Unmanned aerial vehicle control method, device, electronic device and storage medium

Abstract

An embodiment of the present invention provides an unmanned aerial vehicle control method, device, electronic device and storage medium, which are used to generate uplink synchronization information for the unmanned aerial vehicle through the unmanned aerial vehicle, and send the uplink synchronization information to a base station device, and obtain cruise mission parameters for the unmanned aerial vehicle through the base station device; receive the uplink synchronization information; determine the maximum time advance value for the unmanned aerial vehicle from the uplink synchronization information; calculate the distance between the base station device and the unmanned aerial vehicle through the maximum time advance value; calculate the first beam tilt angle value for the unmanned aerial vehicle based on the distance and the cruise mission parameters; send a control signal to the unmanned aerial vehicle through the first beam tilt angle value; the unmanned aerial vehicle is used to receive the control signal; the control signal is used to control the unmanned aerial vehicle, thereby improving the efficiency and safety of controlling the unmanned aerial vehicle through 5G signals.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an electronic device, and a computer-readable storage medium. Background Art

[0002] Unmanned aerial vehicle (UAV) is an unmanned aircraft that is controlled by a radio remote control device and a self-contained program control device, or is operated completely or intermittently autonomously by an onboard computer.

[0003] Compared to manned aircraft, drones are often better suited for tasks deemed "dull, dirty, or dangerous." In the civilian sector, drones combined with industrial applications are a real necessity. Applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television production, and creating romance have greatly expanded the uses of drones. However, as these applications expand, data transmission via public frequency bands (such as 2.4 GHz) is no longer sufficient for drone data transmission.

[0004] The fifth generation of mobile communication technology (5G) was initially designed with large bandwidth and low latency in mind. Its characteristics can meet the needs of drone data transmission. However, the current 5G network coverage is mainly aimed at public ground users and road scenes. The relevant technologies rarely involve 5G three-dimensional coverage networking solutions in low-altitude areas, especially theoretical methods for planning and dynamically adjusting low-altitude 5G private network coverage. As a result, the efficiency and safety of controlling drones through 5G signals are relatively low. Summary of the Invention

[0005] The embodiments of the present invention provide an unmanned aerial vehicle control method, device, electronic device, and computer-readable storage medium to solve the problem of how to improve the efficiency and safety of controlling drones through 5G signals.

[0006] An embodiment of the present invention discloses a method for controlling an unmanned aerial vehicle (UAV). The method is applied to a base station device, wherein the base station device has a corresponding UAV. The UAV is configured to generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device, including:

[0007] Obtaining cruise mission parameters for the UAV;

[0008] receiving the uplink synchronization information;

[0009] determining a maximum timing advance value for the UAV from the uplink synchronization information;

[0010] Calculating the distance between the base station device and the unmanned aerial vehicle using the maximum time advance value;

[0011] Calculating a first beam tilt value for the UAV based on the distance and the cruise mission parameter;

[0012] A control signal is sent to the unmanned aerial vehicle via the first beam tilt angle value; the unmanned aerial vehicle is used to receive the control signal; and the control signal is used to control the unmanned aerial vehicle.

[0013] Optionally, the cruise mission parameter information includes a UAV cruise altitude, a private network sector altitude, a private network sector mechanical tilt angle, and a vertical beam angle. The step of calculating a first beam tilt angle value for the UAV based on the distance and the cruise mission parameters may include:

[0014] The first beam tilt value for the unmanned aerial vehicle is calculated using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle, and the distance.

[0015] Optionally, the step of sending a control signal to the unmanned aerial vehicle using the first beam tilt angle value may include:

[0016] Obtaining a second beam tilt value; wherein the second beam tilt value is an initial beam tilt value of the base station device;

[0017] Determining a minimum beam tilt adjustment value and a configurable beam tilt threshold for the base station device;

[0018] Determining whether a difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value;

[0019] When the difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value, determining whether the first beam tilt value is greater than a settable beam tilt threshold;

[0020] When the first beam tilt angle value is less than or equal to the settable beam tilt angle threshold, a control signal is sent to the unmanned aerial vehicle using the first beam tilt angle value.

[0021] Optionally, it may also include:

[0022] When the difference between the first beam tilt value and the second beam tilt value is smaller than the minimum beam tilt adjustment value, the step of receiving the uplink synchronization information is performed again.

[0023] Optionally, it may also include:

[0024] When the first beam tilt angle value is greater than the settable beam tilt angle threshold, a control signal is sent to the unmanned aerial vehicle using the second beam tilt angle value.

[0025] Optionally, the base station device has a corresponding control sector, a signal transmitting device, and a default beam tilt value, and may further include:

[0026] determining whether the UAV is located within the control sector;

[0027] If not, using the default beam tilt value to control the signal transmitting device;

[0028] If yes, the step of receiving the uplink synchronization information is performed again.

[0029] An embodiment of the present invention further discloses a method for controlling an unmanned aerial vehicle (UAV). The method is applied to an UAV having a corresponding base station device. The method includes:

[0030] Generate uplink synchronization information for the unmanned aerial vehicle and send the uplink synchronization information to the base station device; the base station device is used to obtain cruise mission parameters for the unmanned aerial vehicle; receive the uplink synchronization information; determine a maximum timing advance value for the unmanned aerial vehicle from the uplink synchronization information; calculate the distance between the base station device and the unmanned aerial vehicle based on the maximum timing advance value; calculate a first beam tilt value for the unmanned aerial vehicle based on the distance and the cruise mission parameters; and send a control signal to the unmanned aerial vehicle using the first beam tilt value;

[0031] Receive the control signal; the control signal is used to control the unmanned aerial vehicle.

[0032] An embodiment of the present invention further discloses an unmanned aerial vehicle control device, which is applied to a base station device. The base station device has a corresponding unmanned aerial vehicle. The unmanned aerial vehicle is configured to generate uplink synchronization information for the unmanned aerial vehicle and send the uplink synchronization information to the base station device, including:

[0033] A cruise mission parameter acquisition module, used to obtain cruise mission parameters for the UAV;

[0034] An uplink synchronization information receiving module, configured to receive the uplink synchronization information;

[0035] a maximum timing advance value determining module, configured to determine a maximum timing advance value for the UAV from the uplink synchronization information;

[0036] a distance calculation module, configured to calculate the distance between the base station device and the unmanned aerial vehicle using the maximum timing advance value;

[0037] a first beam tilt value calculation module, configured to calculate a first beam tilt value for the UAV based on the distance and the cruise mission parameter;

[0038] A control signal sending module is used to send a control signal to the unmanned aerial vehicle through the first beam tilt angle value; the unmanned aerial vehicle is used to receive the control signal; and the control signal is used to control the unmanned aerial vehicle.

[0039] Optionally, the cruise mission parameter information includes the UAV cruise altitude, the private network sector altitude, the private network sector mechanical tilt angle and the vertical lobe angle, and the first beam tilt angle value calculation module may include:

[0040] The first beam tilt value calculation submodule is used to calculate the first beam tilt value for the unmanned aerial vehicle by using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle and the distance.

