UAV flight control, management and control strategy processing method and device, equipment and medium

Abstract

The disclosed embodiments provide a UAV flight control and management strategy processing method and apparatus, an electrical device, and a storage medium. The UAV flight control method can be applied to a session management function SMF, which includes: in response to detecting a control device switching requirement of an unmanned aerial vehicle (UAV), switching the control device of the UAV from a first device to a second device according to a management strategy.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology but is not limited to the field of wireless communication technology, and in particular to an Unmanned Aerial Vehicle (UAV) flight control, management and control strategy processing method and device, electrical equipment and storage medium. Background Art

[0002] In order to control the flight of the UAV, a UAV control device (UAVC) is usually set up to control the flight of the UAV.

[0003] In order to facilitate remote control transmission between the UAV and the UAV controller, a communication connection is usually established, which can be used for communication between the UAV and the UAV controller. Summary of the invention

[0004] The embodiments of the present application provide a UAV flight control and management strategy processing method and device, electrical equipment and storage medium.

[0005] A first aspect of an embodiment of the present disclosure provides a drone flight control method, which is applied to a session management function SMF, and includes:

[0006] In response to detecting a control device switching demand of an unmanned aerial vehicle (UAV), the control device of the UAV is switched from a first device to a second device according to a management and control strategy.

[0007] A second aspect of the disclosed embodiment provides a UAV flight control method, which is applied in a UTM or a USS, and includes:

[0008] In response to detecting a control device switching requirement of the UAV, the control device of the UAV is switched from a first device to a second device according to a management and control strategy, and according to the management and control strategy, the SMF is requested to switch the control device of the UAV from the first device to the second device.

[0009] A third aspect of the disclosed embodiment provides a UAV control strategy processing method, which is applied in a UDR and includes:

[0010] Receiving a query request sent by the NEF, wherein the query request is sent based on the acquisition request sent by the SMF;

[0011] A request response to a query request is sent to the NEF, wherein the request response to the query request is used for the NEF to send a get response to the SMF, wherein both the request response and the get response carry the management and control strategy; the management and control strategy is used to switch the control device of the UAV when a control device switching demand of the UAV is detected.

[0012] A fourth aspect of the disclosed embodiment provides a UAV flight control device, which is applied to a session management function SMF, and includes:

[0013] The first switching module is configured to, in response to detecting a control device switching demand of the UAV, switch the control device of the UAV from the first device to the second device according to a management and control strategy.

[0014] A fifth aspect of the disclosed embodiments provides a UAV flight control device, which is applied to a UTM or a USS, and includes:

[0015] The second switching module is configured to, in response to detecting a control device switching demand of the UAV, switch the control device of the UAV from the first device to the second device according to a management and control strategy, and request the SMF to switch the control device of the UAV from the first device to the second device according to the management and control strategy.

[0016] A sixth aspect of the embodiments of the present disclosure provides a UAV control strategy processing device, which is applied to a UDR and includes:

[0017] A receiving module, configured to receive a query request sent by the NEF, wherein the query request is sent based on the acquisition request sent by the SMF;

[0018] The sending module is configured to send a request response to the query request to the NEF, wherein the request response to the query request is used for the NEF to send a get response to the SMF, wherein both the request response and the get response carry the management and control strategy; the management and control strategy is used to switch the control device of the UAV when a control device switching demand of the UAV is detected.

[0019] A seventh aspect of an embodiment of the present application provides a communication device, comprising a processor, a transceiver, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein the processor executes the method shown in any technical solution of the first aspect, the second aspect, or the third aspect when running the executable program.

[0020] An eighth aspect of an embodiment of the present application provides a computer storage medium, which stores an executable program; after the executable program is executed by a processor, it can implement the method shown in any technical solution of the first aspect, the second aspect, or the third aspect.

[0021] When the need to switch the control device of the UAV is detected, it means that the control device of the UAV needs to be switched, that is, the current control device of the UAV is no longer suitable for controlling the UAV. Then, the control device of the UAV will be switched from the first device to the second device according to the management and control strategy. Compared with randomly switching the control device, it can ensure that the switched device can effectively control the UAV, or not switching the control device of the UAV, resulting in the current control device being unable to continue to be effective, and various UAV flight accidents when controlling the UAV are avoided, thereby improving the flight safety of the UAV and reducing the flight loss-of-control rate.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the embodiments of the present invention.

[0024] Figure 1 is a schematic structural diagram of a wireless communication system according to an exemplary embodiment;

[0025] Figure 2 is a schematic diagram of a control system structure of a UAV according to an exemplary embodiment;

[0026] Figure 3 is a schematic diagram of a C2 communication link according to an exemplary embodiment;

[0027] Figure 4 is a flow chart of a UAV flight control method according to an exemplary embodiment;

[0028] Figure 5 is a flow chart of a UAV flight control method according to an exemplary embodiment;

[0029] Figure 6 is a flow chart of a UAV flight control method according to an exemplary embodiment;

[0030] Figure 7 is a flow chart of a method for processing a control strategy of a UAV according to an exemplary embodiment;

[0031] Figure 8 is a flow chart of a method for processing a UAV control strategy according to an exemplary embodiment;

[0032] Fig. 9 is a flow chart of a method for processing a UAV control strategy according to an exemplary embodiment;

[0033] Fig.10 is a flow chart of a method for processing a UAV control strategy according to an exemplary embodiment;

[0034] Fig.11 It is a flowchart of a UAV control strategy processing and a UAV flight control method according to an exemplary embodiment;

[0035] Fig.12 is a schematic structural diagram of a UAV flight control device according to an exemplary embodiment;

[0036] Fig.13 is a schematic structural diagram of a UAV flight control device according to an exemplary embodiment;

[0037] Fig.14 is a structural schematic diagram of a UAV control strategy processing device according to an exemplary embodiment;

[0038] Fig.15 It is a schematic diagram of the structure of a UE according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the appended claims.

[0040] The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a", "an", "the" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0041] It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0042] Please refer to Figure 1 , which shows a schematic diagram of the structure of a wireless communication system provided by an embodiment of the present disclosure. Figure 1 As shown, the wireless communication system is a communication system based on cellular mobile communication technology, and the wireless communication system may include: a plurality of UEs 11 and a plurality of base stations 12 .

