A method and system for realizing aircraft navigation based on beam

Abstract

The present invention discloses a method and system for realizing aircraft navigation based on beams. The method receives beam information sent by a base station, measures beam-level channel quality according to the beam information, obtains measurement results, reports the measurement results to the base station, so that the base station obtains flight instruction information according to the measurement results, sends the flight instruction information to a flight terminal, receives the flight instruction information, and adjusts the flight attitude of the flight terminal according to the flight instruction information and the measurement results, so that the flight terminal reaches a target flight position. The method uses an existing base station to perform high-precision positioning and navigation on the aircraft, thereby improving navigation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft navigation, and in particular to a beam-based aircraft navigation implementation method and system. Background Art

[0002] Low-altitude airspace usually refers to the airspace within 1,000 meters of the ground directly below. There are many types of aircraft flying at low altitudes, such as industrial drones, cargo drones, eVTOL, manned small aircraft, etc. The low-altitude economy is a comprehensive economic form that relies on low-altitude airspace and various aircraft to drive the integrated development of related fields. The position information of the aircraft is the most basic information for controlling and positioning the aircraft. Generally speaking, the altitude information of the aircraft can be measured by an ultrasonic sensor or a barometer, and the horizontal position information can be determined by the GPS / GNSS system integrated in the aircraft. The existing technology can also complete the positioning process by integrating a camera, but the camera has a short working distance of about 20 meters and is easily affected by the environment and light. For example, in rainy and snowy weather, in the evening or on cloudy days, or when the lens is blocked by leaves, the performance deteriorates seriously.

[0003] The most commonly used positioning in the prior art is based on satellite GPS / GNSS. That is, the aircraft is integrated with a GPS / GNSS module. When at least 4 satellites are found at the same time, the horizontal position, altitude information, and even time error of the aircraft can be calculated. However, in low-altitude urban scenes, satellite signals may be blocked by surrounding high-rise buildings, trees, tunnels and other objects, resulting in failure of satellite positioning. Satellite ephemeris errors, satellite clock errors, signal processing delays in the satellite, satellite antenna phase center deviations, propagation layer errors, etc. can also lead to a decrease in satellite positioning accuracy. The satellite technology that can enable high-precision positioning in the prior art is called real-time dynamic differential technology, that is, a base station with a known ground installation position calculates the above-mentioned satellite errors and propagation path errors and sends them to the aircraft terminal through existing communication networks, such as 4G base stations and 5G base stations, thereby improving the positioning accuracy of the aircraft. Better RTK positioning accuracy can reach centimeters to decimeters. However, RTK positioning technology still has the following problems: First, in low-altitude urban scenes, due to building obstruction, the aircraft cannot see a sufficient number of satellites >= 4, resulting in positioning failure; second, the near-ground multipath is serious, resulting in non-linear signal transmission, causing large positioning errors; RTK positioning is greatly affected by the environment. For example, ionospheric activity is affected by the sun, which will lead to deterioration of positioning performance.

[0004] Other wireless positioning technologies include UWB, Bluetooth, RFID, etc., but these technologies have the following problems: additional deployment of base stations and tags supporting UWB, Bluetooth or RFID increases network deployment costs; the positioning distance is only meter-level to 20 meters, but the typical low-altitude coverage distance is 50 meters to 200 meters; these technologies need to be based on time-delay positioning technologies such as TDoA or RTT, and the number of visible headends or base stations must be at least 3 to 4. If the number of headends or base stations is insufficient, positioning cannot be completed. Summary of the invention

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a beam-based aircraft navigation implementation method, which performs high-precision positioning and navigation of the aircraft by utilizing existing base stations without adding additional network equipment, thereby improving navigation accuracy.

[0006] A first aspect of an embodiment of the present invention provides a method for implementing beam-based aircraft navigation, the method comprising:

[0007] receiving beam information sent by the base station, measuring beam-level channel quality according to the beam information, and obtaining a measurement result;

[0008] Report the measurement results to the base station, so that the base station obtains flight instruction information according to the measurement results, and sends the flight instruction information to the flight terminal;

[0009] Receive flight instruction information, and adjust the flight attitude of the flight terminal according to the flight instruction information and the measurement results so that the flight terminal reaches the target flight position.

[0010] In a possible implementation manner of the first aspect, the beam-level channel quality is measured according to the beam information to obtain a measurement result, specifically:

[0011] receiving a beam-level measurement set and a beam-level measurement threshold sent by a base station, performing measurement according to the beam-level measurement set and the beam-level measurement threshold, and obtaining a beam measurement result, wherein the beam-level measurement set is obtained according to a beam template and a target flight position of the flight terminal;

[0012] or receiving the signal arrival angle information sent by the base station, performing arrival angle measurement according to the arrival angle measurement information, and obtaining an arrival angle measurement result;

[0013] Or receive channel quality measurement configuration information sent by the base station, perform channel quality measurement according to the channel quality measurement configuration information, and obtain a channel quality measurement result.

