Method and apparatus for managing C2 communication modes of an unmanned flight system

Abstract

Devices, methods, and systems for managing C2 communication operation modes. A device (500) includes a transceiver (525) supporting a network interface (540), the network interface (540) receiving (705) an application request for managing an operation mode of C2 communication for a first UAS (101). Here, the first UAS (101) includes a first UAV (103) and a first UAV-C (104). The network interface (540) receives (710) a first report from an application of the first UAS (101), where the first application is located in one of the first UAV (103) and the first UAV-C (104). The device (500) includes a processor (505) that determines (715) to switch the operation mode of C2 communication of the first UAS (101) based on the received first report and transmits (720) a C2 communication switching instruction to the first UAS (101) via the network interface (540).

Description

Technical Field

[0001] The subject matter disclosed herein generally relates to wireless communications, and more particularly, to managing C2 communication operation modes. Background Art

[0002] The following abbreviations are defined herein, at least some of which are mentioned in the following description: 3rd Generation Partnership Project (“3GPP”), 5th Generation Core Network (“5GC”), 5th Generation System (“5GS”), 5th Generation QoS Identifier (“5QI”), Authentication, Authorization and Accounting (“AAA”), Advanced Intersection Collision Warning (“AICW”), Access and Mobility Management Function (“AMF”), Acknowledgement (“ACK”), Application Programming Interface (“API”), Access Stratum (“AS”), Base Station (“BS”), Beyond Line of Sight (“BLOS”), Class of Requirement (“CoR”), Command and Control (“C2”), Control Element (“CE”), Cooperative Merging (“CM”), Cooperative Overtaking (“CO”), Cooperative Transition of Control (“CToC”), Cooperative Lane Change (“CLC”), Collective Perception (“CP”), Collective Perception Message (“CPM”), Core Network (“CN”), Connected and Autonomous Vehicle (“CAV”), Channel Busy Ratio (“CBR”), Decentralized Environmental Notification Message (“DENM”), Downlink (“DL”), Discontinuous Transmission (“DTX”), Evolved Node B (“eNB”), Evolved Packet Core (“EPC”), Evolved Packet System (“EPS”), Evolved UMTS Terrestrial Radio Access (“E-UTRA”), Evolved UMTS Terrestrial Radio Access Network (“E-UTRAN”), European Telecommunications Standards Institute (“ETSI”), Fully Qualified Domain Name (“FQDN”), General Packet Radio Service (“GPRS”), Generic Public Service Identifier (“GPSI”), Global System for Mobile Communications (“GSM”), Hybrid Automatic Repeat reQuest (“HARQ”), Home Subscriber Server (“HSS”), Information Element (“IE”), Internet of Things (“IoT”), International Mobile Equipment Identity (“IMEI”), Intelligent Transport System (“ITS”), ITS Station (“ITS-S”), Infrastructure-to-Vehicle Information Message (“IVIM”), Key Performance Indicator (“KPI”), Line of Sight (“LOS”), Level of Automation (“LoA”), Long Term Evolution (“LTE”), Mobility Management (“MM”), Mobility Management Entity (“MME”), Map (Topology) Extension Message (“MAPEM”), Maneuver Control (“MC”), Maneuver Control Message (“MCM”), Negative Acknowledgement (“NACK”) or (“NAK”), New Generation (5G) Node B (“gNB”), New Generation Radio Access Network (“NG-RAN”, the RAN for 5GS networks), New Radio (“NR”, 5G radio access technology;Also known as “5G NR”), Non-Access Stratum (“NAS”), Network Slice Selection Assistance Information (“NSSAI”), Network Exposure Function (“NEF”), Overtaking Warning (“OVW”), Partially Qualified Domain Name (“PQDN”), Packet Data Unit (“PDU”, used in combination with ‘PDU session’), PC55QI (“PQI”), Permanent Equipment Identifier (“PEI”), Packet Control (“PC”), Packet Control Message (“PCM”), Proximity Services (“ProSe”), Public Land Mobile Network (“PLMN”), Quality of Service / Experience (“QoS”), Radio Access Network (“RAN”), Receive (“RX”), Road Side Unit (“RSU”), Service Enabler Architecture Layer (“SEAL”), Session Management (“SM”), Session Management Function (“SMF”), Service Provider (“SP”), Service Capability Exposure Function (“SCEF”), Single Network Slice Selection Assistance Information (“S-NSSAI”), Signal Phase and Timing Extension Message (“SPATEM”), Signal Request Extension Message (“SREM”), Signal Request Status Extension Message (“SSEM”), Subscription Permanent Identifier (“SUPI”), Subscription Concealed Identifier (“SUCI”), Target Driving Area Reservation (“TDAR”), Transport Block (“TB”), Transmission (“TX”), Vehicle-to-Everything (“V2X”), Vehicle-to-Infrastructure (“V2I”), Vehicle-to-Vehicle (“V2V”), Vehicle-to-Relay (“V2R”), V2X Application Enabler (“VAE”), Vulnerable Road User Protection (“VRUP”), Unified Data Management (“UDM”), Unmanned Aerial System (“UAS”), UAS Application Enabler (“UAE”, i.e., having a UAE server and at least one UAE client), UAS Traffic Manager (“UTM”), UAS Service Provider (“USS”), Unmanned Aerial Vehicle (“UAV”), UAV Controller (“UAV-C”), User Data Repository (“UDR”), User Equipment / Device (mobile terminal) (“UE”), Uplink (“UL”), User Plane (“UP”), Universal Mobile Telecommunications System (“UMTS”), UMTS Terrestrial Radio Access (“UTRA”), UMTS Terrestrial Radio Access Network (“UTRAN”), User Service Description (“USD”), and Worldwide Interoperability for Microwave Access (“WiMAX”). As used herein, “HARQ-ACK” may collectively represent Acknowledgment (“ACK”), Negative Acknowledgment (“NACK”), and Discontinuous Transmission (“DTX”). ACK means the TB was correctly received, while NACK (or NAK) means the TB was received in error. DTX means no TB was detected.;

[0003] In some communication systems, an Unmanned Aerial System (“UAS”) may be configured in a Command and Control (“C2”) communication mode. In some embodiments, the following C2 communications are considered to provide UAS services by ensuring the QoS of the following C2 communications: 1) direct C2 communication, 2) network-assisted C2 communication (also known as “indirect C2 communication”), and 3) UTM navigation C2 communication. Summary of the Invention

[0004] Disclosed is a method for managing an operating mode of C2 communication. Devices and systems also perform the functions of the method.

[0005] A method for a UAS Application Enabler (“UAE”) client includes: receiving an application request for managing an operating mode of Command and Control (“C2”) communication of a first Unmanned Aerial System (“UAS”), the first UAS including a first Unmanned Aerial Vehicle (“UAV”) and a first UAV Controller (“UAV-C”); receiving a first report from an application of the first UAS, wherein the first application is located in one of the first UAV and the first UAV-C; determining to switch the operating mode of the C2 communication of the first UAS based on the received first report; and transmitting a C2 communication switching instruction to the first UAS.

[0006] A method for a UAE client includes: receiving a first request message to monitor a link condition of an operating mode of C2 communication of a first UAS, the first UAS including a first UAV and a first UAV-C; transmitting a first report based on the monitored link condition, wherein the first report includes one of a direct mode feasibility report and a trigger event report; receiving a C2 communication switching instruction from an application of the first UAS; and modifying a C2 communication session of the first UAS in response to the C2 communication switching instruction. Brief Description of the Drawings

[0007] A more specific description of the embodiments briefly described above will be presented by reference to specific embodiments illustrated in the drawings. It should be understood that these drawings only depict some embodiments and should not be considered as limiting the scope. The embodiments will be described and explained in additional detail and specifically by using the drawings, wherein:

[0008] Figure 1A is a schematic block diagram illustrating an embodiment of a wireless communication system for managing an operating mode of C2 communication;

[0009] Figure 1B is a block diagram illustrating an operating mode of C2 communication;

[0010] Figure 2 is a diagram illustrating an embodiment of a network architecture for managing an operating mode of C2 communication;

[0011] Figure 3A It is a diagram of a signaling flow illustrating an embodiment of a program for dynamically switching the operation mode of C2 communication;

[0012] Figure 3B Continue Figure 3A program;

[0013] Figure 4A It is a diagram of a signaling flow illustrating another embodiment of a program for dynamically switching the operation mode of C2 communication;

[0014] Figure 4B Continue Figure 4A program;

[0015] Figure 5 It is a diagram illustrating an embodiment of a UAE server device that can be used to manage the operation mode of C2 communication;

[0016] Figure 6 It is a diagram illustrating an embodiment of a UAE client device that can be used to manage the operation mode of C2 communication;

[0017] Figure 7 It is a flowchart illustrating an embodiment of a method that can be used to manage the operation mode of C2 communication; and

[0018] Figure 8 It is a flowchart illustrating an embodiment of a method that can be used to manage the operation mode of C2 communication. Detailed Description

[0019] Those skilled in the art will understand that aspects of the embodiments can be embodied as a system, device, method, or program product. Thus, the embodiments can take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, microcode, etc.), or an embodiment combining software and hardware aspects.

[0020] For example, the disclosed embodiments can be implemented as hardware circuits (including custom very large scale integration (“VLSI”) circuits or gate arrays), off-the-shelf semiconductors (such as logic chips, transistors), or other discrete components. The disclosed embodiments can also be implemented in programmable hardware devices, such as field programmable gate arrays, programmable array logic, programmable logic devices, or the like. As another example, the disclosed embodiments can include one or more physical or logical blocks of executable code, which can be organized, for example, as objects, procedures, or functions.

[0021] In addition, an embodiment may take the form of a program product embodied in one or more computer-readable storage devices embodying machine-readable code, computer-readable code, and / or program code (hereinafter referred to as code). The storage device may be tangible, non-transitory, and / or non-transmission. The storage device may not embody a signal. In a particular embodiment, the storage device only uses a signal to access the code.

[0022] Any combination of one or more computer-readable media may be utilized. The computer-readable media may be a computer-readable storage medium. The computer-readable storage medium may be a storage device storing the code. The storage device may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, holographic, micro-mechanical, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing.

[0023] More specific examples (a non-exhaustive list) of the storage device will include the following: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (“RAM”), a read-only memory (“ROM”), an erasable programmable read-only memory (“EPROM” or flash memory), a portable compact disc read-only memory (“CD-ROM”), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0024] The code for performing the operations of the embodiment may be written in any combination of one or more programming languages, which may include an object-oriented programming language (such as Python, Ruby, Java, Smalltalk, C++, or the like) and a conventional procedural programming language (such as the “C” programming language or the like) and / or a machine language (such as assembly language). The code may execute entirely on the user's computer, partially on the user's computer, execute as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network connection, including a local area network (“LAN”) or a wide area network (“WAN”), or may make a connection to an external computer (e.g., through the Internet using an Internet service provider).

[0025] References to "one embodiment", "an embodiment", or similar language throughout this specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, unless otherwise explicitly specified, the phrases "in one embodiment", "in an embodiment", and similar language that appear throughout this specification may, but do not necessarily, all refer to the same embodiment, but rather mean "one or more but not all embodiments". Unless otherwise explicitly specified, the terms "comprising", "including", "having", and variations thereof mean "including (but not limited to)". Unless otherwise explicitly specified, a list of recited items does not imply any or all of the items are mutually exclusive. Unless otherwise explicitly specified, the terms "a" and "the" also refer to "one or more".