[0041] Optionally, the control signal sending module may include:

[0042] A second beam tilt value acquisition submodule is configured to acquire a second beam tilt value; the second beam tilt value is an initial beam tilt value of the base station device;

[0043] A beam tilt minimum adjustment value and a configurable beam tilt threshold determination submodule, configured to determine a beam tilt minimum adjustment value and a configurable beam tilt threshold for the base station device;

[0044] a first judgment submodule, configured to judge whether a difference between the first beam tilt angle value and the second beam tilt angle value is greater than or equal to the minimum beam tilt adjustment value; and calling a second judgment submodule when the difference between the first beam tilt angle value and the second beam tilt angle value is greater than or equal to the minimum beam tilt adjustment value;

[0045] The second judgment submodule is configured to judge whether the first beam tilt angle value is greater than a configurable beam tilt angle threshold; when the first beam tilt angle value is less than or equal to the configurable beam tilt angle threshold,

[0046] The first control signal sending submodule is configured to send a control signal to the unmanned aerial vehicle using the first beam tilt angle value.

[0047] Optionally, it may also include:

[0048] The first calling submodule is configured to call an uplink synchronization information receiving module when a difference between the first beam tilt value and the second beam tilt value is smaller than the minimum beam tilt adjustment value.

[0049] Optionally, it may also include:

[0050] The second control signal sending submodule is configured to send a control signal to the UAV using the second beam tilt angle value when the first beam tilt angle value is greater than the settable beam tilt angle threshold.

[0051] Optionally, the base station device has a corresponding control sector, a signal transmitting device, and a default beam tilt value, and may further include:

[0052] A third determination module is configured to determine whether the UAV is located within the control sector; if not, calling the signal transmitter control module; if so, calling the uplink synchronization information receiving module;

[0053] A signal transmitting device control module is used to control the signal transmitting device using the default beam tilt angle value.

[0054] An embodiment of the present invention further discloses an unmanned aerial vehicle control device, which is applied to an unmanned aerial vehicle having a corresponding base station device. The device includes:

[0055] an uplink synchronization information generation module, configured to generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device; the base station device is configured to obtain cruise mission parameters for the UAV; receive the uplink synchronization information; determine a maximum timing advance value for the UAV from the uplink synchronization information; calculate a distance between the base station device and the UAV using the maximum timing advance value; calculate a first beam tilt value for the UAV based on the distance and the cruise mission parameters; and send a control signal to the UAV using the first beam tilt value;

[0056] The control signal receiving module is used to receive the control signal; the control signal is used to control the unmanned aerial vehicle.

[0057] An embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0058] The memory is used to store computer programs;

[0059] The processor is configured to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0060] An embodiment of the present invention further discloses a computer-readable storage medium having instructions stored thereon. When executed by one or more processors, the processors are enabled to execute the method according to the embodiment of the present invention.

[0061] The embodiments of the present invention include the following advantages:

[0062] In an embodiment of the present invention, an unmanned aerial vehicle is used to generate uplink synchronization information for the unmanned aerial vehicle, and send the uplink synchronization information to a base station device, and obtain cruise mission parameters for the unmanned aerial vehicle through the base station device; receive the uplink synchronization information; determine the maximum time advance value for the unmanned aerial vehicle from the uplink synchronization information; calculate the distance between the base station device and the unmanned aerial vehicle through the maximum time advance value; calculate the first beam tilt angle value for the unmanned aerial vehicle based on the distance and the cruise mission parameters; send a control signal to the unmanned aerial vehicle through the first beam tilt angle value; the unmanned aerial vehicle is used to receive the control signal; the control signal is used to control the unmanned aerial vehicle, thereby improving the efficiency and safety of controlling the unmanned aerial vehicle through 5G signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of data interaction between an unmanned aerial vehicle and a base station device provided in an embodiment of the present invention;

[0064] Figure 2 This is a flowchart of the steps of a method for controlling an unmanned aerial vehicle provided in the first embodiment of the present invention;

[0065] Figure 3 is a schematic diagram of data interaction between another unmanned aerial vehicle and a base station device provided in an embodiment of the present invention;

[0066] Figure 4 is a structural diagram of a base station device provided in an embodiment of the present invention;

[0067] Figure 5 is a schematic structural diagram for a first beam tilt angle provided in an embodiment of the present invention;

[0068] Figure 6 1 is a schematic diagram of an inter-frequency switching strategy provided in an embodiment of the present invention;

[0069] Figure 7 This is a schematic diagram of the residence status of a 5G UAV before and after the implementation of the residence strategy provided in an embodiment of the present invention;

[0070] Figure 8 is a schematic diagram of a beam adjustment process provided in an embodiment of the present invention;

[0071] Figure 9 This is a schematic diagram of test indicators for a dynamic beam coverage solution provided in an embodiment of the present invention;

[0072] Figure 10 This is a flowchart of the steps of a method for controlling an unmanned aerial vehicle provided in the second embodiment of the present invention;

[0073] Figure 11 This is a structural block diagram of an unmanned aerial vehicle control device provided in Embodiment 3 of the present invention;

[0074] Figure 12 This is a structural block diagram of an unmanned aerial vehicle control device provided in the fourth embodiment of the present invention;

[0075] Figure 13 This is a hardware structure block diagram of an electronic device provided in each embodiment of the present invention. DETAILED DESCRIPTION

[0076] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] In actual applications, the fifth-generation mobile communication technology (5G) was initially designed with the main considerations of large bandwidth, low latency, and high reliability in industrial applications. With the commercialization of 5G SA networks, it can provide better network capability support for applications such as drones with large uplink traffic and low transmission latency requirements. Therefore, the industrial application of 5G+ drones has begun to show a blowout trend.

[0078] The application requirements for 5G+ drones primarily rely on 5G links to transmit high-definition gimbal video, route routing, and information such as the drone's position and attitude. This places certain demands on network bandwidth and transmission latency. Drone applications typically operate at altitudes ranging from 10 to 2,000 meters, depending on the scenario. With the advancement of drone energy storage technology, drones' loiter time and mission radius are increasing (due to an increase in non-line-of-sight flight missions). Drones primarily record or transmit image data in real time through the gimbal. With the advancement of drones and related technologies, gimbal video resolution is also increasing, placing increasing demands on transmission network bandwidth. For example, current mainstream 4K video requires at least 30 Mbit / s of uplink transmission bandwidth. Live streaming, in particular, poses significant challenges to network speed and latency requirements. Therefore, existing drone data transmission methods using public frequency band handle-type base stations (such as 2.4 GHz) are no longer sufficient to meet drone data transmission needs.

[0079] 5G's low latency and large bandwidth can provide a good data transmission channel for drones. However, the current 5G network coverage is mainly for public ground users and road scenes. There is little coverage of 5G three-dimensional coverage networking solutions in low-altitude areas, especially the use of theoretical methods to plan and dynamically adjust low-altitude 5G private network coverage.

[0080] 5G's beamforming technology provides three-dimensional wireless coverage, significantly improving airspace coverage quality. 5G's air interface signal quality and handover measurement events are based on the measurement of DMRS signals in the SSB beam. The signal quality of the SSB (Synchronization Signal and PBCH block) beam directly impacts airspace coverage quality assessment and the timeliness of handovers, significantly impacting drones' aerial presence and service continuity.

[0081] Therefore, a core invention of the present invention is to control the unmanned aerial vehicle through the SSB beam.

[0082] The unmanned aerial vehicle control method provided by the embodiment of the present invention can be applied to Figure 1 In the application environment shown. Among them, the base station device 102 can communicate with the unmanned aerial vehicle 104. Specifically, the unmanned aerial vehicle 104 can be used to generate uplink synchronization information for the unmanned aerial vehicle 104 and send the uplink synchronization information to the base station device 102; the base station device 102 can obtain cruise mission parameters for the unmanned aerial vehicle 104; receive the uplink synchronization information; determine the maximum timing advance value for the unmanned aerial vehicle 104 from the uplink synchronization information; calculate the distance between the base station device 102 and the unmanned aerial vehicle 104 based on the maximum timing advance value; calculate the first beam tilt angle value for the unmanned aerial vehicle 104 based on the distance and the cruise mission parameters; send a control signal to the unmanned aerial vehicle 104 using the first beam tilt angle value; the unmanned aerial vehicle 104 is used to receive the control signal; and the control signal is used to control the unmanned aerial vehicle 104.