[0043] Among them, UE11 can be a device that provides voice and / or data connectivity to users. UE11 can communicate with one or more core networks via a radio access network (RAN). UE11 can be an Internet of Things UE, such as a sensor device, a mobile phone (or a "cellular" phone), and a computer with an Internet of Things UE. For example, it can be a fixed, portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted device. For example, a station (STA), a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote UE (remote terminal), an access terminal, a user terminal, a user agent, a user device, or a user UE (user equipment, UE). Alternatively, UE11 can also be a device of an unmanned aerial vehicle. Alternatively, UE11 can also be a vehicle-mounted device, for example, it can be a driving computer with wireless communication function, or a wireless communication device connected to an external driving computer. Alternatively, UE11 may also be a roadside device, for example, a street lamp, a traffic light or other roadside device with a wireless communication function.

[0044] The base station 12 may be a network-side device in a wireless communication system. The wireless communication system may be a fourth generation mobile communication technology (4G) system, also known as a long term evolution (LTE) system; or, the wireless communication system may be a 5G system, also known as a new radio (NR) system or a 5G NR system. Alternatively, the wireless communication system may be the next generation system of the 5G system. The access network in the 5G system may be referred to as NG-RAN (New Generation-Radio Access Network). Alternatively, an MTC system.

[0045] Among them, the base station 12 can be an evolved base station (eNB) adopted in the 4G system. Alternatively, the base station 12 can also be a base station (gNB) adopting a centralized distributed architecture in the 5G system. When the base station 12 adopts a centralized distributed architecture, it usually includes a centralized unit (CU) and at least two distributed units (DU). The centralized unit is provided with a protocol stack of a packet data convergence protocol (PDCP) layer, a radio link layer control protocol (RLC) layer, and a media access control (MAC) layer; the distributed unit is provided with a physical (Physical, PHY) layer protocol stack. The specific implementation method of the base station 12 is not limited in the embodiment of the present disclosure.

[0046] A wireless connection can be established between the base station 12 and the UE 11 through a wireless air interface. In different implementations, the wireless air interface is a wireless air interface based on the fourth generation mobile communication network technology (4G) standard; or, the wireless air interface is a wireless air interface based on the fifth generation mobile communication network technology (5G) standard, for example, the wireless air interface is a new air interface; or, the wireless air interface can also be a wireless air interface based on the next generation mobile communication network technology standard of 5G.

[0047] In some embodiments, E2E (End to End) connections can also be established between UE11, such as V2V (vehicle to vehicle) communication, V2I (vehicle to Infrastructure) communication and V2P (vehicle to pedestrian) communication in vehicle to everything (V2X) communication.

[0048] In some embodiments, the wireless communication system may further include a network management device 13 .

[0049] Several base stations 12 are respectively connected to a network management device 13. The network management device 13 may be a core network device in a wireless communication system. For example, the network management device 13 may be a mobility management entity (MME) in an evolved packet core (EPC). Alternatively, the network management device may be other core network devices, such as a serving gateway (SGW), a public data network gateway (PGW), a policy and charging rules function (PCRF), or a home subscriber server (HSS). The implementation form of the network management device 13 is not limited in the embodiments of the present disclosure.

[0050] Figure 1 The figure shows a cellular mobile communication network.

[0051] Figure 2 The UAV control system shown may be established by the UAV, UAVC and UTM. The UTM may communicate with the UAV via a cellular mobile communication network.

[0052] UAVC can establish a direct C2 communication connection with UAV, and this C2 communication connection does not need to go through cellular mobile communication.

[0053] The UAVC can also establish a C2 communication connection with the UAV through a cellular mobile communication network.

[0054] UAV applications can be run on the UAV, and application data traffic can be transmitted via the C2 communication connection. The application data traffic includes but is not limited to the flight data of the UAV and / or control signaling issued by the UTM or UAVC.

[0055] Figure 3 The figure shows two types of C2 communication connections that can be established through cellular mobile communications. One is the C2 communication connection between UAVC and UAV, which needs to pass through UPFF and UTM / USS of cellular mobile communications respectively. The other is the C2 communication connection between UAVC and UAV, which can directly pass through UPF only without passing through UTM / USS.

[0056] like Figure 4 As shown, the embodiment of the present disclosure provides a drone flight control method, which is applied to a session management function SMF, and includes:

[0057] S110: In response to detecting a control device switching demand of the UAV, switching the control device of the UAV from a first device to a second device according to a management and control strategy.

[0058] When the need to switch the control device of the UAV is detected, it means that the control device of the UAV needs to be switched, that is, the current control device of the UAV is no longer suitable for controlling the UAV. Then, the control device of the UAV will be switched from the first device to the second device according to the management and control strategy. Compared with randomly switching the control device, it can ensure that the switched device can effectively control the UAV, or not switching the control device of the UAV, resulting in the current control device being unable to continue to be effective, and various UAV flight accidents when controlling the UAV are prevented, thereby improving the flight safety of the UAV and reducing the flight accident rate.

[0059] In the embodiment of the present disclosure, the control device of the UAV (ie, UAVC) may be a UAVC that establishes a C2 communication connection through cellular mobile communication or a UAVC that does not establish a C2 communication connection through cellular mobile communication.

[0060] The control device switching requirement of the UAV detected includes at least one of the following:

[0061] detecting illegal behavior of the UAV;

[0062] When it is detected that the UAV behavior is legal, the first device meets the control device change condition.

[0063] Illegal behavior of UAVs may include: switching requirements caused by the flight behavior of the UAV, for example, the UAV flies into a no-fly zone that is prohibited from flying in a country or region, or the UAV flies into a controlled area without permission, or the UAV deviates from the established route.

[0064] In other cases, the current flight behavior of the UAV is legal, but the control device needs to be switched due to problems with the control device itself or the communication itself. For example, the current control device of the UAV is down or has low energy consumption, or the communication link quality between the UAV and the current control device of the UAV is poor, which is not conducive to the flight control of the UAV. This is the need for the UAV to switch the control device of the UAV when the behavior is legal.

[0065] The control device replacement condition that the first device meets includes, but is not limited to, at least one of the following:

[0066] The first device fails;

[0067] The first device is overloaded;

[0068] The link quality of the communication connection between the first device and the UAV drops to a preset value.

[0069] In summary, the control device switching demand includes: a switching demand caused by the UAV itself and a switching demand for the control device caused by situations other than the UAV device.