[0026] As used herein, a list with the conjunction "and / or" includes any single item in the list or any combination of items in the list. For example, the list of A, B, and / or C includes only A, only B, only C, the combination of A and B, the combination of B and C, the combination of A and C, or the combination of A, B, and C. As used herein, a list using the term "one or more of..." includes any single item in the list or any combination of items in the list. For example, one or more of A, B, and C includes only A, only B, only C, the combination of A and B, the combination of B and C, the combination of A and C, or the combination of A, B, and C. As used herein, a list using the term "one of..." includes one and only one of any single item in the list. For example, "one of A, B, and C" includes only A, only B, or only C and excludes the combination of A, B, and C. As used herein, "a member selected from the group consisting of A, B, and C" includes one and only one of A, B, or C and excludes the combination of A, B, and C. As used herein, "a member selected from the group consisting of A, B, and C and combinations thereof" includes only A, only B, only C, the combination of A and B, the combination of B and C, the combination of A and C, or the combination of A, B, and C.

[0027] Furthermore, the described features, structures, or characteristics of the embodiments may be combined in any suitable manner. In the following description, numerous specific details are provided to provide a thorough understanding of the embodiments, such as examples of programming, software modules, user selections, network transactions, database queries, database structures, hardware modules, hardware circuits, hardware chips, etc. However, those skilled in the relevant art should recognize that the embodiments may be practiced without one or more of the specific details or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail so as not to obscure aspects of the embodiments.

[0028] Aspects of the embodiments are described below with reference to the schematic flowcharts and / or schematic block diagrams of methods, apparatuses, systems, and program products according to the embodiments. It should be understood that each block of the schematic flowcharts and / or schematic block diagrams, and combinations of blocks in the schematic flowcharts and / or schematic block diagrams, can be implemented by code. This code can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device create means for implementing the functions / acts specified in the flowchart and / or block diagram.

[0029] The code can also be stored in a storage device, and the code can direct a computer, other programmable data processing device, or other device to operate in a particular manner such that the instructions stored in the storage device produce an article of manufacture that includes instructions for implementing the functions / acts specified in the flowchart and / or block diagram.

[0030] The code can also be loaded onto a computer, other programmable data processing device, or other device to cause a series of operational steps to be performed on the computer, other programmable device, or other device to produce a computer-implemented process such that the code executed on the computer or other programmable device provides a process for implementing the functions / acts specified in the flowchart and / or block diagram.

[0031] The flowcharts and / or block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, systems, methods, and program products according to various embodiments. In this regard, each block in the flowchart and / or block diagram can represent a code module, segment, or portion that includes one or more executable instructions for implementing the specified logical function.

[0032] It should also be noted that in some alternative implementations, the functions recited in the blocks may occur out of the order illustrated in the figures. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. Other steps and methods may be conceived that are equivalent in function, logic, or effect to one or more blocks or portions of the illustrated figures.

[0033] Although various arrow types and line types may be employed in the flowcharts and / or block diagrams, they should not be construed as limiting the scope of the corresponding embodiments. In fact, some arrows or other connectors may be used to merely indicate the logical flow of the depicted embodiments. For example, an arrow may indicate a waiting or monitoring period of unspecified duration between enumerated steps of the depicted embodiment. It should also be noted that each block in the block diagram and / or flowchart illustration, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a system based on dedicated hardware that performs the specified function or act, or by a combination of dedicated hardware and code.

[0034] Descriptions of elements in each figure may refer to elements in previous figures. The same numbers refer to the same elements in all figures, including alternative embodiments of the same elements.

[0035] Generally, the present disclosure describes systems, methods, and devices for managing C2 communication operation modes of UEs participating in UAV-related command and control (“C2”) communications. Mechanisms / techniques for enabling C2 mode switching for one or more UASs are disclosed herein.

[0036] In direct C2 communication, the UAV controller and the UAV establish a direct C2 link to communicate with each other and both register with the 5G network using radio resources provided by 5G network configuration and scheduling for direct C2 communication.

[0037] In network-assisted C2 communication (also known as “indirect C2 communication”), the UAV controller and the UAV register with the 5G network and establish corresponding unicast C2 communication links to the 5G network and communicate with each other via the 5G network. Moreover, both the UAV controller and the UAV can register with the 5G network via different NG-RAN nodes. The 5G network needs to support mechanisms to handle reliable routing of C2 communications.

[0038] In UTM navigation C2 communication, the UAV has been provided with a pre-scheduled flight plan (e.g., a 4D polygon array) for autonomous flight. However, the UTM still maintains a C2 communication link with the UAV to periodically monitor the UAV's flight status, verify the flight status with the latest dynamic constraints, provide route updates, and navigate the UAV if necessary.

[0039] Due to possible changes in radio conditions, traffic conditions, interference from other UAVs, unpredictable events, etc., the configuration of the C2 mode may need to be adjusted for the UAS during flight. Moreover, if the UAV behavior is problematic, then the UTM 131 may need to control the UAV 103 as needed.

[0040] Some examples can better capture the need for dynamic adaptation;

[0041] In a first scenario, the UAV 103 is controlled by the UAV-C 104 using direct C2 at the start of the flight. However, as the UAV 103 travels away from the UAV-C 104 (e.g., approaching BLOS), the direct communication link deteriorates, and it may be necessary to change to the network-assisted mode before the PC5 link disconnects to ensure that the UAV 103 does not experience any service interruptions (which can lead to loss of connectivity).

[0042] In a second scenario, the network-assisted mode (indirect) is used to facilitate C2 communication in BLOS conditions; however, when PC5 becomes viable / available again, it may be preferable to switch to the direct mode in a fast manner and without any data loss. The viability / preference of PC5 could be, for example, the time when UAV 103 returns towards UAV-C 104 or the time when the expected QoS on PC5 is better than Uu (e.g., due to possible congestion / QoS degradation / resource scarcity / coverage blind spots in one or both Uu links).

[0043] For these reasons, one requirement when C2 communication is carried out using one or more 3GPP systems is to support communication link switching while the UAV session is in progress. This will be needed to perform the following:

[0044] A) Enhance / guarantee KPIs for UAS (e.g., for reliability-critical communication), especially in BLOS scenarios where the pilot is far from the UAV.

[0045] B) Ensure service continuity, e.g., when the UAV flies far from UAV-C and the connection may be lost or the UAV roams to a different PLMN or if there is a network failure / resource shortage / congestion in one or more Uu links.

[0046] When UAS operations are in progress, there are some key issues related to changes in the C2 communication mode:

[0047] A) There is no mechanism in 3GPP to enable dynamic switching between the direct C2 mode and the indirect C2 mode while the UAV flight session is in progress.

[0048] B) Service continuity of C2 communication cannot currently be guaranteed when switching between C2 modes.

[0049] In the case where C2 communication switches to a congested Uu or PC5 link shared with other UAVs, some impact on nearby other UAVs, UEs / flying UEs can be expected when the decision to switch is made.

[0050] Thus, one problem solved by the present disclosure is how to enable dynamic C2 mode switching for one or more UAV-C / UAV pairs while guaranteeing service continuity and minimally affecting the operation of other UASs. This problem can be decomposed into two sub-problems based on scenarios:

[0051] Sub-problem #1: Due to the fact that UAV 103 is moving towards BLOS or has poor PC5 conditions, how to enable dynamic switching from direct C2 to indirect C2 for one or more UAS101 while the flight is in progress? The solution for sub-problem #1 is discussed in more detail Figures 3A to 3B and will be elaborated on.

[0052] Sub - problem #2: When the direct C2 link becomes available / feasible (and preferred) again while the flight is in progress, how to enable the dynamic switch from indirect C2 to direct C2 for one or more UAS101? Solution reference for Sub - problem #2 Figures 4A to 4B is discussed in more detail.

[0053] For both sub - problems, a key constraint is to avoid C2 service interruption and / or QoS degradation during this transition from one mode to another. In some embodiments, the UAE server 221 (middleware platform) triggers the switching mode of the operation.

[0054] In contrast, for the direct / indirect communication mode switch in a conventional UE, the UAV is not trusted to decide the mode switch based on a certain trigger event. Note that the UAS101 includes different types of UEs, such as the aircraft 103 and the UAV controller 104. Also, note that in the UAS, the UAV - C 104 can be far from the UAV 103. This requires an enhanced mechanism for the UTM131 / 3gpp network at both ends to monitor the real - time situation (in V2V, CBR measurement / sensing can be used for switching). It is also very likely that the UAV103 and the UAV - C 104 are connected to different cells and / or different PLMNs, thus requiring additional access network and / or core network cooperation that is not required in the V2X scenario.

[0055] In the UAS, the UAV 103 can be restricted to fly in certain areas. This means that the possibility of collision with other drones is much higher than in V2X, and the trigger criteria for mode switching will be different from the V2X scenario.

[0056] Figure 1A Depicts a wireless communication system 100 for managing C2 communication operation modes according to an embodiment of the present disclosure. In one embodiment, the wireless communication system 100 includes at least one access network 110 and a mobile core network 120. As depicted, the wireless communication system 100 can include a first access network serving the UAV 103 and a second access network serving the UAV controller 104. Here, the wireless communication system 100 includes at least a first core network belonging to PLMN - a and a second core network belonging to PLMN - b. The access network 110 and the mobile core network 120 form a mobile communication network.

[0057] The unmanned aerial system (“UAS”) 101 includes an unmanned aerial vehicle (“UAV”) 103 and a UAV controller 104. The UAS operator 102 is the person who operates the UAV 103 (e.g., via the UAV controller 104). The UAV 103 and the UAV controller 104 can each be a UE in the wireless communication system 100. Thus, the UAV 103 and / or the UAV controller 104 can communicate with the access network 110 to access the services provided by the mobile core network 120.

[0058] Even though Figure 1A a specific number of UAVs 103, UAV controllers 104, access networks 110, and mobile core networks 120 are depicted, those skilled in the art will recognize that any number of UAVs 103, UAV controllers 104, access networks 110, and mobile core networks 120 can be included in the wireless communication system 100.

[0059] Each access network 110 includes at least one basic unit 111 and can be composed of a 3GPP access network (including at least one cellular basic unit) and / or a non-3GPP access network (including at least one access point). In various embodiments, the access network 110 is a radio access network, such as 5G-RAN. The UE (e.g., the UAV 103 and / or the UAV controller 104) can communicate with the 3GPP access network using a 3GPP communication link and / or communicate with the non-3GPP access network using a non-3GPP communication link.

[0060] In one implementation, the wireless communication system 100 complies with the 5G system specified in the 3GPP specifications. However, more generally, the wireless communication system 100 can implement some other open or proprietary communication network, such as LTE or WiMAX, as well as other networks. The present disclosure is not intended to be limited to implementing any particular wireless communication system architecture or protocol.

[0061] In one embodiment, the UE (e.g., the UAV 103 and / or the UAV controller 104) can include a computing device, such as a desktop computer, a laptop computer, a personal digital assistant (“PDA”), a tablet computer, a smart phone, an appliance (e.g., an appliance connected to the Internet), a gaming console, a remote controller, or the like. Additionally, the UE can be referred to as a remote unit, a user unit, a mobile device, a mobile station, a user, a terminal, a mobile terminal, a fixed terminal, a user station, a user terminal, a wireless transmit / receive unit (“WTRU”), a device, or other terms used in the art.

[0062] A UE (such as UAV 103 and / or UAV controller 104) can communicate directly with one or more of the basic units 111 in the access network 110 via uplink (“UL”) and downlink (“DL”) communication signals. In some embodiments, the UL and DL communication signals are carried via a 3GPP communication link. In other embodiments, the UL and DL communication signals are carried via a non-3GPP communication link. Here, the access network 110 is an intermediate network that provides the UAV 103 and / or UAV controller 104 with access to the mobile core network 120.

[0063] In some embodiments, the UE communicates with one or more UAV traffic management (“UTM”) functions via a network connection to the mobile core network 120. As described in more detail below, the UAV 103 can use the access network 110 to establish a PDU session (or a similar data connection) with the mobile core network 120. Then, the mobile core network 120 relays traffic between the UE and the data network 130 using the PDU session. Note that the UE can establish one or more PDU sessions (or other data connections) with the mobile core network 120. Thus, the UE can have at least one PDU session for communicating with the data network 130. The UE can establish additional PDU sessions to communicate with other data networks and / or other remote hosts.

