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CN-122002440-A - Unmanned aerial vehicle multimode self-adaptive communication method oriented to extreme communication environment

CN122002440ACN 122002440 ACN122002440 ACN 122002440ACN-122002440-A

Abstract

The application provides an unmanned aerial vehicle multimode self-adaptive communication method oriented to an extreme communication environment, and belongs to the technical field of unmanned aerial vehicle communication. The method comprises the steps of collecting communication quality indexes of all communication links in real time, identifying current communication environment characteristics based on millimeter wave radar, GPS signal intensity and a cellular network registration state, dynamically adjusting weights of signal quality, delay and reliability in a communication quality assessment model according to current task types, communication environment characteristics and flight dynamic states, calculating comprehensive scores of all communication links based on weighted communication quality assessment results, and judging whether link switching is triggered or not according to preset fuzzy logic switching rules. Through multisource environment sensing, task self-adaptive weight adjustment and three-stage smooth switching mechanism, the link reliability, switching continuity and task adaptive capacity of the unmanned aerial vehicle under the extreme communication environment are remarkably improved.

Inventors

  • DOU YINKE
  • ZHANG YU
  • ZHANG SONGWEI
  • KOU LIWEI
  • WEN MEIHONG
  • SUN ZIQI

Assignees

  • 山西省能源互联网研究院

Dates

Publication Date
20260508
Application Date
20260127

Claims (10)