[0070] If the UAV, the first device and the second device in the embodiment of the present disclosure respectively establish a protocol data unit (PDU) session for C2 communication, and the C2 communication connection between the UAV and its UAVC is through a cellular mobile communication network, the release and establishment of the communication connection can be controlled by SMF.

[0071] In one embodiment, the communication connection between the UAV and its UAVC may be as follows: Figure 3 The C2 communication connection shown does not go through UTM / USS. SMF implements the routing of C2 data packets between UAV and UAVC by configuring the control policy to UPF. The communication connection between UAV and UAVC is achieved through the routing of UPF.

[0072] These switching requirements will trigger SMF to switch the control device according to the UAV's management and control strategy.

[0073] In the embodiment of the present disclosure, the control strategy may include:

[0074] Rules for determining one or more second devices after switching or device information of the second devices, etc.

[0075] The device information includes, but is not limited to: address information of the second device, for example, IP address information and / or MAC address information, etc.

[0076] For another example, the UTM can maintain the device status information of the multiple alternative devices, and the device status information reflects the operating status and / or device status of the multiple alternative devices. When the control device switching requirement of the UAV is detected, the UTM can select a suitable device for controlling the UAV as the second device to control the flight of the UAV based on the device status information and include it in the management and control strategy and send it to the SMF.

[0077] In some other embodiments, in response to detecting illegal behavior of the UAV, switching the control device of the UAV from the first device to the second device according to the management and control strategy includes:

[0078] releasing the communication connection between the UAV and the first device;

[0079] A communication connection is established between the UAV and the second device.

[0080] If the first device controls the flight of the UAV, a communication connection is established between the first device and the UAV, and the communication connection may be a command and control connection (Cammand and Control, C2) communication connection.

[0081] In the embodiments of the present disclosure, Figure 5 As shown, switching the control device of the UAV from the first device to the second device may include:

[0082] S111: releasing the communication connection between the UAV and the first device, and

[0083] S112: Establishing a communication connection between the UAV and the second device. In this way, the release of the original communication connection of the first device can release the communication resources used to establish communication between the UAV and the first device, and at the same time establish a communication connection between the UAV and the second device, which can establish a control command for the second device to control the flight of the UAV and / or the transmission of the flight data of the UAV.

[0084] Specifically, SMF configures UPF to route C2 data packets between the UAV and the second device, and releases the protocol data unit (PDU) session of the first device. The C2 data here includes any data exchanged between the UAV and its control device, such as control instructions sent by the control device and / or flight data reported by the UAV.

[0085] In one embodiment, the SMF may send a first indication to the UPF of the UAV, indicating that a communication connection between the UAV and the second device is established. If the second device is another UAVC, the SMF sends a second indication to the UPF of the second device, indicating that a communication connection between the second device and the UAV is established. At the same time, a third indication is sent to the UPF of the first device, indicating that the communication connection between the first device and the UAV is released.

[0086] The aforementioned first indication may carry at least the address information of the second device so that the UPF can route the communication data between the UAV and the second device.

[0087] In some embodiments, establishing a communication connection between the UAV and the second device includes:

[0088] The address information of the second device is sent to the user plane function UPF, wherein the address information is used by the UPF to establish the communication connection between the UAV and the second device.

[0089] Establishing a communication connection includes: sending the address information to the UPF that routes data transmission between the UAV and its controller (i.e., the control device); in this way, the UPF receives the updated address information and can communicate between the second device and the UAV based on the address information re-sent by the SMF. The communication data includes but is not limited to: control signaling of the second device to the UAV and / or flight data of the UAV.

[0090] In some embodiments, releasing the communication connection between the first device and the UAV and establishing the communication connection between the second device and the UAV may not have a certain order. For example, the communication connection between the first device and the UAV may be released first, and then the communication connection between the UAV and the second device may be established. Or, the communication connection between the UAV and the second device may be established first, and then the communication connection between the UAV and the first device may be released. The release and connection may also be performed simultaneously.

[0091] In some other embodiments, the method further comprises:

[0092] After detecting the control device switching demand of the UAV and determining to switch the control device of the UAV from the first device to the second device, continue to monitor whether the notification of the first device to the UAV continues to meet the control device switching demand. If the control device switching demand disappears within the switching buffer time of continued monitoring, the aforementioned UAV control device switching from the first device to the second device may not be performed, thereby reducing unnecessary switching. The buffer time may be a preset time length counted from the time when the control device switching demand is detected to be met, for example, 2s or 5s.

[0093] For example, if a UAV is detected to have flown to the edge of a no-fly zone but then exits the no-fly zone within 5 seconds, and the flight behavior becomes legal again, it can be considered that the control of the UAV by the first device is still valid, and there is no need to switch the control device, thereby reducing unnecessary switching and reducing the state of the UAV being in a control vacuum during the switching process.

[0094] In some embodiments, the second device includes at least one of the following:

[0095] UAV controller UAVC;

[0096] Drone Traffic Management UTM.

[0097] In some embodiments, the UTM may be an upper-layer control device of the UAVC. For example, the UTM may select the UAVC for the UAV. When the UTM does not select a suitable UAVC, the UTM may directly control the UAV.

[0098] Therefore, the second device here can be a new UAVC or the UTM itself.

[0099] The first device may be any device that is incompatible with the second device, for example, a UAVC that is different from the first device.

[0100] In some embodiments, the control strategy includes at least one of the following:

[0101] A control strategy for a single UAV;

[0102] A control strategy for a UAV group, wherein the UAV group includes: one or more of the UAVs;

[0103] A control strategy for any of the UAVs.

[0104] The above control strategy can be any one of the above.

[0105] In one embodiment, the priorities of the above three control strategies may be different. If a UAV that needs to switch control devices is configured with its own control strategy, the control device is switched according to the control strategy for the single UAV.

[0106] If the UAV is not configured with a control strategy for the single UAV, determine whether the UAV belongs to a UAV group and the UAV group is configured with a control strategy for the group. If so, switch the control device of the UAV according to the control strategy for the UAV group to which the UAV belongs.

[0107] If the UAV is not configured with a control strategy for the single UAV and is not configured with a control strategy for the UAV group to which it belongs, a general control strategy for any UAV is used to switch the control device of the UAV.