[0064] The basic units 111 can be distributed over a geographical area. In certain embodiments, the basic unit 111 can also be referred to as an access point, access terminal, base, base station, Node-B, eNB, gNB, home Node-B, relay node, device, or by any other term used in the art. The basic unit 111 is generally part of a radio access network (“RAN”) (such as the access network 110) that can include one or more controllers communicatively coupled to one or more corresponding basic units 111. These and other elements of the radio access network are not described but are generally well known to those of ordinary skill in the art. The basic unit 111 is connected to the mobile core network 120 via the access network 110.

[0065] The basic unit 111 can serve several UEs within a service area (such as a cell or cell sector) via a wireless communication link. Based on the unit 111 can communicate directly with one or more of the UEs via communication signals. Generally, the basic unit 111 transmits DL communication signals to serve the UEs in the time domain, frequency domain, and / or spatial domain. In addition, the DL communication signals can be carried via a communication link. The communication link can be any suitable carrier in licensed or unlicensed radio spectrum. The communication link facilitates communication between one or more of the UEs and one or more of the basic units 111.

[0066] In one embodiment, the mobile core network 120 is a 5G Core (“5GC”) or an Evolved Packet Core (“EPC”), which may be coupled to a data network (such as data network 130, such as the Internet and private data networks and other data networks). The UE may have a subscription account or other account with the mobile core network 120. Each mobile core network 120 belongs to a single Public Land Mobile Network (“PLMN”). The present disclosure is not intended to be limited to implementing any particular wireless communication system architecture or protocol.

[0067] The mobile core network 120 includes several network functions (“NFs”). As depicted, the mobile core network 120 may include one or more User Plane Functions (“UPFs”) 121. The mobile core network 120 also includes multiple control plane functions, including (but not limited to) an Access and Mobility Management Function (“AMF”) 123, a Session Management Function (“SMF”) 125, and a Network Exposure Function (“NEF”) 127. In certain embodiments, the mobile core network 120 may also include an Authentication Server Function (“AUSF”), a Policy Control Function (“PCF”), and a Unified Data Management Function (“UDM”), a Network Repository Function (“NRF”) (used by various NFs to discover and communicate with each other via APIs), or other NFs defined for the 5GC. In certain embodiments, the mobile core network 120 may include an AAA server.

[0068] In various embodiments, the mobile core network 120 supports different types of mobile data connections and different types of network slices, where each mobile data connection utilizes a specific network slice. Here, a “network slice” refers to a part of the mobile core network 120 that is optimized for a specific service type or communication service. Network instances may be identified by an S-NSSAI, while a set of network slices that a UE (such as UAV 103 and / or UAV controller 104) is authorized to use is identified by an NSSAI. In certain embodiments, various network slices may include separate instances of network functions, such as SMF 125 and UPF 121. In some embodiments, different network slices may share some common network functions, such as AMF 123. For ease of illustration, Figure 1A different network slices are not shown, but their support is assumed.

[0069] Although Figure 1A a specific number and type of network functions are depicted, those skilled in the art will recognize that any number and type of network functions may be included in the mobile core network 120. Additionally, in the case where the mobile core network 120 is an EPC, the depicted network functions may be replaced with appropriate EPC entities (such as MME, S-GW, P-GW, HSS, and the like).

[0070] In the following description, the term gNB is used for the base station, but it may be replaced by any other radio access node (e.g., BS, eNB, gNB, AP, NR, etc.). Additionally, the operations are mainly described in the context of 5G NR. However, the proposed solution / method is equally applicable to other mobile communication systems that support service cells / carriers configured for UAS operations.

[0071] As depicted, a UE (e.g., UAV 103 and / or UAV controller 104) may be connected to a mobile core network (e.g., connected to a 5G mobile communication network) via an access network 110. Connecting to a mobile communication network (e.g., the combination of an access network and a mobile core network) allows the UAV 103 to operate at an increased distance from the UAV controller 104 and does not require a line-of-sight connection between the UAV 103 and the UAV controller 104.

[0072] Generally, the UAS 101 may interact with one or more UAV traffic management (“UTM”) functions 131 when operating the UAV 103 and / or filing a flight plan. In various embodiments, each mobile core network 120 that supports UAV operations is capable of communicating with one or more UTMs 131.

[0073] The UTM 131 is an element that manages the UAV operations of one or more UAVs 103 and UAV controllers 104. In various embodiments, the UTM 131 monitors UAVs 103 and UAV controllers 104 operating in a specific uncontrolled airspace (e.g., below 400 feet above the ground). Managing UAV operations may include providing flight authorization, performing collision avoidance, determining alternative flight routes, ensuring that UAV operations remain within authorized limits, etc. In various embodiments, the operation of the UTM is similar to that of an air traffic controller (ATC) who manages manned aircraft on the ground and in controlled airspace (above 400 feet).

[0074] In many scenarios, the UAV controller 104 establishes a connection to the UAV 103 via one or more 5G systems. For example, the UAV controller 104 may establish a data connection to the UAV 103 via the access network 110 and the mobile core network 120. When a UE (e.g., one of the UAV 103 and the UAV controller 104) requests to establish a data connection (e.g., a PDU session) for UAV operations, the SMF 125 selects the UTM 131 and verifies the UAV operations.

[0075] The UTM 131 may send a request to the UAE server 133 to manage the operation mode of the C2 communication session for the UAS 101, as described below with reference to Figure 2 、 3AMore detailed discussions are provided for 3B to 4A and 4B. The UAE server 133 collects information to assist in determining whether to dynamically adjust the C2 communication mode of the UAS 101. In various embodiments, the UAE server 133 receives direct link condition information from the UAV 103 and / or the UAV controller 104. Additionally, the UAE server 133 may receive location and other information from the Service Enablement Application Layer (SEAL) server 135.

[0076] The SEAL server 135 provides on-demand (subscription or request) services for all Vertical Enablement Layer (also known as middleware) platforms (such as the UAE server 133). Vertical-specific support functionality between application-specific servers and the mobile core network 120. Common support functionality (the service platform enables common capabilities for faster onboarding of new vertical integrated services) includes location management, group management, network resource management, configuration management servers, etc., and can be used as services for vertical-specific enablers.

[0077] Note that although the following description considers the mobility of the UAV 103, it is assumed that the UAV controller 104 remains stationary. In other embodiments, the mobility of the UAV controller 104 may require the UAE server to consider the changing radio link conditions of the UAV controller 104 due to mobility, interference, etc.

[0078] Figure 1B Depicts various operating modes for the C2 communication session of the UAS. In the direct C2 mode 161, the UAV controller (UAV-C) 104 uses a direct connection with the UAV 103 to establish a C2 communication session. Here, the direct connection can use the PC5 reference point. Note that the PC5 reference point may be referred to as the "PC5 interface" herein. Using the direct connection, the UAV-C 104 can send flight instructions to the UAV 103. Note that in some implementations, the direct connection may require line of sight between the UAV-C 104 and the UAV 103.

[0079] In the UTM navigation C2 mode 163, the UTM 131 establishes a C2 communication session with the UAV 103 via the mobile core network 120 (and the access network 110). Via the mobile network connection, the UTM 131 sends flight instructions to the UAV 103. Note that the UTM navigation C2 mode 163 does not require line of sight between the UAV-C 104 and the UAV 103.

[0080] In the indirect C2 mode 165, the UAV-C 104 establishes a C2 communication session with the UAV 103 via the mobile core network 120 (and the access network 110). Via the mobile network connection, the UAV-V 104 can send flight instructions to the UAV 103. Note that the indirect C2 mode 163 does not require line-of-sight between the UAV-C 104 and the UAV 103.

[0081] For the UAV 103, there is currently no solution in the prior art for providing C2 mode selection and configuration. However, it can be assumed that during the registration and / or flight authorization phase of the UAV, the initial C2 configuration is provided to the UAV 103 by the UAV-C 104 or by the UTM 131 (or the UAS specific application server).

[0082] Figure 2 Depicts a network architecture 200 for managing C2 communication operation modes according to an embodiment of the present disclosure. The network architecture 200 includes a UAV 201, a UAV-C 203, a UAE server 221, a UTM 131, and a SEAL server 135. The UAV 201 can be an embodiment of the UAV 103 described above and includes an application layer 209, a middleware layer with a UAE client 205, and a 3GPP UE 207 (i.e., having cellular modem functionality). The UAV-C 203 can be an embodiment of the UAV controller 104 described above and includes an application layer 209, a middleware layer with a UAE client 205, and a 3GPP UE 208 (i.e., having cellular modem functionality).

[0083] As discussed above, the UAV 201 and the UAV-C 203 communicate via the PC5 reference point when operating in the direct C2 communication mode. Here, it is assumed that the UAV 201 and the UAV-C 203 are connected to a 5G system ("5GS") for operating in the indirect C2 communication mode.

[0084] The UAS Application Enabler ("UAE") server 221 is a middleware platform that docks with the UAE client middleware 207 on the V2X UE (i.e., located between the application layer 209 and the 3GPP / cellular modem layer). The UAE server 221 is an embodiment of the UAE server 133. Note that the UAE server 221 and the UAE client 205 form a distributed V2X middleware.

[0085] Disclosed herein is a mechanism for dynamically switching the operating mode of a C2 communication session established between a UAV 201 and a UAV-C 203. In step 1, the UAE server 221 receives a request to manage the switching of the C2 operating mode of a UAS that manages a first UAE client 205 in the UAV 201 and a second UAE client 205 in the UAV-C 203 (see messaging 225).

[0086] In step 2a, the UAE server 221 configures the UAE client 205 (in the UAV, in the UAV-c, or in both) to send one or more reports to the UAE server when a first condition occurs (see messaging 227). In one instance, the UAS operates in direct mode and the first report indicates that direct mode operation is degraded (e.g., loss rate > X). In another instance, the UAS operates in indirect mode and the UAE server configures the UAE client to monitor direct mode conditions (e.g., loss rate) and send a first report to the UAE server when a first condition occurs (e.g., loss rate of direct mode operation < X), which implies that direct mode operation is feasible.

[0087] In step 2b, the UAE server 221 also collects location information from, for example, the SEAL server 135 and / or the 3GPP network in response to receiving the request (see messaging 229), where the information is used to determine whether to trigger an action based on the UAE client report. The UAE server 221 also processes (i.e., augments) the received location information with additional mobility / location information (speed, ground radar, RID broadcast) that can be provided by the UTM 131 and / or the UAS-specific application server as part of step 1.

[0088] For example, if the additional information indicates that the condition in the report is temporary (due to a temporary NLOS condition between the UAV 201 and the UAV-C 203), then the report from the UAE client 205 may not be actionable.

[0089] As another example, the UAE server collects location information from the SEAL server and / or the 3GPP network and may determine that the first report indicating that direct mode operation is feasible is not actionable because the UAV is flying quickly past the location of the UAV controller.

[0090] In step 3, the UAE server determines whether to trigger a change in the C2 operating mode based on the UAE client report by using the collected / processed additional information (see block 231).

[0091] Note that when the UAS initially operates in the direct C2 communication mode, the UAE server 221 may receive a trigger event from the UAE client 205 (e.g., in the UAV 201), which indicates that the direct C2 operation mode is degraded (which may be attributed to the degradation of the direct link quality).

[0092] In contrast, when the UAS initially operates in the indirect C2 communication mode, the UAE server 221 may receive a feasibility report from the UAE client 205 (e.g., in the UAV 201, in the UAV-C 203, or in both). For example, the UAV-C 203 may receive a ProSe advertisement sent by the UAV 201 with an acceptable quality (e.g., loss rate <X).

[0093] In the depicted scenario, at step 4, the UAE server 221 determines to trigger a mode change and provides a request / notification to the UAE client 205 that serves both the UAV 201 and the UAV-C 203 to switch to the operation mode (see the messaging 233). Thus, the UAS that has been operating in the direct mode will receive an instruction to switch to the indirect mode. Similarly, the UAS that has been operating in the indirect mode will receive an instruction to switch to the direct mode.