[0014] In a possible implementation manner of the first aspect, receiving signal arrival angle information sent by a base station, performing arrival angle measurement according to the arrival angle measurement information, and obtaining an arrival angle measurement result is specifically as follows:

[0015] The beam ID, RSRP sum and difference table and RSRP angle table sent by the receiving base station through air interface signaling are used to look up the RSRP sum and difference table and the RSRP angle table to obtain the incoming wave angle measurement result;

[0016] Or receive the signal arrival angle information sent by the base station, measure the RSRP of each beam, and obtain the arrival angle measurement result of the flight terminal according to the sum of the RSRP between two adjacent beams and the difference between the RSRP between two adjacent beams.

[0017] In a possible implementation manner of the first aspect, reporting the measurement result to the base station so that the base station obtains the flight instruction information according to the measurement result is specifically:

[0018] Report the beam measurement results to the base station, so that the base station can obtain the beam movement strategy of the flight terminal according to the beam measurement results;

[0019] Or report the incoming wave angle measurement result to the base station, so that the base station obtains the incoming wave angle strategy of the flight terminal according to the incoming wave angle measurement result;

[0020] Or the channel quality measurement result is reported to the base station, so that the base station calculates the target moving distance and target direction of the aircraft according to the channel quality measurement result to obtain navigation information.

[0021] In a possible implementation manner of the first aspect, adjusting the flight attitude of the flight terminal according to the flight instruction information is specifically:

[0022] Receive the beam movement strategy sent by the base station and adjust the flight attitude of the flight terminal according to the beam movement strategy;

[0023] Or receive the wave angle strategy sent by the base station, and adjust the flight attitude of the flight terminal according to the wave angle strategy;

[0024] Or receive navigation information sent by the base station and adjust the flight attitude of the flight terminal according to the navigation information.

[0025] In a possible implementation manner of the first aspect, adjusting the flight attitude of the flight terminal according to the incoming wave angle strategy is specifically as follows:

[0026] The target wave angle is calculated according to the wave angle strategy, the target wave angle is compared with the preset angle, the moving direction is calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction;

[0027] Or the target wave angle is calculated according to the wave angle strategy, the target wave angle is compared with the preset angle, the moving direction and moving distance are calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction and moving distance.

[0028] A second aspect of an embodiment of the present invention provides a beam-based aircraft navigation implementation system, the system comprising:

[0029] A measurement module is used to receive beam information sent by the base station, measure the beam-level channel quality according to the beam information, and obtain a measurement result;

[0030] A calculation module, used for reporting the measurement result to the base station, so that the base station obtains flight instruction information according to the measurement result, and sends the flight instruction information to the flight terminal;

[0031] The adjustment module is used to receive flight instruction information and adjust the flight attitude of the flight terminal according to the flight instruction information and the measurement results so that the flight terminal reaches the target flight position.

[0032] In a possible implementation manner of the second aspect, the beam-level channel quality is measured according to the beam information to obtain a measurement result, specifically:

[0033] receiving a beam-level measurement set and a beam-level measurement threshold sent by a base station, performing measurement according to the beam-level measurement set and the beam-level measurement threshold, and obtaining a beam measurement result, wherein the beam-level measurement set is obtained according to a beam template and a target flight position of the flight terminal;

[0034] or receiving the signal arrival angle information sent by the base station, performing arrival angle measurement according to the signal arrival angle information, and obtaining an arrival angle measurement result;

[0035] Or receive channel quality measurement configuration information sent by the base station, perform channel quality measurement according to the channel quality measurement configuration information, and obtain a channel quality measurement result.

[0036] In a possible implementation manner of the second aspect, signal arrival angle information sent by a base station is received, and arrival angle measurement is performed according to the arrival angle measurement information to obtain an arrival angle measurement result, specifically:

[0037] The beam ID, RSRP sum and difference table and RSRP angle table sent by the receiving base station through air interface signaling are used to look up the RSRP sum and difference table and the RSRP angle table to obtain the incoming wave angle measurement result;

[0038] Or receive the signal arrival angle information sent by the base station, measure the RSRP of each beam, and obtain the arrival angle measurement result of the flight terminal according to the sum of the RSRP between two adjacent beams and the difference between the RSRP between two adjacent beams.