[0108] Of course, in some embodiments, the aforementioned control strategies themselves do not have a priority distinction. When there is only one control strategy, the control strategy is used for switching. If there are multiple control strategies, the control device of the UAV can be switched according to the effective control strategy.

[0109] For example, all UAVs with the same digital network name (DNN) in the communication connection (such as but not limited to C2) can be assigned to the same UAV group. Alternatively, UAVs with the same purpose can be assigned to the same UAV group, for example, UAVs for irrigation of trees or spraying of pesticides can be assigned to the same UAV group.

[0110] For another example, all UAVs whose communication connections are established through the same network slice are assigned to the same UAV group.

[0111] In summary, there are multiple ways to establish a UAV group in the embodiments of the present disclosure, and the specific implementation is not limited to any of the above.

[0112] In one embodiment, the method further comprises at least one of the following:

[0113] Pre-configuring the control strategy;

[0114] Obtain the control policy from the unified data storage UDR;

[0115] The control policy is obtained from the UTM of the UAV.

[0116] In some embodiments, the management and control policies may be configured and stored according to the frequency of changes to the management and control policies.

[0117] For example, a control strategy with a change frequency of the first frequency is directly configured in the SMF. Generally, such a control strategy can be a static control strategy. For example, a general control strategy for any UAV can be a control strategy with a lower frequency.

[0118] For another example, a control policy that changes the frequency to a second frequency is stored in the UDR. For example, the second frequency may be higher than the first frequency, but of course it may not be higher than the first frequency.

[0119] For another example, a control policy with a change frequency of the third frequency is stored in the UTM, wherein the third frequency may be higher than the second frequency or may not be higher than the second frequency.

[0120] In short, the control strategy may come from a variety of sources and is not limited to any of the above sources.

[0121] In some embodiments, obtaining the control policy from the unified data storage UDR includes:

[0122] Sending a request for obtaining the control policy to the network open function NEF;

[0123] Receive the NEF acquisition response, wherein the acquisition response includes: the management and control policy provided by the UDR.

[0124] NEF can be the intermediate network element for conversations between UDR and SMF. By introducing NEF, the security of conversations between network elements in the core network can be guaranteed.

[0125] In some embodiments, the control strategy obtained from the UTM of the UAV includes:

[0126] receiving the control policy from the UTM during the authentication and authorization process of establishing a communication connection between the drone and the first device;

[0127] and / or,

[0128] When a control device switching requirement of the UAV is detected, the management and control strategy is received from the UTM.

[0129] For example, SMF sends a request message, and UDR returns the control policy after receiving the request message. In short, there are many ways for SMF to obtain the request control policy, which are not limited to any of the above.

[0130] In another embodiment, the SMF receives the control policy pushed by the UDR. For example, when the control policy of the UAV stored in the UDR changes, the UDR will actively send the updated control policy to the NEF, and the NEF will further notify the SMF, so that the SMF can receive the updated control policy as soon as possible.

[0131] When SMF establishes a communication connection between the UAV and the first device, in order to ensure the security of communication, it is necessary to perform security management and control on the UAV and / or the first device. The security management and control is mainly implemented through the authentication and authorization process. The management and control strategy can be issued through one or more messages in the authentication and / or authorization process, thereby reusing the existing process to implement the management and control strategy issuance, which has the characteristic of high compatibility with existing technologies.

[0132] SMF can also request management and control strategies from UTM when detecting the need to switch the control device of UAV.

[0133] In some embodiments, the illegal behavior of the UAV includes at least one of the following: the UAV flies into a no-fly zone; the UAV deviates from a prescribed route.

[0134] For example, the current position of the UAV can be estimated through the flight data of the UAV or its current geographic location information can be directly obtained from the UAV. Based on the geographic location information, it can be determined or estimated whether the UAV has flown into a no-fly zone or deviated from the scheduled route.

[0135] like Figure 6 As shown, the embodiment of the present disclosure provides a UAV flight control method, which is applied to UTM or USS, and includes:

[0136] S210: In response to detecting a control device switching demand of the UAV, switching the control device of the UAV from a first device to a second device according to a management and control strategy, and requesting the SMF to switch the control device of the UAV from the first device to the second device according to the management and control strategy.

[0137] If this method is applied in UTM or USS.

[0138] UTM and USS can also detect illegal behavior of UAV or abnormalities of their own equipment, so they can also monitor whether there is a need to switch control equipment. If so, the control equipment of the UAV is switched from the first device to the second device according to the management and control strategy.

[0139] There are many specific ways to detect whether there is a need to switch the control device, which are not limited to any of the aforementioned embodiments.

[0140] In one embodiment, the detection of the control device switching demand of the UAV includes at least one of the following: detection of illegal behavior of the UAV;

[0141] When it is detected that the UAV behavior is legal, the first device meets the control device change condition.

[0142] Illegal behavior here includes, but is not limited to: flying into prohibited areas and / or deviating from the flight path.

[0143] In some embodiments, the requesting SMF to switch the control device of the UAV from the first device to the second device includes:

[0144] Requesting the SMF to release the communication connection between the UAV and the first device;

[0145] Request the SMF to establish a communication connection between the UAV and the second device.

[0146] Since SMF controls the establishment of the communication connection between the UAV and its control device, in this embodiment, if the USS or UTM requests to switch the control device of the UAV, it will request SMF to disconnect the communication connection with the old control device and establish a communication connection with the new control device.

[0147] For example, by sending a request message, the address information of the second device is given to the SMF. After receiving the request message, the SMF will release the original connection based on the newly received address information of the second device and establish a communication connection between the UAV and the second device.

[0148] In one embodiment, the requesting SMF to establish a communication connection between the UAV and the second device includes:

[0149] The address information of the second device is sent to the SMF, wherein the address information is sent by the SMF to the UPF, and is used by the UPF to perform session routing for communication between the UAV and the second device.

[0150] After SMF receives the address information of the second device, it will further send it to UPF so that UPF can re-route any information transmitted between the UAV and its control device.

[0151] In one embodiment, the second device includes: an unmanned aerial vehicle controller UAVC; and / or an unmanned aerial vehicle traffic manager UTM.

[0152] In some embodiments, the control strategy includes:

[0153] A control strategy for a single UAV;

[0154] A control strategy for a UAV group, wherein the UAV group includes: one or more of the UAVs;

[0155] A control strategy for any of the UAVs.