[0094] At step 5, the UAE client 205 passes this instruction to the lower layer / AS layer (see the messaging 235), thereby triggering the 3GPP UE to switch to the C2 communication operation mode indicated by the request / notification received from the UAE server 221.

[0095] Figures 3A to 3B Depicts a program 300 for managing the C2 communication operation mode according to an embodiment of the present disclosure. The program 300 involves the UAV 201 (including the first UAE client 301 and the UAV UE 303), the UAV-C 203 (including the second UAE client 305 and the UAV-C UE 307), the UTM or UAS-specific application server 311, the UAE server 221, and the SEAL server 135. In the depicted embodiment, the middleware is distributed in the servers and clients (also known as the UAE server 221 and the UAE clients 301, 305, respectively).

[0096] The inputs for enabling the C2 mode configuration function to trigger a switch from the direct mode to the indirect mode include:

[0097] A) Application-specific requirements, which in this case can be requirements from an application-specific server (or UTM) that give the UAE server the ability to manage C2 communications. Note that if the UAE server already has the authorization / capability to perform this action, then there is no need to pass the requirements, unless there is some updated requirement. This will trigger the establishment of an application session between the UAE server and the client so that the UAE server can receive direct link information and provide the required adaptation to the client when needed / under the required circumstances. The application-specific server can also provide additional UAS context information, and specifically, information on the mobility / position of the UAV (speed, ground radar, RID broadcast).

[0098] B) Input from the application server / UTM:

[0099] 1) The SEAL server 135 is a support entity (e.g., as defined in 3GPP TS23.434) that provides on-demand (subscription or request) services for all vertical enablers (such as the UAE server). Information that the SEAL server 135 can provide to the UAE server 221 to support the C2 decision-making process is as follows:

[0100] i) From the Location Management (LM) server: The exact positions of the UAV and the ground UE in a given area (cell / TA area) obtained by the UAV / UAV-C based on a subscription to location monitoring.

[0101] 2) The UTM provides support services to the UAS operator, such as services required by the UAS operator due to government regulations, services with a direct connection to the regulatory agency's system, services that can be used by the UAS operator to meet all or part of the government regulations, and services that provide value-added assistance to the UAS operator but are not used for regulatory compliance (e.g., meeting industry standards). Examples of specific support services include (but are not limited to) operation planning, intent sharing, strategic and tactical conflict resolution, compliance monitoring, RID, airspace authorization, airspace management functions, and management of off-nominal situations. If we assume that the UAE acts on behalf of the UAS operator, then the following information can be provided to assist with C2 handover:

[0102] i) Dynamic rerouting [In-flight rerouting can be provided by the UTM to avoid in-air conflicts. If the UAE is aware of the updated expected trajectory of the UAV, then it can help decide whether to stay direct or proactively switch to indirect due to a possible move to BLOS]

[0103] ii) Weather [Real-time weather information is needed at the UAE server to assist with decision-making because the direct link between the UAV-C and the UAV can be affected by the weather; on the other hand, it may be more difficult to disconnect the BS-to-UAV connection]

[0104] iii) Communication / C2 [Quality assurance indication for C2 communication requiring configured frequencies to check whether the resources for indirect C2 are OK or need to be changed / increased]

[0105] C) PC5 link degradation events from the application / application enabler client of the UAV for direct C2 communication. One or more events that can be in the form of an alert, namely: the link quality of the PC5 communication becomes lower (e.g., by measuring the packet error rate, latency, NACK, etc. for one or more receiver UAVs) or an overload / high interference indication in the PC5 resources due to high utilization by other UAS communications. This can be based on one or both of the following: PC5 QoS monitoring performed by the UAV 201 (UAE client 301) and monitoring of ProSe advertisement reception performed by the UAV 201 and / or UAV-C 203.

[0106] The UAE server 221 determines the trigger for reselection from the C2 mode to indirect based on one or more of the inputs received in the previous steps. The actual criteria for reselection are implementation-specific; however, the input for the PC5 event is the main criterion. Also, information from the UTM and SEAL supports the UAE server 221 in deciding whether to reselect or maintain the same C2 mode (e.g., for the case when considering the PC5 event temporarily).

[0107] The output of the C2 mode configuration is as follows:

[0108] A) The UAE server 221 can request confirmation of the C2 mode from the application-specific server (if the UAE server does not have the ability to switch but can influence / trigger the switch);

[0109] B) The UAE server 221 can request the UAE clients 301, 305 at the UAV / UAV-C to apply the change of the C2 mode.

[0110] The procedure 300 provides signaling for the scenario when the C2 mode configuration functionality resides in the UAE server 221. In this case, the C2 mode configuration function triggers the reselection from direct C2 communication to indirect.

[0111] In step 0a, as a first prerequisite, the UAV and UAV-C: 1) register to the 5GS; 2) register to the UTM and the UAV is authorized to fly; and 3) use C2 direct communication (the initial configuration of C2 is out of scope, e.g., it can be pre-determined by the UAS operator) (see box 315).

[0112] In step 0b, as a second prerequisite, the UAE server 221 is able to use the SEAL service based on, for example, TS23.434 (see box 317).

[0113] In step 1a, the UTM and / or UAS application-specific server 311 sends a start message, which can take the form of application-specific requirements (which can be requirements from one or more application-specific servers or requirements from the UTM) (see message 319). The application-specific requirements message will provide the UAE server with the ability to manage C2 communications and include at least one of the following parameters:

[0114] a) UAS identifier;

[0115] b) One or more UAV and / or UAV controller identifiers. This can include at least one of the following: external UE identifier (GPSI, external ID) or permanent device identifier (PEI / IMEI);

[0116] c) UAV / UAV-C IP address and port;

[0117] d) PLMN ID;

[0118] e) Transaction ID;

[0119] f) Group ID for a group of UAVs;

[0120] g) Application identifier (e.g., USS identifier);

[0121] h) UTM identifier;

[0122] i) C2 management request (as depicted);

[0123] j) Geographic area where the requirements apply;

[0124] k) Validity time of the requirements.

[0125] In step 1b, the UTM or application-specific server can provide at least one of the following parameters to the UAE server in the UAS context message.

[0126] a) UAV / UAV-C application context / configuration information;

[0127] b) Real-time weather information;

[0128] c) Communications / C2 (quality assurance indication of the configured frequency for C2 communications); and

[0129] d) Dynamic rerouting information (updated / expected trajectory of the UAV).

[0130] In step 2a, the UAE server 221 sends a C2 UAE session establishment request message (see messaging 323) to one or more UAE clients 301, 305 (in UAV 201 and / or UAV-C 203). The C2 UAE session establishment request includes a request for the UAE client to send a first report to the UAE server when a first condition occurs and includes at least one of the following: the UAS / UAV / UAV-C identification as in step 1a, the UAE server ID which can be an FQDN or an IP address, the UAE server capabilities, one or more application-specific requirements, a geographical area, the session validity time, the transaction ID, the location and capabilities of one or more nearby UAVs, the location and configuration of the UAV-C, the conditions for report triggering.

[0131] In step 2b, one or more UAE clients 301, 305 send a C2 UAE session establishment response / result message (ACK / NACK) (see messaging 325).

[0132] In step 3a, PC5 advertisement / control messages are exchanged between UAV-C 203 and UAV 201 because ProSe is already in use (see box 327).

[0133] In step 3b, PC5 event messages are sent from UAE clients 301, 305 to the UAE server (see messaging 329). The PC5 event messaging may include at least one of the following:

[0134] a) UEID (GPSI, application ID, PEI / IMEI, etc.);

[0135] b) C2 direct link degradation notification, degradation of application QoS attributes (reliability, latency, jitter, range, etc.);

[0136] c) PC5 expected interruption notification; and

[0137] d) UAV location information.

[0138] In step 4a, the UAE server 221 requests the SEAL server 135 to provide location information for UAV 201 and receive reports (the UAE server 201 acts as a VAL server, as in TS 3GPP 23.434) (see messaging 331). Specifically, the UAE server 221 receives the exact location (geographical coordinates) of UAV 201 and ground UEs (such as UAV-C UE 307) in a given area (cell / TA area) from the Location Management (LM) server.

[0139] In Figure 3BContinuing from above, in step 4b, the UAE server 221 processes / augments the received location information with additional information mobility / location information (speed, ground radar, RID broadcast) that can be provided by the UTM / UAS application server as part of step 1b (see box 333).

[0140] In step 5, the UAE server 221 determines whether to trigger a reselection of the C2 mode based on the UAE client report in step 3b and the additional inputs in steps 4a and / or 4b (see box 335). In the depicted embodiment, it is assumed that the inputs and additional information cause the UAE server 221 to decide to trigger a reselection of the C2 mode from the direct mode to the indirect mode.

[0141] In step 6, the UAE server 221 optionally sends a C2 mode change request to the application-specific server 311 to confirm the C2 mode change (see messaging 337). This message contains at least one of the following: UAS identifier, affected UAV / UAV-C identifier, application ID, current C2 mode, target C2 mode. Here, the application-specific server 311 sends a C2 mode change response / ACK and authorizes the UAE server to continue with the C2 mode update. Based on the configuration from the UAS-specific server / UTM 311 in step 1a, step 6 is an optional step. Note that instead of the application-specific server, the UTM can play the role of authorizing the C2 mode change in this step.

[0142] In step 7, the UAE server 221 sends a C2 UAE session change request message to one or more UAE clients (301, 305) (see messaging 339). The UAE session change request contains at least one of the following: UAS / UAV / UAV-C identifier, UAE server ID, change in C2 mode requirements (new C2 mode), geographical area, session validity time, transaction ID, location and capabilities of one or more nearby UAVs, location and configuration of the UAV-C 203.

[0143] In step 8a, the UAE clients (301 and 305) instruct the respective UEs (i.e., the UAV UE 303 and the UAV-C UE 307) to switch the operating mode of the C2 communication session (see box 341). In some embodiments, the respective UEs modify the C2 session when performing the operating mode switch. In step 8b, the UAE clients (301, 305) send a C2 UAE session change response or notification (see messaging 343). Here, the UAE client can send an ACK response to indicate a successful switch of the operating mode or a NACK response to indicate an unsuccessful switch.

[0144] Figures 4A to 4BDepict a procedure 400 for managing the configuration phase of the C2 communication operation mode according to an embodiment of the present disclosure. The procedure 400 involves a UAV 201 (including a first UAE client 301 and a UAV UE 303), a UAV-C 203 (including a second UAE client 305 and a UAV-C UE 307), a UTM or UAS-specific application server 311, a UAE server 221, a SEAL server 135, and a mobile core network 120 (such as 5GC or EPC). In the depicted embodiment, the middleware is distributed in the servers and clients (also known as the UAE server 221 and the UAE clients 301, 305 respectively).

[0145] Inputs for enabling the C2 mode configuration function to trigger a switch from the indirect mode to the direct mode include:

[0146] A) Application-specific requirements, which in this case can be requirements from an application-specific server (or UTM) that give the UAE server the ability to monitor and manage C2 communication. Note that if the UAE server already has the authorization / capability to perform this action, there is no need to pass the requirements, unless there is some updated requirement. This will trigger the establishment of an application session between the UAE server and the client so that the UAE server can receive direct link information and provide the required adaptation to the client when needed / under the required circumstances. The application-specific server can also provide additional UAS context information, and specifically, information on the mobility / position of the UAV (speed, ground radar, RID broadcast).

[0147] B) The UAE server 221 will determine a trigger for the reselection of the C2 mode to indirect based on one or more of the inputs received in the previous step. The actual criteria for reselection are input from the application server:

[0148] 1) The SEAL server 135 is a support entity (such as defined in 3GPP TS23.434) that provides on-demand (subscription or request) services for all vertical enablers (such as UAE servers). Information that the SEAL server 135 can provide to the UAE server 221 to support the C2 decision-making process is as follows:

[0149] i) From the Location Management (LM) server: The exact positions of the UAV and the ground UE in a given area (cell / TA area) obtained by the UAV / UAV-C based on a subscription for location monitoring.