[0039] In a possible implementation manner of the second aspect, reporting the measurement result to the base station so that the base station obtains the flight instruction information according to the measurement result is specifically:

[0040] Report the beam measurement results to the base station, so that the base station can obtain the beam movement strategy of the flight terminal according to the beam measurement results;

[0041] Or report the incoming wave angle measurement result to the base station, so that the base station obtains the incoming wave angle strategy of the flight terminal according to the incoming wave angle measurement result;

[0042] Or the channel quality measurement result is reported to the base station, so that the base station calculates the target moving distance and target direction of the aircraft according to the channel quality measurement result to obtain navigation information. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 : A flow chart of an embodiment of a beam-based aircraft navigation implementation method provided by the present invention;

[0044] Figure 2 : A schematic diagram of a flight topology diagram of a flight terminal according to an embodiment of a beam-based aircraft navigation implementation method provided by the present invention;

[0045] Figure 3 : A schematic diagram of a two-dimensional beam design template for an embodiment of a beam-based aircraft navigation implementation method provided by the present invention;

[0046] Figure 4 : A schematic diagram of a second template of a two-dimensional beam design template of an embodiment of a beam-based aircraft navigation implementation method provided by the present invention;

[0047] Figure 5 : A schematic diagram of three templates of a two-dimensional beam design template of an embodiment of a beam-based aircraft navigation implementation method provided by the present invention;

[0048] Figure 6 : A schematic diagram of a topological diagram of a moving distance calculation process of an embodiment of a beam-based aircraft navigation implementation method provided by the present invention;

[0049] Figure 7 : A schematic diagram of the system structure of another embodiment of the beam-based aircraft navigation implementation method provided by the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Embodiment 1

[0052] Please refer to Figure 1 , which is a flow chart of an embodiment of a beam-based aircraft navigation implementation method provided in an embodiment of the present invention, including steps S11 to S13, each of which is specifically as follows:

[0053] S11. Receive beam information sent by a base station, and measure beam-level channel quality according to the beam information to obtain a measurement result.

[0054] In one embodiment, the beam-level channel quality is measured according to the beam information to obtain a measurement result, which is specifically:

[0055] receiving a beam-level measurement set and a beam-level measurement threshold sent by a base station, performing measurement according to the beam-level measurement set and the beam-level measurement threshold, and obtaining a beam measurement result, wherein the beam-level measurement set is obtained according to a beam template and a target flight position of the flight terminal;

[0056] or receiving the signal arrival angle information sent by the base station, performing arrival angle measurement according to the signal arrival angle information, and obtaining an arrival angle measurement result;

[0057] Or receive channel quality measurement configuration information sent by the base station, perform channel quality measurement according to the channel quality measurement configuration information, and obtain a channel quality measurement result.

[0058] In one embodiment, the signal arrival angle information sent by the base station is received, and the arrival angle measurement is performed according to the arrival angle measurement information to obtain the arrival angle measurement result, which is specifically:

[0059] The beam ID, RSRP sum and difference table and RSRP angle table sent by the receiving base station through air interface signaling are used to look up the RSRP sum and difference table and the RSRP angle table to obtain the incoming wave angle measurement result;

[0060] Or receive the signal arrival angle information sent by the base station, measure the RSRP of each beam, and obtain the arrival angle measurement result of the flight terminal according to the sum of the RSRP between two adjacent beams and the difference between the RSRP between two adjacent beams.

[0061] In this embodiment, after the base station determines that the target aircraft has entered the monitoring area, it sends a "navigation instruction" to the target, for example, instructing the target to land with a certain beam ID as the target. After receiving the navigation instruction, the target measures the beam-level channel quality and obtains the measurement result, wherein the navigation instruction includes indicating the measurement requirements of the terminal, such as measuring the beam-level channel quality (including parameters such as RSRP or RSRQ or SINR), or the angle of arrival of the terminal receiving the signal (AoA); instructing the terminal to measure with downlink SSB or downlink CSI-RS or downlink PDSCH DMRS or downlink PDCCH DMRS; indicating the beam-level measurement set and beam-level measurement threshold of the terminal, such as Figure 2 In the navigation instruction, the base station instructs the terminal to measure beam set 3, and the RSRP threshold of the measurement is -60dBm; instructs the terminal's movement strategy, that is, how the target moves, where it moves, or on what principle; instructs the terminal's reporting strategy, that is, which beams the target reports the measurement results, reporting period, and the location of the time-frequency resources occupied by the measurement report. After receiving the navigation instruction, the aircraft measures the beam-level channel quality through the beam information sent by the base station. The beam information includes the beam-level measurement set and beam-level measurement threshold, signal angle information, or channel quality measurement configuration information.

[0062] S12. Report the measurement result to the base station, so that the base station obtains flight instruction information according to the measurement result, and sends the flight instruction information to the flight terminal.

[0063] In one embodiment, the measurement result is reported to the base station so that the base station obtains the flight instruction information according to the measurement result, specifically:

[0064] Report the beam measurement results to the base station, so that the base station can obtain the beam movement strategy of the flight terminal according to the beam measurement results;

[0065] Or report the incoming wave angle measurement result to the base station, so that the base station obtains the incoming wave angle strategy of the flight terminal according to the incoming wave angle measurement result;

[0066] Or the channel quality measurement result is reported to the base station, so that the base station calculates the target moving distance and target direction of the aircraft according to the channel quality measurement result to obtain navigation information.