  1. 1. The multimode self-adaptive communication method for the unmanned aerial vehicle facing the extreme communication environment is characterized by comprising the following steps of: Collecting communication quality indexes of all communication links in real time, wherein the communication quality indexes comprise signal strength, signal-to-noise ratio, communication delay and packet loss rate; identifying current communication environment characteristics based on millimeter wave radar, GPS signal intensity and cellular network registration state, wherein the communication environment characteristics comprise a sight distance/non-sight distance state, a public network coverage state and a flight dynamic level; dynamically adjusting weights of signal quality, delay and reliability in a communication quality assessment model according to the current task type, communication environment characteristics and flight dynamic state; Based on the weighted communication quality evaluation result, calculating the comprehensive score of each communication link, and judging whether to trigger link switching according to a preset fuzzy logic switching rule; If the switching condition is met, a three-stage switching mechanism is executed, namely pre-switching preparation, parallel transmission of key data of new and old links, completion of main link switching and closing of non-key service of the original link.
  2. 2. The method for multi-mode adaptive communication of an unmanned aerial vehicle facing an extreme communication environment according to claim 1, wherein the real-time acquisition of the communication quality index of each communication link is specifically as follows: periodically acquiring signal strength and signal-to-noise ratio through a radio frequency monitoring unit built in each communication module; measuring end-to-end communication delay through a time stamp comparison mechanism, wherein the end-to-end communication delay is a time interval from a ground control station to an unmanned aerial vehicle receiving confirmation return; Calculating a packet loss rate through a sliding window statistics mechanism, wherein the packet loss rate is dynamically updated based on the difference between the number of sent data packets and the number of successfully received acknowledgement packets in a preset time window; wherein the sampling period of the communication quality indicator is not more than 100 milliseconds.
  3. 3. The method for multi-mode adaptive communication of an unmanned aerial vehicle facing to an extreme communication environment according to claim 1, wherein the identifying the current communication environment features based on millimeter wave radar, GPS signal strength and cellular network registration status is specifically as follows: Scanning the front airspace by utilizing a millimeter wave radar to acquire three-dimensional point cloud data, and judging whether terrain or building shielding exists or not by combining the current heading and height information of the unmanned aerial vehicle, so as to judge that a communication link is in a sight distance or non-sight distance state; Monitoring the GPS signal intensity and the number of visible satellites in real time through a GNSS receiver, and marking as high interference or shielding environment when the GPS signal intensity is lower than a preset threshold value and the number of visible satellites is less than 4; Detecting whether the registration to the 4G/5G public network base station is successful or not through the cellular communication module, evaluating the public network coverage quality according to the received RSRP and RSRQ indexes, and judging that the public network coverage state is not available if the registration is not performed or the signal quality is lower than a set threshold; And calculating the current flight dynamic grade of the unmanned aerial vehicle by combining the acceleration and angular velocity data output by the inertial measurement unit, wherein the flight dynamic grade is divided into three types of stable flight, moderate maneuver and severe maneuver.
  4. 4. The method for multi-mode adaptive communication of an unmanned aerial vehicle facing an extreme communication environment according to claim 1, wherein the weights of signal quality, delay and reliability in the communication quality assessment model are dynamically adjusted according to the current task type, the communication environment characteristics and the flight dynamic state, specifically: the basic weight vectors wsig, wlat and wrel are preset and respectively correspond to three indexes of signal quality, communication delay and reliability; When the current task type is a telemetry control type task, the delay weight is increased to be not lower than 0.5, the signal quality weight is reduced, and when the task type is high-definition video backhaul or high-capacity data transmission, the signal quality and the reliability weight are increased, so that the sum of the signal quality and the reliability weight is not lower than 0.7; If the communication environment is identified as a non-line-of-sight or non-public network coverage state, automatically enhancing the reliability weight and inhibiting the dependence on a low-delay link; If the flying dynamic level is a severe maneuver, the signal quality and the reliability weight are improved so as to cope with link fluctuation caused by the rapid change of the gesture; The final weights were normalized to ensure wsig + wlat + wrel =1.
  5. 5. The method for multi-mode adaptive communication of unmanned aerial vehicle facing extreme communication environment according to claim 4, wherein the calculating the comprehensive score of each communication link based on the weighted communication quality evaluation result and combining with the preset fuzzy logic switching rule to determine whether to trigger the link switching specifically comprises: Normalizing the signal strength and the signal-to-noise ratio to be signal quality scores of 0-100 minutes, mapping the communication delay to be delay scores of 0-100 minutes, wherein the lower the delay is, the higher the score is, converting the packet loss rate to be reliability scores of 0-100 minutes, and the lower the packet loss rate is, the higher the score is; calculating a composite score for each communication link based on the basis weight vectors wsig, wlat, wrel: S=wsig⋅Qsig+wlat⋅Qlat+wrel⋅Qrel wherein Qsig, qlat, qrel is a signal quality score, a delay score and a reliability score, respectively; Inputting the comprehensive score of each link into a preset fuzzy logic switching rule base, wherein the rule base comprises a plurality of switching condition combinations, each combination corresponds to different urgency grades, and the urgency grades are comprehensively judged according to the communication environment deterioration speed, the task criticality and the current main link performance attenuation degree; And when the comprehensive score of any standby link exceeds the set threshold value (delta S is more than or equal to 15 minutes) of the current main link and meets the fuzzy rule of the corresponding urgency level, judging that the link switching condition is met.
  6. 6. The method for multi-mode adaptive communication of unmanned aerial vehicle facing extreme communication environment according to claim 5, wherein if the switching condition is satisfied, executing a three-stage switching mechanism, namely pre-switching preparation, parallel transmission of key data of new and old links, completion of main link switching and closing of original link non-key service, specifically comprising: After judging that the switching condition is met, immediately initiating a link activation request to a target standby communication link, configuring a modulation mode, channel parameters and an encryption key of the link activation request, and performing link connectivity test, wherein the duration of the phase is 20-50 milliseconds, and the normal communication of the current main link is maintained during the period; After confirming that the standby link is available, synchronously and redundantly transmitting key service data such as control instructions, flight state telemetry data and the like through the main link and the standby link, and carrying out consistency check and preferential fusion on two paths of received data by a ground control station, wherein the period lasts for 50-100 milliseconds, so that no control interruption in the switching process is ensured; And after the ground control station continuously and successfully receives the key data of the standby link of at least 3 periods and checks the key data to be consistent, formally lifting the standby link to be a main link, closing a non-key service channel in the original main link, only reserving a necessary monitoring interface for rollback recovery, and after switching is finished, updating a link state mark and recording a time stamp, a triggering reason and a performance index of a switching event.
  7. 7. The extreme communication environment oriented drone multimode adaptive communication method of any one of claims 1 to 6, further comprising: After the link switching is completed, dynamically updating threshold parameters and urgency level judging conditions in a fuzzy logic switching rule base; Simultaneously, feeding back the performance of each link in the switching process to a communication quality evaluation model for online calibration of mapping functions of signal quality score, delay score and reliability score; If link switching occurs more than twice in a preset time period due to the same environmental factor, the communication strategy degradation or upgrading scheme is automatically triggered, including starting a satellite communication backup link, limiting the flying speed to reduce dynamic interference, or switching to a low-bandwidth high-robustness transmission mode.
  8. 8. The extreme communication environment oriented drone multimode adaptive communication method of any one of claims 1 to 6, wherein the communication link comprises at least three heterogeneous communication modules: The medium-long distance data transmission link works in the frequency band of Sub-1GHz or 2.4GHz and supports point-to-point high-bandwidth communication; The low-power consumption wide area link adopts LoRa or NB-IoT technology, and is suitable for beyond-the-horizon and low-rate telemetry transmission; and the satellite communication link is integrated with the Beidou short message or the low-orbit satellite terminal and is used for emergency communication without a public network coverage area.
  9. 9. The method according to any one of claims 1 to 6, wherein in the process of performing link switching, if a new link fails to be established or data verification is inconsistent in a parallel transmission phase, the method immediately returns to an original main link, starts a link health diagnosis program, evaluates a cause of unavailability of a target link, and marks the link as "temporarily unavailable" in a subsequent preset time window.
  10. 10. The method of multi-mode adaptive communication for an unmanned aerial vehicle in an extreme communication environment according to claim 9, wherein the predetermined time window is 30 seconds to 180 seconds: if the failure cause is instantaneous interference or signal short fading, setting to 30 seconds; if the target link channel is continuously congested or fails to register, setting the target link channel to be 60 seconds; if the link health degree diagnosis judges that the hardware of the target module is abnormal or the configuration is wrong, the time is prolonged to 180 seconds, and fault alarm information is reported to the ground control station.