[0150] 2) The UTM can provide services to the UAS operator, such as services required to be used by the UAS operator due to government regulations, services with a direct connection to the regulatory mechanism system, services that can be used by the UAS operator to meet all or part of the government regulations, and services that provide value-added assistance to the UAS operator but are not used for regulatory compliance (e.g., meeting industry standards). Examples of specific support services include (but are not limited to) operation planning, intent sharing, strategic and tactical conflict resolution, compliance monitoring, RID, airspace authorization, airspace management functions, and management of off-nominal situations. If we assume that the UAE acts on behalf of the UAS operator, the following information can be provided to assist in C2 handover:

[0151] i) Dynamic rerouting (In-flight rerouting can be provided by the UTM to avoid in-air conflicts. If the UAE is aware of the updated expected trajectory of the UAV, it can help decide whether to maintain the indirect or switch to the direct).

[0152] ii) Weather (Real-time weather information is required at the UAE server to assist in decision-making because the indirect link between the UAV-C and the UAV may be affected by the weather).

[0153] iii) Communication / C2 (Quality assurance indication of the configured frequency for C2 communication is required to check whether the resources for indirect C2 are OK or need to be changed / increased).

[0154] C) When using indirect communication, the UAE server acting as the application function (AF) can subscribe to the NEF to receive monitoring information on possible QoS degradation of one or more Uu links (UAV-C to the application server or application server to the UAV). These links can be provided by more than one PLMN. Therefore, the UAE server should receive each updated information on possible QoS degradation (which has been supported for EPS with explicit congestion notification (ECN) defined in 3GPP TS23.401 and for 5GS with QoS notification control (QNC) defined in 3GPP TS23.501).

[0155] D) PC5 feasibility indication for C2 communication, which will provide awareness / assistance to the UAE server to switch to direct C2 communication when direct C2 communication is possible and is the preferred option.

[0156] 1) PC5 availability / feasibility can be captured at the UAV / UAV-C. For example, the UAV-C can broadcast signals periodically at different frequencies and understand (based on the received signals, AoA, etc.) whether direct C2 is possible after receiving an ACK from the UAV.

[0157] 2) The PC5 preference indication can be derived from an application of the UAV / UAV-C that can provide a certain priority of the C2 mode, and this can be used as auxiliary information to the UAE server (for example, since even if the PC5 is a possible application, the UAV has a map, route, and location, so due to possible obstacles (such as in an urban environment), it may not be preferred).

[0158] The UAE server 221 will determine the trigger for the reselection to the direct C2 mode based on one or more of the inputs received in the previous steps. The actual criteria for reselection are implementation-specific; however, the inputs for PC5 feasibility / availability and the state of the Uu link are the main criteria. Also, the information from the UTM and SEAL supports the UAE server in making a decision on whether to switch or remain in the indirect mode (for example, for the case when the PC5 feasibility is temporary).

[0159] Output of the C2 mode configuration:

[0160] A) The UAE server 221 can request confirmation of the C2 mode from the application-specific server (if the UAE server does not have the ability to switch but can influence / trigger the switch);

[0161] B) The UAE server 221 can request the UAE client at the UAV / UAV-C to apply the change of the C2 mode. This will initiate the interaction with the 3GPP UE to start the PC5 / ProSe session establishment procedure.

[0162] Procedure 400 provides the signaling for the scenario when the C2 mode configuration functionality resides in the UAE server. In this case, the C2 mode configuration function triggers the reselection from the indirect C2 communication to the direct one.

[0163] In step 0a, as a first prerequisite, the UAV and UAV-C: 1) register to the 5GS; 2) register to the UTM and the UAV is authorized to fly; and 3) use the C2 indirect communication (the initial configuration of C2 is out of scope, for example, it can be pre-determined by the UAS operator) (see box 401).

[0164] In step 0b, as a second prerequisite, the UAE server 221 is able to use the SEAL service based on, for example, TS23.434 (see box 403).

[0165] In step 1a, the UTM and / or the UAS application-specific server 311 sends a start message, which can take the form of an application-specific requirement (which can be a requirement from one or more application-specific servers or a requirement from the UTM) (see message 405). The application-specific requirement message will provide the UAE server with the ability to manage the C2 communication and contain at least one of the parameters discussed above in step 1a of procedure 300.

[0166] In step 1b, the UTM or the application-specific server may provide a UAS context message containing at least one of the parameters to the UAE server:

[0167] a) UAV / UAV-C application context / configuration information;

[0168] b) A list of ProSe codes for direct C2 operations;

[0169] c) Real-time weather information;

[0170] d) Communication / C2 (quality assurance indication of the configured frequency for C2 communication); and

[0171] e) Dynamic rerouting information (updated / expected trajectory of the UAV).

[0172] In step 2a, the UAE server 221 sends a C2 UAE session establishment request message (see messaging 409) to one or more UAE clients 301, 305 (in the UAV 201 and / or UAV-C 203), which contains a request for the UAE clients to monitor the direct mode condition (e.g., loss rate <X) and send a first report to the UAE server when the first condition occurs. The C2 UAE session establishment request message contains at least one of the following: UAS / UAV / UAV-C identification as in step 1a, UAE server ID which may be an FQDN or an IP address, UAE server capabilities, one or more application-specific requirements, ProSe codes for direct C2 operations, geographical area, session validity time, transaction ID, location and capabilities of one or more nearby UAVs, location and configuration of the UAV-C, PC5 monitoring request, conditions for report triggering.

[0173] In step 2b, one or more UAE clients 301, 305 send a C2 UAE session establishment response / result message (e.g., ACK / NACK) (see messaging 325).

[0174] In step 3a, PC5 discovery is performed between the 3GPP UEs 303 and 307, for example as specified in ProSe direct discovery models A and B defined in section 5.3 of 3GPP TS23.303 (see box 413). The PC5 discovery information may be exchanged between the UAE clients 301 and 305 based on the configured ProSe advertisement (e.g., based on the code received in step 2a).

[0175] In step 3b, when UAE clients 303 and 307 become aware of the PC5 discovery, one or more clients may send a PC5 feasibility report to the UAE server to notify of the PC5 possibility (see messaging 415). This PC5 feasibility report message may include UE identifiers, UAS identification, PC5 availability / feasibility notification indication, PC5 capabilities / configurations. In some embodiments, for example, based on application requirements at UAV-C 203 and / or UAV 201, the PC5 feasibility report may also include preferences / priorities for the C2 operation mode.

[0176] In step 3c, the UAE server 221 acting as an Application Function (AF) may subscribe to the NEF / SCEF in the mobile core network 120 to receive monitoring information regarding possible QoS degradations for one or more Uu links (e.g., UAV-C to application server or application server to UAV) (see messaging 417). The monitoring report UAE server 221 will receive updated information for each possible QoS degradation (this is supported for EPS with Explicit Congestion Notification (ECN) [see 4.7.4 of 3GPP TS23.401] and for 5GS with QoS Notification Control (QNC) [see 5.7.2.4 of 3GPP TS23.501]).

[0177] In Figure 4B Continuing on, in step 4a, the UAE server 221 requests the SEAL server 135 to provide location information for UAV 201 and receive a report (e.g., the UAE server 201 acts as a VAL server, as in TS 3GPP 23.434) (see messaging 419). Specifically, the UAE server 221 receives the exact location (geographical coordinates) of UAV 201 and the ground UE (e.g., UAV-C UE 307) in a defined area (cell / TA area) from the Location Management (LM) server.

[0178] In step 4b, the UAE server 221 processes / enriches the received location information with additional information mobility / location information (speed, ground radar, RID broadcast) that may be provided by the UTM / UAS application server as part of step 1b (see box 421).

[0179] In step 5, the UAE server 221 determines whether to trigger a reselection of the C2 mode based on the UAE client reports in step 3b and the additional inputs in step 4a and / or 4b (see box 423). In the depicted embodiment, it is assumed that the inputs and additional information cause the UAE server 221 to decide to trigger a reselection of the C2 mode from the indirect mode to the direct mode.

[0180] In step 6, the UAE server 221 optionally sends a C2 mode change request to the application-specific server 311 to confirm the C2 mode change (see messaging 425). This message includes at least one of the following: UAS identification, affected UAV / UAV-C identification, application ID, current C2 mode, target C2 mode. Here, the application-specific server 311 sends a C2 mode change response (e.g., ACK) and authorizes the UAE server to proceed with the C2 mode update. Based on the configuration from the UAS-specific server / UTM 311 in step 1a, step 6 is an optional step. Note that instead of the application-specific server, the UTM can play the role of authorizing the C2 mode change in this step.

[0181] In step 7, the UAE server 221 sends a C2 UAE session change request message to one or more UAE clients (301, 305) (see messaging 427). The UAE session change request includes at least one of the following: UAS / UAV / UAV-C identification, UAE server ID, required change in C2 mode (new C2 mode), geographical area, session validity time, transaction ID, location and capabilities of one or more nearby UAVs, location and configuration of the UAV-C 203.

[0182] In step 8a, the UAE clients (301 and 305) instruct the corresponding UEs (i.e., the UAV UE 303 and the UAV-C UE 307) to switch the operating mode of the C2 communication session (see box 429). In some embodiments, the corresponding UEs modify the C2 session when performing the operating mode switch. In step 8b, the UAE clients (301, 305) send a C2 UAE session change response or notification (see messaging 431). Here, the UAE client can send an ACK response to indicate a successful switch in the operating mode or a NACK response to indicate an unsuccessful switch.

[0183] Figure 5 An embodiment of a UAE server device 500 that can be used to select server application examples according to an embodiment of the present disclosure is depicted. In some embodiments, the UAE server device 500 can be an embodiment of a UAE server and its supporting hardware, such as the UAE server 133 and / or the UAE server 221 described above. Additionally, the UAE server device 500 can include a processor 505, a memory 510, an input device 515, an output device 520, and a transceiver 525. In some embodiments, the input device 515 and the output device 520 are combined into a single device, such as a touch screen. In certain embodiments, the UAE server device 500 does not include any input device 515 and / or output device 520.

[0184] As depicted, transceiver 525 includes at least one transmitter 530 and at least one receiver 535. Here, transceiver 525 communicates with one or more remote units 101. Additionally, transceiver 525 may support at least one network interface 540. In some embodiments, transceiver 525 supports an interface (such as an Nnef interface) to communicate with the NEF (i.e., NEF 127). As will be understood by those of ordinary skill in the art, other network interfaces may be supported.

[0185] In one embodiment, processor 505 may include any known controller capable of executing computer-readable instructions and / or capable of performing logical operations. For example, processor 505 may be a microcontroller, a microprocessor, a central processing unit (“CPU”), a graphics processing unit (“GPU”), a co-processing unit, a field programmable gate array (“FPGA”), or a similar programmable controller. In some embodiments, processor 505 executes instructions stored in memory 510 to perform the methods and routines described herein. Processor 505 is communicatively coupled to memory 510, input device 515, output device 520, and first transceiver 525.

[0186] In various embodiments, processor 505 controls UAE server device 500 to perform the above-described UAE server behavior. In some embodiments, transceiver 525 receives an application request that manages the operation mode of C2 communication for a first UAS. Here, the first UAS includes a first UAV and a first UAV-C. Transceiver 525 receives a first report from an application of the first UAS, where the first application is located in one of the first UAV and the first UAV-C. Processor 505 determines to switch the operation mode of C2 communication for the first UAS based on the received first report and transmits a C2 communication switching instruction to the first UAS via transceiver 525.

[0187] In some embodiments, the application request includes at least one of the following parameters: an identifier of the first UAV, an identifier of the first UAV-C, an IP address and port of the first UAV, an IP address and port of the first UAV-C, an application identifier, a C2 management requirement, a geographical area to which the C2 management requirement applies, and a time of validity of the C2 management requirement.