[0067] In this embodiment, when the terminal receives the channel quality measurement configuration sent by the base station, it performs measurements on the corresponding measurement resources, such as the measurement of beam-level channel quality (such as RSRP, RSRQ, SINR, etc.), or the measurement of the incoming wave angle AoA. The measurement method belongs to the terminal's internal algorithm or industry consensus and is not described in detail here. Alternatively, according to the beam-level measurement set and threshold sent by the base station, the terminal can choose to measure with a more precise granularity. The terminal can also report according to the beam-level measurement set indicated by the base station based on the beam-level measurement results, and the reporting resources are indicated by the base station side scheduling.

[0068] As an example of this embodiment, the base station side instructs the terminal to perform beam-level channel quality measurement using downlink SSB or downlink CSI-RS or downlink PDSCH DMRS or downlink PDCCH DMRS. The channel quality measured by the base station side instructs the terminal to include parameters such as RSRP or RSRQ or SI NR. For ease of description, RSRP is used as a representative description for channel quality measurement in the following description, but the following scheme is not limited to using RSRP as the measurement result.

[0069] The base station indicates the beam-level measurement set and beam-level measurement threshold of the terminal. The beam-level measurement set is determined as follows:

[0070] 1) The base station side determines the beam level set to be measured based on its transmit or receive beam template and the expected terminal target position; assuming that the two-dimensional beam design template on the base station side (two-dimensional means horizontal dimension and vertical dimension, also called elevation angle and azimuth angle dimension in some literature) is as follows Figure 3 As shown. And it is expected that the terminal moves directly above the geometric position of the base station, that is, the center position corresponding to beam 4. Then there are several implementation methods for the base station to instruct the terminal to measure the measurement set. 1. The base station side instructs the terminal to measure the channel quality of beam 4. When the highest channel quality (such as RSRP) measured by the terminal is not beam 4, the terminal moves the position so that the beam with the highest RSRP in the measurement results of all beams is beam 4, and continues to move the position so that the RSRP of beam 4 is the highest. 2. The base station side instructs the terminal to measure the channel quality of beams 1 / 3 / 4 / 5 / 7, and the moving method is the same as implementation method one. 3. The base station side instructs the terminal to measure the channel quality of beams 1 / 3 / 5 / 7, and instructs the terminal to move to a position where the RSRP of beams 1 / 3 / 5 / 7 are equal.

[0071] The base station can also send the beam template to the terminal. Based on the template, the measurement beam set and the position to be moved, the terminal can quickly calculate the moving direction, moving distance and other information, thereby speeding up the position movement on the terminal side.

[0072] 2) The two-dimensional beam design template on the base station side can also be Figure 4 shown. Figure 4It is also an orthogonal beam template. The difference from method 1 is that the position of the base station's geometric center is exactly the intersection of beams 5 / 6 / 9 / 10, that is, the position where the RSRP is equal. The base station side can instruct the terminal to measure beams 5 / 6 / 9 / 10, and instruct the terminal to move to the position where the RSRP of the four beams is equal.

[0073] 3) The two-dimensional beam design template on the base station side can also be Figure 5 shown. Figure 5 The beam template generated by the orthogonal beam and the oversampled beam, the beam template of the orthogonal beam is shown in the light gray circle, and the beam template of the oversampled beam is shown in the dark gray circle. The position of the geometric center of the base station is exactly the intersection of beams 5 / 6 / 9 / 10, that is, the position where the RSRP is equal, or it can be considered as the center point of oversampled beam 23. Then the base station side can instruct the terminal to measure beams 5 / 6 / 9 / 10 / 23, and instruct the terminal to move to the position where the RSRP of beams 5 / 6 / 9 / 10 is equal, and the RSRP of beam 23 is the highest. In this way, the position of the terminal can be controlled more accurately.

[0074] As another example of this embodiment, the base station sends a navigation instruction, and the terminal performs beam-based incoming wave angle measurement according to the instruction and adjusts the flight attitude by itself. The base station instructs the terminal to perform measurement using downlink SSB or downlink CSI-RS or downlink PDSCH DMRS or downlink PDCCH DMRS.