[0083] In practical applications, the UAV 104 may include but is not limited to a drone or other unmanned aerial vehicles.

[0084] Example 1

[0085] Reference Figure 2 , shows a flowchart of a method for controlling an unmanned aerial vehicle provided in the first embodiment of the present invention, which may specifically include the following steps:

[0086] Step 201: Obtain cruise mission parameters for the UAV;

[0087] Step 202: receiving the uplink synchronization information;

[0088] Step 203: determining a maximum timing advance value for the UAV from the uplink synchronization information;

[0089] Step 204: Calculate the distance between the base station device and the UAV using the maximum timing advance value;

[0090] Step 205: Calculate a first beam tilt value for the UAV based on the distance and the cruise mission parameter;

[0091] Step 206: Send a control signal to the UAV using the first beam tilt angle value; the UAV is configured to receive the control signal; and the control signal is used to control the UAV.

[0092] In a specific implementation, the embodiment of the present invention can be applied to 5G base station equipment, and the base station equipment can have a corresponding unmanned aerial vehicle.

[0093] A base station, or public mobile communication base station, is the interface device for mobile devices to access the internet. It is also a type of radio station, a radio transceiver station that transmits information to and from mobile phone terminals via a mobile communication exchange center within a specific radio coverage area. The construction of mobile communication base stations is a significant investment for mobile communication operators, and their construction is generally centered around factors such as coverage, call quality, investment returns, ease of construction, and ease of maintenance. As mobile communication network services evolve towards data and packetization, the development trend of mobile communication base stations is inevitably towards broadband, large-scale coverage, and IP-based services.

[0094] The base station device of the embodiment of the present invention can also obtain cruise mission parameters for the UAV. For example, the cruise mission parameters may include but are not limited to parameters such as the unmanned aerial vehicle cruising range, the UAV cruising altitude, the private network sector altitude, the private network sector mechanical inclination and the vertical lobe angle. It should be noted that in the embodiment of the present invention, the cruise mission parameters for the UAV can be obtained once or multiple times. When the cruise mission parameters are obtained multiple times, the old cruise mission parameters can be updated with the latest cruise mission parameters. For example, when a new flight mission occurs, the cruise mission parameters can be re-acquired and the old cruise mission parameters can be updated.

[0095] In a specific implementation, the unmanned aerial vehicle of an embodiment of the present invention can be used to generate uplink synchronization information for the unmanned aerial vehicle and send the uplink synchronization information to the base station device, wherein the uplink synchronization information can be information used to express the uplink synchronization of the unmanned aerial vehicle, uplink synchronization (Uplink Synchronization), that is, requiring that uplink signals from different user terminals at different distances can reach the base station synchronously.

[0096] Due to different protocol requirements, the uplink signal of the terminal needs to be time-aligned when it arrives at the base station. Therefore, the base station notifies the terminal to send the uplink signal with an appropriate advance value by sending a TA value (time advanced, maximum time advance value) command. Therefore, the base station device of the embodiment of the present invention can receive uplink synchronization information and determine the maximum time advance value for the unmanned aerial vehicle from the uplink synchronization information, such as Figure 3 As shown, Figure 3 This is another data interaction diagram between an unmanned aerial vehicle and a base station device provided in an embodiment of the present invention. The TA value can be measured by the base station device after receiving the uplink synchronization information of the unmanned aerial vehicle. The TA measurement is divided into the TA of the initial access and the TA updated during the service. According to the protocol, T TA is the maximum timing advance value corresponding to the uplink synchronization information.

[0097] In practical applications, since electromagnetic waves can be transmitted at the speed of light, the current distance between the UAV and the base station can be calculated through TA. Therefore, the embodiment of the present invention can calculate the distance between the base station device and the UAV through the maximum time advance value.

[0098] For example, the base station updates the TA information of the terminal in real time based on the uplink synchronization information of the 5G terminal carried by the drone. When the TA value (advance) of the terminal needs to be updated, the base station will synchronize the TAC command in real time through MAC-CE. The base station calculates the distance between the drone and the 5G base station in real time based on the updated TA value. The TA value can be used to estimate the distance. Specifically, the distance between the base station equipment and the unmanned aerial vehicle can be calculated by the following formula.

[0099] Formula 1:

[0100]

[0101] Where D is the distance between the base station equipment and the UAV, C 光 is the speed of light, a known constant.

[0102] Of course, the above examples are only examples, and those skilled in the art can calculate the distance between the base station device and the unmanned aerial vehicle through the maximum time advance value based on other algorithms. This is not limited by the embodiments of the present invention.

[0103] After calculating the distance between the base station device and the unmanned aerial vehicle and obtaining the cruise mission parameters for the unmanned aerial vehicle, an embodiment of the present invention can calculate a first beam tilt angle value for the unmanned aerial vehicle based on the distance and the cruise mission parameters, and send a control signal to the unmanned aerial vehicle through the first beam tilt angle value. After the unmanned aerial vehicle receives the control signal, the base station device can control the unmanned aerial vehicle based on the control signal.

[0104] For example, reference Figure 4 , Figure 4 This is a structural diagram of a base station device provided in an embodiment of the present invention. The base station device can dynamically adjust the inclination, vertical and horizontal lobe angles of the SSB beam by controlling the phase and amplitude algorithm to form three-dimensional coverage of the target area. It can even dynamically adjust relevant parameters to achieve real-time tracking coverage of mobile targets (unmanned aerial vehicles) and send control signals to mobile targets (unmanned aerial vehicles).

[0105] Optionally, in addition to sending a control signal to the UAV through the first beam tilt value, the base station device of the embodiment of the present invention can also perform other data interaction with the UAV through the first beam tilt value, for example, receiving and transmitting audio and video data, etc.

[0106] In an embodiment of the present invention, an unmanned aerial vehicle is used to generate uplink synchronization information for the unmanned aerial vehicle, and send the uplink synchronization information to the base station device, and obtain cruise mission parameters for the unmanned aerial vehicle through the base station device; receive the uplink synchronization information; determine the maximum time advance value for the unmanned aerial vehicle from the uplink synchronization information; calculate the distance between the base station device and the unmanned aerial vehicle through the maximum time advance value; calculate the first beam tilt angle value for the unmanned aerial vehicle based on the distance and the cruise mission parameters; send a control signal to the unmanned aerial vehicle through the first beam tilt angle value; the unmanned aerial vehicle is used to receive the control signal; the control signal is used to control the unmanned aerial vehicle, thereby improving the efficiency and safety of controlling the unmanned aerial vehicle through 5G signals.

[0107] Furthermore, the key technologies of the 5G new air interface have brought about performance improvements in various aspects. Combined with the beam adjustment method and the characteristics of TA dynamic update, it is possible to adjust the beam tilt angle in real time according to the position of the 5G terminal, realize the optimal dynamic adjustment of low-altitude coverage quality, and ensure the business continuity of 5G drones.

[0108] In an optional embodiment of the present invention, the cruise mission parameter information includes a UAV cruise altitude, a private network sector altitude, a private network sector mechanical tilt angle, and a vertical lobe angle, and the step of calculating a first beam tilt angle value for the UAV based on the distance and the cruise mission parameters includes:

[0109] The first beam tilt value for the unmanned aerial vehicle is calculated using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle, and the distance.

