm communication system of claim 1, wherein the communication detection module is further configured to:
detecting the communication fluency of the current networking mode;
the communication detection module includes:
the first detection unit is used for sending a specified data packet to the unmanned aerial vehicle group;
a second detection unit for:
acquiring the time delay of each unmanned aerial vehicle in the unmanned aerial vehicle cluster for receiving the designated data packet, and determining the maximum time delay;
and inquiring in a preset delay-fluency list according to the maximum delay, determining the communication fluency of the current networking mode, and displaying.
5. The converged 5G and ad-hoc networked drone group communication system of claim 1, further comprising:
the communication encryption module is used for acquiring the unmanned aerial vehicles used for transmitting the professional data in the unmanned aerial vehicle cluster and recording the acquired unmanned aerial vehicles as professional unmanned aerial vehicles;
acquiring professional data transmitted by the professional unmanned aerial vehicle, and encrypting the professional data to obtain encrypted professional data;
transmitting the encrypted professional data to the ground station.
6. The converged 5G and ad hoc network drone swarm communication system of claim 1, further comprising:
a correction processing module for:
acquiring a geographical area for executing work of the unmanned aerial vehicle group;
inquiring the geographic area in a preset map database to obtain a target area map;
marking the position of a ground station on the target area map;
acquiring the current communication mode of the unmanned aerial vehicle cluster, and analyzing a communication range corresponding to the current communication mode by combining the ground station position;
acquiring a machine code corresponding to each unmanned aerial vehicle in the unmanned aerial vehicle cluster;
acquiring a working position corresponding to each unmanned aerial vehicle at the current moment, and generating a working position change list corresponding to each unmanned aerial vehicle by combining corresponding machine codes;
marking a communication range on the target area map based on the geographic position of the ground station, and drawing a working track corresponding to each unmanned aerial vehicle according to a working position change list corresponding to each unmanned aerial vehicle;
counting the boundary crossing times of each unmanned aerial vehicle leaving the communication range, extracting the unmanned aerial vehicles with the boundary crossing times larger than a preset time threshold value, and recording the unmanned aerial vehicles as target unmanned aerial vehicles;
acquiring historical data transmitted by the target unmanned aerial vehicle and a ground station;
analyzing the historical data, acquiring the data attribute of the historical data, and judging whether the data attribute belongs to the target data attribute;
if so, acquiring the maximum out-of-range distance of the target unmanned aerial vehicle to obtain a maximum out-of-range position;
moving the communication range until the maximum out-of-range position is within the moved communication range, acquiring the movement amount of the communication range, and analyzing the movement amount to obtain a first position correction parameter of the ground station position;
dividing the communication range into a plurality of sub-ranges, and respectively acquiring the contact ratio between each sub-range and each unmanned aerial vehicle working track;
rejecting a sub-range with the contact ratio lower than a preset contact ratio threshold value, and recording the residual communication range as a target communication range;
establishing a correction communication range by taking the target communication range as a center;
analyzing the corrected communication range to generate a second position correction parameter of the ground station position;
and obtaining a first corrected position of the ground station based on the first position correction parameter of the ground station position, obtaining a second corrected position of the ground station according to the second position correction parameter, taking the first corrected position and the second corrected position as focuses respectively, establishing an elliptical position range as the corrected position range of the ground station, and displaying the elliptical position range.
7. The converged 5G and ad-hoc networked drone group communication system of claim 1, further comprising:
an emergency processing module to:
acquiring a communication signal of the ground station, and analyzing the communication signal to obtain the signal intensity of the communication signal;
if the signal intensity is smaller than a preset intensity threshold value, determining that the ground station is invalid, and generating a return flight instruction;
acquiring the current position of each unmanned aerial vehicle based on the return command, respectively analyzing the linear distance between any two unmanned aerial vehicles, and establishing an unmanned aerial vehicle distance comparison table;
sorting the linear distances in the unmanned aerial vehicle distance comparison table from large to small to obtain a distance queue sequence;
extracting a first straight line distance in the distance queuing sequence to be used as a first straight line distance, acquiring two unmanned aerial vehicles corresponding to the first straight line distance, and respectively recording the two unmanned aerial vehicles as a first test unmanned aerial vehicle and a second test unmanned aerial vehicle;
controlling the first test unmanned aerial vehicle and the second test unmanned aerial vehicle to carry out bidirectional communication, and if the first test unmanned aerial vehicle and the second test unmanned aerial vehicle successfully carry out bidirectional communication, recording a first straight line distance between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle as a farthest communication distance of the unmanned aerial vehicle cluster;
if the two-way communication between the first test unmanned aerial vehicle and the second test unmanned aerial vehicle fails, extracting a second straight-line distance in the distance queuing sequence to be used as a second straight-line distance, obtaining two unmanned aerial vehicles corresponding to the second straight-line distance to repeat the test, and obtaining the farthest communication distance of the unmanned aerial vehicle cluster;
determining the sequence position of the farthest communication distance in the distance queuing sequence, acquiring the linear distance corresponding to the sequence position and the linear distance behind the sequence position, and recording the linear distance as a target linear distance;
establishing an ad hoc link between two unmanned aerial vehicles corresponding to the target linear distance, and acquiring all the ad hoc links in the unmanned aerial vehicle cluster to obtain an ad hoc network;
selecting one unmanned aerial vehicle from the unmanned aerial vehicle group, and recording the unmanned aerial vehicle as a first returning unmanned aerial vehicle;
a first return route is assigned to the first return unmanned aerial vehicle, and the first return route is transmitted to a second return unmanned aerial vehicle connected with the first return unmanned aerial vehicle through an ad hoc network;
controlling the second returning unmanned aerial vehicle to avoid the first returning unmanned aerial vehicle to generate a second returning route, transmitting the second returning route to a third returning unmanned aerial vehicle connected with the second returning unmanned aerial vehicle through an ad hoc network, controlling the third returning unmanned aerial vehicle to avoid the first returning unmanned aerial vehicle and the second returning unmanned aerial vehicle to generate a second returning route, and repeatedly executing the transmission work and the work of automatically generating the returning route;
and after each unmanned aerial vehicle in the unmanned aerial vehicle cluster generates a corresponding return route, controlling each unmanned aerial vehicle in the unmanned aerial vehicle cluster to execute return operation according to the corresponding return route.
8. The converged 5G and ad hoc network drone swarm communication system according to claim 1, wherein the communication detection module is further configured to:
detecting the current communication security of the unmanned aerial vehicle cluster in a preset time period, and if the security is smaller than a preset security threshold value, generating and displaying reminding information.
9. The converged 5G and ad hoc network drone group communication system according to claim 6, wherein said modification processing module is further configured to:
and after the corrected position range of the ground station is generated, marking the corrected position range on the target area map, generating a plurality of ground station corrected paths based on the ground station position, and displaying the paths.
10. The converged 5G and ad hoc network drone group communication system according to claim 1, wherein the communication switching module is further configured to:
performing network switching according to a switching instruction of a user;
the communication switching module comprises:
the first switching unit is used for receiving a switching instruction input by a user;
and the second switching unit is used for analyzing the switching instruction, obtaining the communication mode to be switched by the user, marking the communication mode to be switched and switching the current communication mode to the communication mode to be switched.
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| CN113613208A (en) * | 2020-05-05 | 2021-11-05 | 空中客车防务和空间公司 | Method for wireless communication of aircraft via land network and airborne system |
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