[0075] The base station instructs the terminal to measure angle information, such as the incoming wave angle AoA and / or ZoA. The base station instructs the terminal to measure the incoming wave angle on certain beam sets. The base station indicates a mobile strategy, such as moving to the incoming wave angle AoA = the specified angle alpha, and / or ZoA = the specified angle beta;

[0076] The terminal measures the incoming wave angle AoA and / or ZoA according to the instruction of the base station side, and compares it with the specified angle alpha and / or beta to determine the moving distance and direction. The method for the terminal to measure the angle is as follows:

[0077] Method 1: After receiving the angle measurement instruction, the terminal uses the phase information on each receiving antenna to measure the angle of the incoming wave. Furthermore, the antenna phase information in the horizontal direction and / or vertical direction can be used to measure the angle in the horizontal direction and vertical direction respectively. Furthermore, the base station instructs the terminal to measure the angle of the incoming wave under the beam set. For example, Figure 4The base station instructs the terminal to measure the angle of arrival AoA under beam set 5 / 6 / 9 / 10 based on the beam template. For other beam sets, the terminal may not measure the angle information, but may only measure the RSRP of the beam. When the terminal is not located in beam set 5 / 6 / 9 / 10 (that is, the beam corresponding to the highest RSRP is not located in the beam set), the terminal position continues to be moved until the highest RSRP is located in beam set 5 / 6 / 9 / 10. When the highest RSRP is located in beam set 5 / 6 / 9 / 10, the terminal measures the angle of arrival, and according to the relationship between the angle of arrival and the specified angle, the terminal is moved until the specified position or specified angle is met.

[0078] Method 2: After the terminal receives the angle measurement instruction, the terminal measures the RSRP of each beam by default. Since the sum and difference of RSRP of adjacent beams have a one-to-one correspondence with the angle of arrival of the terminal, it is easy to obtain the angle of arrival based on the sum and difference of RSRP of adjacent beams. Furthermore, the terminal can query the table of angles, beam IDs, RSRP and differences preset by the system to directly obtain the angle of arrival. Furthermore, the base station can notify the terminal of the table through air interface signaling in real time, non-real time or periodic refresh.

[0079] As another example of this embodiment, the base station sends a measurement instruction and a reporting instruction to the terminal side. After the terminal side performs measurement, it reports the measurement result to the base station. The base station generates navigation information according to the reporting result, and after sending the navigation information to the terminal, the terminal moves according to the navigation information. The implementation plan is:

[0080] 1. The base station side instructs the terminal to measure with the downlink SSB or downlink CSI-RS or downlink PDSCH DMRS or downlink PDCCH DMRS.

[0081] 2. The base station side indicates that the channel quality measured by the terminal includes parameters such as RSRP or RSRQ or SINR or incoming wave angle.

[0082] 3. The base station indicates the beam-level measurement set and beam-level measurement threshold of the terminal. The beam-level measurement set and threshold are determined in the same way as the beam-level measurement set mentioned above. No further details are given here.

[0083] 4. The base station side indicates the reporting resources of the terminal, including: the frequency domain RB resources occupied by the report, the time domain symbol resources, the reporting delay, and the PUCCH format used; if reporting on the PUSCH, it is also necessary to indicate the multiplexing method of UCI and PUSCH, the MCS used, HARQ and other information.

[0084] 5. The terminal side performs the channel quality measurement or the angle measurement of the corresponding beam level according to the instruction of the base station side, and reports the UCI on the corresponding uplink resource. Among them, the reported information needs to be related to the beam ID. For example, the angle of arrival AoA1 of beam ID 1, the angle of arrival AoA 2 of beam ID 2. The RSRP measurement value of beam ID 1 is 1, and the RSRP measurement value of beam ID 2 is 2. Or the order of UE reporting is consistent with the order of beam IDs indicated by the base station.

[0085] 6. The base station calculates the distance or direction that the UE needs to move and other information based on the information reported by the UE. For example, the base station calculates the moving direction and moving distance of the terminal based on the RSRP information of each beam reported by the UE; and or calculates the moving direction and moving distance of the terminal based on the AoA information reported by the UE. The method is consistent with Embodiment 1 and Embodiment 2.

[0086] 7. The base station sends the terminal's mobile information to the terminal through the downlink channel.

[0087] 8. Furthermore, the moving direction and / or position information of the terminal is fed back to the base station, which then verifies and adjusts the moving direction and / or position of the terminal.

[0088] S13, receiving flight instruction information, and adjusting the flight attitude of the flight terminal according to the flight instruction information and the measurement result, so that the flight terminal reaches the target flight position.

[0089] In one embodiment, the flight attitude of the flight terminal is adjusted according to the flight instruction information, specifically:

[0090] Receive the beam movement strategy sent by the base station and adjust the flight attitude of the flight terminal according to the beam movement strategy;

[0091] Or receive the wave angle strategy sent by the base station, and adjust the flight attitude of the flight terminal according to the wave angle strategy;

[0092] Or receive navigation information sent by the base station and adjust the flight attitude of the flight terminal according to the navigation information.