[0110] refer to Figure 5 , Figure 5 It is a structural diagram for a first beam tilt angle provided in an embodiment of the present invention. The embodiment of the present invention can use the following formula to calculate the first beam tilt angle value for the unmanned aerial vehicle using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle and the distance.

[0111] Formula 2:

[0112] Δh=h-h1

[0113] Among them, h is the cruising altitude of the drone, and h1 is the altitude of the private network sector.

[0114] Formula 3:

[0115] Among them, the mechanical tilt angle θ and vertical beam angle α of the private network coverage sector are known when the base station sets the SSB beam. Δh and D can be obtained from formulas 1 and 2, from which the electronic tilt angle γ of the SSB beam that can cover the flight trajectory of low-altitude drones can be directly calculated. The first beam tilt angle value γ can be calculated from formula 3 new .

[0116] Of course, the above examples are only examples. Those skilled in the art can use the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle and the distance to calculate the first beam tilt angle value for the unmanned aerial vehicle based on other algorithms. This embodiment of the present invention does not limit this.

[0117] In an embodiment of the present invention, the first beam tilt value for the unmanned aerial vehicle is calculated by using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle, and the distance, thereby efficiently calculating the first beam tilt value, and further improving the efficiency and safety of controlling the drone through 5G signals.

[0118] In an optional embodiment of the present invention, the step of sending a control signal to the unmanned aerial vehicle using the first beam tilt angle value includes:

[0119] Obtaining a second beam tilt value; wherein the second beam tilt value is an initial beam tilt value of the base station device;

[0120] Determining a minimum beam tilt adjustment value and a configurable beam tilt threshold for the base station device;

[0121] Determining whether a difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value;

[0122] When the difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value, determining whether the first beam tilt value is greater than a settable beam tilt threshold;

[0123] When the first beam tilt angle value is less than or equal to the settable beam tilt angle threshold, a control signal is sent to the unmanned aerial vehicle using the first beam tilt angle value.

[0124] In a specific implementation, the embodiment of the present invention can obtain a second beam tilt value, wherein the second beam tilt value can be an initial beam tilt value of the base station device. Specifically, the initial beam tilt value can be an old beam tilt value, that is, the beam tilt value to be updated by the first beam tilt value, which can be obtained by γ old express.

[0125] The embodiments of the present invention can also determine the minimum beam tilt adjustment value and the settable beam tilt threshold for the base station device, wherein the settable beam tilt threshold can be the settable beam tilt range of the current beam scene of the base station, and the minimum beam tilt adjustment value of the base station device can be the minimum adjustment granularity of the SSB beam tilt of the private network base station, that is, the step size of the beam tilt adjustment, which can be expressed by Δγ.

[0126] In the embodiment of the present invention, after obtaining the second beam tilt value and determining the minimum beam tilt adjustment value and the configurable beam tilt threshold for the base station device, it is determined whether the difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value. When |γ new -γ old |≥Δγ, it can be determined whether the first beam tilt angle value is greater than the settable beam tilt angle threshold, and when the first beam tilt angle value is less than or equal to the settable beam tilt angle threshold, the first beam tilt angle value is used to send a control signal to the unmanned aerial vehicle.

[0127] An embodiment of the present invention can obtain a second beam tilt value; the second beam tilt value is the initial beam tilt value of the base station device; determine the minimum beam tilt adjustment value and the settable beam tilt threshold for the base station device; judge whether the difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value; when the difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value, judge whether the first beam tilt value is greater than the settable beam tilt threshold; when the first beam tilt value is less than or equal to the settable beam tilt threshold, use the first beam tilt value to send a control signal to the unmanned aerial vehicle, thereby achieving more accurate sending of control signals to the unmanned aerial vehicle, and further improving the efficiency and safety of controlling drones through 5G signals.

[0128] In an optional embodiment of the present invention, it further includes:

[0129] When the difference between the first beam tilt value and the second beam tilt value is smaller than the minimum beam tilt adjustment value, the step of receiving the uplink synchronization information is performed again.

[0130] In actual applications, if the difference between the first beam tilt angle value and the second beam tilt angle value is less than the minimum beam tilt adjustment value, it can be indicated that the displacement distance of the unmanned aerial vehicle does not exceed the range where the beam tilt angle needs to be adjusted. Therefore, the embodiment of the present invention can re-receive the uplink synchronization information when the difference between the first beam tilt angle value and the second beam tilt angle value is less than the minimum beam tilt adjustment value to achieve dynamic tracking of the unmanned aerial vehicle.

[0131] In an embodiment of the present invention, when the difference between the first beam tilt angle value and the second beam tilt angle value is less than the minimum beam tilt adjustment value, the step of receiving the uplink synchronization information is re-executed to achieve dynamic tracking of the unmanned aerial vehicle, thereby further improving the efficiency and safety of controlling the drone through 5G signals.

[0132] In an optional embodiment of the present invention, it further includes:

[0133] When the first beam tilt angle value is greater than the settable beam tilt angle threshold, a control signal is sent to the unmanned aerial vehicle using the second beam tilt angle value.

[0134] In actual applications, if the first beam tilt angle value is greater than the settable beam tilt angle threshold, it may indicate that the first beam tilt angle value has exceeded the settable beam tilt angle range of the current beam scene of the base station. Therefore, the embodiment of the present invention may use the second beam tilt angle value to send a control signal to the unmanned aerial vehicle when the first beam tilt angle value is greater than the settable beam tilt angle threshold.

[0135] In an embodiment of the present invention, when the first beam tilt angle value is greater than the settable beam tilt angle threshold, the second beam tilt angle value is used to send a control signal to the unmanned aerial vehicle. This ensures that when the first beam tilt angle value has exceeded the settable beam tilt angle range of the current beam scene of the base station, the control signal can continue to be sent to the unmanned aerial vehicle according to the old second beam tilt angle value, avoiding stopping the sending of control signals to the unmanned aerial vehicle using the SSB beam, thereby improving the stability of sending control signals and further improving the efficiency and safety of controlling drones through 5G signals.

[0136] In an optional embodiment of the present invention, the base station device has a corresponding control sector, a signal transmitting device, and a default beam tilt value, and further includes:

[0137] determining whether the UAV is located within the control sector;

[0138] If not, using the default beam tilt value to control the signal transmitting device;

[0139] If yes, the step of receiving the uplink synchronization information is performed again.

[0140] In a specific implementation, the UAV of an embodiment of the present invention may have a corresponding UAV terminal identification or 5G-TMSI (temporary identification code) information. For example, the embodiment of the present invention may determine whether the UAV is located in the control sector through the UAV terminal identification or 5G-TMSI information. If the UAV has been disconnected, switched out, or lost uplink synchronization, that is, it is determined that the UAV is not located in the control sector, the SSB beam tilt angle of the base station device may be restored to the original default initial value, and the SSB beam dynamic adjustment process ends. If it is determined that the UAV is located in the control sector, the uplink synchronization information of the UAV may be received again, and the base station device may continue to update the TA value of the UAV and wait for the next round of beam adjustment.

[0141] In an embodiment of the present invention, it is determined whether the unmanned aerial vehicle is located within the control sector; if not, the default beam tilt value is used to control the signal transmitting device; if so, the step of receiving the uplink synchronization information is re-executed, thereby further improving the mechanism of controlling the drone through 5G signals and further improving the efficiency and safety of controlling the drone through 5G signals.

