Method, device and storage medium for creating a group of drones and drone controllers

Abstract

In a method for creating a group for a pair of unmanned aerial vehicles (UAVs) and unmanned aerial vehicle controllers (UAV-Cs) in a Service Enablement Architecture Layer (SEAL) architecture, the pair of UAVs and UAV-Cs is identified by an Unmanned Aerial Systems Application Enablement (UAE) server in the SEAL architecture. The UAE server sends a group creation request for the pair of UAVs and UAV-Cs to a SEAL Group Management (GM) server in the SEAL architecture. The UAE server receives a first response message to the group creation request from the SEAL GM server. A group is created for Quality of Service (QoS) management, including the pair of UAVs and UAV-Cs. The group creation request includes the identity of a UAE client corresponding to the pair of UAVs and UAV-Cs, the identity of the UAVs, and the identity of the UAV-Cs.

Description

[0001] Cross-references

[0002] This disclosure claims priority to U.S. Provisional Application No. 63 / 190,682, filed on May 19, 2021, “Unmanned Aerial System Communication,” and U.S. Application No. 17 / 746,720, filed on May 17, 2022, “METHOD AND APPARATUS FOR UAV AND UAV CONTROLLER PAIRING AND COMMAND ANDCONTROL (C2) QUALITY OF SERVICE PROVISIONING,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to unmanned aerial vehicle system communications. Background Art

[0004] The background description provided herein is intended to present the background of the present application as a whole. To the extent that the work of the presently named inventors is described in the background section and in various aspects of this specification, it is not intended that it be prior art at the time of filing this application, and it is neither expressly nor impliedly admitted that it is prior art to the present application.

[0005] An unmanned aerial vehicle (UAV) or unmanned aerial vehicle (UAV) can include aircraft without any human pilot, crew, or passengers on board. A UAV is a component of an unmanned aircraft system (UAS). A UAS may further include ground controllers and systems for communicating with the UAV. Communication systems that support the connectivity needs of UAV systems are under development. Summary of the Invention

[0006] Various aspects of the present disclosure provide methods and apparatus for pairing a UAV and a UAV-C based on a group ID and performing C2 QoS configuration in a 3GPP network by using the group ID. In some examples, the apparatus for pairing a UAV and a UAV-C includes a receiving circuit and a processing circuit.

[0007] A method for creating a group for a pair of unmanned aerial vehicles (UAVs) and unmanned aerial vehicle controllers (UAV-Cs) in a service enabling architecture layer (SEAL) architecture may be provided. In the method, the pair of UAVs and UAV-Cs may be identified by an unmanned aerial vehicle system application enablement (UAE) server in the SEAL architecture. The UAE server may send a group creation request for the pair of UAVs and UAV-Cs to a SEAL group management (GM) server of the SEAL architecture. In response to the group creation request, the UAE server may receive a first response message from the SEAL GM server. Based on the first response message, a group including the pair of UAVs and UAV-Cs may be created. The group is used for quality of service (QoS) management. The group creation request may include an identity of a UAE client corresponding to the pair of UAVs and UAV-Cs, an identity of the UAVs, and an identity of the UAV-Cs.

[0008] In some embodiments, the group creation request may further include a Civil Aviation Authority (CAA) level identity of the UAV.

[0009] In some embodiments, the group creation request may further include a timeout period that defines a waiting time limit for waiting for a first response message from the SEAL GM server after the group creation request is sent to the SEAL GM server.

[0010] In this method, when the first response message is not assigned to the UAV server within a timeout period, another group creation request may be sent.

[0011] In some embodiments, the first response message may further include a group creation result indicating whether the group is successfully created for the pair of UAV and UAV-C.

[0012] In an embodiment, in response to the group creation result indicating that the group is successfully created for the pair of UAV and UAV-C, the first response message may include a group identity (ID) assigned to the pair of UAV and UAV-C.

[0013] In another embodiment, in response to the group creation result indicating that a group is successfully created for the pair of UAV and UAV-C, the first response message may include a plurality of sub-group IDs associated with the pair of UAV and UAV-C.

[0014] In this method, QoS management is performed by the UAE server for the pair of UAV and UAV-C based on the assigned group ID.

[0015] To perform QoS management, direct command and control (C2) communication may be established for the pair of UAVs and UAV-C using initially assigned network QoS settings, wherein the UAVs and UAV-C may be registered with the network. Based on feedback information from the pair of UAVs and UAV-C, the UAE server may monitor the current network status of the pair of UAVs and UAV-C. In response to the direct C2 communication failing to meet predefined QoS requirements, the UAE server may send a QoS adaptation request to a SEAL network resource management (NRM) server. The UAE server may receive updated QoS requirements from the SEAL NRM server. The feedback information from the pair of UAVs and UAV-C may include a group ID assigned to the pair of UAVs and UAV-C and a network resource requirement indicating required C2 communication resources.

[0016] In some embodiments, the current network status of the pair of UAVs and UAV-C is monitored by the UAE server based on one of the group ID and the sub-group ID assigned to the pair of UAVs and UAV-C.

[0017] In this method, C2 communications of the pair of UAV and UAV-C may be adjusted based on the updated QoS requirements.

[0018] In some embodiments, in response to receiving feedback information from the pair of UAVs and UAV-C regarding the current network conditions, the UAE server may provide a second response message to the pair of UAVs and UAV-C, wherein the second response message may include a QoS result indicating whether the direct C2 communication between the pair of UAVs and UAV-C meets predefined QoS requirements.