[0156] In one embodiment, the method further comprises: providing the control strategy to the SMF

[0157] In some cases, the SMF can detect the control device switching demand of the UAV by itself. In order to reduce delay, the control strategy can be directly sent to the SMF, and the SMF can control the switching of the control device of the UAV by itself.

[0158] In one embodiment, providing the management and control policy to the SMF includes at least one of the following:

[0159] During the authentication and authorization process of establishing a communication connection between the drone and the first device, providing the control policy to the SMF;

[0160] In response to detecting a control device switching requirement of the UAV, the management and control strategy is provided to the SMF.

[0161] There are multiple opportunities to provide management and control policies to SMF, and the specific implementation is not limited to any of the above opportunities. For example, it can be issued during the authentication and authorization process of establishing a communication connection between the first device and the UAV, or it can be issued when a control device switching requirement is detected.

[0162] like Figure 7 As shown, the embodiment of the present disclosure provides a UAV control strategy processing method, which is applied to a UDR and includes:

[0163] S310: receiving a query request sent by the NEF, wherein the query request is sent based on the acquisition request sent by the SMF;

[0164] S320: Sending a request response to the query request to the NEF, wherein the request response to the query request is used for the NEF to send a get response to the SMF, wherein both the request response and the get response carry the management and control policy; the management and control policy is used for switching the control device of the UAV when a control device switching demand of the UAV is detected.

[0165] The communication between SMF and UDR needs to be processed by NEF to ensure communication security.

[0166] Therefore, the query request received by UDR is that SMF first sends an acquisition request to NEF. After receiving the acquisition request, NEF determines the current security processing, etc., and then routes a corresponding query request to UDR. After receiving it, UDR will respond to the request and then send the management and control policy to SMF through NEF.

[0167] See also Fig. 9 As shown, a UAV control strategy processing method provided by the embodiment of the present disclosure may include:

[0168] SMF sends Nnef_UAV Management-Fetch to NEF; the Nnef_UAV Management-Fetch is the aforementioned acquisition request.

[0169] After receiving Nnef_UAV Management-Fetch sent by SMF, NEF sends Nudr_DM-Query to UDR, and the Nudr_DM-Query is the query request mentioned above.

[0170] After receiving the Nudr_DM-Query, the UDR sends a Nudr_DM-response to the NEF; the Nudr_DM-Query response carries the management and control policy provided by the UDR. The Nudr_DM-Query response is a request response to the aforementioned query request.

[0171] After receiving the Nudr_DM-Query response, NEF sends Nnef_UAV Management-Fetch Response to SMF. Nnef_UAV Management-Fetch Response is a type of the aforementioned acquisition response.

[0172] In one embodiment, the UAV control strategy processing method provided in this embodiment includes:

[0173] receiving a second request sent by the NEF based on the first request of the UTM / USS of the UAV;

[0174] According to the second request, the control policy of the UAV is processed; a request response of the second request is sent to the NEF, wherein the request response of the second request is used for the NEF to send a request response to the first request to the UTM / USS, wherein the request responses to the first request and the second request carry the processing results of the control policy.

[0175] The UTM / USS also needs to communicate with the UDR through NEF. Therefore, when the UTM / USS stores the control policy in the UDR or updates the control policy stored in the UDR, it needs to be processed by the NEF.

[0176] For details, see Figure 8 As shown, NEF performs communication between UDR and UTM / USS. Figure 8 The Nnef_UAVManagement-Create / Update / Delete Request shown is a type of the aforementioned first request.

[0177] After receiving the Nnef_UAV Management-Create / Update / Delete Request, the NEF performs NEF processing, where the NFE processing (handling) may include but is not limited to: verifying whether the UTM / USS is a legal entity that can access the cellular mobile communication network.

[0178] After the NEF processing is completed, if the UTM / USS is determined to be legal, a Nudr_DM_Create / Update / Delete Requet is sent to the UDR. Here, Nudr_DM_Create / Update / Delete Requet is a type of the aforementioned second request.

[0179] After receiving the Nudr_DM_Create / Update / Delete Requet, the UDR will process the UAV control policy.

[0180] The processing of the control policy here may include: creating a control policy, deleting a control policy and / or updating a control policy, and then obtaining a processing result.

[0181] After the processing is completed, the request response of Nudr_DM_Create / Update / Delete Requet is returned to NEF. The request response here is the request response of the second request. The request response can be Figure 6Shown is Nudr_DM_Create / Update / Delete response.

[0182] After receiving Nudr_DM_Create / Update / Delete response, NEF sends Nnef_UAVManagement-Create / Update / Delete Response to SMF. Here, Nnef_UAV Management-Create / Update / Delete Response is the request response of the first request.

[0183] In one embodiment, performing control policy processing of the UAV according to the second request includes at least one of the following:

[0184] In response to the second request being a creation request, creating the control policy of the UAV;

[0185] In response to the second request being an update request, updating the control policy of the UAV;

[0186] In response to the second request being a deletion request, deleting the control policy of the UAV. The processed control policy may include at least one of the following:

[0187] Newly created control strategies;

[0188] Updated control strategy.

[0189] In another embodiment, if a control policy is deleted or invalidated, the UDR further includes: sending a clear instruction or an invalid instruction to the SMF of the UAV via the NEF to clear or invalidate the deleted or invalidated control policy.

[0190] In one embodiment, the present embodiment provides a UAV control strategy processing method including:

[0191] According to the processing result, the processed control strategy is sent to the SMF of the UAV.

[0192] If the control policy is found to be updated or created, the UDR can also push the control policy to the SMF on its own. In this way, the SMF can receive the latest effective control policy in time without requesting it, so as to handle the controller switching of the UAV in time. Fig.10 As shown in the figure, when NEF finds that the control policy stored in UDR has changed, it can Fig.10 The Nnef_UAV Management-Notify shown carries the processed management and control policy.

[0193] In one embodiment, the acquisition request includes:

[0194] The SMF sends a query message based on a notification message sent by the NEF, wherein the notification message is a message sent by the NEF based on the first request.

[0195] When NEF receives the first request to update, delete or create a control policy, it will notify the SMF of the UAV according to the first request. At this time, the SMF knows that the UDR stores the latest effective control policy of the UAV, and will automatically send the acquisition request to NEF to obtain the latest effective control policy.

