A method and device for transmitting unmanned aerial vehicle flight control messages, and a readable storage medium

Abstract

The application provides a kind of unmanned aerial vehicle flight control message transmission method, device and readable storage medium, the method comprises: obtaining the structure of CoAP flight control message defined in advance based on constrained application protocol CoAP protocol, the CoAP flight control message includes CoAP heartbeat message, CoAP telemetry message, CoAP remote control message and CoAP pre-configuration message;Between the transmission of CoAP flight control message defined based on the structure between on-board terminal and unmanned aerial vehicle service platform.This method, device and readable storage medium can solve the problem that the expansion field is not easy when different brands of unmanned aerial vehicles (data transmission is mostly private protocol) and different unmanned aerial vehicle service platforms interact with flight control messages in related technologies.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, apparatus, and readable storage medium for transmitting UAV flight control messages. Background Technology

[0002] Currently, when drones of different brands (mostly using proprietary protocols for data transmission) interact with different drone service platforms for flight control messages, the limited data bandwidth of drones in the air (poor signal coverage and high-speed movement) necessitates the use of fixed-length command communication to ensure efficient transmission and parsing. However, this approach often presents challenges in expanding fields. For instance, when adding a new field or changing the length of an existing field, both the control box and the drone service platform require simultaneous development. This necessitates redefining the field's position and length, and conducting joint testing (adapting to different control boxes, drones, and payloads, as this field may appear frequently), leading to low development efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the prior art by providing a method, apparatus and readable storage medium for transmitting UAV flight control messages, so as to solve the problem that it is not easy to expand fields when UAVs of different brands (data transmission is mostly based on proprietary protocols) interact with different UAV business platforms in related technologies.

[0004] In a first aspect, the present invention provides a method for transmitting flight control messages of a UAV, applied to an airborne terminal, the method comprising:

[0005] Obtain the structure of CoAP flight control messages predefined based on the CoAP Restricted Application Protocol, wherein the CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP preconfiguration messages;

[0006] Transmit CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform.

[0007] Furthermore, the structure of the CoAP flight control message includes message type and payload data, wherein the message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con.

[0008] Furthermore, the transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes:

[0009] Send the first CoAP heartbeat message based on the structure definition to the UAV service platform. The payload data of the first CoAP heartbeat message includes the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal.

[0010] Receive the CoAP pre-configuration message sent by the drone service platform when it determines that the IMEI has been registered and the MSISDN is valid;

[0011] The configuration of the airborne terminal's relevant parameters is completed based on the CoAP pre-configuration message.

[0012] Furthermore, after configuring the airborne terminal's relevant parameters based on the CoAP pre-configuration message, the method further includes:

[0013] Receive raw telemetry messages sent by the UAV itself, the raw telemetry messages carrying the UAV identifier;

[0014] The original telemetry message is encapsulated into a CoAP telemetry message according to the structure, and the CoAP telemetry message is sent to the UAV service platform so that the UAV service platform can establish a binding relationship between the airborne terminal and the UAV identifier based on the MSISDN.

[0015] Furthermore, the transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes:

[0016] The system periodically or irregularly sends non-first CoAP heartbeat messages to the drone service platform. The payload data of the non-first CoAP heartbeat messages includes the IMEI, MSISDN, and network quality of the onboard terminal.

[0017] Furthermore, the transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes:

[0018] Receive raw telemetry messages sent by the UAV itself at regular or irregular intervals. The raw telemetry messages carry the UAV identifier, location coordinates, and aircraft status.

[0019] The original telemetry message is encapsulated into a CoAP telemetry message according to the structure, and the CoAP telemetry message is sent to the UAV service platform so that the UAV service platform can send the UAV identifier, location coordinates and aircraft status to the UAV monitoring terminal according to the CoAP telemetry message.

[0020] Furthermore, the transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes:

[0021] Receive CoAP remote control messages sent by the drone service platform, wherein the payload data of the CoAP remote control messages includes a target field;

[0022] The controlled device and its corresponding port are identified based on the target field;

[0023] The CoAP remote control message is sent to the corresponding device through the port;

[0024] The remote control request confirmation message corresponding to the CoAP remote control message is sent back to the drone service platform.

[0025] Secondly, the present invention provides a method for transmitting flight control messages of a UAV, applied to a UAV service platform, the method comprising:

[0026] The UAV service platform and the airborne terminal transmit CoAP restricted application protocol flight control messages; wherein, the CoAP flight control messages are defined and transmitted by the airborne terminal based on the structure defined in advance based on the CoAP protocol after obtaining the structure of the CoAP flight control messages. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages and CoAP pre-configuration messages.

[0027] Furthermore, the structure of the CoAP flight control message includes message type and payload data, wherein the message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con.

[0028] Furthermore, the transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0029] The system receives the first CoAP heartbeat message based on the structure definition sent by the airborne terminal. The payload data of the first CoAP heartbeat message includes the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal.

[0030] Determine whether the IMEI has been registered and whether the MSISDN is in a valid state;

[0031] If the IMEI is already registered and the MSISDN is valid, a CoAP pre-configuration message is sent to the airborne terminal so that the airborne terminal can complete the configuration of the relevant parameters of the airborne terminal based on the CoAP pre-configuration message.

[0032] Furthermore, after sending the CoAP pre-configuration message to the airborne terminal, the method further includes:

[0033] The system receives CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is generated by the airborne terminal after receiving the original telemetry message carrying the UAV identifier sent by the UAV itself, encapsulating the original telemetry message according to the structure, and then sending it.

[0034] The binding relationship between the airborne terminal and the UAV identifier is established based on the MSISDN.

[0035] Furthermore, the transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0036] The system receives and stores non-first CoAP heartbeat messages sent by the airborne terminal at regular or irregular intervals. The payload data of the non-first CoAP heartbeat messages includes the IMEI, MSISDN, and network quality of the airborne terminal.

[0037] Furthermore, the transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0038] The system receives CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is a message sent by the airborne terminal after receiving the original telemetry message from the UAV itself, which carries the UAV identifier, location coordinates, and aircraft status at regular or irregular intervals. The original telemetry message is then encapsulated and sent according to the structure described above.

[0039] The drone identifier, location coordinates, and aircraft status are sent to the drone monitoring terminal based on the CoAP telemetry message.