[0019] According to another aspect of the present disclosure, a device is provided. The device has a processing circuit. The processing circuit can be configured to perform any of the above-mentioned methods.

[0020] Aspects of the present disclosure also provide a non-transitory computer-readable medium storing instructions, which, when executed by a computer, cause the computer to perform any one of the above-mentioned methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Further features, properties and various advantages of the disclosed subject matter will become more apparent from the following detailed description and accompanying drawings, in which:

[0022] Figure 1 is a schematic diagram of a drone system (100) according to an embodiment.

[0023] Figure 2It is an on-network function model (200) for a service enabler architecture layer (SEAL) according to an embodiment.

[0024] Figure 3 A group creation process (300) is shown according to an embodiment.

[0025] Figure 4 shows a group-based direct command and control (C2) quality of service (QoS) according to an embodiment.

[0026] The process of configuring quality of service (400).

[0027] Figure 5 A flow chart outlining a group creation process according to some embodiments of the present disclosure is shown.

[0028] Figure 6 is a schematic diagram of a computer system according to an embodiment. DETAILED DESCRIPTION

[0029] refer to Figure 1 An unmanned aerial system (UAS) (100) may include an unmanned aerial vehicle (UAV) (101) and a controller (102). The controller (102) may use a data link (103) to transmit control commands from the controller (102) to the UAV (101). The controller (102) may include at least one communication circuit configured to provide communication via the data link (103), via very high frequency (VHF) and / or ultra-high frequency (UHF), and / or other wireless technologies capable of analog and / or digital radio communications. The controller (102) may control the power levels of a propulsion unit (114) (such as one or more motors and / or engines of the UAV (101)) and / or control surfaces of a model aircraft (not depicted). More abstract commands similar to those of a helicopter and / or airplane, such as pitch, yaw, and roll, may also be used. An experienced pilot can operate the UAV (101) using basic controls without relying on advanced onboard processing of control signals within the UAV (101). The UAV (101) may be in the form of a helicopter and / or any other aircraft.

[0030] Advances in onboard electronic design allow certain tasks to be offloaded from a human operator (or user) 113 to the UAV (101) itself. Many UAVs, such as the UAV (101), may include one or more sensors (104) coupled to onboard control circuitry (105) for sensing the attitude and acceleration of the UAV (101). The onboard control circuitry (105) may be a computer system with a reduced and / or non-existent user interface. In addition to control inputs received from a data link (103) from a controller (102), information obtained by the one or more sensors (104) allows the UAV (101) to remain stable unless a positive control input is received from the controller (102).

[0031] The UAV (101) may include a receiver (106) for one of the Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS) operated by the United States. Figure 1 A single satellite (108) is shown that can provide a communication signal (107) to represent a GNSS. However, a receiver (106) of the UAV (101) can receive communications from a GNSS that includes three or more, and typically four or more, line-of-sight satellites to triangulate the position of the UAV (101) in space. A GNSS receiver, such as receiver (106), can determine the position of the UAV (101) in space and time with considerable accuracy. In the UAV (101), in many cases, the GNSS can be augmented in the most critical vertical (e.g., Z) axis by additional sensors (e.g., ultrasonic and / or lidar sensors) of the UAV (101) to enable a soft landing (not depicted). A UAV (101) that includes a GNSS capability can provide a user with "fly home" and "autoland" features. Thus, upon a simple command from the controller (102) (e.g., the press of a single button), or in the event of a loss of the data link (103) from the controller or other timeout of meaningful control input, the UAV (101) can fly to a location defined as the starting position.

[0032] The UAV (101) may also include one or more cameras (109). In some cases, the UAV (101) may include a gimbal-mounted camera as one of the cameras (109). The gimbal-mounted camera may be used to record pictures and / or videos of sufficient quality for use by a user (113) of the UAV (101) at a resolution such as high-definition television. The UAV (101) may include other cameras (110) covering some or all of the axes of motion. Onboard signal processing based on signals from the other cameras (110) may be used to prevent the UAV (101) from colliding with fixed and moving objects.

[0033] In some cases, the UAV (101) may include a "master" camera as one of the cameras (109). The signal from the "master" camera may be transmitted in real time to a human user (e.g., user (113)) via a data link (111) and displayed on a display device (112) that is included in, attached to, and / or separate from the controller (102). The data link (111) may be the same as or different from the data link (103). Accordingly, using a technique known as "first person view" (FPV), the UAV (101) may be successfully flown out of the sight of a human pilot.

[0034] As a result of technological developments, UAVs, such as the UAV (101), have become considerably easier to fly, which in turn has made them popular not only with professional UAV pilots and determined and affluent hobbyists, but also with the general public. Consequently, millions of UAVs are sold annually, compared to the few thousand helicopter models sold about 15 years ago. At the same time, the knowledge, proficiency, and participation of the user community have declined on average.

[0035] The service enabler architecture layer (SEAL) can support vertical applications (e.g., UAVs and vehicle to everything (V2X)). The SEAL functional entities on user equipment (UE) and servers can be grouped into one or more SEAL clients and one or more SEAL servers, respectively. SEAL can include a set of common services (e.g., group management, location management) and reference points. SEAL can provide its services to the vertical application layer (VAL). VAL can include a VAL client (e.g., UAV) and a VAL server.