[0196] The present disclosure provides a UAV control method, which can be as follows:

[0197] To achieve C2 communication, the UAV and the UAV controller respectively establish a PDU session of the C2 communication-specific DNN with the network.

[0198] The drone and drone controller need to be authenticated and certified by the UTM / USS to successfully establish a PDU session for the C2 connection.

[0199] To reduce the transmission delay of the C2 communication connection, the application data traffic of the C2 communication connection is transmitted between the UAV and the UAV controller through the UPF. Figure 2 The C2 communication connection is shown by the dashed line.

[0200] Strategies for handling illegal drone behavior (flying into no-fly zones) and how to provide handling strategies to 3GPP networks.

[0201] When the 3GPP network or UTM / USS detects that a drone has entered a no-fly zone, the following control strategies can be implemented:

[0202] Terminate the current PDU session for UAV C2 communication;

[0203] Specify other UAV controllers to take over C2 control, and the control strategy needs to include the address information of the new UAV controller; or, let UTM directly take over the control of the UAV, and the strategy needs to include the address information of the UTM.

[0204] These control policies can be targeted at a specific UAV, a group of UAVs, or all UAVs.

[0205] If the control policy is for a group of UAVs (e.g. all UAVs under a specific DNN) or all UAVs, the policy can be pre-configured manually in SMF, or configured by UTM / USS through NEF. The latter method is suitable for situations where the parameters in the policy will change frequently, such as the list of UAV controllers specified by UTM to take over C2 control.

[0206] For reference Figure 8 As shown, UTM / USS provides NEF with UAV control strategies, which include UAV no-fly zones, and strategies and / or application scopes (UAVs under a specific slice or DNN or all UAVs) after the UAV enters the no-fly zones.

[0207] NEF checks whether the UTM / USS is a legitimate device and has authorization for C2 communication;

[0208] NEF provides UDR with UAV control strategies;

[0209] UDR updates the control strategy of UAV;

[0210] The UDR responds to NEF.

[0211] NEF responds to UTM / USS.

[0212] When SMF receives a PDU session establishment request from UAV to establish a C2 communication connection, SMF obtains the UAV's control policy from UDR. Fig. 9 shown.

[0213] If the UAV policy is preset in SMF, stored in UDR or dynamically provided by UTM / USS during the authentication and authorization process, SMF needs to monitor whether the UAV flies into a no-fly zone or other illegal behaviors by calling relevant technical solutions.

[0214] When the control strategy for UAVs flying into the no-fly zone is to have another UAV controller or UTM take over the C2 communication, the SMF needs to provide the UPF with the address of the new UAV controller or UTM so that the UPF can route the C2 flow to the correct destination address. The SMF then terminates the PDU session of the old UAV controller. The address of the new UAV controller or UTM can be pre-configured in the SMF (if it will not change), stored in the UDR (see Figure 2 .2-2) or provided by UTM / USS (included in the UTM policy request during the authentication and authorization process or when the UTM detects that the UAV flies into a prohibited flight zone).

[0215] refer to Fig.11 As shown, the embodiment of the present disclosure provides a method for processing a control strategy for a UAV, which may include:

[0216] 0. UAV, UAVC1, and UAVC2 establish PDU sessions for C2 communication respectively, and register their own IP addresses and SMF addresses with UTM / USS during the session establishment process. SMF may be preset with UAV control policy or SMF obtains UAV control policy from UDR. UAVC1 here may be the first device mentioned above.

[0217] 1. Conduct C2 communications.

[0218] 2a.SMF detects illegal UAV behavior (e.g., flying into a no-fly zone).

[0219] 2b-1.UTM / USS detects illegal UAV behavior (e.g., flying into a no-fly zone or not following a scheduled route) and notifies the SMF. The message may include UAV control policies.

[0220] 2b-2 UTM / USS sends Nsmf_PDUSession-Update to SMF, and the Nsmf_PDUSession-Update sends a request to SMF to request to switch the control device of the UAV. The Nsmf_PDUSession-Update may carry the address information of the updated second device.

[0221] It is worth noting that: in the parallel solution of step 2a, step 2b-1 and step 2b-2, only one of them needs to be executed during the specific implementation.

[0222] 3. SMF configures UPF to route C2 communication to UAVC2 or UTM according to the control policy. UAVC2 and UTM here are the second devices mentioned above. For example, SMF switches the control device of UAV by replying to the session modification message.

[0223] 4. If the control policy is to establish a C2 connection between the UAV and UAVC2, SMF configures UPF2 to route the C2 message to the UAV. SMF establishes a communication connection between the UAV and the second device through session modification.

[0224] 5. SMF releases the C2 communication PDU session between UAV and UAVC1. SMF releases the communication connection between UAV and UAVC1 through the session release message.

[0225] 6. Perform C2 communication between UAV and UAVC2 or between UAV and UTM. If UAV and UAVC2 are connected to different UPFs, e.g. Fig.11When UPF1 and UPF2 are shown, C2 communication needs to pass through two UPFs. For details, see Fig.11 Steps 6a and 6b.

[0226] like Fig.12 As shown, the embodiment of the present disclosure provides a UAV flight control device, which is applied to a session management function SMF, and includes:

[0227] The first switching module 110 is configured to, in response to detecting a control device switching demand of the UAV, switch the control device of the UAV from the first device to the second device according to a management and control strategy.

[0228] When NEF receives the addition, deletion, or modification message of the UAV control policy, it notifies the corresponding SMF.

[0229] If the policy is for a specific UAV, it can be provided to SMF by UTM / USS during the authentication and authorization process, and include the no-fly zone that needs to be monitored. Then SMF needs to detect whether the UAV flies into the no-fly zone; or when UTM / USS detects that the UAV flies into the no-fly zone, UTM / USS sends a policy request to SMF.

[0230] In one embodiment, the first switching module 110 may be a program module; after being executed by the processor, the program module will respond to detecting a control device switching requirement of the UAV and switch the control device of the UAV from the first device to the second device according to a management and control strategy.

[0231] In another embodiment, the first switching module 110 may be a soft-hard combination module; the soft-hard combination module includes but is not limited to various programmable arrays, including but not limited to field programmable arrays or complex programmable arrays.

[0232] In another embodiment, the first switching module 110 may also include: a pure hardware module; the pure hardware module includes but is not limited to: a dedicated integrated circuit.