[0040] Furthermore, the transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0041] The airborne terminal sends a CoAP remote control message, the payload data of which includes a target field, so that the airborne terminal can identify the controlled device and the corresponding port based on the target field, and send the CoAP remote control message to the corresponding device through the port.

[0042] Receive the remote control request confirmation message corresponding to the CoAP remote control message fed back by the airborne terminal.

[0043] Thirdly, the present invention provides a device for transmitting flight control messages for a UAV, applied to an airborne terminal, the device comprising:

[0044] The message structure acquisition module is used to acquire the structure of CoAP flight control messages predefined based on the CoAP restricted application protocol. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP preconfiguration messages.

[0045] The first transmission module, connected to the message structure acquisition module, is used to transmit CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform.

[0046] Fourthly, the present invention provides a device for transmitting flight control messages for unmanned aerial vehicles (UAVs), applied to a UAV service platform, the device comprising:

[0047] The second transmission module is used to transmit CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal. The CoAP flight control messages are sent by the airborne terminal based on the structure defined in advance according to the CoAP protocol after obtaining the structure of the CoAP flight control messages. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP pre-configuration messages.

[0048] Fifthly, the present invention provides a device for transmitting UAV flight control messages, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the UAV flight control message transmission method described in the first or second aspect above.

[0049] In a sixth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for transmitting UAV flight control messages as described in the first or second aspect above.

[0050] The present invention provides a method, apparatus, and readable storage medium for transmitting UAV flight control messages. First, it acquires the CoAP (Cooperative Application Protocol) message, which is pre-defined based on the CoAP protocol.

[0051] The flight control message structure includes CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP pre-configuration messages. CoAP flight control messages based on this structure are then transmitted between the airborne terminal and the UAV service platform. Because the CoAP flight control messages in this application are based on the CoAP protocol, their fields can be flexibly expanded, thus solving the problem in related technologies where it is difficult to expand fields when different brands of UAVs (data transmission is mostly based on proprietary protocols) interact with different UAV service platforms for flight control message exchange. Attached Figure Description

[0052] Figure 1 This is a flowchart of a method for transmitting flight control messages for a drone according to Embodiment 1 of the present invention;

[0053] Figure 2 This is an interactive diagram illustrating the initialization registration process according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram illustrating the interaction of CoAP heartbeat messages according to an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram illustrating the interaction of CoAP telemetry messages according to an embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram illustrating the interaction of CoAP remote control messages according to an embodiment of the present invention;

[0057] Figure 6 This is a flowchart of a method for transmitting flight control messages for a drone according to Embodiment 2 of the present invention;

[0058] Figure 7 This is a schematic diagram of the structure of a UAV flight control message transmission device according to Embodiment 3 of the present invention;

[0059] Figure 8 This is a schematic diagram of the structure of a drone flight control message transmission device according to Embodiment 4 of the present invention;

[0060] Figure 9 This is a schematic diagram of the structure of a drone flight control message transmission device according to Embodiment 5 of the present invention. Detailed Implementation

[0061] To enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0062] It is understood that the specific embodiments and accompanying drawings described herein are merely for explaining the invention and are not intended to limit the invention.

[0063] It is understood that, without conflict, the various embodiments and features in the embodiments of the present invention can be combined with each other.

[0064] It is understood that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, while the parts unrelated to the present invention are not shown in the drawings.

[0065] It is understood that each unit or module involved in the embodiments of the present invention may correspond to only one entity structure, or may be composed of multiple entity structures, or multiple units or modules may be integrated into one entity structure.

[0066] It is understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of this invention may occur in a different order than that marked in the accompanying drawings.

[0067] It is understood that the flowcharts and block diagrams of this invention illustrate the possible architecture, functions, and operations of systems, apparatuses, devices, and methods according to various embodiments of this invention. Each block in the flowchart or block diagram may represent a unit, module, program segment, or code, containing executable instructions for implementing the specified function. Furthermore, each block or combination of blocks in the block diagram and flowchart can be implemented using a hardware-based system to achieve the specified function, or using a combination of hardware and computer instructions.

[0068] It is understood that the units and modules involved in the embodiments of the present invention can be implemented by software or by hardware. For example, the units and modules can be located in a processor.

[0069] Example 1:

[0070] This embodiment provides a method for transmitting flight control messages of a UAV, applied to an airborne terminal, such as... Figure 1 As shown, the method includes:

[0071] Step S101: Obtain the structure of CoAP flight control messages predefined based on the CoAP (Constrained Application Protocol) protocol. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP preconfiguration messages.

[0072] Step S102: Transmit CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform.

[0073] In this embodiment, the drone includes the drone body, an onboard terminal, and a drone pod, which are physically connected.

[0074] It should be noted that CoAP is a network transport protocol based on the REST model, primarily used for lightweight M2M (Machine to Machine) communication. Since many devices in the Internet of Things (IoT) are resource-constrained, with limited memory and computing power, the traditional HTTP (Hypertext Transfer Protocol) protocol is too cumbersome and unsuitable for IoT applications. CoAP was developed to address this need. This embodiment of the invention chooses to define the structure of CoAP flight control messages based on the CoAP protocol, which, in addition to its flexible field expansion, also has the following advantages:

[0075] (1) It can discover nodes in the network, which is very useful for the autonomous and self-healing design of low-power wireless sensor networks. Regarding the scalability of wireless sensor networks, the CoAP protocol can be used to discover the redundancy of nodes.

[0076] (2) CoAP is built on the UDP (User Datagram Protocol) stack, which allows for faster and better resource optimization, rather than being resource-intensive.

[0077] (3) It is more lightweight. The 4-byte header file is a good choice for continuous streaming systems and is suitable for the UAV business scenarios described in this invention.

[0078] (4) Supports reliable transmission, data retransmission, and block transmission to ensure reliable data arrival.

[0079] (5) Supports IP (Internet Protocol) multicast, which means that requests can be sent to multiple devices at the same time.

[0080] (6) Non-long-term connection communication, suitable for low-power IoT scenarios.

[0081] In this embodiment, CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP pre-configuration messages. CoAP heartbeat messages are typically sent periodically by the onboard terminal to the UAV service platform to report the current terminal and network status information. CoAP telemetry messages are typically sent periodically by the UAV itself to the UAV service platform via the onboard terminal to report the current UAV status, location, and other information. CoAP remote control messages are typically used by the UAV monitoring terminal in a BS / CS mode (control messages are sent to the UAV service platform, and then the service platform sends them to the UAV) to control the UAV's flight or pod functions (such as taking pictures).