[0036] Figure 2An exemplary network functional model (200) for a service enabling architecture layer (SEAL) is shown. The model (200) can be used for network resource management and includes a vertical application layer (VAL) (206) and SEAL (207) on a 3GPP wireless network, such as a 3GPP network system (213), to support vertical applications (e.g., UAV and vehicle-to-everything (V2X) applications). The model (200) is illustrated as a functional architecture that includes common application plane and signaling plane entities. A set of common services (e.g., group management, configuration management, location management) of the model (200) can be shared between vertical applications.

[0037] like Figure 2 As shown in FIG, VAL (206) may include a VAL client (201) and a VAL server (203). SEAL (207) may include a SEAL client (202) and a SEAL server (204). VAL client (201) and SEAL client (202) may communicate with each other to form a user device (212). Figure 2 The SEAL functional architecture shown in [1] can be considered to support common capabilities for mission-critical and other vertical applications.

[0038] refer to Figure 2 , the VAL client (201) can communicate with the VAL server (203) through the VAL-UU (205) reference point. The VAL-UU (205) can support both unicast delivery mode and multicast delivery mode.

[0039] The SEAL functional entities on the user device (212) and the server can be grouped into one or more SEAL clients (202) and one or more SEAL servers (204). The SEAL (207) can include a set of common services (e.g., group management, location management) and reference points. The SEAL (207) can provide services to the VAL (206).

[0040] One or more SEAL clients (202) can communicate with one or more SEAL servers (204) via the SEAL-UU (209) reference point. SEAL_UU (209) can support both unicast delivery mode and multicast delivery mode. One or more SEAL clients (202) can provide service enabling layer support functions to one or more VAL clients (201) via the SEAL-C reference point (208). One or more VAL servers (203) can communicate with one or more SEAL servers (204) via the SEAL-S (211) reference point. One or more SEAL servers (204) can communicate with the underlying 3GPP network system using the corresponding 3GPP interface (e.g., 210) specified by the 3GPP network system, such as communicating with the 3GPP network system (213).

[0041] One or more specific SEAL clients (202) and one or more SEAL servers (204) and their specific SEAL-UU (209) reference points and specific network interfaces (210) of the 3GPP network system (213) may be provided for each SEAL service in a corresponding on-network functional model.

[0042] The VAL client (201) can provide client functions corresponding to vertical applications (e.g., UAV, V2X client) and can support interaction with one or more SEAL clients (202).

[0043] The VAL server (203) can provide server-side functions corresponding to vertical applications (e.g., UAV, V2X application server).

[0044] The SEAL client (202) can provide client functionality corresponding to specific SEAL services (such as location management, group management, configuration management, identity management, key management, and network resource management). One or more SEAL clients can support interaction with one or more VAL clients (201). The SEAL client can also support interaction between two UEs corresponding to the SEAL client. For example, a first SEAL client (e.g., SEAL client (202)) of a first UE (e.g., UE (212)) can interact with a second SEAL client (not shown) of a second UE (not shown).

[0045] The SEAL server (204) can provide server-side functions corresponding to specific SEAL services (such as location management, group management, configuration management, identity management, key management, and network resource management). The SEAL server (204) can support interaction with one or more VAL servers (203).

[0046] In an exemplary 3GPP 5G wireless architecture, SEAL (e.g., SEAL (207)) can provide procedures, information flows, and application program interfaces (APIs) to support vertical applications on a 3GPP system (e.g., 213) to ensure efficient use and deployment of vertical applications on the 3GPP system.

[0047] A SEAL group manager (GM), such as the SEAL GM server (304), may enable group management operations for upper application layers.

[0048] A SEAL network resource manager (NRM) server, such as the SEAL NRM server (404), may implement support for unicast and multicast network resource management for upper application layers.

[0049] In 5G wireless technology, three C2 (command and control) communication modes can be supported: direct C2, network-assisted C2, and UAS Traffic Management (UTM) navigation C2 communication.

[0050] Direct C2 can establish a direct C2 link between a UAV controller (e.g., UAV-C (301)) and a UAV (e.g., UAV (303)) to communicate with each other. Both the UAV controller and the UAV can be registered on a wireless network (e.g., wireless network system 213), such as a 5G network, using radio resources for direct C2 communication configured and scheduled by the wireless network.

[0051] In network-assisted C2 communication, the UAV controller and the UAV may register and establish corresponding unicast C2 communication links to a wireless network (such as a 5G network) and communicate with each other via the network.

[0052] In UTM-guided C2 communications, a predetermined flight plan may be provided to the UAV, and the UTM may maintain a C2 communication link with the UAV to periodically monitor the UAV's flight status, verify the flight status using the latest dynamic constraints, provide route updates, and navigate the UAV when necessary.

[0053] In the present disclosure, information flows and data points may be provided to enable UAV and UAV-C pairing and C2 provisioning using group identifiers of the UAV and UAV-C. The C2 provisioning may include, for example, C2 Quality of Service (QoS) provisioning in a 3GPP network using SEAL.

[0054] Both UAS-initiated QoS (e.g., uplink from the UAS to the network) and UAS-terminated QoS (e.g., downlink from the network to the UAS) can be maintained for UAS application layer operations. QoS may include, but is not limited to, network bandwidth, latency, jitter, and / or data loss rate. The three C2 communication modes mentioned above may require different network resource support from the UAS application layer.