Description

Unmanned aerial vehicle multimode self-adaptive communication method oriented to extreme communication environment Technical Field The application belongs to the technical field of unmanned aerial vehicle communication, and particularly relates to an unmanned aerial vehicle multimode self-adaptive communication method oriented to an extreme communication environment. Background With the wide application of unmanned aerial vehicles in extreme environments such as emergency rescue, border inspection, disaster investigation and the like, the demands of unmanned aerial vehicles on high reliability and strong robust communication capability are increasingly urgent. However, in complex scenarios with serious canyons, forests, urban dense areas or electromagnetic interference, the conventional single communication link (such as 2.4GHz data transmission or 4G/5G cellular network) is easily interrupted due to shielding, multipath effect or public network coverage loss, so that control loss or critical data loss is caused, and the task execution capacity and flight safety of the unmanned aerial vehicle are severely restricted. Disclosure of Invention In order to solve at least one technical problem in the background art, the application provides an unmanned aerial vehicle multimode self-adaptive communication method facing to an extreme communication environment, which remarkably improves the link reliability, switching continuity and task adaptability of the unmanned aerial vehicle under the extreme communication environment through multisource environment sensing, task self-adaptive weight adjustment and three-stage smooth switching mechanism. The technical scheme adopted by the application is as follows: The embodiment of the application provides an unmanned aerial vehicle multimode self-adaptive communication method facing to an extreme communication environment, which comprises the following steps: Collecting communication quality indexes of all communication links in real time, wherein the communication quality indexes comprise signal strength, signal-to-noise ratio, communication delay and packet loss rate; identifying current communication environment characteristics based on millimeter wave radar, GPS signal intensity and cellular network registration state, wherein the communication environment characteristics comprise a sight distance/non-sight distance state, a public network coverage state and a flight dynamic level; dynamically adjusting weights of signal quality, delay and reliability in a communication quality assessment model according to the current task type, communication environment characteristics and flight dynamic state; Based on the weighted communication quality evaluation result, calculating the comprehensive score of each communication link, and judging whether to trigger link switching according to a preset fuzzy logic switching rule; If the switching condition is met, a three-stage switching mechanism is executed, namely pre-switching preparation, parallel transmission of key data of new and old links, completion of main link switching and closing of non-key service of the original link. According to the unmanned aerial vehicle multi-mode self-adaptive communication method for the extreme communication environment, key quality indexes such as signal intensity, signal-to-noise ratio, delay and packet loss rate of each communication link are acquired in real time (less than or equal to 100 ms) at first, an accurate data base is provided for subsequent decision making, millimeter wave radar point cloud, GNSS signal state and cellular network registration information are further introduced, three-dimensional cognition of the communication environment is built, three-stage of critical data-main link switching and resource parallel transmission are accurately judged by accurately judging the apparent distance/non-apparent distance state, public network coverage capacity and flying dynamic level, traditional limitation depending on parameters of the communication layer is broken through, on the basis, weights of signal quality, delay and reliability are dynamically adjusted according to current task types (such as telemetry control or high definition video backhaul), environmental characteristics and flying state, then intelligent judgment of link switching time is achieved based on weighted comprehensive scores and in combination with preset multi-stage fuzzy logic switching rules, and the most critical that when switching is triggered, three stages of 'pre-switching preparation-new link transmission critical data-main link switching and resource' are adopted, and the safety and the robustness of switching are greatly improved under the premise of guaranteeing that a high-level data and zero-loss switching mechanism is achieved. In conclusion, the method remarkably enhances the continuous communication capability, the autonomous adaptive capability and the task execution reliability of the unm