[0093] In one embodiment, the flight attitude of the flight terminal is adjusted according to the incoming wave angle strategy, specifically:

[0094] The target wave angle is calculated according to the wave angle strategy, the target wave angle is compared with the preset angle, the moving direction is calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction;

[0095] Or the target wave angle is calculated according to the wave angle strategy, the target wave angle is compared with the preset angle, the moving direction and moving distance are calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction and moving distance.

[0096] In this embodiment, there are three indication methods for adjusting the flight attitude of the terminal.

[0097] One is that the base station side indicates the position, direction, etc. of the terminal's movement, and indicates the terminal through the air interface signal. After receiving the indication, the terminal makes corresponding adjustments.

[0098] The second is that the terminal decides the position, direction, etc. to move by itself according to the measured beam-level channel quality and the movement principle indicated by the base station until it reaches the moving target position.

[0099] The third is that the base station side indicates the movement strategy of the terminal, and the terminal combines the measurement information and the movement strategy indication to decide the position, direction, etc. to move by itself until it reaches the moving target position.

[0100] As an example of this embodiment, the method for the terminal to adjust its flight attitude by itself is as follows:

[0101] Method 1: The terminal compares the incoming wave angle calculated in real time with the specified angles alpha and / or beta, and calculates the moving direction. For example, if the incoming wave angle is AoA and the specified angle is alpha, the terminal moves along the angle direction of alpha - AoA. During the movement of the terminal, the value of AoA will be calculated in real time, and the value of alpha - AoA will be refreshed until alpha - AoA = 0. To prevent the jitter of the terminal's position, a threshold a0 (a0 >= 0) can be set. When abs(alpha - AoA) <= a0, abs() is the operation of taking the absolute value. Then it is considered that the terminal has moved to the specified angle position. Subsequently, the terminal continues to execute its preset tasks, such as taking off, descending, accelerating, decelerating, ascending, rotating, etc. at the specified angle. a0 can be sent by the base station side in real time, or periodically, or semi-statically to ensure that the mobile terminal moves to the predetermined position reasonably and accurately. For example, when the height of the terminal from the base station > h1 or the distance > r1, then a0 = a1; when the height of the terminal from the base station > h2 and < h1 or the distance > r2 and < r1, then a0 = a2; when the height of the terminal from the base station <= h2 or the distance < r2, then a0 = a3; a1 > a2 > a3.

[0102] Method 2: The terminal compares the incoming wave angle calculated in real time with the specified angle and / or beta, and calculates the moving direction and the moving distance. The calculation of the moving direction is the same as that in Method 1, and the calculation of the moving distance is carried out through the following method.

[0103] Suppose the aircraft has calculated the incoming wave angle with the target position of the base station, denoted as α1. The calculation method is the same as that in Method 1.

[0104] Assume that the aircraft knows the distance r from the base station target position. There are several ways to calculate the value of r: 1) The terminal uses existing positioning capabilities (such as RTK, 4G / 5G positioning technology, perception, etc.) to calculate the terminal position, and then the distance r from the base station target position can be obtained. 2) After the base station calculates the terminal target position (using network RTK, 4G / 5G positioning technology, perception, etc.), it sends the distance information r to the terminal, or the terminal's position information is sent to the terminal and the terminal solves r.

[0105] Assume that the aircraft knows the relative distance D between the base station target position and the actual landing or take-off position. This information can be obtained by sending it to the terminal side in real time or periodically from the base station side; it can also be preset in the terminal. For example, in the take-off and landing scenario, there is a fixed deviation between the location of the deployed base station and the actual take-off and landing location of the aircraft. This deviation can be preset in the aircraft. This deviation can be a table. For example, each fixed take-off and landing position can be identified by a number or a QR code, and the relative distance relationship with different base stations can be made into a table. The distance information can be obtained by identifying the index of the table. Figure 6 As shown, the distance that the terminal needs to move can be calculated using the formula d1=r·sinα1+D.

[0106] Furthermore, since the channel changes in low-altitude scenes are not large, the beam-level measurement information of low-altitude scenes, such as RSRP measurement information, angle information, distance information, moving distance information, etc., can be sampled to establish a fingerprint library. The fingerprint library can be sent to the terminal in real time, periodically, or semi-statically through the base station; or it can be preset in the terminal. The terminal directly performs matching calculation or interpolation calculation based on the measurement results and the information in the fingerprint library, and thus moves to the specified position.

[0107] In this embodiment, the base station indicates the specified angle movement threshold a0 of the terminal. This value is used to indicate whether the terminal has moved to a reasonable angle position. This value can be sent in real time, periodically, or semi-statically to ensure that the terminal is reasonably and accurately moved to the predetermined position; the base station indicates the distance difference D between the terminal base station position and the target position and / or the distance table and / or the index of the table. The table will indicate the one-to-one correspondence between the base station ID and the target ID. The table will be sent to the terminal in real time, periodically, or semi-periodically; the system can use a fingerprint measurement system to first establish a fingerprint library of RSRP measurement information, angle information, distance information, etc. The fingerprint library can be refreshed and sent to the terminal in real time, periodically, or semi-statically.