[0055] With respect to direct C2 communications, it may be necessary to configure a SEAL group manager (e.g., SEAL GM server (304)) to ensure a match between a pair of UAVs and UAV-Cs, such as based on a specific UAS ID configuration. Network QoS configuration may be triggered by a SEAL NRM server (e.g., SEAL NRM server (404)) based on a group ID associated with the pair of UAVs and UAV-Cs. In some cases, a corresponding subgroup may be created for each of the UAVs and UAV-Cs to enable separate QoS control for each uplink and downlink. Thus, direct C2 QoS configuration using a group-based approach may be provided. The goal of QoS configuration is to achieve more deterministic network behavior so that information carried by the network can be better delivered and network resources can be better utilized.

[0056] refer to Figure 3 , a group creation procedure (300) for a pair of UAVs and UAV-Cs may be shown. First, at step (S305), both the UAV-C (301) and the UAV (303) may successfully connect to a UAS Application Enabler (UAE) server (302) with a common UAS ID. In some embodiments, a corresponding civil aviation authority (CAA)-level UAV ID has been assigned to the UAV-C (301) and / or the UAV (303). Therefore, the UAV-C (301) and / or the UAV (303) may connect to the UAE server (302) based on the corresponding CAA-level UAV ID. In some embodiments, the UAV-C (301) and the UAV (303) may act as VAL clients, such as Figure 2 The VAL client (201) in.

[0057] At step (S306), the UAE server (302) may identify the pair of UAV (303) and UAV-C (301). For example, the UAE server (302) may identify the pair of UAV (303) and UAV-C (301) based on an identifier of the pair. For example, the UAE server may identify the pair of UAV (303) and UAV-C (301) by corresponding 3GPP UE IDs and / or corresponding CAA-level UAV IDs associated with the UAV-C (301) and the UAV (303). In some embodiments, the UAE server (302) may act as a VAL server, such as Figure 2 The VAL server (203) in.

[0058] At step (S307), the UAE server (302) may send a group creation request to the SEAL group management (GM) server (304) using the GM-S reference link. For example, if a group ID has not yet been assigned to the pair of UAV (303) and UAV-C (301), the UAE server (302) may send a group creation request to the SEAL GM server (304) using the GM-S reference link. The GM-S reference point may support interaction between one or more VAL servers and a group management server related to group management functions. For example, the GM-S reference point supports a VAL server (e.g., a UAV server (302)) to obtain group information corresponding to a VAL service (e.g., a UAV service). The GM-S reference point may use HTTP-1 / HTTP-2 reference points to send signaling related to routing group management. The GM-S reference point may use a SIP-2 reference point for subscription / notification related signaling.

[0059] A group creation request can be sent to a group management server. In an example, a group management client of an authorized VAL user / UE / administrator sends a group creation operation request to the group management server. The identity of the user or UE can be combined, and information about the VAL services enabled on the group can be included in the message. Table 1 shows exemplary data points from a group management client to a group management server when the group management client sends a group creation request to the group management server.

[0060] Table 1: Data points for group creation requests

[0061]

[0062] It should be noted that "M" stands for "Mandatory" and "O" stands for "Optional". A VAL user is an authorized user who can participate in one or more VAL services using a VAL UE. An exemplary VAL user may be Figure 1In an embodiment, the VAL UE ID may be a UE ID associated with the UAV (303). The VAL service may be associated with the UAV service or the V2X service.

[0063] Group creation can provide dedicated VAL groups to individual VAL users (e.g., a pair of UAVs (303) and UAV-Cs (301)) to enable communication required for one or more VAL services. This can include normal group creation by an administrator or by authorized users / UEs. The group management server can support external group identifiers within the VAL group to enable the SEAL server to consume network exposure function (NEF) services for member UEs of the VAL group.

[0064] In some embodiments, the SEAL GM server (304) may act as a SEAL server, such as Figure 2 The SEAL server (204) in.

[0065] At step (S308), the SEAL GM server (304) may respond to the group creation request and create a group ID for the pair of UAVs (303) and UAV-Cs (301). As specified in 3GPP TS 23.434, the SEAL GM server (304) may create a group ID for the pair of UAVs (303) and UAV-Cs (301). For example, during group creation, a group management server creates and stores information about the group. The group management server performs checks on policies, such as a maximum limit on the total number of VAL group members for one or more VAL groups. An external group identifier identifying the member UEs of the VAL group at the 3GPP core network may be stored in the configuration information of the newly created VAL group. Further, the group ID may be returned to the UAE server (302). The group ID of the pair of UAVs (303) and UAV-Cs (301) may serve as the VAL group ID. A VAL Group ID can be a unique identifier within a VAL service (e.g., a UAV) that represents a group of VAL users or VAL UEs under a VAL service. The group of VAL users can belong to the same or different VAL service providers. The VAL Group ID can indicate the VAL application server (e.g., a UAE server) that defines the group.

[0066] At step (S309), in some cases, the SEAL GM server (304) may also create subgroups for the UAV (303) and the UAV-C (301), respectively.

[0067] At (S310), the UAE server (302) may use one or more returned group IDs (such as the group ID created by the SEAL GM server (304) for the pair of UAV (303) and UAV-C (301)) for QoS management. In response to creating subgroups for the UAV (303) and the UAV-C (301), the UAE server (302) may use the one or more subgroup IDs to manage QoS for the UAV (303) and the UAV-C (301), respectively. QoS may refer to any technique for managing data traffic to reduce packet loss, latency, and / or jitter on a network. QoS may control and manage network resources by prioritizing specific data types on the network.