[0082] Optionally, the structure of the CoAP flight control message includes message type and payload data, wherein the message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con.

[0083] In this embodiment, to address the issue of difficulty in expanding fields due to data interaction between different brands of drones (mostly using proprietary protocols) and different drone business platforms, this invention defines four types of CoAP flight control messages based on the CoAP protocol and drone flight control information usage scenarios. CoAP heartbeat and telemetry messages that do not require front-end confirmation are selected as the Non type, while remote control and pre-configuration messages that require front-end confirmation are selected as the Con type. These four message types can basically cover all the needs of drone use. If new drone models (referring to the drone itself) or boxes require adaptation, the new fields can be categorized into the four defined message types and flexibly expanded in the CoAP options to better support the general scenario of multi-device linkage between the drone itself, airborne terminal, and pod proposed in this embodiment.

[0084] Specifically, CoAP heartbeat messages are messages sent periodically or conditionally by the drone's onboard terminal (onboard 5G box) to the drone service platform. They generally include current location, network, box status information, etc. CoAP heartbeat messages use the CoAP Non type, so no confirmation of receipt is required from the receiver. The structure of a CoAP heartbeat message can be shown in Table 1:

[0085] Table 1: Structure of CoAP Heartbeat Messages

[0086]

[0087] The format and content requirements for heart rate load data are as follows:

[0088] Formatting

[0089]

[0090] For example:

[0091]

[0092] Specifically, CoAP telemetry messages are messages sent periodically by the UAV to the UAV service platform. They generally include the current flight status information of the UAV. CoAP telemetry messages use the CoAP Non type, so no confirmation of receipt is required from the receiver. The structure of a CoAP telemetry message can be shown in Table 2:

[0093] Table 2: Structure of CoAP Telemetry Messages

[0094]

[0095] The format and content requirements for telemetry load data are as follows:

[0096] Formatting

[0097]

[0098]

[0099] For example:

[0100]

[0101] Specifically, CoAP remote control messages are temporary messages sent by the UAV service platform to the UAV itself or its payload. They typically include requests to change UAV flight parameters or control requests for equipment on the pod payload (such as cameras). CoAP remote control messages use the CoAP 'Con' type and require confirmation of receipt from the recipient. The structure of a CoAP remote control message is shown in Table 3, and the structure of the corresponding remote control request confirmation message is shown in Table 4.

[0102] Table 3: Structure of CoAP Telemetry Messages

[0103]

[0104] The format and content requirements for remote control load data are as follows:

[0105] Formatting

[0106]

[0107] For example:

[0108]

[0109] or,

[0110]

[0111] Table 4: Structure of Remote Control Request Confirmation Message

[0112]

[0113] Specifically, the CoAP pre-configuration message is a message sent by the unmanned service platform to the UAV's onboard terminal. It generally includes the streaming address and streaming port. The CoAP pre-configuration message uses the CoAP Con type and requires the receiver to confirm receipt. The structure of the CoAP pre-configuration message is shown in Table 5, and the structure of the corresponding pre-configuration confirmation message is shown in Table 6.

[0114] Table 5: Structure of CoAP Pre-configuration Messages

[0115]

[0116]

[0117] The format and content requirements for the pre-configured load data are as follows:

[0118] Formatting

[0119]

[0120] For example:

[0121]

[0122] Table 6: Structure of Pre-configuration Confirmation Message

[0123]

[0124] Optionally, the transmission of CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform specifically includes:

[0125] Send the first CoAP heartbeat message based on the structure definition to the UAV service platform. The payload data of the first CoAP heartbeat message includes the IMEI (International Mobile Equipment Identity) and MSISDN (Mobile Subscriber International ISDN) of the airborne terminal.

[0126] Receive the CoAP pre-configuration message sent by the drone service platform when it determines that the IMEI has been registered and the MSISDN is valid;

[0127] The configuration of the airborne terminal's relevant parameters is completed based on the CoAP pre-configuration message.

[0128] In this embodiment, when the drone registers for the first time, the onboard terminal first sends the first CoAP heartbeat message to the drone service platform. After receiving the first CoAP heartbeat message, the drone service platform determines whether the IMEI in the first CoAP heartbeat message has been registered and whether the MSISDN is valid. If the IMEI has been registered and the MSISDN is valid, the platform sends a CoAP pre-configuration message to the onboard terminal so that the onboard terminal can complete the configuration of the relevant parameters of the onboard terminal based on the CoAP pre-configuration message.

[0129] Optionally, after configuring the airborne terminal's relevant parameters based on the CoAP pre-configuration message, the method further includes:

[0130] Receive raw telemetry messages sent by the UAV itself, the raw telemetry messages carrying the UAV identifier;

[0131] The original telemetry message is encapsulated into a CoAP telemetry message according to the structure, and the CoAP telemetry message is sent to the UAV service platform so that the UAV service platform can establish a binding relationship between the airborne terminal and the UAV identifier based on the MSISDN.

[0132] In this embodiment, after the UAV is powered on, it sends raw telemetry information to the onboard terminal via a hardware port line. The raw telemetry message carries the UAV identifier (CPUID). After receiving the raw telemetry message from the UAV, the onboard terminal encapsulates it into a CoAP telemetry message and sends the CoAP telemetry message to the UAV service platform. After receiving the CoAP telemetry message from the onboard terminal, the UAV service platform establishes a binding relationship between the onboard terminal and the UAV identifier based on the MSISDN.

[0133] Specifically, refer to Figure 2 The diagram illustrates an interactive schematic of the initialization registration process provided in an embodiment of the present invention. In this embodiment, the method includes the following steps:

[0134] Steps S01-02: After the airborne terminal is powered on, it collects terminal information and sends the first CoAP heartbeat message (including terminal IMEI, ICCID (Integrated Circuit Card Identity), MSISDN terminal model and other payload content) to the UAV service platform.

[0135] Steps S03-04: The UAV service platform determines whether the IMEI is registered on the service platform and whether the MSISDN is valid. If the IMEI is registered and the MSISDN is valid, the platform sends pre-configuration information (including streaming address, streaming port, etc.) to the airborne terminal.