[0233] In one embodiment, the apparatus further comprises: a detection module, which can detect the control device switching demand of the UAV. The detection of the control device switching demand of the UAV may include at least one of the following:

[0234] detecting illegal behavior of the UAV;

[0235] When it is detected that the UAV behavior is legal, the first device meets the control device change condition.

[0236] In one embodiment, the illegal behavior of the UAV includes:

[0237] The UAV flies into a no-fly zone;

[0238] The UAV deviates from the prescribed route.

[0239] In one embodiment, the first switching module 110 is configured to release the communication connection between the UAV and the first device; and to establish a communication connection between the UAV and the second device.

[0240] In one embodiment, the first switching module 110 is specifically configured to send the address information of the second device to the user plane function UPF, wherein the address information is used by the UPF to establish the communication connection between the UAV and the second device.

[0241] In one embodiment, the second device includes at least one of the following:

[0242] UAV controller UAVC;

[0243] Drone Traffic Management UTM.

[0244] In one embodiment, the control strategy includes at least one of the following:

[0245] A control strategy for a single UAV;

[0246] A control strategy for a UAV group, wherein the UAV group includes: one or more of the UAVs;

[0247] A control strategy for any of the UAVs.

[0248] In one embodiment, the device further includes: a management and control strategy module; the management and control strategy module is configured to perform at least one of the following:

[0249] Pre-configuring the control strategy;

[0250] Obtain the control policy from the unified data storage UDR;

[0251] The control policy is obtained from the UTM of the UAV.

[0252] In one embodiment, the control strategy module is configured to perform at least one of the following:

[0253] Sending a request for obtaining the control policy to the network open function NEF;

[0254] Receive the NEF acquisition response, wherein the acquisition response includes: the management and control policy provided by the UDR.

[0255] The control strategy module is configured to receive the control strategy from the UTM during the authentication and authorization process of establishing the communication connection between the UAV and the first device; and / or, when a control device switching requirement of the UAV is detected, receive the control strategy from the UTM.

[0256] like Fig.13 As shown, the embodiment of the present disclosure provides a UAV flight control device, which is applied to UTM or USS, and includes:

[0257] The second switching module 210 is configured to, in response to detecting a control device switching demand of the unmanned aerial vehicle (UAV), switch the control device of the UAV from the first device to the second device according to a management and control strategy, and request the SMF to switch the control device of the UAV from the first device to the second device according to the management and control strategy.

[0258] In one embodiment, the second switching module 210 may be a program module; after being executed by the processor, the program module will respond to detecting the control device switching demand of the unmanned aerial vehicle UAV, and switch the control device of the UAV from the first device to the second device according to the management and control strategy.

[0259] In another embodiment, the second switching module 210 may be a soft-hard combination module; the soft-hard combination module includes but is not limited to various programmable arrays, including but not limited to field programmable arrays or complex programmable arrays.

[0260] In another embodiment, the second switching module 210 may further include: a pure hardware module; the pure hardware module includes but is not limited to: a dedicated integrated circuit.

[0261] In one embodiment, the detection of the control device switching demand of the UAV includes at least one of the following: detection of illegal behavior of the UAV; and control device switching conditions that the first device meets when detecting that the UAV behavior is legal.

[0262] For example, the USS / UTM includes a detection module that can detect the control device switching requirement of the above-mentioned UAV.

[0263] In one embodiment, the second switching module 210 is configured to request the SMF to release the communication connection between the UAV and the first device; and / or request the SMF to establish a communication connection between the UAV and the second device.

[0264] In one embodiment, the second switching module 210 is configured to send the address information of the second device to the SMF, wherein the address information is sent by the SMF to the UPF and used by the UPF to perform session routing for communication between the UAV and the second device.

[0265] In one embodiment, the second device includes at least one of the following:

[0266] UAV controller UAVC;

[0267] Drone system traffic management UTM.

[0268] In one embodiment, the control strategy includes at least one of the following:

[0269] A control strategy for a single UAV;

[0270] A control strategy for a UAV group, wherein the UAV group includes: one or more of the UAVs;

[0271] A control strategy for any of the UAVs.

[0272] In one embodiment, the apparatus further comprises:

[0273] The policy sending module is configured to provide the management and control policy to the SMF.

[0274] In one embodiment, the policy sending module is configured to provide the control policy to the SMF during the authentication and authorization process of establishing a communication connection between the UAV and the first device; and / or, in response to detecting a control device switching requirement of the UAV, provide the control policy to the SMF.

[0275] like Fig.14 As shown, the embodiment of the present disclosure provides a UAV control strategy processing device, which is applied to a UDR and includes:

[0276] The receiving module 310 is configured to receive a query request sent by the NEF, wherein the query request is sent based on the acquisition request sent by the SMF;

[0277] The sending module 320 is configured to send a request response to the query request to the NEF, wherein the request response to the query request is used for the NEF to send a get response to the SMF, wherein both the request response and the get response carry the management and control strategy; the management and control strategy is used to switch the control device of the UAV when a control device switching demand of the UAV is detected.

[0278] In one embodiment, the receiving module 310 and the sending module 320 may be program modules; after the program modules are executed by the processor, the control policy is sent to the SMF.

[0279] In another embodiment, the receiving module 310 and the sending module 320 may be a combination of soft and hard modules; the combination of soft and hard modules include but are not limited to various programmable arrays, including but not limited to field programmable arrays or complex programmable arrays.

[0280] In another embodiment, the receiving module 310 and the sending module 320 may also include: a pure hardware module; the pure hardware module includes but is not limited to: a dedicated integrated circuit.

[0281] In one embodiment, the receiving module 310 is further configured to receive a second request sent by the NEF based on the first request of the UTM / USS of the UAV;

[0282] The device also includes:

[0283] a processing module, configured to perform control strategy processing of the UAV according to the second request;

[0284] The sending module 320 is further configured to send a request response to the second request to the NEF, wherein the request response to the second request is used for the NEF to send a request response to the first request to the UTM / USS, wherein the request responses to the first request and the second request carry the processing results of the management and control policy.

[0285] In one embodiment, the processing module is configured to perform at least one of the following:

[0286] In response to the second request being a creation request, creating the control policy of the UAV;

[0287] In response to the second request being an update request, updating the control policy of the UAV;

[0288] In response to the second request being a deletion request, the control policy of the UAV is deleted.