[0068] To support group creation of a UAV (303) and a UAV-C (301), data points may be provided between a UAE client (e.g., a UAV (303) and a UAV-C (301)) and a UAE server (302). Exemplary data points may include the elements illustrated in Table 2.

[0069] Table 2: Data points used for group creation

[0070]

[0071] It should be noted that in Table 2, "M" stands for "Mandatory" and "O" stands for "Optional".

[0072] In some embodiments, a data point may be provided at step (S307) where the UAE server (302) may send a group creation request to the SEAL GM server (304) using the GM-S reference link. The UAE client in Table 2 may correspond to the UAV (303) and the UAV-C (301).

[0073] The data points in Table 3 may be provided as a response between the UAE server (302) and the UAE client. At step (S308), when the SEAL GM server (304) responds to the group creation request and creates a group ID for the pair of UAV (303) and UAV-C (301), the data points in Table 3 may be obtained.

[0074] Table 3: Response Data Points Used for Group Creation

[0075]

[0076] Once one or more group IDs have been assigned by a SEAL server, such as the SEAL GM server (303), the UAE server (302) may perform QoS configuration based on the one or more group IDs.

[0077] refer to Figure 4 , a high-level workflow (400) for group-based direct C2 QoS configuration can be provided.

[0078] At step (S406), the UAV-C (401) may use the initially allocated network QoS settings to perform direct C2 communication with the UAV (402). In some embodiments, both the UAV (402) and the UAV-C (401) have been registered with the 3GPP 5G network. For example, both the UAV (402) and the UAV-C (401) may register with the 5G network using radio resources configured and scheduled by the 5G network for direct C2 communication. Direct C2 may establish a direct C2 link between the UAV-C (401) and the UAV (402) to communicate with each other.

[0079] At step (S407), the UAE server (403) may periodically monitor the QoS of the UAV (402) and the UAV-C (401) using the group ID or one or more sub-group IDs associated with the UAV (402) and the UAV-C (401). The group ID or one or more sub-group IDs may be created based on the process (300) mentioned above. QoS includes, but is not limited to, network bandwidth, latency, jitter, data loss rate, and the like.

[0080] At step (S408), in case the direct C2 communication does not meet the predefined QoS requirements, the UAE server (403) may choose to send a QoS adaptation request to the SEAL NRM server (405) using, for example, the NRM-S reference point as specified in 3GPP TS 23.434. The QoS adaptation request may be sent per group or sub-group, depending on how the UAE server (403) handles group creation, such as Figure 3 Group creation as shown in .

[0081] At step (S409), the SEAL NRM server (404) may perform network resource adaptation, for example, as specified in 3GPP TS23.434. In an example, a VAL server (e.g., UAE server (403)) sends a network resource adaptation request to an NRM server (e.g., NRM server (404)) for one or more users belonging to one or more VAL services (e.g., UAS services, V2X servers), and may include one or more VAL UEs (e.g., UAV-C (401) and UAV (402)) that will have updated resource requirements. The requirements may be in the form of exact resources / resource pools to be used, or an indication of bandwidth increase / decrease for the corresponding VAL UE or set of VAL UEs. The NRM server processes the request and applies / implements resource adaptation for each VAL UE. The NRM server retrieves the UE IP address by using the event monitoring capability of the PDU session state (or PDN connectivity state) and initiates a PCC procedure for each VAL UE. Furthermore, the NRM server provides a network resource adaptation response to the VAL server, providing information about the implementation of the network resource adaptation request. This will include information for each VAL UE or each group of VAL UEs, as indicated by the network resource adaptation request of the VAL server.

[0082] At step (S410), the SEAL NRM server (404) may notify the UAE server (403) of the QoS update. Thus, the updated QoS assignment (or requirement) may be sent to the UAE server (403).

[0083] At step (S411), the UAS application layer may adapt the updated QoS allocation (or requirement) (411). The UAS application layer may include a UAV-C (401), a UAE server (403) and a UAV (402). Accordingly, the UAE client (e.g., UAV and UAV-C) and the UAE server may establish communication based on the updated QoS requirement. For example, the UAE client and the UAE server may establish communication based on the updated QoS requirement. For example, a resource request may be used to establish communication when the VAL service establishes communication. In an example, the VAL server (e.g., the UAE server (403)) sends a request for resources to the NRM server (e.g., the NRM server (404)). The NRM server evaluates the need for network resources and the use of resource sharing. The NRM server sends a session progress request containing the resource request. The policy and charging control (PCC) procedure is initiated from the SIP core local inbound / outbound proxy. The Session Initiation Protocol (SIP) core local inbound / outbound proxy sends an approval message to the NRM server. The NRM server sends a resource response to the VAL server. Further, the VAL service communication is established and resources have been allocated.

[0084] In order to use before Figure 3 The group ID for C2 QoS configuration is assigned at step (308), which can provide data points between the UAE client and the UAE server. Example data points may include the elements in Table 4.

[0085] Table 4: Data Points for C2 QoS Configuration

[0086]

[0087] In some embodiments, a data point may be provided at step (S407) where the UAE server (403) may periodically monitor the QoS of the UAV (402) and the UAV-C (401) using a group ID (or UAS group ID) or one or more sub-group IDs associated with the UAV (402) and the UAV-C (401). The UAE server (403) may verify whether the QoS meets the C2 resource requirements (or predefined QoS requirements), such as bandwidth and / or latency.

[0088] Accordingly, the UAE server (403) may provide the data point back to the UAE client (eg, UAV and UAV-C) as a response. Example data points may include the elements shown in Table 5.