[0136] Steps S05-06: The airborne terminal completes the configuration of relevant parameters based on the pre-configuration information, and returns a confirmation message to the UAV service platform after the configuration is completed.

[0137] In this embodiment, if no pre-configuration information is received, the default configuration of the airborne terminal is used;

[0138] Step S07: After the UAV is powered on, it sends the original telemetry information of the UAV (including UAV identifier CPUID, position coordinates, aircraft status, etc.) to the airborne terminal through the hardware port line.

[0139] Steps S08-09: The airborne terminal receives the raw telemetry information from the UAV, encapsulates it into a CoAP telemetry message, and sends it to the UAV service platform through the operator network;

[0140] Steps S10-11: The UAV service platform establishes a binding relationship between the airborne terminal (IMEI in the CoAP heartbeat message) and the UAV identifier (CPUID in the CoAP telemetry message) based on the MSISDN. If the contents of the heartbeat message and telemetry message are correctly bound on the service platform, a takeoff permission command is sent to the ground station (pilot control software).

[0141] Step S12: After receiving the takeoff permission instruction, the ground station controls the drone to take off.

[0142] It should be noted that the current initial registration process mostly involves data interaction between the drone manufacturer's built-in software program and the application platform / drone business platform provided by the drone manufacturer, without considering more general situations. In order to solve the problem of "associated registration of multiple general devices (drone-5G airborne terminal)," this embodiment defines the above-mentioned initial registration process. Considering the adaptation test of 5G airborne terminal, the CoAP protocol is selected and CoAP heartbeat messages and CoAP telemetry messages are designed to complete the data required for the initialization process.

[0143] Optionally, the transmission of CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform specifically includes:

[0144] The system periodically or irregularly sends non-first CoAP heartbeat messages to the drone service platform. The payload data of the non-first CoAP heartbeat messages includes the IMEI, MSISDN, and network quality of the onboard terminal.

[0145] In this embodiment, the airborne terminal can periodically or irregularly send non-first CoAP heartbeat messages to the drone service platform, including the IMEI, MSISDN, and network quality of the airborne terminal. The drone service platform receives and stores the non-first CoAP heartbeat messages sent by the airborne terminal periodically or irregularly, and sends the drone identifier and corresponding network quality to the drone monitoring terminal so that the drone monitoring terminal can display the received network quality information.

[0146] Specifically, refer to Figure 3 This diagram illustrates the interaction of CoAP heartbeat messages according to an embodiment of the present invention. In this embodiment, the method includes the following steps:

[0147] Step S11: The airborne terminal periodically sends CoAP heartbeat messages (including payload content such as terminal IMEI, ICCID, terminal model, network quality, MSISDN, etc.) to the UAV service platform. This CoAP heartbeat message is not the first CoAP heartbeat message.

[0148] Step S12: The drone service platform receives the CoAP heartbeat message and saves the CoAP heartbeat message to the database;

[0149] Step S13: The drone service platform sends the drone identifier and corresponding network quality information to the drone monitoring terminal based on the load data in the CoAP heartbeat message, so as to update the view of the drone monitoring terminal to display the network quality information of the current drone (obtained from the MSISDN and the corresponding drone and flight plan);

[0150] Step S14: The drone monitoring terminal displays network quality information.

[0151] It should be noted that current drone data transmission methods mostly use IO data streams, without considering scenarios combined with 5G airborne terminals, focusing primarily on the drone flight mission itself. This embodiment addresses the issue of low efficiency in transport layer protocols used in drone applications by defining the aforementioned CoAP heartbeat process. Based on the network quality analysis needs of operators, this process is proposed to help operators' business platforms perform quality analysis on network-side data. It analyzes the network signal quality corresponding to network data returned at different altitudes and flight positions, thereby providing better data support and reference for drone flight services and network selection strategies, and supporting precise improvements in drone data transmission quality.

[0152] Optionally, the transmission of CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform specifically includes:

[0153] Receive raw telemetry messages sent by the UAV itself at regular or irregular intervals. The raw telemetry messages carry the UAV identifier, location coordinates, and aircraft status.

[0154] The original telemetry message is encapsulated into a CoAP telemetry message according to the structure, and the CoAP telemetry message is sent to the UAV service platform so that the UAV service platform can send the UAV identifier, location coordinates and aircraft status to the UAV monitoring terminal according to the CoAP telemetry message.

[0155] In this embodiment, the UAV itself can send raw telemetry messages to the onboard terminal at regular or irregular intervals via a hardware port line. After receiving the raw telemetry messages, the onboard terminal encapsulates them into CoAP telemetry messages and sends them to the UAV service platform. The UAV service platform receives the CoAP telemetry messages sent by the onboard terminal and sends the UAV identifier, location coordinates, and aircraft status to the UAV monitoring terminal based on the CoAP telemetry messages, so that the UAV monitoring terminal can display relevant data.

[0156] Specifically, refer to Figure 4This diagram illustrates the interaction of CoAP telemetry messages according to an embodiment of the present invention. In this embodiment, the method includes the following steps:

[0157] Step S21: The UAV itself periodically sends raw telemetry messages (including UAV identifier CPUID, location coordinates, aircraft status, etc.) to the airborne terminal through the hardware port line.

[0158] Steps S22-23: The airborne terminal receives the raw telemetry data from the UAV, encapsulates it into a CoAP telemetry message, and sends the CoAP telemetry message to the UAV service platform through the operator network;

[0159] Step S24: The UAV service platform receives the CoAP telemetry message and saves the CoAP telemetry message to the database;

[0160] Step S25: The drone service platform sends the drone identifier CPUID, location coordinates, and aircraft status (which may include flight attitude and operational status data) to the drone monitoring terminal based on the load data in the CoAP telemetry message;

[0161] Step S26: The drone monitoring terminal displays relevant data (drone location, flight attitude, and working status data).

[0162] It should be noted that current telemetry message interaction processes are largely based on different application scenarios, application requirements, and different drone manufacturers using different proprietary drone protocols, and cannot directly support general scenarios that combine with 5G airborne terminals. This embodiment addresses the "telemetry message interaction problem between 'general brand drones and 5G airborne terminals' and the problem of custom message extension" by defining the aforementioned CoAP telemetry process. Based on the CoAP telemetry message body, various drone applications can be extended, and fields can be flexibly added as needed.