[0142] In order to enable those skilled in the art to better understand the embodiments of the present invention, the embodiments of the present invention are described below using a complete example.

[0143] 1. Update drone mission parameters via private network base station:

[0144] Generally, drones have already completed mission planning before executing a mission, and their mission cruising altitude and cruising range are known. First, confirm whether the drone's cruising mission parameters have been entered or changed. If the drone's cruising mission parameters need to be updated, they can be configured in the private network base station through a proprietary data interface or configuration parameters. The input parameters include the drone's cruising altitude h, the private network sector altitude h1, and the private network sector mechanical inclination angle θ. After the relevant parameters are entered in the base station, the data is stored in the base station. If the drone's cruising mission parameters do not need to be updated, skip this step directly.

[0145] 2. Base station updates 5G drone TA value:

[0146] The base station updates the TA information of the terminal in real time based on the uplink synchronization information of the 5G terminal carried by the drone. When the TA value (advance) of the terminal needs to be updated, the base station will synchronize the TAC command in real time through MAC-CE. The base station calculates the distance between the drone and the 5G base station in real time based on the updated TA value, which can be estimated by the TA value:

[0147] Formula 1:

[0148]

[0149] Where D is the distance between the base station equipment and the UAV, C 光 is the speed of light, a known constant.

[0150] 3. Base station calculates and updates beam tilt angle γ new

[0151] The base station has obtained the relevant parameters of the drone mission, and the height difference between the drone mission cruising altitude and the station height of the private network base station:

[0152] Formula 2:

[0153] Δh=h-h1

[0154] Among them, h is the cruising altitude of the drone, and h1 is the altitude of the private network sector.

[0155] The beam tilt value for optimal coverage of the drone can be calculated by combining the above known parameters with the following formula:

[0156] Formula 3:

[0157] Among them, the mechanical tilt angle θ and vertical beam angle α of the private network coverage sector are known when the base station sets the SSB beam. Δh and D can be obtained from formulas 1 and 2, from which the electronic tilt angle γ of the SSB beam that can cover the flight trajectory of low-altitude drones can be directly calculated. The beam tilt angle calculated by formula 3 is the updated tilt angle γ new .

[0158] 4. Dynamic adjustment method of SSB beam of private network base station:

[0159] First, the calculated updated tilt angle is compared with the original SSB beam tilt angle (γ old ) for comparison, if the difference between the front and rear tilt angles is greater than the minimum adjustment granularity (Δγ) of the SSB beam tilt angle of the private network base station, that is, |γ new -γ old If |>Δγ, the system proceeds to the next step; otherwise, it returns to the first step to update the TA value of the 5G drone terminal. The minimum adjustment granularity (Δγ) of the private network base station SSB beam tilt is the step size of the beam tilt adjustment, which can be adjusted according to the capabilities of the base station.

[0160] If the previous condition is met, continue to determine the updated SSB beam tilt angle γ new Whether it exceeds the configurable beam tilt range of the current beam scenario of the base station. If it is within the configurable range, the current beam tilt is set to the newly calculated updated SSB beam tilt γ new Otherwise, the original SSB beam tilt angle γ is maintained. old .

[0161] 5. Exit mechanism of base station SSB beam dynamic adjustment process:

[0162] The exit mechanism for the base station's SSB beam dynamic adjustment process primarily considers whether the drone's 5G terminal remains in the current 5G private network sector. The terminal's 5G-TMSI information, the drone's terminal identifier, and its status can be used to determine whether the drone's 5G terminal is still in the corresponding sector of the current 5G base station. If the drone's 5G terminal has been disconnected, switched out, or experienced uplink synchronization loss, the private network base station's SSB beam tilt angle is restored to its default initial value, and the SSB beam dynamic adjustment process ends. Otherwise, the process returns to step one, and the base station continues to update the drone's 5G terminal's TA value, awaiting the next round of beam adjustment.

[0163] In practical applications, taking the existing 5G live network as an example, the 5G commercial outdoor coverage frequency band issued by the Ministry of Industry and Information Technology to China Telecom is N78 (3.4GHz-3.5GHz), and the 5G equipment used is a 64TR AAU device. Taking the configuration of this network as an example, the method of the present invention is implemented step by step to select a site with a relatively high existing site address in the area where low-altitude 5G coverage is required, and add a low-altitude 5G private network base station to the original site. The initial mechanical tilt angle of the sector is set to 0° based on the drone's cruising altitude. The 5G terminal carried by the drone has a card activation of 5QI=7. The required cruising altitude of the drone service in this embodiment is about 220 meters.

[0164] refer to Figure 6 , Figure 6 This is a schematic diagram of an heterofrequency switching strategy provided in an embodiment of the present invention. In order to ensure the effect of the verification test, the base station's residence strategy is first optimized to ensure that the drone can attach to the private network base station for a long time. The SSB GSCN frequency configured for the public network 3.4G~3.5G base station is 7783, and the specific frequency range is 3.40536~3.41256GHz, which is located at the lower part of the entire 100M bandwidth. According to the strategy of heterofrequency networking in the same frequency band and the protection bandwidth configuration of the actual base station, the SSB GSCN frequency of the low-altitude 5G private network in this frequency band is set to 7836 (the actual frequency range is 3.48168~3.48888GHz).

[0165] For this site: 1. Delete the neighbor relationship between this site and all other sites and turn off the ANR function; 2. Adjust the A2 inter-frequency switching threshold of the private network sector to -120dB, A5 threshold 1 to -125dB, and A5 threshold 2 to -100dB.

[0166] For associated neighboring stations: Derive the associated sectors of neighboring stations with which this station has a handover relationship and are located near the drone's takeoff point from the network management system. Configure the inter-frequency handover strategy for the private network 5G SSB frequency: 7836 as follows: A2 threshold ≤ -60dB, A5 threshold 1 ≤ -65dB, A5 threshold 2 ≥ -110dB. Bind this configured cell inter-frequency handover measurement parameter group to the policy group with 5QI = 7.

[0167] refer to Figure 7 , Figure 7 This is a schematic diagram of the residence status of a 5G drone before and after the implementation of a residence strategy provided in an embodiment of the present invention. The residence status of the 5G drone in the private network in the airspace was tested and verified before and after the implementation of the strategy. From the test results, it can be seen that before the implementation of this strategy, the drone frequently switched between the nearby public network and the private network. After the implementation of this strategy, the drone stably resided on the PCI of the private network.

[0168] Dynamic adjustment of SSB beams in low-altitude 5G private networks:

[0169] Since this strategy is designed in the present invention, it is not actually configured in the base station at present. The implementation process simulates the dynamic coverage process of the airspace by manually adjusting the tilt angle of the beam.

[0170] refer to Figure 8 , Figure 8This is a schematic diagram of a beam adjustment process provided in an embodiment of the present invention. According to the current base station configuration, the horizontal and vertical lobe angles of the SSB beam are set to 110° and 6° respectively, and the tilt angle can be set in the range of -2 to 13°. The specific adjustment process is that the UAV gradually enters the adjustable coverage range of the private network sector. When it enters the beam adjustable coverage range, the distance D from the UAV to the base station is dynamically calculated based on the TA reported by the UAV, and the total tilt angle of the beam is calculated based on the distance. Then, the tilt angle that needs to be adjusted is calculated based on the vertical lobe angle. The minimum granularity of the tilt angle that can be configured by the base station is 1° (later, it can be adjusted to 0.1° or even smaller granularity based on technology). Therefore, according to the flight trajectory of the UAV, when the tilt angle changes by more than 1°, the tilt angle adjustment is implemented on the base station network management until the total tilt angle exceeds 11° or the UAV cuts out of the sector and stops.