[0188] In some embodiments, determining the operating mode of switching the C2 communication of the first UAS is determined with the support of application context information related to at least one UAS in a geographical area where C2 management requirements apply. In certain embodiments, the application context information is provided by an application server and / or a UTM, where the application context information includes at least one of the following parameters related to at least one UAS: resource / bandwidth requirements in the geographical area where C2 management requirements apply, UAV location information, UAV expected trajectory, UAV speed / rate, altitude, latitude, longitude, ground radar information, 3D map, quality assurance indication of the configured frequency for indirect C2 communication, and real-time weather information.

[0189] In some embodiments, the processor 505 responds to receiving an application request to establish a communication session with the first UAV and the first UAV-C. In such embodiments, the processor 505 modifies the communication session with the first UAV and the first UAV-C in response to determining to switch the C2 communication of the first UAS. In certain embodiments, when the communication session is established, the operating mode of the C2 communication is the direct mode. In such embodiments, the communication session provides the first UAV with configuration parameters (such as trigger conditions) to monitor the direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters. In other embodiments, when the communication session is established, the operating mode of the C2 communication is the indirect mode. In such embodiments, the communication session provides the first UAV with configuration parameters (such as trigger conditions) to monitor the direct mode conditions and trigger the transmission of a direct mode feasibility report based on the configuration parameters.

[0190] In various embodiments, when the first report is received, the operating mode of the C2 communication is the direct mode. In such embodiments, the first report is a trigger event report and / or a direct mode link degradation report. Additionally, the C2 communication switch instruction includes an instruction to switch from the direct mode of the C2 communication to the indirect mode. In certain embodiments, the trigger event is an event indicating a change at the direct C2 communication and includes at least one of the following: identifier of the first UAV, identifier of the first UAV-C, UAS identifier, ProSe code, PC5 QoS degradation notification, application QoS attributes (such as reliability, latency, jitter, range, etc.) for an ongoing direct C2 session, and PC5 expected interruption notification.

[0191] In various embodiments, when a first report is received, the operating mode of C2 communication is the indirect mode. In such embodiments, the first report includes a direct mode feasibility report. Additionally, the C2 communication switching instruction includes an instruction to switch from the indirect mode of C2 communication to the direct mode. In some embodiments, the direct mode feasibility report includes at least one of the following: an identifier of the first UAV, an identifier of the first UAV-C, a UAS identifier, direct link condition information, and a PC5 availability notification indication. Here, the determination to switch the operating mode of C2 communication to the direct mode (i.e., based on the received direct mode feasibility report) is determined with the support of the QoS notification of the indirect C2 communication.

[0192] In some embodiments, the determination to switch the operating mode of C2 communication of the first UAS is based on the relative position between the first UAV and the first UAV-C. In some embodiments, the processor 505 augments the relative position with at least one application context information. In such embodiments, the determination to switch the operating mode of C2 communication of the first UAS is based on the augmented relative position.

[0193] In some embodiments, the C2 communication switching instruction is sent to the application of the first UAV and the application of the first UAV-C. In such embodiments, the C2 communication switching instruction includes at least one of the following parameters: UAS identification, affected UAV identification, affected UAV-C identification, application ID, current C2 mode, and / or target C2 mode.

[0194] In various embodiments, the transceiver 525 receives an acknowledgement that the C2 communication switching instruction has been applied from the first UAV and / or the first UAV-C. In such embodiments, the processor 505 may transmit a notification to at least one application server via the transceiver 525 in response to receiving the acknowledgement.

[0195] In one embodiment, the memory 510 is a computer-readable storage medium. In some embodiments, the memory 510 includes volatile computer storage media. For example, the memory 510 may include RAM, including dynamic RAM ("DRAM"), synchronous dynamic RAM ("SDRAM"), and / or static RAM ("SRAM"). In some embodiments, the memory 510 includes non-volatile computer storage media. For example, the memory 510 may include a hard disk drive, flash memory, or any other suitable non-volatile computer storage device. In some embodiments, the memory 510 includes both volatile and non-volatile computer storage media. In some embodiments, the memory 510 stores data related to selected server application examples (such as storage server addresses, UE locations, DNS caches, and the like). In certain embodiments, the memory 510 also stores program code and related data, such as an operating system ("OS") or other controller algorithms and one or more software application programs operating on the UAE server device 500.

[0196] In one embodiment, the input device 515 may include any known computer input device, including a touchpad, buttons, a keyboard, a stylus, a microphone, or the like. In some embodiments, the input device 515 may be integrated with the output device 520 as, for example, a touchscreen or a similar touch-sensitive display. In some embodiments, the input device 515 includes a touchscreen such that text can be entered using a virtual keyboard displayed on the touchscreen and / or by handwriting on the touchscreen. In some embodiments, the input device 515 includes two or more different devices, such as a keyboard and a touchpad.

[0197] In one embodiment, the output device 520 may include any known electronically controllable display or display device. The output device 520 may be designed to output visual, audible, and / or tactile signals. In some embodiments, the output device 520 includes an electronic display capable of outputting visual data to a user. For example, the output device 520 may include (but is not limited to) an LCD display, an LED display, an OLED display, a projector, or a similar display device capable of outputting images, text, or the like to a user. As another non-limiting example, the output device 520 may include a wearable display, such as a smartwatch, smart glasses, a head-mounted display, or the like. Additionally, the output device 520 may be a component of a smartphone, a personal digital assistant, a television, a desktop computer, a notebook (laptop) computer, a personal computer, a vehicle dashboard, or the like.

[0198] In some embodiments, output device 520 includes one or more speakers for generating sound. For example, output device 520 can generate an audible alert or notification (e.g., beep or ring). In some embodiments, output device 520 includes one or more haptic devices for generating vibration, movement, or other haptic feedback. In some embodiments, output device 520 can be integrated, in whole or in part, with input device 515. For example, input device 515 and output device 520 can form a touch screen or similar touch-sensitive display. In other embodiments, output device 520 can be located, in whole or in part, near input device 515.

[0199] As discussed above, transceiver 525 can communicate with one or more remote units and / or with one or more interworking functions that provide access to one or more PLMNs. Transceiver 525 can also communicate with one or more network functions (e.g., in mobile core network 120). Transceiver 525 operates under the control of processor 505 to transmit messages, data, and other signals and also to receive messages, data, and other signals. For example, processor 505 can selectively activate transceiver (or portions thereof) at a particular time to send and receive messages.

[0200] Transceiver 525 can include one or more transmitters 530 and one or more receivers 535. In certain embodiments, one or more transmitters 530 and / or one or more receivers 535 can share transceiver hardware and / or circuitry. For example, one or more transmitters 530 and / or one or more receivers 535 can share an antenna, antenna tuner, amplifier, filter, oscillator, mixer, modulator / demodulator, power supply, and the like. In one embodiment, transceiver 525 implements multiple logical transceivers using different communication protocols or protocol stacks while using common physical hardware.

[0201] Figure 6Depict a UAE client device 600 that can be used to manage the C2 communication operation mode according to an embodiment of the present disclosure. In various embodiments, the UAE client device 600 is used to implement one or more of the solutions described above. The UAE client device 600 can be an embodiment of a UAE client and its supporting hardware, such as the UAV 103, UAV controller 104, UAV 201, UAV-C 203, UAE client 205, UAE client 301, and / or UAE client 305 described above. In addition, the UAE client device 600 can include a processor 605, a memory 610, an input device 615, an output device 620, and a transceiver 625. In some embodiments, the input device 615 and the output device 620 are combined into a single device, such as a touch screen. In certain embodiments, the UAE client device 600 may not include any input device 615 and / or output device 620. In various embodiments, the UAE client device 600 can include one or more of the processor 605, the memory 610, and the transceiver 625, and may not include the input device 615 and / or the output device 620.

[0202] In one embodiment, the processor 605 can include any known controller capable of executing computer-readable instructions and / or capable of performing logical operations. For example, the processor 605 can be a microcontroller, a microprocessor, a central processing unit (“CPU”), a graphics processing unit (“GPU”), an auxiliary processing unit, an FPGA, or a similar programmable controller. In some embodiments, the processor 605 executes instructions stored in the memory 610 to perform the methods and routines described herein. The processor 605 is communicatively coupled to the memory 610, the input device 615, the output device 620, and the transceiver 625.

[0203] In various embodiments, the processor 605 controls the UAE client device 600 to implement the above-described UAE client behavior. In some embodiments, the transceiver 625 receives a first request message to monitor the link condition of the operation mode of the C2 communication of a first UAS, the first UAS including a first UAV and a first UAV-C. The processor 605 transmits a first report via the transceiver 625 based on the monitored link condition. In one embodiment, the first report is a direct mode feasibility report. In another embodiment, the first report is a direct mode link degradation report and / or a trigger event report. The processor 605 receives a C2 communication switching instruction of an application of the first UAS via the transceiver 625 and modifies the C2 communication session of the first UAS in response to the C2 communication switching instruction.

[0204] In some embodiments, when the first request message is received, the operating mode of C2 communication is the direct mode. In such embodiments, the first request message provides configuration parameters (such as trigger conditions) for the first UAV to monitor the degradation of the direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters.

[0205] In some embodiments, when the first request message is received, the operating mode of C2 communication is the indirect mode. In such embodiments, the first request message provides configuration parameters for the first UAV to monitor the conditions of the feasibility of direct mode C2 communication and trigger the transmission of a direct mode feasibility report based on the configuration parameters.

[0206] In one embodiment, the memory 610 is a computer-readable storage medium. In some embodiments, the memory 610 includes a volatile computer storage medium. For example, the memory 610 may include RAM, including dynamic RAM (“DRAM”), synchronous dynamic RAM (“SDRAM”), and / or static RAM (“SRAM”). In some embodiments, the memory 610 includes a non-volatile computer storage medium. For example, the memory 610 may include a hard disk drive, flash memory, or any other suitable non-volatile computer storage device. In some embodiments, the memory 610 includes both volatile and non-volatile computer storage media.

[0207] In some embodiments, the memory 610 stores data related to SL HARQ operations. For example, the memory 610 may store V2X communication resources, V2X configuration policies, UE-to-UE graphs, and the like. In certain embodiments, the memory 610 also stores program code and related data, such as an operating system or other controller algorithms operating on the remote unit 101.

[0208] In one embodiment, the input device 615 may include any known computer input device, including a touchpad, buttons, a keyboard, a stylus, a microphone, or the like. In some embodiments, the input device 615 may be integrated with the output device 620 as, for example, a touch screen or a similar touch-sensitive display. In some embodiments, the input device 615 includes a touch screen such that text can be input using a virtual keyboard displayed on the touch screen and / or by handwriting on the touch screen. In some embodiments, the input device 615 includes two or more different devices, such as a keyboard and a touchpad.

[0209] In one embodiment, the output device 620 may be designed to output visual, audible, and / or tactile signals. In some embodiments, the output device 620 includes an electronically controllable display or display device capable of outputting visual data to a user. For example, the output device 620 may include (but is not limited to) an LCD display, an LED display, an OLED display, a projector, or a similar display device capable of outputting images, text, or the like to a user. As another non-limiting example, the output device 620 may include a wearable display that is separate from but communicatively coupled to the remainder of the UAE client device 600, such as a smartwatch, smart glasses, a head-mounted display, or the like. Additionally, the output device 620 may be a component of a smartphone, a personal digital assistant, a television, a desktop computer, a notebook (laptop) computer, a personal computer, a vehicle dashboard, or the like.

[0210] In certain embodiments, the output device 620 includes one or more speakers for generating sound. For example, the output device 620 may generate an audible alert or notification (such as a beep or a ring). In some embodiments, the output device 620 includes one or more haptic devices for generating vibration, movement, or other tactile feedback. In some embodiments, the output device 620 may be integrated, in whole or in part, with the input device 615. For example, the input device 615 and the output device 620 may form a touchscreen or a similar touch-sensitive display. In other embodiments, the output device 620 may be located near the input device 615.