[0163] Optionally, the transmission of CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform specifically includes:

[0164] Receive CoAP remote control messages sent by the drone service platform, wherein the payload data of the CoAP remote control messages includes a target field;

[0165] The controlled device and its corresponding port are identified based on the target field;

[0166] The CoAP remote control message is sent to the corresponding device through the port;

[0167] The remote control request confirmation message corresponding to the CoAP remote control message is sent back to the drone service platform.

[0168] In this embodiment, the UAV monitoring terminal sends a CoAP remote control message to the UAV service platform in the flight mission view. The UAV service platform receives the CoAP remote control message and forwards it to the airborne terminal. After receiving the CoAP remote control message, the airborne terminal identifies the controlled device and its corresponding port based on the dst field (target field) in the CoAP remote control message, and sends the CoAP remote control message to the corresponding device through the port. This device is either the UAV itself or the UAV pod, so that the UAV itself or the UAV pod can perform the corresponding action according to the CoAP remote control message. Simultaneously, the airborne terminal sends a remote control request confirmation message (ACK) corresponding to the CoAP remote control message back to the UAV service platform. The UAV service platform looks up the corresponding MSISDN based on the UAV identifier CPUID and forwards the ACK to the UAV monitoring terminal. The UAV monitoring terminal confirms that the CoAP remote control message was successfully sent and allows the user to execute other control commands.

[0169] Specifically, refer to Figure 5 The diagram illustrates the interaction of CoAP remote control messages according to an embodiment of the present invention. In this embodiment, the method includes the following steps:

[0170] Step S31: The drone monitoring terminal sends a CoAP remote control message to the drone service platform in the flight mission view (no other control commands can be sent before the remote control message receives the corresponding ACK message), which carries the drone identifier CPUID;

[0171] Steps S32-33: The UAV service platform receives the CoAP remote control message and saves it to the database. At the same time, it looks up the corresponding MSISDN based on the UAV identifier CPUID and forwards the CoAP remote control message to the airborne terminal, which carries the MSISDN.

[0172] Step S34: The airborne terminal identifies the controlled device and the port it interfaces with based on the dst field in the CoAP remote control message;

[0173] Steps S35-36: The airborne terminal sends the CoAP remote control message to the corresponding device (UAV body or UAV pod) through the port, and sends an ACK (carrying MSISDN) of the CoAP remote control message back to the UAV service platform.

[0174] Step S37: The UAV itself or the UAV pod executes the corresponding action according to the command;

[0175] Steps S38-39: The drone service platform looks up the corresponding MSISDN based on the drone identifier CPUID and forwards the ACK to the drone monitoring terminal;

[0176] Step S40: The drone monitoring terminal confirms that the CoAP remote control message has been successfully sent, allowing the user to execute other control commands.

[0177] It should be noted that current remote control message interaction processes are largely based on different application scenarios, application requirements, and different drone manufacturers using different proprietary drone protocols, and cannot directly support general scenarios that combine with 5G airborne terminals. This embodiment addresses the problem of remote control message interaction between "general-purpose drones and 5G airborne terminals" and the issue of custom message extension by defining the aforementioned CoAP remote control process. Based on the CoAP remote control message body, various drone applications can be extended, remote control commands can be quickly responded to, and fields can be flexibly added as needed.

[0178] The method for transmitting UAV flight control messages provided in this invention first obtains the structure of a CoAP flight control message pre-defined based on the CoAP Restricted Application Protocol. The CoAP flight control message includes CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP pre-configuration messages. Then, the CoAP flight control message based on the defined structure is transmitted between the airborne terminal and the UAV service platform. Since the CoAP flight control message in this application is based on the CoAP protocol, its fields can be flexibly expanded, thus solving the problem in related technologies where it is difficult to expand fields when different brands of UAVs (data transmission is mostly based on proprietary protocols) interact with different UAV service platforms for flight control message exchange.

[0179] Example 2:

[0180] like Figure 6 As shown, this embodiment provides a method for transmitting UAV flight control messages, applied to a UAV service platform. The method includes:

[0181] Step S201: Transmit CoAP flight control messages between the UAV service platform and the airborne terminal; wherein, the CoAP flight control messages are defined and transmitted by the airborne terminal based on the structure of the CoAP flight control messages predefined based on the CoAP protocol after obtaining the structure of the CoAP flight control messages; the CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages and CoAP preconfiguration messages.

[0182] Optionally, the structure of the CoAP flight control message includes message type and payload data, wherein the message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con.

[0183] Optionally, the transmission of CoAP flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0184] The system receives the first CoAP heartbeat message based on the structure definition sent by the airborne terminal. The payload data of the first CoAP heartbeat message includes the IMEI and MSISDN of the airborne terminal.

[0185] Determine whether the IMEI has been registered and whether the MSISDN is in a valid state;

[0186] If the IMEI is already registered and the MSISDN is valid, a CoAP pre-configuration message is sent to the airborne terminal so that the airborne terminal can complete the configuration of the relevant parameters of the airborne terminal based on the CoAP pre-configuration message.

[0187] Optionally, after sending the CoAP pre-configuration message to the airborne terminal, the method further includes:

[0188] The system receives CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is generated by the airborne terminal after receiving the original telemetry message carrying the UAV identifier sent by the UAV itself, encapsulating the original telemetry message according to the structure, and then sending it.

[0189] The binding relationship between the airborne terminal and the UAV identifier is established based on the MSISDN.

[0190] Optionally, the transmission of CoAP flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0191] The system receives and stores non-first CoAP heartbeat messages sent by the airborne terminal at regular or irregular intervals. The payload data of the non-first CoAP heartbeat messages includes the IMEI, MSISDN, and network quality of the airborne terminal.

[0192] Optionally, the transmission of CoAP flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0193] The system receives CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is a message sent by the airborne terminal after receiving the original telemetry message from the UAV itself, which carries the UAV identifier, location coordinates, and aircraft status at regular or irregular intervals. The original telemetry message is then encapsulated and sent according to the structure described above.

[0194] The drone identifier, location coordinates, and aircraft status are sent to the drone monitoring terminal based on the CoAP telemetry message.

[0195] Optionally, the transmission of CoAP flight control messages between the UAV service platform and the airborne terminal specifically includes:

[0196] The airborne terminal sends a CoAP remote control message, the payload data of which includes a target field, so that the airborne terminal can identify the controlled device and the corresponding port based on the target field, and send the CoAP remote control message to the corresponding device through the port.