[0089] Table 5: Response Data Points for C2 QoS Configuration

[0090]

[0091] Figure 5 The group creation process (500) of a pair of UAVs and UAV-C in the SEAL architecture is shown. Figure 5 As shown in , the process (500) may start from (S501) and proceed to (S510). At (S510), a pair of UAV and UAV-C may be determined by the UAE server in the SEAL architecture.

[0092] At (S520), a group creation request for the pair of UAV and UAV-C may be sent by the UAE server to the SEAL GM server of the SEAL architecture.

[0093] At (S530), in response to the group creation request, the UAE server receives a first response message from the SEAL GM server. The group creation request may include the identity of the UAE client corresponding to the pair of UAV and UAV-C, the identity of the UAV, and the identity of the UAV-C.

[0094] At (S540), the UAE server creates a group including the pair of UAVs and UAV-C based on the first response message. The group can be used for quality of service (QoS) management.

[0095] In some embodiments, the group creation request may further include a CAA-level identity of the UAV.

[0096] In some embodiments, the group creation request may further include a timeout period that defines a waiting time limit for waiting for a first response message from the SEAL GM server after the group creation request is sent to the SEAL GM server.

[0097] In process (500), when the first response message is not assigned to the UAV server within the timeout period, another group creation request may be sent.

[0098] In some embodiments, the first response message may further include a group creation result indicating whether the group is successfully created for the pair of UAV and UAV-C.

[0099] In an embodiment, in response to the group creation result indicating that a group is successfully created for the pair of UAV and UAV-C, the first response message may include a group ID assigned to the pair of UAV and UAV-C.

[0100] In another embodiment, in response to the group creation result indicating that a group is successfully created for the pair of UAV and UAV-C, the first response message may include a plurality of sub-group IDs associated with the pair of UAV and UAV-C.

[0101] In process (500), QoS management may be performed by the UAE server for the pair of UAV and UAV-C based on the assigned group ID.

[0102] To perform QoS management, direct C2 communication may be established for the pair of UAVs and UAV-C using initially assigned network QoS settings, where the UAVs and UAV-C may be registered in the network. The UAE server may monitor the current network status of the pair of UAVs and UAV-C based on feedback information from the pair of UAVs and UAV-C. In response to the direct C2 communication failing to meet predefined QoS requirements, the UAE server may send a QoS adaptation request to the SEAL NRM server. The UAE server may receive updated QoS requirements from the SEAL NRM server. The feedback information from the pair of UAVs and UAV-C may include a group ID assigned to the pair of UAVs and UAV-C and a network resource requirement indicating required C2 communication resources.

[0103] In some embodiments, the current network status of the pair of UAVs and UAV-C may be monitored by the UAE server based on one of the group ID and the sub-group ID assigned to the pair of UAVs and UAV-C.

[0104] In process (500), C2 communications of the pair of UAV and UAV-C may be adjusted based on the updated QoS requirements.

[0105] In some embodiments, in response to receiving feedback information from the pair of UAVs and UAV-C regarding the current network conditions, the UAE server may provide a second response message to the pair of UAVs and UAV-C, wherein the second response message may include a QoS result indicating whether the direct C2 communication between the pair of UAVs and UAV-C meets predefined QoS requirements.

[0106] The above-mentioned UAV system communication technology can be implemented as computer software in the controller and the UAV by using computer-readable instructions and physically stored in one or more computer-readable storage media, such as one or more non-volatile computer-readable storage media. For example, Figure 6 A computer system (600) suitable for implementing certain embodiments of the disclosed subject matter is shown.

[0107] The computer software may be encoded in any suitable machine code or computer language, and may be assembled, compiled, linked, or similar mechanisms to create a code comprising instructions, which may be directly executed by a processing circuit such as a computer central processing unit (CPU), a graphics processing unit (GPU), or the like, or executed through decoding, microcode, or the like.

[0108] The instructions can be executed on various types of computers or components thereof, including, for example, personal computers, tablets, servers, smartphones, gaming devices, IoT devices, etc.

[0109] Figure 6 The components shown for the computer system (600) are exemplary in nature and are not intended to suggest any limitation on the scope of use or functionality of computer software implementing embodiments of the present disclosure. Nor should the configuration of components be interpreted as having any dependency or requirement on any one component or combination of components illustrated in the exemplary embodiment of the computer system (600).

[0110] The computer system (600) may include certain human-computer interface input devices. Such human-computer interface input devices may respond to input from one or more human users through tactile input (e.g., keyboard input, sliding, data glove movement), audio input (e.g., sound, applause), visual input (e.g., gestures), and olfactory input (not shown). The human-computer interface devices may also be used to capture certain media that are not necessarily directly related to conscious human input, such as audio (e.g., speech, music, ambient sound), images (e.g., scanned images, photographic images obtained from a still camera), and video (e.g., two-dimensional video, three-dimensional video including stereoscopic video).

[0111] Input human interface devices may include one or more of the following (only one of each is depicted): keyboard (601), mouse (602), trackpad (603), touch screen (610), data gloves (not shown), joystick (605), microphone (606), scanner (607) and camera (608).