[0108] It should be noted that the technical solution of the present invention can be used for single-station low-altitude aircraft navigation, can be extended to multi-station low-altitude aircraft navigation, and can also be extended to a single-station ground navigation system. It is applicable to millimeter wave and sub6.

[0109] The method receives beam information sent by a base station, measures beam-level channel quality according to the beam information, obtains a measurement result, reports the measurement result to the base station, so that the base station obtains flight instruction information according to the measurement result, sends the flight instruction information to the flight terminal, receives the flight instruction information, and adjusts the flight attitude of the flight terminal according to the flight instruction information and the measurement result, so that the flight terminal reaches a target flight position. The method uses an existing base station to perform high-precision positioning and navigation on the aircraft, thereby improving navigation accuracy.

[0110] Embodiment 2

[0111] Accordingly, see Figure 7 , Figure 7 The present invention provides a beam-based aircraft navigation implementation system. As shown in the figure, the beam-based aircraft navigation implementation system includes:

[0112] The measurement module 701 is used to receive beam information sent by the base station, measure the beam-level channel quality according to the beam information, and obtain a measurement result;

[0113] The calculation module 702 is used to report the measurement result to the base station, so that the base station obtains the flight instruction information according to the measurement result, and sends the flight instruction information to the flight terminal;

[0114] The adjustment module 703 is used to receive the flight instruction information and adjust the flight attitude of the flight terminal according to the flight instruction information and the measurement result so that the flight terminal reaches the target flight position.

[0115] In one embodiment, a beam-level measurement set and a beam-level measurement threshold sent by a base station are received, and measurements are performed according to the beam-level measurement set and the beam-level measurement threshold to obtain a beam measurement result, wherein the beam-level measurement set is obtained according to a beam template and a target flight position of a flight terminal; or signal arrival angle information sent by a base station is received, and arrival angle measurement is performed according to the signal arrival angle information to obtain an arrival angle measurement result; or channel quality measurement configuration information sent by a base station is received, and channel quality measurement is performed according to the channel quality measurement configuration information to obtain a channel quality measurement result.

[0116] In one embodiment, the beam ID, RSRP sum difference table and RSRP angle table sent by the receiving base station through air interface signaling are used to look up the RSRP sum difference table and the RSRP angle table to obtain the incoming wave angle measurement result; or the signal incoming wave angle information sent by the receiving base station is measured, the RSRP of each beam is measured, and the incoming wave angle measurement result of the flight terminal is obtained according to the sum of RSRP between two adjacent beams and the difference of RSRP between two adjacent beams.

[0117] In one embodiment, the beam measurement result is reported to the base station, so that the base station obtains the beam movement strategy of the flight terminal based on the beam measurement result; or the incoming wave angle measurement result is reported to the base station, so that the base station obtains the incoming wave angle strategy of the flight terminal based on the incoming wave angle measurement result; or the channel quality measurement result is reported to the base station, so that the base station calculates the target moving distance and target direction of the aircraft based on the channel quality measurement result to obtain navigation information.

[0118] In one embodiment, a beam movement strategy sent by a base station is received, and the flight attitude of the flight terminal is adjusted according to the beam movement strategy; or an incoming wave angle strategy sent by a base station is received, and the flight attitude of the flight terminal is adjusted according to the incoming wave angle strategy; or navigation information sent by a base station is received, and the flight attitude of the flight terminal is adjusted according to the navigation information.

[0119] In one embodiment, the target arrival angle is calculated according to the arrival angle strategy, the target arrival angle is compared with the preset angle, the moving direction is calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction; or the target arrival angle is calculated according to the arrival angle strategy, the target arrival angle is compared with the preset angle, the moving direction and the moving distance are calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction and the moving distance.

[0120] In one embodiment of the present application, a computer device is provided, the computer device comprising a memory and a processor, the memory stores a computer program, and the processor implements the above steps when executing the computer program. The implementation principle and technical effect of the computer device provided in this embodiment are similar to those of the above method embodiment, and will not be repeated here.