[0197] Receive the remote control request confirmation message corresponding to the CoAP remote control message fed back by the airborne terminal.

[0198] Example 3:

[0199] like Figure 7 As shown, this embodiment provides a UAV flight control message transmission device, applied to an airborne terminal, for executing the UAV flight control message transmission method in Embodiment 1 above. The device includes:

[0200] The message structure acquisition module 11 is used to acquire the structure of CoAP flight control messages predefined based on the CoAP restricted application protocol. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP preconfiguration messages.

[0201] The first transmission module 12 is connected to the message structure acquisition module 11 and is used to transmit CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform.

[0202] Optionally, the structure of the CoAP flight control message includes message type and payload data, wherein the message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con.

[0203] Optionally, the first transmission module 12 specifically includes:

[0204] The first heartbeat message sending unit is used to send the first CoAP heartbeat message based on the structure definition to the UAV service platform. The payload data of the first CoAP heartbeat message includes the IMEI and MSISDN of the airborne terminal.

[0205] A pre-configured message receiving unit is used to receive a CoAP pre-configured message sent by the UAV service platform when it determines that the IMEI has been registered and the MSISDN is valid;

[0206] The parameter configuration unit is used to configure the relevant parameters of the airborne terminal based on the CoAP pre-configuration message.

[0207] Optionally, the device further includes:

[0208] The first telemetry message receiving unit is used to receive the original telemetry message sent by the UAV itself, the original telemetry message carrying the UAV identifier;

[0209] The first telemetry message encapsulation unit is used to encapsulate the original telemetry message into a CoAP telemetry message according to the structure, and send the CoAP telemetry message to the UAV service platform so that the UAV service platform can establish a binding relationship between the airborne terminal and the UAV identifier according to the MSISDN.

[0210] Optionally, the first transmission module 12 specifically includes:

[0211] The non-first heartbeat message sending unit is used to send non-first CoAP heartbeat messages to the UAV service platform at regular or irregular intervals. The payload data of the non-first CoAP heartbeat message includes the IMEI, MSISDN of the airborne terminal, and network quality.

[0212] Optionally, the first transmission module 12 specifically includes:

[0213] The second telemetry message receiving unit is used to receive raw telemetry messages sent by the UAV body at regular or irregular intervals. The raw telemetry messages carry UAV identifier, location coordinates, and aircraft status.

[0214] The second telemetry message encapsulation unit is used to encapsulate the original telemetry message into a CoAP telemetry message according to the structure, and send the CoAP telemetry message to the UAV service platform, so that the UAV service platform can send the UAV identifier, location coordinates and aircraft status to the UAV monitoring terminal according to the CoAP telemetry message.

[0215] Optionally, the first transmission module 12 specifically includes:

[0216] The remote control message receiving unit is used to receive CoAP remote control messages sent by the UAV service platform. The payload data of the CoAP remote control message includes a target field.

[0217] The target field identification unit is used to identify the controlled device and its corresponding port based on the target field.

[0218] A remote control message forwarding unit is used to send the CoAP remote control message to the corresponding device through the port;

[0219] The remote control request confirmation message sending unit is used to send a remote control request confirmation message corresponding to the CoAP remote control message to the UAV service platform.

[0220] Example 4:

[0221] like Figure 8 As shown, this embodiment provides a device for transmitting UAV flight control messages, applied to a UAV service platform, for executing the UAV flight control message transmission method in Embodiment 2 above. The device includes:

[0222] The second transmission module 21 is used to transmit CoAP flight control messages between the UAV service platform and the airborne terminal; wherein, the CoAP flight control message is a message sent by the airborne terminal based on the structure defined in advance based on the CoAP protocol after obtaining the structure of the CoAP flight control message. The CoAP flight control message includes CoAP heartbeat message, CoAP telemetry message, CoAP remote control message and CoAP pre-configuration message.

[0223] Optionally, the structure of the CoAP flight control message includes message type and payload data, wherein the message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con.

[0224] Optionally, the second transmission module 21 specifically includes:

[0225] The first heartbeat message receiving unit is used to receive the first CoAP heartbeat message sent by the airborne terminal based on the structure definition. The payload data of the first CoAP heartbeat message includes the IMEI and MSISDN of the airborne terminal.

[0226] The registration and validity determination unit is used to determine whether the IMEI has been registered and whether the MSISDN is in a valid state.

[0227] A pre-configuration message sending unit is used to send a CoAP pre-configuration message to the airborne terminal if the IMEI has been registered and the MSISDN is valid, so that the airborne terminal can complete the configuration of the relevant parameters of the airborne terminal based on the CoAP pre-configuration message.

[0228] Optionally, the device further includes:

[0229] The third telemetry message receiving unit is used to receive the CoAP telemetry message sent by the airborne terminal; the CoAP telemetry message is the original telemetry message sent by the airborne terminal after receiving the original telemetry message carrying the UAV identifier sent by the UAV body, and then encapsulating and sending the original telemetry message according to the structure.

[0230] The binding unit is used to establish a binding relationship between the airborne terminal and the UAV identifier based on the MSISDN.

[0231] Optionally, the second transmission module 21 specifically includes:

[0232] The non-first heartbeat message receiving unit is used to receive and store non-first CoAP heartbeat messages sent by the airborne terminal at regular or irregular intervals. The payload data of the non-first CoAP heartbeat message includes the IMEI, MSISDN and network quality of the airborne terminal.

[0233] Optionally, the second transmission module 21 specifically includes:

[0234] The fourth telemetry message receiving unit is used to receive CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is the original telemetry message sent by the airborne terminal at regular or irregular intervals, which carries the UAV identifier, location coordinates and aircraft status. The original telemetry message is encapsulated and sent according to the structure.

[0235] The location status sending unit is used to send the drone identifier, location coordinates, and aircraft status to the drone monitoring terminal according to the CoAP telemetry message.

[0236] Optionally, the second transmission module 21 specifically includes:

[0237] The remote control message sending unit is used to send a CoAP remote control message to the airborne terminal. The payload data of the CoAP remote control message includes a target field, so that the airborne terminal can identify the controlled device and the corresponding port according to the target field, and send the CoAP remote control message to the corresponding device through the port.

[0238] The remote control request confirmation message receiving unit is used to receive the remote control request confirmation message corresponding to the CoAP remote control message fed back by the airborne terminal.