[0112] The computer system (600) may also include certain human-computer interface output devices. Such human-computer interface output devices may stimulate one or more human user senses through, for example, tactile output, sound, light, and smell / taste. Such human-computer interface output devices may include tactile output devices (e.g., tactile feedback through a touch screen (610), a data glove (not shown), or a joystick (605), but there may also be tactile feedback devices that are not used as input devices, audio output devices (such as: speakers (609), headphones (not depicted)), visual output devices (such as screens (610) to include CRT screens, LCD screens, plasma screens, OLED screens, each of which has or does not have touch screen input capabilities, each of which has or does not have tactile feedback capabilities - some of which may output two-dimensional visual output or output of more than three dimensions through means such as stereoscopic image output; virtual reality glasses (not shown), holographic displays, and cigarette boxes (not shown)) and printers (not shown).

[0113] The computer system (600) may also include human-accessible storage devices and their associated media, such as optical media including high-density read-only / rewritable optical disks (CD / DVD ROM / RW) (620) with CD / DVD or similar media (621), thumb drives (622), removable hard disk drives or solid state drives (623), traditional magnetic media such as tapes and floppy disks (not shown), ROM / ASIC / PLD-based specialized devices such as security software dongles (not shown), and the like.

[0114] Those skilled in the art will also understand that the term "computer-readable media" used in connection with the presently disclosed subject matter does not include transmission media, carrier waves, or other transient signals.

[0115] The computer system (600) may also include an interface (654) to one or more communication networks (655). For example, the network may be wireless, wired, or optical. The network may also be a local area network, a wide area network, a metropolitan area network, an in-vehicle network, an industrial network, a real-time network, a delay-tolerant network, and the like. Networks also include local area networks such as Ethernet, wireless local area networks, cellular networks (GSM, 3G, 4G, 5G, LTE, etc.), television wired or wireless wide area digital networks (including cable television, satellite television, and terrestrial broadcast television), in-vehicle and industrial networks (including CANBus), and the like. Some networks typically require an external network interface adapter for connecting to some universal data port or peripheral bus (649) (for example, a USB port of the computer system (600)); other systems are typically integrated into the core of the computer system (600) by connecting to a system bus as described below (for example, an Ethernet interface integrated into a PC computer system or a cellular network interface integrated into a smartphone computer system). By using any of these networks, the computer system (600) can communicate with other entities. The communication can be one-way, for receiving only (e.g., wireless television), one-way, for sending only (e.g., a CAN bus to certain CAN bus devices), or two-way, such as to other computer systems via a local or wide area digital network. Each of the above networks and network interfaces can use certain protocols and protocol stacks.

[0116] The aforementioned human-machine interface devices, human-accessible storage devices, and network interfaces may be connected to the core (640) of the computer system (600).

[0117] The core (640) may include one or more central processing units (CPUs) (641), graphics processing units (GPUs) (642), dedicated programmable processing units in the form of field programmable gate arrays (FPGAs) (643), hardware accelerators for specific tasks (644), graphics adapters (650), and the like. These devices, as well as read-only memory (ROM) (645), random access memory (646), internal mass storage (e.g., internal non-user accessible hard disk drives, solid-state drives, etc. (647)), and the like, may be connected via a system bus (648). In some computer systems, the system bus (648) may be accessed in the form of one or more physical plugs so that it can be expanded with additional central processing units, graphics processing units, and the like. Peripheral devices may be attached directly to the core's system bus (648) or connected via a peripheral bus (649). In one example, a screen (610) may be connected to a graphics adapter (650). Peripheral bus architectures include PCI (Peripheral Controller Interface), USB (Universal Serial Bus), and the like.

[0118] The CPU (641), GPU (642), FPGA (643), and accelerator (644) can execute certain instructions, the combination of which can constitute the above-mentioned computer code. The computer code can be stored in ROM (645) or RAM (646). Transient data can also be stored in RAM (646), while permanent data can be stored in, for example, an internal mass storage device (647). Fast storage and retrieval of any memory device can be enabled by using cache memory, which can be closely associated with one or more CPUs (641), GPUs (642), mass storage devices (647), ROM (645), RAM (646), etc.

[0119] The computer readable medium may have computer code thereon for performing various computer-implemented operations. The medium and computer code may be specially designed and constructed for the purposes of this application, or may be medium and code well known and available to those skilled in the art of computer software.

[0120] As an example and not a limitation, a computer system having architecture (600), in particular core (640), can provide the function of executing software contained in one or more tangible computer-readable media as a processor (including CPU, GPU, FPGA, accelerator, etc.). Such computer-readable media can be a medium associated with the above-mentioned user-accessible large-capacity memory, as well as a specific memory of the core (640) having non-volatile properties, such as core internal large-capacity memory (647) or ROM (645). Software for implementing various embodiments of the present application can be stored in such a device and executed by the core (640). Depending on specific needs, the computer-readable medium may include one or more storage devices or chips. The software can enable the core (640), in particular the processor therein (including CPU, GPU, FPGA, etc.) to perform a specific process or a specific part of a specific process described herein, including defining a data structure stored in RAM (646) and modifying such a data structure according to a software-defined process. Additionally or alternatively, the computer system may provide functionality hardwired in logic or otherwise contained in circuitry (e.g., accelerator (644)) that may operate in place of or in conjunction with software to perform a particular process or a particular portion of a particular process described herein. Where appropriate, references to software may include logic and vice versa. Where appropriate, references to computer-readable media may include circuitry (e.g., an integrated circuit (IC)) storing the executing software, circuitry containing the executing logic, or both. The present application includes any suitable combination of hardware and software.