[0121] In one embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the above steps are implemented when the computer program is executed by a processor; the computer-readable storage medium provided in this embodiment has an implementation principle and technical effects similar to those of the above method embodiment, and will not be repeated here.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0123] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A beam-based aircraft navigation implementation method, characterized in that: include: receiving beam information sent by a base station, and measuring beam-level channel quality according to the beam information to obtain a measurement result; Reporting the measurement result to a base station, so that the base station obtains flight instruction information according to the measurement result, and sends the flight instruction information to the flight terminal; receiving the flight instruction information, and adjusting the flight attitude of the flight terminal according to the flight instruction information and the measurement result so that the flight terminal reaches a target flight position; The measuring the beam-level channel quality according to the beam information to obtain the measurement result is specifically: receiving a beam-level measurement set and a beam-level measurement threshold sent by the base station, performing measurement according to the beam-level measurement set and the beam-level measurement threshold, and obtaining a beam measurement result, wherein the beam-level measurement set is obtained according to a beam template and a target flight position of the flight terminal, the beam template includes an orthogonal beam template or a new beam template, and the new beam template is a beam template generated by the orthogonal beam template and the oversampled beam template; or receiving the signal arrival angle information sent by the base station, performing arrival angle measurement according to the signal arrival angle information, and obtaining an arrival angle measurement result; The receiving the signal arrival angle information sent by the base station, and performing arrival angle measurement according to the arrival angle measurement information to obtain the arrival angle measurement result is specifically: The receiving base station sends a beam ID, an RSRP sum difference table, and an RSRP angle table through air interface signaling, and uses the RSRP sum difference table and the RSRP angle table to look up the table to obtain an incoming wave angle measurement result; Or receive the signal arrival angle information sent by the base station, measure the RSRP of each beam, and obtain the arrival angle measurement result of the flight terminal according to the sum of the RSRP between two adjacent beams and the difference between the RSRP between two adjacent beams.

2. The method for realizing beam-based aircraft navigation according to claim 1, characterized in that: Reporting the measurement result to a base station so that the base station obtains flight instruction information according to the measurement result is specifically: Reporting the beam measurement result to a base station, so that the base station obtains a beam movement strategy of the flight terminal according to the beam measurement result; Or the arrival angle measurement result is reported to a base station, so that the base station obtains the arrival angle strategy of the flight terminal according to the arrival angle measurement result.

3. The method for realizing beam-based aircraft navigation according to claim 2, characterized in that: The step of adjusting the flight attitude of the flight terminal according to the flight instruction information is specifically as follows: receiving a beam movement strategy sent by the base station, and adjusting a flight attitude of the flight terminal according to the beam movement strategy; Or receive the wave angle strategy sent by the base station, and adjust the flight attitude of the flight terminal according to the wave angle strategy.

4. The method for realizing beam-based aircraft navigation according to claim 3, characterized in that: The step of adjusting the flight attitude of the flight terminal according to the incoming wave angle strategy is specifically as follows: Compare the measured incoming wave angle with the preset angle, calculate the moving direction, and adjust the flight attitude of the flight terminal according to the moving direction; Or the measured incoming wave angle is compared with the preset angle, the moving direction and the moving distance are calculated, and the flight attitude of the flight terminal is adjusted according to the moving direction and the moving distance.

5. A beam-based aircraft navigation implementation system, characterized in that: include: A measurement module, used to receive beam information sent by the base station, measure the beam-level channel quality according to the beam information, and obtain a measurement result; a calculation module, configured to report the measurement result to a base station, so that the base station obtains flight instruction information according to the measurement result, and sends the flight instruction information to a flight terminal; an adjustment module, configured to receive the flight instruction information, and adjust the flight attitude of the flight terminal according to the flight instruction information and the measurement result, so that the flight terminal reaches a target flight position; The measuring the beam-level channel quality according to the beam information to obtain the measurement result is specifically: receiving a beam-level measurement set and a beam-level measurement threshold sent by the base station, performing measurement according to the beam-level measurement set and the beam-level measurement threshold, and obtaining a beam measurement result, wherein the beam-level measurement set is obtained according to a beam template and a target flight position of the flight terminal, the beam template includes an orthogonal beam template or a new beam template, and the new beam template is a beam template generated by the orthogonal beam template and the oversampled beam template; or receiving the signal arrival angle information sent by the base station, performing arrival angle measurement according to the signal arrival angle information, and obtaining an arrival angle measurement result; The receiving the signal arrival angle information sent by the base station, and performing arrival angle measurement according to the arrival angle measurement information to obtain the arrival angle measurement result is specifically: The receiving base station sends a beam ID, an RSRP sum difference table, and an RSRP angle table through air interface signaling, and uses the RSRP sum difference table and the RSRP angle table to look up the table to obtain an incoming wave angle measurement result; Or receive the signal arrival angle information sent by the base station, measure the RSRP of each beam, and obtain the arrival angle measurement result of the flight terminal according to the sum of the RSRP between two adjacent beams and the difference between the RSRP between two adjacent beams.

6. The beam-based aircraft navigation implementation system according to claim 5, characterized in that: Reporting the measurement result to a base station so that the base station obtains flight instruction information according to the measurement result is specifically: Reporting the beam measurement result to a base station, so that the base station obtains a beam movement strategy of the flight terminal according to the beam measurement result; Or the arrival angle measurement result is reported to a base station, so that the base station obtains the arrival angle strategy of the flight terminal according to the arrival angle measurement result.

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