[0239] Example 5:

[0240] refer to Figure 9 This embodiment provides a device for transmitting UAV flight control messages, including a memory 31 and a processor 32. The memory 31 stores a computer program, and the processor 32 is configured to run the computer program to execute the UAV flight control message transmission method in Embodiment 1 or Embodiment 2.

[0241] The memory 31 is connected to the processor 32. The memory 31 can be a flash memory, a read-only memory or other memory, and the processor 32 can be a central processing unit or a microcontroller.

[0242] Example 6:

[0243] This embodiment provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the method for transmitting UAV flight control messages in Embodiment 1 or Embodiment 2 described above.

[0244] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules, or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other memory technologies, CD-ROM (Compact Disc Read-Only Memory), DVD or other optical disc storage, cartridges, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer.

[0245] The UAV flight control message transmission method, apparatus, and readable storage medium provided in Examples 2 to 6 first obtain the structure of a CoAP flight control message pre-defined based on the CoAP Restricted Application Protocol. The CoAP flight control message includes CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP pre-configuration messages. Then, the CoAP flight control message based on the defined structure is transmitted between the airborne terminal and the UAV service platform. Since the CoAP flight control message in this application is based on the CoAP protocol, its fields can be flexibly expanded, thus solving the problem in related technologies where it is difficult to expand fields when different brands of UAVs (data transmission is mostly based on proprietary protocols) interact with different UAV service platforms for flight control message exchange.

[0246] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for transmitting flight control messages for a drone, characterized in that, Applied to an airborne terminal, the method includes: Obtain the structure of CoAP flight control messages predefined based on the CoAP Restricted Application Protocol, wherein the CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP preconfiguration messages; Transmit CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform; The structure of the CoAP flight control message includes message type and payload data. The message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con. The CoAP heartbeat message is sent by the airborne terminal to the UAV service platform to report terminal and network status information. The payload data of the CoAP heartbeat message includes at least the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal. The CoAP telemetry message is sent by the airborne terminal to the UAV service platform to report UAV flight status information. The payload data of the CoAP telemetry message includes at least the UAV identifier. The CoAP remote control message is sent from the UAV service platform to the airborne terminal to issue device control commands. The payload data of the CoAP remote control message includes at least a target field for identifying the control device and port. The CoAP pre-configuration message is sent by the UAV service platform to the airborne terminal to distribute connection configuration parameters. The payload data of the CoAP pre-configuration message includes at least the push stream address and the push stream port. The transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes: Send the first CoAP heartbeat message based on the structure definition to the UAV service platform. The payload data of the first CoAP heartbeat message includes the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal. Receive the CoAP pre-configuration message sent by the drone service platform when it determines that the IMEI has been registered and the MSISDN is valid; The configuration of the relevant parameters of the airborne terminal is completed based on the CoAP pre-configuration message; After configuring the relevant parameters of the airborne terminal based on the CoAP pre-configuration message, the method further includes: Receive raw telemetry messages sent by the UAV itself, the raw telemetry messages carrying the UAV identifier; The original telemetry message is encapsulated into a CoAP telemetry message according to the structure, and the CoAP telemetry message is sent to the UAV service platform so that the UAV service platform can establish a binding relationship between the airborne terminal and the UAV identifier based on the MSISDN.

2. The method according to claim 1, characterized in that, The transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes: The system periodically or irregularly sends non-first CoAP heartbeat messages to the drone service platform. The payload data of the non-first CoAP heartbeat messages includes the IMEI, MSISDN, and network quality of the onboard terminal.

3. The method according to claim 1, characterized in that, The transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes: Receive raw telemetry messages sent by the UAV itself at regular or irregular intervals. The raw telemetry messages carry the UAV identifier, location coordinates, and aircraft status. The original telemetry message is encapsulated into a CoAP telemetry message according to the structure, and the CoAP telemetry message is sent to the UAV service platform so that the UAV service platform can send the UAV identifier, location coordinates and aircraft status to the UAV monitoring terminal according to the CoAP telemetry message.

4. The method according to claim 1, characterized in that, The transmission of CoAP flight control messages based on the defined structure between the airborne terminal and the UAV service platform specifically includes: Receive CoAP remote control messages sent by the drone service platform; The controlled device and its corresponding port are identified based on the target field; The CoAP remote control message is sent to the corresponding device through the port; The remote control request confirmation message corresponding to the CoAP remote control message is sent back to the drone service platform.

5. A method for transmitting flight control messages for a drone, characterized in that, The method, applied to a drone business platform, includes: The CoAP (Cooperative Application Protocol) flight control messages are transmitted between the UAV service platform and the airborne terminal. The CoAP flight control messages are defined and transmitted by the airborne terminal based on the structure of the CoAP flight control messages predefined according to the CoAP protocol. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP pre-configuration messages. The structure of the CoAP flight control message includes message type and payload data. The message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con. The CoAP heartbeat message is sent by the airborne terminal to the UAV service platform to report terminal and network status information. The payload data of the CoAP heartbeat message includes at least the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal. The CoAP telemetry message is sent by the airborne terminal to the UAV service platform to report UAV flight status information. The payload data of the CoAP telemetry message includes at least the UAV identifier. The CoAP remote control message is sent from the UAV service platform to the airborne terminal to issue device control commands. The payload data of the CoAP remote control message includes at least a target field for identifying the control device and port. The CoAP pre-configuration message is sent by the UAV service platform to the airborne terminal to distribute connection configuration parameters. The payload data of the CoAP pre-configuration message includes at least the push stream address and the push stream port. The transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes: The system receives the first CoAP heartbeat message based on the structure definition sent by the airborne terminal. The payload data of the first CoAP heartbeat message includes the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal. Determine whether the IMEI has been registered and whether the MSISDN is in a valid state; If the IMEI is already registered and the MSISDN is valid, a CoAP pre-configuration message is sent to the airborne terminal so that the airborne terminal can complete the configuration of the relevant parameters of the airborne terminal based on the CoAP pre-configuration message; After sending the CoAP pre-configuration message to the airborne terminal, the method further includes: The system receives CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is generated by the airborne terminal after receiving the original telemetry message carrying the UAV identifier sent by the UAV itself, encapsulating the original telemetry message according to the structure, and then sending it. The binding relationship between the airborne terminal and the UAV identifier is established based on the MSISDN.