[0171] refer to Figure 9 , Figure 9 This is a schematic diagram of the test indicators of a dynamic beam coverage solution provided in an embodiment of the present invention. A dynamic beam adjustment strategy is applied in low-altitude 5G private network coverage. The test is compared with the previous static beam coverage solution on the flight trajectory in the same airspace. The airspace coverage rate of the dynamic beam coverage solution is increased by 1.3 times, and the service rate indicator is increased by nearly 1.4 times.

[0172] After the relevant policy applications were implemented, the longest distance test was conducted on the low-altitude 5G private network coverage area where the policy was implemented. The flight mission of the single-sector coverage longest distance test was still carried out according to the drone cruising altitude of 220 meters. Due to the limitation of the drone's onboard battery, the longest distance of the single-sector test was more than 5KM, and the average upload service rate was 110Mbps (simulating drone gimbal backhaul service). At the longest distance, the upload rate exceeded 50Mbps, and it can still support high-definition gimbal video backhaul services above 4K.

[0173] Test results after implementing this strategy show that the coverage distance of a single sector in a private network can be increased to over 5 km, meaning that the distance between base stations in the private network can be set to over 10 km. This significantly enhances the coverage efficiency of a single base station in the private network, improves the coverage of a single site, and significantly improves airspace coverage quality. This reduces the construction cost of low-altitude 5G private networks, reducing base station construction costs by at least half during the process of establishing low-altitude 5G private network coverage.

[0174] Through the above method, the real-time collection of information such as the location of low-altitude 5G terminals is combined with the dynamic adjustment of the SSB beam of the low-altitude 5G private network base station to improve the airspace coverage. It mainly solves the problems of limited 5G airspace coverage distance and high cost of establishing low-altitude 5G private networks. It ensures large uplink services such as gimbal backhaul during the cruising mission of low-altitude 5G drones, improves the coverage distance of a single station of the low-altitude private network base station, reduces the cost of establishing the private network base station, and does not increase the hardware and system complexity. The algorithm can be directly applied in the 5G base station (the relevant methods all follow the 3GPP protocol) to achieve low-altitude 5G private network coverage and provide better network capability support for drone services.

[0175] Example 2

[0176] Reference Figure 10 , shows a flowchart of a method for controlling an unmanned aerial vehicle provided in the first embodiment of the present invention, which may specifically include the following steps:

[0177] Step 1001: Generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device;

[0178] Step 1002: Receive the control signal; the control signal is used to control the UAV.

[0179] In a specific implementation, the embodiments of the present invention can be applied to an unmanned aerial vehicle, which can have a corresponding base station device, wherein the base station device is used to obtain cruise mission parameters for the unmanned aerial vehicle; receive the uplink synchronization information; determine the maximum time advance value for the unmanned aerial vehicle from the uplink synchronization information; calculate the distance between the base station device and the unmanned aerial vehicle through the maximum time advance value; calculate the first beam tilt angle value for the unmanned aerial vehicle based on the distance and the cruise mission parameters; and send a control signal to the unmanned aerial vehicle through the first beam tilt angle value.

[0180] As for the second embodiment, since it is basically similar to the first embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0181] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0182] Example 3

[0183] Reference Figure 11 , shows a structural block diagram of an unmanned aerial vehicle control device provided in an embodiment of the present invention, which may specifically include the following modules:

[0184] A cruise mission parameter acquisition module 1101 is used to obtain cruise mission parameters for the UAV;

[0185] An uplink synchronization information receiving module 1102 is configured to receive the uplink synchronization information;

[0186] a maximum timing advance value determining module 1103, configured to determine a maximum timing advance value for the UAV from the uplink synchronization information;

[0187] a distance calculation module 1104, configured to calculate the distance between the base station device and the unmanned aerial vehicle using the maximum timing advance value;

[0188] A first beam tilt value calculation module 1105 is configured to calculate a first beam tilt value for the UAV based on the distance and the cruise mission parameters;

[0189] The control signal sending module 1106 is configured to send a control signal to the UAV via the first beam tilt angle value; the UAV is configured to receive the control signal; and the control signal is used to control the UAV.

[0190] Optionally, the cruise mission parameter information includes the UAV cruise altitude, the private network sector altitude, the private network sector mechanical tilt angle and the vertical lobe angle, and the first beam tilt angle value calculation module may include:

[0191] The first beam tilt value calculation submodule is used to calculate the first beam tilt value for the unmanned aerial vehicle by using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle and the distance.

[0192] Optionally, the control signal sending module may include:

[0193] A second beam tilt value acquisition submodule is configured to acquire a second beam tilt value; the second beam tilt value is an initial beam tilt value of the base station device;

[0194] A beam tilt minimum adjustment value and a configurable beam tilt threshold determination submodule, configured to determine a beam tilt minimum adjustment value and a configurable beam tilt threshold for the base station device;

[0195] a first judgment submodule, configured to judge whether a difference between the first beam tilt angle value and the second beam tilt angle value is greater than or equal to the minimum beam tilt adjustment value; and calling a second judgment submodule when the difference between the first beam tilt angle value and the second beam tilt angle value is greater than or equal to the minimum beam tilt adjustment value;

[0196] The second judgment submodule is configured to judge whether the first beam tilt angle value is greater than a configurable beam tilt angle threshold; when the first beam tilt angle value is less than or equal to the configurable beam tilt angle threshold,

[0197] The first control signal sending submodule is configured to send a control signal to the unmanned aerial vehicle using the first beam tilt angle value.

[0198] Optionally, it may also include:

[0199] The first calling submodule is configured to call an uplink synchronization information receiving module when a difference between the first beam tilt value and the second beam tilt value is smaller than the minimum beam tilt adjustment value.

[0200] Optionally, it may also include:

[0201] The second control signal sending submodule is configured to send a control signal to the UAV using the second beam tilt angle value when the first beam tilt angle value is greater than the settable beam tilt angle threshold.

[0202] Optionally, the base station device has a corresponding control sector, a signal transmitting device, and a default beam tilt value, and may further include:

[0203] A third determination module is configured to determine whether the UAV is located within the control sector; if not, calling the signal transmitter control module; if so, calling the uplink synchronization information receiving module;

[0204] A signal transmitting device control module is used to control the signal transmitting device using the default beam tilt angle value.

[0205] Example 4

[0206] Reference Figure 12 , shows a structural block diagram of an unmanned aerial vehicle control device provided in an embodiment of the present invention, which may specifically include the following modules:

[0207] An uplink synchronization information generation module 1201 is configured to generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device; the base station device is configured to obtain cruise mission parameters for the UAV; receive the uplink synchronization information; determine a maximum timing advance value for the UAV from the uplink synchronization information; calculate a distance between the base station device and the UAV using the maximum timing advance value; calculate a first beam tilt value for the UAV based on the distance and the cruise mission parameters; and send a control signal to the UAV using the first beam tilt value;

[0208] The control signal receiving module 1202 is used to receive the control signal; the control signal is used to control the UAV.