[0121] Although this application has described a number of exemplary embodiments, various modifications, permutations, and equivalent substitutions of the embodiments are within the scope of this application. Therefore, it should be understood that those skilled in the art will be able to design a variety of systems and methods that, although not explicitly shown or described herein, embody the principles of this application and are therefore within the spirit and scope of this application.

Claims

1. A method for creating a group of an unmanned aerial vehicle (UAV) and an unmanned aerial vehicle controller (UAV-C), characterized in that: The method comprises: The UAV system application enablement UAE server determines a pair of UAVs and UAV-C in the SEAL architecture of the service enablement architecture layer; The UAE server sends a group creation request for the pair of UAV and UAV-C to a SEAL group management GM server of the SEAL architecture of the service enabling architecture layer; In response to the group creation request, the UAE server receives a first response message from the SEAL group management GM server; and Creating a group including the pair of UAVs and the UAV-C based on the first response message, where the group is used for quality of service (QoS) management, wherein the group creation request includes: The identity of the UAE client, the UAE client corresponding to the pair of UAV and UAV-C, the identity of the UAV, and The identity of the UAV-C; establishing direct command and control (C2) communications for the pair of UAVs and UAV-C using initially assigned network QoS settings, the UAVs and UAV-C being registered to the network; Based on feedback information from the pair of UAVs and the UAV-C, the UAE server monitors a current network status of the pair of UAVs and the UAV-C; In response to the direct C2 communication failing to meet the predefined QoS requirement, the UAE server sending a QoS adaptation request to a SEAL network resource management (NRM) server; and The UAE server receives an updated QoS requirement from the SEAL NRM server, wherein the feedback information of the pair of UAV and UAV-C includes: a group ID assigned to the pair of UAV and UAV-C, and Indicates the network resource requirements for the required C2 communication resources.

2. The method according to claim 1, characterized in that The group creation request further includes the Civil Aviation Administration (CAA)-level identity of the UAV.

3. The method according to claim 1, characterized in that The group creation request further includes: A timeout period, which defines a waiting time limit for waiting for the first response message from the SEAL GM server after the group creation request is sent to the SEAL GM server.

4. The method according to claim 3, characterized in that The method further comprises: When the first response message is not assigned to the UAV server within the timeout period, another group creation request is sent.

5. The method according to claim 1, wherein The first response message further includes a group creation result indicating whether the group is successfully created for the pair of UAV and UAV-C.

6. The method according to claim 5, characterized in that In response to the group creation result indicating that the group is successfully created for the pair of UAV and UAV-C, the first response message includes a group identity ID allocated to the pair of UAV and UAV-C.

7. The method according to claim 5, characterized in that In response to the group creation result indicating that the group is successfully created for the pair of the UAV and the UAV-C, the first response message includes a subgroup ID associated with the UAV and a subgroup ID associated with the UAV-C; The monitoring further includes: monitoring, by the UAE server, the current network status of the UAV and the UAV-C based on the subgroup ID.

8. The method according to claim 1, characterized in that Further including: receiving a request for group creation sent by a UAE client, the request including an identifier of the UAE client, an identifier of the UAV, and an identifier of the UAV-C; In response to the SEAL GM server creating a group ID for the UAV and UAV-C, a group creation response is sent to the UAE client, the group creation response including identification information of the success of the group creation, and when the group creation is successful, the group creation response includes the group ID.

9. The method according to claim 1, characterized in that Further including: The C2 communication for the pair of UAVs and UAV-C is adjusted based on the updated QoS requirements.

10. The method according to claim 1, characterized in that Further including: In response to receiving the feedback information of the pair of UAVs and UAV-C regarding the current network condition, the UAE server provides a second response message to the pair of UAVs and UAV-C, wherein the second response message includes a QoS result indicating whether the direct C2 communication of the pair of UAVs and UAV-C meets the predefined QoS requirement.

11. A device for creating a group of an unmanned aerial vehicle (UAV) and an unmanned aerial vehicle controller (UAV-C), characterized in that: include: processing circuitry configured to: In the SEAL architecture, a pair of UAVs and UAV controllers UAV-C are identified. Sending a group creation request for the pair of UAVs and UAV-C to a SEAL group management GM server of the SEAL architecture of the service enabling architecture layer; In response to the group creation request, receiving a first response message from the SEAL group management GM server; as well as Creating a group including the pair of UAVs and the UAV-C based on the first response message, wherein the group is used for quality of service (QoS) management, wherein the group creation request includes: The identity of the UAE client, the UAE client corresponding to the pair of UAV and UAV-C, the identity of the UAV, and The identity of the UAV-C; establishing direct command and control (C2) communications for the pair of UAVs and UAV-C using initially assigned network QoS settings, the UAVs and UAV-C being registered to the network; Based on feedback information from the pair of UAVs and the UAV-C, the UAE server monitors a current network status of the pair of UAVs and the UAV-C; In response to the direct C2 communication failing to meet the predefined QoS requirement, the UAE server sending a QoS adaptation request to a SEAL network resource management (NRM) server; and The UAE server receives an updated QoS requirement from the SEAL NRM server, wherein the feedback information of the pair of UAV and UAV-C includes: a group ID assigned to the pair of UAV and UAV-C, and Indicates the network resource requirements for the required C2 communication resources.

12. A non-volatile computer-readable medium storing computer code, characterized in that: The computer code is configured to, when executed by at least one processor, cause the at least one processor to perform the method according to any one of claims 1 to 10.

13. A computer device, characterized in that: The method comprises a processor and a memory; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 10.

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