[0211] As discussed above, the transceiver 625 communicates with one or more V2X UEs. The transceiver 625 operates under the control of the processor 605 to transmit messages, data, and other signals and also to receive messages, data, and other signals. For example, the processor 605 may selectively activate the transceiver (or a portion thereof) at a particular time to send and receive messages.

[0212] In various embodiments, the transceiver 625 is configured to communicate with a 3GPP access network and / or a non-3GPP access network. In some embodiments, the transceiver 625 implements the modem functionality of a 3GPP access network and / or a non-3GPP access network. In one embodiment, the transceiver 625 implements multiple logical transceivers using different communication protocols or protocol stacks while using a common physical hardware.

[0213] In one embodiment, transceiver 625 includes a first transmitter / receiver pair for communicating with a mobile communication network via licensed radio spectrum and a second transmitter / receiver pair for communicating with a mobile optical communication network via unlicensed radio spectrum. In certain embodiments, the first transmitter / receiver pair for communicating with a mobile communication network via licensed radio spectrum and the second transmitter / receiver pair for communicating with a mobile communication network via unlicensed radio spectrum can be combined into a single transceiver unit, such as a single chip that performs functions for use with both licensed and unlicensed radio spectrums. In some embodiments, the first transmitter / receiver pair and the second transmitter / receiver pair can share one or more hardware components. For example, certain transceivers 625, transmitters 630, and receivers 635 can be implemented as physically separate components that access shared hardware resources and / or software resources, such as (by way of example) network interface 640.

[0214] Transceiver 625 can include one or more transmitters 630 and one or more receivers 635. Although only a specific number of transmitters 630 and receivers 635 are illustrated, UAE client device 600 can have any suitable number of transmitters 630 and receivers 635. Additionally, transmitters 630 and receivers 635 can be any suitable type of transmitters and receivers. In certain embodiments, one or more transmitters 630 and / or one or more receivers 635 can share transceiver hardware and / or circuitry. For example, one or more transmitters 630 and / or one or more receivers 635 can share antennas, antenna tuners, filters, oscillators, mixers, modulators / demodulators, power supplies, and the like.

[0215] In various embodiments, transceiver 625 is capable of communicating with a mobile core network via an access network. Accordingly, transceiver 625 can support at least one network interface 640. Here, at least one network interface 640 facilitates communication with a RAN node (such as an eNB or gNB), for example, using the "Uu" interface (e.g., LTE-Uu for an eNB, NR-Uu for a gNB). Additionally, at least one network interface 640 can include an interface for communicating with one or more network functions in the mobile core network, such as UPF 141, AMF 143, and / or SMF 145. For V2X communication, transceiver 625 can support the PC5 interface for direct UE-to-UE communication.

[0216] In various embodiments, one or more transmitters 630 and / or one or more receivers 635 may be implemented and / or integrated into a single hardware component, such as a multi-transceiver chip, a system-on-chip, an application-specific integrated circuit (“ASIC”), or other types of hardware components. In certain embodiments, one or more transmitters 630 and / or one or more receivers 635 may be implemented and / or integrated into a multi-chip module. In some embodiments, other components, such as a network interface 640 or other hardware components / circuits, may be integrated into a single chip with any number of transmitters 630 and / or receivers 635. In this embodiment, the transmitter 630 and the receiver 635 may be logically configured as a transceiver 625 using one or more common control signals or as modular transmitters 630 and receivers 635 implemented on the same hardware chip or multi-chip module. In certain embodiments, the transceiver 625 may implement a 3GPP modem (e.g., to communicate via an NR or LTE access network) and a non-3GPP modem (e.g., to communicate via Wi-Fi or other non-3GPP access networks).

[0217] Figure 7 An embodiment of a method 700 for managing C2 communication operation modes according to an embodiment of the present disclosure is depicted. In various embodiments, the method 700 is performed by a UAE server, such as the UAE server 133, the UAE server 221, and / or the UAE server device 500 described above. In some embodiments, the method 700 is performed by a processor, such as a microcontroller, a microprocessor, a CPU, a GPU, an auxiliary processing unit, an FPGA, or the like.

[0218] The method 700 begins and receives 705 an application request for managing the operation mode of C2 communication of a first UAS, where the first UAS includes a first UAV and a first UAV-C. The method 700 includes receiving 710 a first report from an application of the first UAS, where the first application is located in one of the first UAV and the first UAV-C. The method 700 includes determining 715 to switch the operation mode of C2 communication of the first UAS based on the received first report. The method 700 includes transmitting 720 a C2 communication switching instruction to the first UAS. The method 700 ends.

[0219] Figure 8Describes an embodiment of a method 800 for managing C2 communication operation modes according to an embodiment of the present disclosure. In various embodiments, the method 800 is performed by a UAE client, such as the UAV 103, UAV controller 104, UAV 201, UAV-C 203, UAV client 205, UAV client 301, UAE client 305, and / or UAE client device 600 described above. In some embodiments, the method 800 is performed by a processor, such as a microcontroller, microprocessor, CPU, GPU, auxiliary processing unit, FPGA, or the like.

[0220] The method 800 begins and receives 805 a first request message to monitor the link condition of the operation mode of C2 communication of a first UAS, the first UAS including a UAV and a first UAV-C. The method 800 includes transmitting 810 a first report based on the monitored link condition, where the first report includes one of a direct mode feasibility report and a trigger event report. The method 800 includes receiving 815 a C2 communication switching instruction for an application of the first UAS. The method 800 includes modifying 820 the C2 communication session of the first UAS in response to the C2 communication switching instruction. The method 800 ends.

[0221] Disclosed herein is a first device for managing C2 communication operation modes according to an embodiment of the present disclosure. The first device may be implemented by a UAE server, such as the UAE server 133, UAE server 221, and / or UAE server device 500 described above. The first device includes a transceiver that receives an application request for managing the operation mode of C2 communication of a first UAS. Here, the first UAS includes a first UAV and a first UAV-C. The transceiver receives a first report from an application of the first UAS, where the first application is located in one of the first UAV and the first UAV-C. A processor determines to switch the operation mode of C2 communication of the first UAS based on the received first report and transmits a C2 communication switching instruction to the first UAS via the transceiver.

[0222] In some embodiments, the application request includes at least one of the following parameters: an identifier of the first UAV, an identifier of the first UAV-C, an IP address and port of the first UAV, an IP address and port of the first UAV-C, an application identifier, C2 management requirements, a geographical area to which the C2 management requirements apply, and a time of validity of the C2 management requirements.

[0223] In some embodiments, determining the operating mode of the C2 communication for switching the first UAS is determined with the support of application context information related to at least one UAS in a geographical area where C2 management requirements apply. In certain embodiments, the application context information is provided by an application server and / or UTM, where the application context information includes at least one of the following parameters related to at least one UAS: resource / bandwidth requirements in the geographical area where C2 management requirements apply, UAV location information, UAV expected trajectory, UAV speed / rate, altitude, latitude, longitude, ground radar information, 3D map, quality assurance indication of the configured frequency for indirect C2 communication, and real-time weather information.

[0224] In some embodiments, the processor establishes a communication session with the first UAV and the first UAV-C in response to receiving an application request. In such embodiments, the processor modifies the communication session with the first UAV and the first UAV-C in response to determining to switch the C2 communication of the first UAS. In certain embodiments, when the communication session is established, the operating mode of the C2 communication is the direct mode. In such embodiments, the communication session provides the first UAV with configuration parameters (e.g., trigger conditions) to monitor the direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters. In other embodiments, when the communication session is established, the operating mode of the C2 communication is the indirect mode. In such embodiments, the communication session provides the first UAV with configuration parameters (e.g., trigger conditions) to monitor the direct mode conditions and trigger the transmission of a direct mode feasibility report based on the configuration parameters.

[0225] In various embodiments, when the first report is received, the operating mode of the C2 communication is the direct mode. In such embodiments, the first report is a trigger event report and / or a direct mode link degradation report. Additionally, the C2 communication switching instruction includes an instruction to switch from the direct mode of the C2 communication to the indirect mode. In certain embodiments, the trigger event is an event indicating a change at the direct C2 communication and includes at least one of the following: identifier of the first UAV, identifier of the first UAV-C, UAS identifier, ProSe code, PC5 QoS degradation notification, application QoS attributes (i.e., reliability, latency, jitter, range, etc.) for an ongoing direct C2 session, and PC5 expected interruption notification.

[0226] In various embodiments, when a first report is received, the operating mode of C2 communication is the indirect mode. In such embodiments, the first report includes a direct mode feasibility report. Additionally, the C2 communication switching instruction includes an instruction to switch from the indirect mode of C2 communication to the direct mode. In certain embodiments, the direct mode feasibility report includes at least one of the following: an identifier of a first UAV, an identifier of a first UAV-C, a UAS identifier, direct link condition information, and a PC5 availability notification indication. Here, the determination to switch the operating mode of C2 communication to the direct mode (i.e., based on the received direct mode feasibility report) is determined with the support of the QoS notification of the indirect C2 communication.

[0227] In some embodiments, the determination to switch the operating mode of C2 communication of a first UAS is based on the relative position between a first UAV and a first UAV-C. In certain embodiments, the processor augments the relative position with at least one application context information. In such embodiments, the determination to switch the operating mode of C2 communication of a first UAS is based on the augmented relative position.

[0228] In some embodiments, the C2 communication switching instruction is sent to the application of the first UAV and the application of the first UAV-C. In such embodiments, the C2 communication switching instruction includes at least one of the following parameters: UAS identification, affected UAV identification, affected UAV-C identification, application ID, current C2 mode, and / or target C2 mode.

[0229] In various embodiments, the transceiver receives an acknowledgement that the C2 communication switching instruction is applied from the first UAV and / or the first UAV-C. In such embodiments, the processor may transmit a notification to at least one application server via the transceiver in response to receiving the acknowledgement.

[0230] Disclosed herein is a first method for managing the operating mode of C2 communication according to an embodiment of the present disclosure. The first method may be executed by a UAE server, such as the UAE server 133, UAE server 221, and / or UAE server device 500 described above. The first method includes receiving an application request for managing the operating mode of C2 communication of a first UAS, where the first UAS includes a first UAV and a first UAV-C. The first method includes receiving a first report from an application of the first UAS, where the first application is located in one of the first UAV and the first UAV-C. The first method includes determining to switch the operating mode of C2 communication of the first UAS based on the received first report and transmitting a C2 communication switching instruction to the first UAS.

[0231] In some embodiments, the application request includes at least one of the following parameters: an identifier of a first UAV, an identifier of a first UAV-C, an IP address and port of the first UAV, an IP address and port of the first UAV-C, an application identifier, C2 management requirements, a geographical area to which the C2 management requirements apply, and a time of validity of the C2 management requirements.

[0232] In some embodiments, determining to switch an operation mode of C2 communication of a first UAS is determined with the support of application context information related to at least one UAS in a geographical area to which the C2 management requirements apply. In certain embodiments, the application context information is provided by an application server and / or a UTM, where the application context information includes at least one of the following parameters related to at least one UAS: resource / bandwidth requirements in a geographical area to which the C2 management requirements apply, UAV location information, UAV expected trajectory, UAV speed / rate, altitude, latitude, longitude, ground radar information, 3D map, a quality assurance indication of a configured frequency for indirect C2 communication, and real-time weather information.

[0233] In some embodiments, a first method includes establishing a communication session with a first UAV and a first UAV-C in response to receiving an application request. In such embodiments, the first method includes modifying the communication session with the first UAV and the first UAV-C in response to determining to switch C2 communication of the first UAS. In certain embodiments, when the communication session is established, the operation mode of C2 communication is a direct mode. In such embodiments, the communication session provides configuration parameters (e.g., trigger conditions) for the first UAV to monitor direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters. In other embodiments, when the communication session is established, the operation mode of C2 communication is an indirect mode. In such embodiments, the communication session provides configuration parameters (e.g., trigger conditions) for the first UAV to monitor direct mode conditions and trigger the transmission of a direct mode feasibility report based on the configuration parameters.