[0209] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0210] In addition, an embodiment of the present invention also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and runnable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned unmanned aerial vehicle control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0211] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program implements the various processes of the above-mentioned UAV control method embodiment and can achieve the same technical effects. To avoid repetition, the details are not described here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0212] Figure 13 A schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0213] The electronic device 1300 includes but is not limited to: a radio frequency unit 1301, a network module 1302, an audio output unit 1303, an input unit 1304, a sensor 1305, a display unit 1306, a user input unit 1307, an interface unit 1308, a memory 1309, a processor 1310, and a power supply 1311. It will be understood by those skilled in the art that Figure 13The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or may combine certain components or arrange the components differently. In the embodiments of the present invention, the electronic device includes but is not limited to a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle terminal, a wearable device, and a pedometer.

[0214] It should be understood that in this embodiment of the present invention, the RF unit 1301 can be used to receive and transmit signals during information transmission or calls. Specifically, it receives downlink data from the base station and transmits it to the processor 1310 for processing; in addition, it transmits uplink data to the base station. Typically, the RF unit 1301 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, and the like. Furthermore, the RF unit 1301 can communicate with the network and other devices via a wireless communication system.

[0215] The electronic device provides users with wireless broadband Internet access through the network module 1302, such as helping users to send and receive emails, browse web pages, and access streaming media.

[0216] The audio output unit 1303 can convert audio data received by the RF unit 1301 or the network module 1302 or stored in the memory 1309 into an audio signal and output it as sound. In addition, the audio output unit 1303 can also provide audio output related to a specific function performed by the electronic device 1300 (for example, a call signal reception sound, a message reception sound, etc.). The audio output unit 1303 includes a speaker, a buzzer, a receiver, etc.

[0217] The input unit 1304 is used to receive audio or video signals. The input unit 1304 may include a graphics processing unit (GPU) 13041 and a microphone 13042. The graphics processor 13041 processes image data of still pictures or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The processed image frames can be displayed on the display unit 1306. The image frames processed by the graphics processor 13041 can be stored in the memory 1309 (or other storage medium) or transmitted via the radio frequency unit 1301 or the network module 1302. The microphone 13042 can receive sound and process such sound into audio data. In the case of a telephone call mode, the processed audio data can be converted into a format that can be sent to a mobile communication base station via the radio frequency unit 1301 for output.

[0218] The electronic device 1300 also includes at least one sensor 1305, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 13061 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 13061 and / or the backlight when the electronic device 1300 is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used to identify the posture of the electronic device (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; the sensor 1305 can also include a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be repeated here.

[0219] The display unit 1306 is used to display information input by the user or information provided to the user. The display unit 1306 may include a display panel 13061, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0220] The user input unit 1307 can be used to receive input digital or character information, and to generate key signal input related to the user settings and function control of the electronic device. Specifically, the user input unit 1307 includes a touch panel 13071 and other input devices 13072. The touch panel 13071, also known as a touch screen, can collect user touch operations on or near it (such as operations performed by the user using any suitable object or accessory such as a finger, stylus, etc. on or near the touch panel 13071). The touch panel 13071 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal caused by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device and converts it into touch point coordinates, which are then sent to the processor 1310, which receives the command sent by the processor 1310 and executes it. In addition, the touch panel 13071 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 13071, the user input unit 1307 may further include other input devices 13072. Specifically, the other input devices 13072 may include but are not limited to a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and an operating stick, which will not be described in detail here.

[0221] Furthermore, the touch panel 13071 may be overlaid on the display panel 13061. When the touch panel 13071 detects a touch operation on or near it, it transmits the information to the processor 1310 to determine the type of touch event. Subsequently, the processor 1310 provides corresponding visual output on the display panel 13061 according to the type of touch event. Figure 13 In the figure, the touch panel 13071 and the display panel 13061 are two independent components to realize the input and output functions of the electronic device. However, in some embodiments, the touch panel 13071 and the display panel 13061 can be integrated to realize the input and output functions of the electronic device, which is not limited here.

[0222] The interface unit 1308 is an interface for connecting external devices to the electronic device 1300. For example, the external devices may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, a headphone port, etc. The interface unit 1308 may be used to receive input (e.g., data information, power, etc.) from the external device and transmit the received input to one or more elements within the electronic device 1300, or may be used to transmit data between the electronic device 1300 and the external device.

[0223] Memory 1309 can be used to store software programs and various data. Memory 1309 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as a sound playback function or an image playback function); the data storage area may store data generated based on the use of the phone (such as audio data, a phone book, etc.). Furthermore, memory 1309 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0224] Processor 1310 is the control center of the electronic device. It connects all parts of the electronic device using various interfaces and circuits. By running or executing software programs and / or modules stored in memory 1309 and accessing data stored in memory 1309, it performs various functions of the electronic device and processes data, thereby monitoring the entire electronic device. Processor 1310 may include one or more processing units; preferably, processor 1310 may integrate an application processor and a modem processor, wherein the application processor primarily processes the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 1310.

[0225] The electronic device 1300 may also include a power supply 1311 (such as a battery) to supply power to each component. Preferably, the power supply 1311 may be logically connected to the processor 1310 through a power management system, thereby managing functions such as charging, discharging, and power consumption through the power management system.

[0226] In addition, the electronic device 1300 includes some functional modules not shown, which will not be described here.

[0227] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0228] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0229] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

[0230] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0231] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0232] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0233] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0234] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0235] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, ROM, RAM, a magnetic disk, or an optical disk.

[0236] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for controlling an unmanned aerial vehicle, characterized in that: The method is applied to a base station device, the base station device having a corresponding unmanned aerial vehicle (UAV), the UAV being configured to generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device, comprising: Obtaining cruise mission parameters for the UAV, the cruise mission parameters including the UAV cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, and the vertical lobe angle; receiving the uplink synchronization information; determining a maximum timing advance value for the UAV from the uplink synchronization information; Calculating the distance between the base station device and the unmanned aerial vehicle using the maximum time advance value; Calculating a first beam tilt value for the UAV based on the distance and the cruise mission parameter; Sending a control signal to the unmanned aerial vehicle using the first beam tilt angle value; the unmanned aerial vehicle is used to receive the control signal; the control signal is used to control the unmanned aerial vehicle; The distance between the base station device and the unmanned aerial vehicle is determined according to the following formula: Where D is the distance between the base station equipment and the UAV, T TA is the maximum timing advance value corresponding to the uplink synchronization information, C 光 is the speed of light; The first beam tilt angle value of the unmanned aerial vehicle is determined according to the following formula: Where θ is the mechanical tilt angle of the private network coverage sector, and α is the vertical lobe angle; The height difference between the cruising altitude of the drone and the altitude of the private network sector is determined according to the following formula: Δh=h-h1 Among them, h is the cruising altitude of the drone, and h1 is the altitude of the private network sector.

2. The method according to claim 1, characterized in that The step of calculating a first beam tilt value for the unmanned aerial vehicle based on the distance and the cruise mission parameter comprises: The first beam tilt value for the unmanned aerial vehicle is calculated using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle, and the distance.

3. The method according to claim 1 or 2, characterized in that The step of sending a control signal to the unmanned aerial vehicle using the first beam tilt angle value comprises: Obtaining a second beam tilt value; wherein the second beam tilt value is an initial beam tilt value of the base station device; Determining a minimum beam tilt adjustment value and a configurable beam tilt threshold for the base station device; Determining whether a difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value; When the difference between the first beam tilt value and the second beam tilt value is greater than or equal to the minimum beam tilt adjustment value, determining whether the first beam tilt value is greater than a settable beam tilt threshold; When the first beam tilt angle value is less than or equal to the settable beam tilt angle threshold, a control signal is sent to the unmanned aerial vehicle using the first beam tilt angle value.

4. The method according to claim 3, characterized in that Also includes: When the difference between the first beam tilt value and the second beam tilt value is smaller than the minimum beam tilt adjustment value, the step of receiving the uplink synchronization information is performed again.