[0289] In one embodiment, the sending module is further configured to send the processed control policy to the SMF of the UAV according to the processing result.

[0290] In one embodiment, the acquisition request includes:

[0291] The SMF sends a query message based on a notification message sent by the NEF, wherein the notification message is a message sent by the NEF based on the first request.

[0292] The embodiment of the present application provides a communication device, including a processor, a transceiver, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein the processor executes the method applied to SMF, UTM / USS or UDR provided by any of the above technical solutions when running the executable program, which can be specifically as follows Figures 4 to 11 Any of the methods shown.

[0293] The communication device may be the aforementioned SMF, or UTM / USS, or UDR.

[0294] The processor may include various types of storage media, which are non-temporary computer storage media that can continue to memorize information stored thereon after the communication device loses power. Here, the communication device includes a base station or a user equipment.

[0295] The processor may be connected to the memory via a bus or the like, and is used to read the executable program stored in the memory. For example, the processor may be specifically configured as follows: Figures 4 to 11 Any of the methods shown.

[0296] The present application embodiment provides a computer storage medium, wherein the computer storage medium stores an executable program; after the executable program is executed by a processor, the method shown in any technical solution of the first aspect or the second aspect can be implemented, for example, Figures 4 to 11 At least one of the methods shown.

[0297] Fig.15 800 is a block diagram of a UE 800 according to an exemplary embodiment. For example, the UE 800 may be a mobile phone, a computer, a digital broadcast user equipment, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0298] Reference Fig.15 UE 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output (I / O) interface 812 , a sensor component 814 , and a communication component 816 .

[0299] The processing component 802 generally controls the overall operation of the UE 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0300] The memory 804 is configured to store various types of data to support operations on the UE 800. Examples of such data include instructions for any application or method operating on the UE 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0301] The power component 806 provides power to various components of the UE 800. The power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the UE 800.

[0302] The multimedia component 808 includes a screen that provides an output interface between the UE800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the UE800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0303] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the UE 800 is in an operation mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0304] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0305] The sensor component 814 includes one or more sensors for providing various aspects of status assessment for UE800. For example, the sensor component 814 can detect the open / closed state of UE800, the relative positioning of components, such as the display and keypad of UE800, and the sensor component 814 can also detect the position change of UE800 or a component of UE800, the presence or absence of user contact with UE800, the orientation or acceleration / deceleration of UE800 and the temperature change of UE800. The sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

[0306] The communication component 816 is configured to facilitate wired or wireless communication between the UE800 and other devices. The UE800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0307] In an exemplary embodiment, UE800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0308] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by the processor 820 of the UE 800 to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0309] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0310] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling the flight of an unmanned aerial vehicle, wherein: include: The unmanned aerial system service provider USS detects a control device switching requirement of the unmanned aerial vehicle UAV, and switches the control device of the UAV from a first device to a second device according to a control strategy; The USS requests the session management function SMF to switch the control device of the UAV from the first device to the second device according to the control policy, wherein the control policy is used to switch the control device of the UAV in response to detecting the control device switching demand; The SMF switches the control device of the UAV from the first device to the second device according to the control strategy; The USS detects the control device switching requirements of the UAV including: The USS detects illegal behavior of the UAV, where the illegal behavior of the UAV includes the UAV flying into a no-fly zone or the UAV deviating from a prescribed route; The USS detects that the first device meets a control device switching condition when the UAV performs a legal behavior, wherein the control device switching condition includes one of the following: The first device fails; The first device is overloaded; The link quality of the communication connection between the first device and the UAV drops to a preset value.

2. The method according to claim 1, wherein: The SMF switches the control device of the UAV from the first device to the second device according to the management and control strategy, including: releasing the communication connection between the UAV and the first device; A communication connection is established between the UAV and the second device.

3. The method according to claim 2, wherein: The establishing a communication connection between the UAV and the second device includes: The address information of the second device is sent to the user plane function UPF, wherein the address information is used by the UPF to establish the communication connection between the UAV and the second device.

4. The method according to any one of claims 1 to 3, wherein: The second device includes at least one of the following: UAV controller UAVC; Drone Traffic Management UTM.

5. The method according to any one of claims 1 to 3, wherein: The control strategy includes at least one of the following: A control strategy for a single UAV; A control strategy for a UAV group, wherein the UAV group includes: one or more of the UAVs; A control strategy for any of the UAVs.

6. The method according to any one of claims 1 to 3, wherein: The method further comprises at least one of the following: Pre-configuring the control strategy; Obtain the control policy from the unified data storage UDR; The control strategy is obtained from the UTM of the UAV.

7. The method according to claim 6, wherein: The obtaining the control policy from the UDR includes: Sending a request for obtaining the control policy to the network open function NEF; Receive the NEF acquisition response, wherein the acquisition response includes: the management and control policy provided by the UDR.

8. The method according to claim 6, wherein: The acquiring the control strategy from the UTM of the UAV includes at least one of the following: receiving the control policy from the UTM during the authentication and authorization process of establishing a communication connection between the drone and the first device; When a control device switching requirement of the UAV is detected, the management and control strategy is received from the UTM.

9. A UAV flight control device, wherein: include: The second switching module is configured to detect a control device switching demand of the unmanned aerial system service provider USS and switch the control device of the UAV from the first device to the second device according to the control strategy; The second switching module is configured to request the session management function SMF of the USS to switch the control device of the UAV from the first device to the second device according to the control policy, wherein the control policy is used to switch the control device of the UAV in response to detecting the control device switching demand; A first switching module is configured to switch the control device of the UAV from the first device to the second device according to the SMF management and control strategy; The second switching module is further configured to: Detecting illegal behavior of the UAV, wherein the illegal behavior of the UAV includes the UAV flying into a no-fly zone or the UAV deviating from a prescribed route; Detecting that the first device meets a control device switching condition when the UAV performs a legal behavior, wherein the control device switching condition includes one of the following: The first device fails; The first device is overloaded; The link quality of the communication connection between the first device and the UAV drops to a preset value.

10. A communication device, comprising a processor, a transceiver, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein: When the processor runs the executable program, the method provided in any one of claims 1 to 8 is performed.

11. A computer storage medium storing an executable program; after the executable program is executed by a processor, the method provided in any one of claims 1 to 8 can be implemented.

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