[0234] In various embodiments, when a first report is received, the operation mode of C2 communication is a direct mode. In such embodiments, the first report is a trigger event report and / or a direct mode link degradation report. Additionally, the C2 communication switch instruction includes an instruction to switch from the direct mode of C2 communication to an indirect mode. In certain embodiments, the trigger event is an event indicating a change at direct C2 communication and includes at least one of the following: an identifier of a first UAV, an identifier of a first UAV-C, a UAS identifier, a ProSe code, a PC5 QoS degradation notification, application QoS attributes (i.e., reliability, latency, jitter, range, etc.) for an ongoing direct C2 session, and a PC5 expected interruption notification.

[0235] In various embodiments, when the first report is received, the operating mode of C2 communication is the indirect mode. In such embodiments, the first report includes a direct mode feasibility report. Additionally, the C2 communication handover instruction includes an instruction to switch from the indirect mode of C2 communication to the direct mode. In some embodiments, the direct mode feasibility report includes at least one of the following: an identifier of the first UAV, an identifier of the first UAV-C, a UAS identifier, direct link condition information, and a PC5 availability notification indication. Here, the determination to switch the operating mode of C2 communication to the direct mode (i.e., based on the received direct mode feasibility report) is determined with the support of the QoS notification of the indirect C2 communication.

[0236] In some embodiments, the determination to switch the operating mode of C2 communication of the first UAS is based on the relative position between the first UAV and the first UAV-C. In some embodiments, the first method further includes augmenting the relative position with at least one application context information. In such embodiments, the determination to switch the operating mode of C2 communication of the first UAS is based on the augmented relative position.

[0237] In some embodiments, the C2 communication handover instruction is sent to the application of the first UAV and the application of the first UAV-C. In such embodiments, the C2 communication handover instruction includes at least one of the following parameters: a UAS identifier, an affected UAV identifier, an affected UAV-C identifier, an application ID, the current C2 mode, and / or the target C2 mode.

[0238] In various embodiments, the first method includes receiving an acknowledgement that the C2 communication handover instruction has been applied from the first UAV and / or the first UAV-C. In such embodiments, the first method may include transmitting a notification to at least one application server in response to receiving the acknowledgement.

[0239] Disclosed herein is a second device for managing the operating mode of C2 communication according to embodiments of the present disclosure. The second device may be implemented by a UAE client, such as the UAV 103, UAV controller 104, UAV 201, UAV-C 203, UAE client 205, UAE client 301, UAE client 305, and / or UAE client device 600 described above. The second device includes a processor and a transceiver that receives a first request message to monitor the link condition of the operating mode of C2 communication of the first UAS, the first UAS including the first UAV and the first UAV-C. The processor transmits a first report via the transceiver based on the monitored link condition. Here, the first report includes either a direct mode feasibility report or a trigger event report. The processor receives a C2 communication handover instruction of the application of the first UAS via the transceiver and modifies the C2 communication session of the first UAS in response to the C2 communication handover instruction.

[0240] In some embodiments, when a first request message is received, the operating mode of C2 communication is the direct mode. In such embodiments, the first request message provides configuration parameters (e.g., trigger conditions) for a first UAV to monitor for degradation of direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters when degradation occurs.

[0241] In some embodiments, when a first request message is received, the operating mode of C2 communication is the indirect mode. In such embodiments, the first request message provides configuration parameters for a first UAV to monitor conditions for the feasibility of direct mode C2 communication and trigger the transmission of a direct mode feasibility report based on the configuration parameters.

[0242] Disclosed herein is a second method for managing the operating mode of C2 communication according to embodiments of the present disclosure. The second method may be implemented by a UAE client, such as the UAV 103, UAV controller 104, UAV 201, UAV-C 203, UAE client 205, UAE client 301, UAE client 305, and / or UAE client device 600 described above. The second method includes receiving a first request message to monitor link conditions of the operating mode of C2 communication of a first UAS. Here, the first UAS includes a first UAV and a first UAV-C. The second method includes transmitting a first report based on the monitored link conditions. Here, the first report includes one of a direct mode feasibility report, a direct mode link degradation report, and a trigger event report. The second method includes receiving a C2 communication switching instruction of an application of the first UAS and modifying the C2 communication session of the first UAS in response to the C2 communication switching instruction.

[0243] In some embodiments, when a first request message is received, the operating mode of C2 communication is the direct mode. In such embodiments, the first request message provides configuration parameters (e.g., trigger conditions) for a first UAV to monitor for degradation of direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters when degradation occurs.

[0244] In some embodiments, when a first request message is received, the operating mode of C2 communication is the indirect mode. In such embodiments, the first request message provides configuration parameters for a first UAV to monitor conditions for the feasibility of direct mode C2 communication and trigger the transmission of a direct mode feasibility report based on the configuration parameters.

[0245] Embodiments may be practiced in other specific forms. The described embodiments are to be considered in all respects only illustrative and not restrictive. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes which come within the meaning and range of equivalency of the claims are embraced within their scope.

Claims

1. A method for a Unmanned Aerial System (UAS) Application Enablement (UAE) network entity, the method comprising: Receiving an application request that manages a command for a first UAS and controls an operation mode of Command and Control (C2) communication, the first UAS including a first Unmanned Aerial Vehicle (UAV) and a first UAV Controller (UAV-C); Receiving a first report from an application of the first UAS, wherein the application is located in one of the first UAV and the first UAV-C; Determining to switch the operation mode of the C2 communication of the first UAS based on the received first report; and Transmitting a C2 communication switching instruction to the first UAS.

2. The method according to claim 1, wherein the application request includes at least one of the following parameters: an identifier of the first UAV, an identifier of the first UAV-C, an IP address and port of the first UAV, an IP address and port of the first UAV-C, an application identifier, C2 management requirements, a geographical area in which the C2 management requirements apply, and a time of validity of the C2 management requirements.

3. The method according to claim 2, wherein determining to switch the operation mode of the C2 communication of the first UAS is determined with the support of application context information related to at least one UAS in the geographical area in which the C2 management requirements apply.

4. The method according to claim 3, wherein the application context information is provided by an application server and / or a UAS Traffic Manager (UTM), and the application context information includes at least one of the following parameters related to the at least one UAS: resource / bandwidth requirements in the geographical area in which the C2 management requirements apply, UAV position information, UAV expected trajectory, UAV speed / rate, altitude, latitude, longitude, ground radar information, 3D map, a quality assurance indication of a configured frequency for indirect C2 communication, and real-time weather information.

5. The method according to claim 1, further comprising establishing a communication session with the first UAV and the first UAV-C in response to receiving the application request.

6. The method according to claim 5, wherein when the communication session is established, the operation mode of the C2 communication is a direct mode, and the communication session provides configuration parameters for the first UAV to monitor direct mode conditions and trigger the transmission of a direct mode link degradation report based on the configuration parameters, wherein the configuration parameters include trigger conditions.

7. The method according to claim 5, wherein when the communication session is established, the operation mode of the C2 communication is an indirect mode, and the communication session provides configuration parameters for the first UAV to monitor direct mode conditions and trigger the transmission of a direct mode feasibility report based on the configuration parameters, wherein the configuration parameters include trigger conditions.

8. The method according to claim 5, further comprising modifying the communication session with the first UAV and the first UAV-C in response to determining a C2 communication handover of the first UAS.

9. The method according to claim 1, wherein when the first report is received, the operating mode of the C2 communication is the direct mode, wherein the first report includes a trigger event report, and wherein the C2 communication handover instruction includes an instruction to switch from the direct mode of the C2 communication to the indirect mode.

10. The method according to claim 9, wherein the trigger event is an event indicating a change at the direct C2 communication and includes at least one of the following: an identifier of the first UAV, an identifier of the first UAV-C, a UAS identifier, a ProSe code, a PC5 QoS degradation notification, application QoS attributes for an ongoing direct C2 session, and a PC5 expected interruption notification, wherein the application QoS attributes include reliability, latency, jitter, and range.

11. The method according to claim 1, wherein when the first report is received, the operating mode of the C2 communication is the indirect mode, wherein the first report includes a direct mode feasibility report, and wherein the C2 communication handover instruction includes an instruction to switch from the indirect mode of the C2 communication to the direct mode.

12. The method according to claim 11, wherein the direct mode feasibility report includes at least one of the following: an identifier of the first UAV, an identifier of the first UAV-C, a UAS identifier, direct link condition information, and a PC5 availability notification indication.

13. The method according to claim 12, wherein determining the operating mode of the C2 communication handover of the first UAS is determined with the support of a QoS notification of the indirect C2 communication based on the received direct mode feasibility report.

14. The method according to claim 1, wherein determining the operating mode of the C2 communication handover of the first UAS is determined based on the relative position between the first UAV and the first UAV-C.

15. The method according to claim 14, further comprising augmenting the relative position with at least one of the application context information, wherein determining the operating mode of the C2 communication handover of the first UAS is determined based on the augmented relative position.

16. The method according to claim 1, wherein the C2 communication handover instruction is sent to the application of the first UAV and the application of the first UAV-C, wherein the C2 communication handover instruction includes at least one of the following parameters: a UAS identification, an affected UAV identification, an affected UAV-C identification, an application ID, a current C2 mode, and a target C2 mode.

17. The method according to claim 1, further comprising transmitting a notification to at least one application server in response to receiving an acknowledgement that the C2 communication handover instruction has been applied from the first UAV and / or the first UAV-C.

18. A method for an Unmanned Aerial System (UAS) Application Enablement (UAE) network entity, the method comprising: Receive a first request message to monitor the link condition of the operation mode of the command and control C2 communication of a first UAS, the first UAS including a first unmanned aerial vehicle UAV and a first UAV controller UAV-C; Transmit a first report based on the monitored link condition, where the first report includes one of a direct mode feasibility report and a trigger event report; Receive a C2 communication switching instruction of an application of the first UAS; and Modify the C2 communication session of the first UAS in response to the C2 communication switching instruction.

19. The method according to claim 18, wherein when receiving the first request message, the operation mode of the C2 communication is the direct mode, where the first request message provides configuration parameters for the first UAV to monitor the direct mode condition and trigger the transmission of a direct mode link degradation report based on the configuration parameters, and the configuration parameters include a trigger condition.

20. The method according to claim 18, wherein when receiving the first request message, the operation mode of the C2 communication is the indirect mode, where the first request message provides configuration parameters for the first UAV to monitor the direct mode condition and trigger the transmission of the direct mode feasibility report based on the configuration parameters, and the configuration parameters include a trigger condition.

21. A device for an unmanned aircraft system UAS application enabler UAE network entity, the device comprising: A processor; And A memory coupled to the processor, the processor being configured to cause the device to: Receive an application request to manage the operation mode of the command and control C2 communication of a first UAS, the first UAS including a first unmanned aerial vehicle UAV and a first UAV controller UAV-C; Receive a first report from an application of the first UAS, where the application is located in one of the first UAV and the first UAV-C; Determine to switch the operation mode of the C2 communication of the first UAS based on the received first report; and Transmit a C2 communication switching instruction to the first UAS.

22. A device for an unmanned aircraft system UAS application enabler UAE network entity, the device comprising: A processor; And A memory coupled to the processor, the processor being configured to cause the device to: Receive a first request message to monitor the link condition of the operation mode of the command and control C2 communication of a first UAS, the first UAS including a first unmanned aerial vehicle UAV and a first UAV controller UAV-C; Transmit a first report based on the monitored link condition, where the first report includes one of a direct mode feasibility report and a trigger event report; Receive a C2 communication switching instruction of an application of the first UAS; and Modify the C2 communication session of the first UAS in response to the C2 communication switching instruction.

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