5. The method according to claim 3, characterized in that Also includes: When the first beam tilt angle value is greater than the settable beam tilt angle threshold, a control signal is sent to the unmanned aerial vehicle using the second beam tilt angle value.

6. The method according to claim 1 or 2, characterized in that The base station device has a corresponding control sector, a signal transmitting device and a default beam tilt value, and further includes: determining whether the UAV is located within the control sector; If not, using the default beam tilt value to control the signal transmitting device; If yes, the step of receiving the uplink synchronization information is performed again.

7. A method for controlling an unmanned aerial vehicle, characterized in that: The method is applied to an unmanned aerial vehicle, which has a corresponding base station device, and includes: Generate uplink synchronization information for the unmanned aerial vehicle and send the uplink synchronization information to the base station device; the base station device is used to obtain cruise mission parameters for the unmanned aerial vehicle, the cruise mission parameters including the unmanned aerial vehicle cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle and the vertical lobe angle; receive the uplink synchronization information; determine the maximum timing advance value for the unmanned aerial vehicle from the uplink synchronization information; calculate the distance between the base station device and the unmanned aerial vehicle based on the maximum timing advance value; calculate a first beam tilt angle value for the unmanned aerial vehicle based on the distance and the cruise mission parameters; and send a control signal to the unmanned aerial vehicle using the first beam tilt angle value; receiving the control signal; the control signal is used to control the unmanned aerial vehicle; The distance between the base station device and the unmanned aerial vehicle is determined according to the following formula: Where D is the distance between the base station equipment and the UAV, T TA is the maximum timing advance value corresponding to the uplink synchronization information, C 光 is the speed of light; The first beam tilt angle value of the unmanned aerial vehicle is determined according to the following formula: Where θ is the mechanical tilt angle of the private network coverage sector, and α is the vertical lobe angle; The height difference between the cruising altitude of the drone and the altitude of the private network sector is determined according to the following formula: Δh=h-h1 Among them, h is the cruising altitude of the drone, and h1 is the altitude of the private network sector.

8. An unmanned aerial vehicle control device, characterized in that: The apparatus is applied to a base station device, the base station device having a corresponding unmanned aerial vehicle (UAV), the UAV being configured to generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device, including: A cruise mission parameter acquisition module is used to obtain cruise mission parameters for the UAV, wherein the cruise mission parameters include the UAV cruising altitude, the private network sector altitude, the private network sector mechanical inclination angle, and the vertical lobe angle; An uplink synchronization information receiving module, configured to receive the uplink synchronization information; a maximum timing advance value determining module, configured to determine a maximum timing advance value for the UAV from the uplink synchronization information; a distance calculation module, configured to calculate the distance between the base station device and the unmanned aerial vehicle using the maximum timing advance value; a first beam tilt value calculation module, configured to calculate a first beam tilt value for the UAV based on the distance and the cruise mission parameter; A control signal sending module is configured to send a control signal to the unmanned aerial vehicle using the first beam tilt angle value; the unmanned aerial vehicle is configured to receive the control signal; the control signal is used to control the unmanned aerial vehicle; wherein the distance between the base station device and the unmanned aerial vehicle is determined according to the following formula: Where D is the distance between the base station equipment and the UAV, T TA is the maximum timing advance value corresponding to the uplink synchronization information, C 光 is the speed of light; The first beam tilt angle value of the unmanned aerial vehicle is determined according to the following formula: Where θ is the mechanical tilt angle of the private network coverage sector, and α is the vertical lobe angle; The height difference between the UAV cruising altitude and the private network sector altitude is determined by the following formula: Δh=h-h1 Among them, h is the cruising altitude of the drone, and h1 is the altitude of the private network sector.

9. The device according to claim 8, characterized in that The first beam tilt value calculation module includes: The first beam tilt value calculation submodule is used to calculate the first beam tilt value for the unmanned aerial vehicle by using the drone cruising altitude, the private network sector altitude, the private network sector mechanical tilt angle, the vertical lobe angle and the distance.

10. The device according to claim 8 or 9, characterized in that The control signal sending module includes: A second beam tilt value acquisition submodule is configured to acquire a second beam tilt value; the second beam tilt value is an initial beam tilt value of the base station device; A beam tilt minimum adjustment value and a configurable beam tilt threshold determination submodule, configured to determine a beam tilt minimum adjustment value and a configurable beam tilt threshold for the base station device; a first judgment submodule, configured to judge whether a difference between the first beam tilt angle value and the second beam tilt angle value is greater than or equal to the minimum beam tilt adjustment value; and calling a second judgment submodule when the difference between the first beam tilt angle value and the second beam tilt angle value is greater than or equal to the minimum beam tilt adjustment value; The second judgment submodule is configured to judge whether the first beam tilt angle value is greater than a configurable beam tilt angle threshold; when the first beam tilt angle value is less than or equal to the configurable beam tilt angle threshold, The first control signal sending submodule is configured to send a control signal to the unmanned aerial vehicle using the first beam tilt angle value.

11. The device according to claim 10, characterized in that Also includes: The first calling submodule is configured to call an uplink synchronization information receiving module when a difference between the first beam tilt value and the second beam tilt value is smaller than the minimum beam tilt adjustment value.

12. The device according to claim 10, characterized in that Also includes: The second control signal sending submodule is configured to send a control signal to the UAV using the second beam tilt angle value when the first beam tilt angle value is greater than the settable beam tilt angle threshold.

13. The device according to claim 8 or 9, characterized in that The base station device has a corresponding control sector, a signal transmitting device and a default beam tilt value, and further includes: A third determination module is configured to determine whether the UAV is located within the control sector; if not, calling the signal transmitter control module; if so, calling the uplink synchronization information receiving module; A signal transmitting device control module is used to control the signal transmitting device using the default beam tilt angle value.

14. An unmanned aerial vehicle control device, characterized in that: The device is applied to an unmanned aerial vehicle, which has a corresponding base station device, and includes: An uplink synchronization information generation module is configured to generate uplink synchronization information for the UAV and send the uplink synchronization information to the base station device; the base station device is configured to obtain cruise mission parameters for the UAV, the cruise mission parameters including the UAV cruise altitude, the private network sector altitude, the private network sector mechanical tilt angle, and the vertical lobe angle; receive the uplink synchronization information; determine a maximum timing advance value for the UAV from the uplink synchronization information; calculate the distance between the base station device and the UAV using the maximum timing advance value; calculate a first beam tilt angle value for the UAV based on the distance and the cruise mission parameters; and send a control signal to the UAV using the first beam tilt angle value; A control signal receiving module, configured to receive the control signal; the control signal is used to control the unmanned aerial vehicle; The distance between the base station device and the unmanned aerial vehicle is determined according to the following formula: Where D is the distance between the base station equipment and the UAV, T TA is the maximum timing advance value corresponding to the uplink synchronization information, C 光 is the speed of light; The first beam tilt angle value of the unmanned aerial vehicle is determined according to the following formula: Where θ is the mechanical tilt angle of the private network coverage sector, and α is the vertical lobe angle; The height difference between the UAV cruising altitude and the private network sector altitude is determined by the following formula: Δh=h-h1 Among them, h is the cruising altitude of the drone, and h1 is the altitude of the private network sector.

15. An electronic device, characterized in that: comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used to store computer programs; The processor is configured to implement the method according to any one of claims 1 to 7 when executing a program stored in the memory.

16. A computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method according to any one of claims 1 to 7.

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