6. The method according to claim 5, characterized in that, The transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes: The system receives and stores non-first CoAP heartbeat messages sent by the airborne terminal at regular or irregular intervals. The payload data of the non-first CoAP heartbeat messages includes the IMEI, MSISDN, and network quality of the airborne terminal.

7. The method according to claim 5, characterized in that, The transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes: The system receives CoAP telemetry messages sent by the airborne terminal. The CoAP telemetry message is a message sent by the airborne terminal after receiving the original telemetry message from the UAV itself, which carries the UAV identifier, location coordinates, and aircraft status at regular or irregular intervals. The original telemetry message is then encapsulated and sent according to the structure described above. The drone identifier, location coordinates, and aircraft status are sent to the drone monitoring terminal based on the CoAP telemetry message.

8. The method according to claim 5, characterized in that, The transmission of CoAP (Cooperative Application Protocol) flight control messages between the UAV service platform and the airborne terminal specifically includes: Send a CoAP remote control message to the airborne terminal so that the airborne terminal can identify the controlled device and the corresponding port according to the target field, and send the CoAP remote control message to the corresponding device through the port; Receive the remote control request confirmation message corresponding to the CoAP remote control message fed back by the airborne terminal.

9. A device for transmitting flight control messages for a drone, characterized in that, The device, applied to an airborne terminal, includes: The message structure acquisition module is used to acquire the structure of CoAP flight control messages predefined based on the CoAP restricted application protocol. The CoAP flight control messages include CoAP heartbeat messages, CoAP telemetry messages, CoAP remote control messages, and CoAP preconfiguration messages. The first transmission module is connected to the message structure acquisition module and is used to transmit CoAP flight control messages based on the structure definition between the airborne terminal and the UAV service platform. The structure of the CoAP flight control message includes message type and payload data. The message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con. The CoAP heartbeat message is sent by the airborne terminal to the UAV service platform to report terminal and network status information. The payload data of the CoAP heartbeat message includes at least the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal. The CoAP telemetry message is sent by the airborne terminal to the UAV service platform to report UAV flight status information. The payload data of the CoAP telemetry message includes at least the UAV identifier. The CoAP remote control message is sent from the UAV service platform to the airborne terminal to issue device control commands. The payload data of the CoAP remote control message includes at least a target field for identifying the control device and port. The CoAP pre-configuration message is sent by the UAV service platform to the airborne terminal to distribute connection configuration parameters. The payload data of the CoAP pre-configuration message includes at least the push stream address and the push stream port. The first transmission module specifically includes: The first heartbeat message sending unit is used to send the first CoAP heartbeat message based on the structure definition to the UAV service platform. The payload data of the first CoAP heartbeat message includes the IMEI and MSISDN of the airborne terminal. A pre-configured message receiving unit is used to receive a CoAP pre-configured message sent by the UAV service platform when it determines that the IMEI has been registered and the MSISDN is valid; The parameter configuration unit is used to configure the relevant parameters of the airborne terminal based on the CoAP pre-configuration message; The device further includes: The first telemetry message receiving unit is used to receive the original telemetry message sent by the UAV itself, the original telemetry message carrying the UAV identifier; The first telemetry message encapsulation unit is used to encapsulate the original telemetry message into a CoAP telemetry message according to the structure, and send the CoAP telemetry message to the UAV service platform so that the UAV service platform can establish a binding relationship between the airborne terminal and the UAV identifier according to the MSISDN.

10. A device for transmitting flight control messages for a drone, characterized in that, The device, applied to a drone business platform, includes: The second transmission module is used to transmit CoAP flight control messages between the UAV service platform and the airborne terminal; wherein, the CoAP flight control message is a message sent by the airborne terminal based on the structure defined in advance based on the CoAP protocol after obtaining the structure of the CoAP flight control message; the CoAP flight control message includes CoAP heartbeat message, CoAP telemetry message, CoAP remote control message and CoAP pre-configuration message. The structure of the CoAP flight control message includes message type and payload data. The message type in the CoAP heartbeat message and CoAP telemetry message structure is of type Non, and the message type in the CoAP remote control message and CoAP pre-configuration message structure is of type Con. The CoAP heartbeat message is sent by the airborne terminal to the UAV service platform to report terminal and network status information. The payload data of the CoAP heartbeat message includes at least the International Mobile Equipment Identity (IMEI) and the International Mobile Subscriber Integrated Services Digital Network (MSISDN) of the airborne terminal. The CoAP telemetry message is sent by the airborne terminal to the UAV service platform to report UAV flight status information. The payload data of the CoAP telemetry message includes at least the UAV identifier. The CoAP remote control message is sent from the UAV service platform to the airborne terminal to issue device control commands. The payload data of the CoAP remote control message includes at least a target field for identifying the control device and port. The CoAP pre-configuration message is sent by the UAV service platform to the airborne terminal to distribute connection configuration parameters. The payload data of the CoAP pre-configuration message includes at least the push stream address and the push stream port. The second transmission module specifically includes: The first heartbeat message receiving unit is used to receive the first CoAP heartbeat message sent by the airborne terminal based on the structure definition. The payload data of the first CoAP heartbeat message includes the IMEI and MSISDN of the airborne terminal. The registration and validity determination unit is used to determine whether the IMEI has been registered and whether the MSISDN is in a valid state. A pre-configuration message sending unit is used to send a CoAP pre-configuration message to the airborne terminal if the IMEI has been registered and the MSISDN is valid, so that the airborne terminal can complete the configuration of the relevant parameters of the airborne terminal based on the CoAP pre-configuration message; The device further includes: The third telemetry message receiving unit is used to receive the CoAP telemetry message sent by the airborne terminal; the CoAP telemetry message is the original telemetry message sent by the airborne terminal after receiving the original telemetry message carrying the UAV identifier sent by the UAV body, and then encapsulating and sending the original telemetry message according to the structure. The binding unit is used to establish a binding relationship between the airborne terminal and the UAV identifier based on the MSISDN.

11. A device for transmitting flight control messages for a drone, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the method for transmitting UAV flight control messages as described in any one of claims 1-4, or to implement the method for transmitting UAV flight control messages as described in any one of claims 5-8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method for transmitting UAV flight control messages as described in any one of claims 1-4, or implements the method for transmitting UAV flight control messages as described in any one of claims 5-8.

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