Unmanned aerial vehicle tracking method and device

Abstract

The embodiment of the invention aims to provide an unmanned aerial vehicle tracking method and device, a computer program product and a computer program storage medium. The communication device receives the identity label of the unmanned aerial vehicle and the current three-dimensional grid position information transmitted by the unmanned aerial vehicle in real time; and associating and recording the identity label of the unmanned aerial vehicle with the current three-dimensional grid position information to form a real-time position label of the unmanned aerial vehicle. According to the embodiments of the invention, in the flight process of the unmanned aerial vehicle, the grid position code technology of the Beidou navigation system is utilized to identify and record the current position of the unmanned aerial vehicle, and the real-time position is bound with the identity information of the unmanned aerial vehicle to form a set of complete real-time tracking and labeling mechanism.

Description

Technical Field

[0001] The various embodiments of the present disclosure relate to the field of unmanned aerial vehicles, and more particularly to a technology for tracking unmanned aerial vehicles. Background Art

[0002] Existing real-time tracking technology for unmanned aerial vehicles usually relies on GPS to obtain location information and send the location information of the aircraft to the monitoring platform. This technology usually can only provide basic positioning and path tracking functions, the positioning is not precise enough and the transmission may be delayed. Summary of the invention

[0003] The purpose of each embodiment of the present disclosure is to provide a method, device, computer program product and computer program storage medium for tracking an unmanned aerial vehicle.

[0004] According to one aspect of the present disclosure, a method for tracking an unmanned aerial vehicle is provided, wherein the method comprises the following steps:

[0005] Receive the UAV's own identity and current three-dimensional grid position information transmitted in real time;

[0006] The identity of the unmanned aerial vehicle is associated with the current three-dimensional grid position information and recorded to form a real-time position mark for the unmanned aerial vehicle.

[0007] According to one aspect of the present disclosure, there is also provided an unmanned aerial vehicle tracking device, wherein the device comprises a memory and a processor, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the computer device is configured to perform the following operations:

[0008] Receive the UAV's own identity and current three-dimensional grid position information transmitted in real time;

[0009] The identity of the unmanned aerial vehicle is associated with the current three-dimensional grid position information and recorded to form a real-time position mark for the unmanned aerial vehicle.

[0010] According to one aspect of the present disclosure, a computer program product is further provided, comprising computer program instructions, wherein when the computer program instructions are executed by a computer device, the computer device is configured to perform a method for tracking an unmanned aerial vehicle, wherein the method comprises the following steps:

[0011] Receive the UAV's own identity and current three-dimensional grid position information transmitted in real time;

[0012] The identity of the unmanned aerial vehicle is associated with the current three-dimensional grid position information and recorded to form a real-time position mark for the unmanned aerial vehicle.

[0013] According to one aspect of the present disclosure, a computer program storage medium is further provided, wherein computer executable instructions are stored. When the computer executable instructions are executed by a computer device, the computer device is configured to execute a method for tracking an unmanned aerial vehicle, wherein the method comprises the following steps:

[0014] Receive the UAV's own identity and current three-dimensional grid position information transmitted in real time;

[0015] The identity of the unmanned aerial vehicle is associated with the current three-dimensional grid position information and recorded to form a real-time position mark for the unmanned aerial vehicle.

[0016] The various embodiments of the present disclosure use three-dimensional grid position information to identify and record the current position of the unmanned aerial vehicle during the flight of the unmanned aerial vehicle, and bind the real-time position with the identity information of the unmanned aerial vehicle to form a complete real-time tracking and labeling mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present disclosure will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0018] Figure 1 A flowchart showing tracking of an unmanned aerial vehicle according to an embodiment of the present disclosure is shown;

[0019] Figure 2 A schematic diagram of a housing of an unmanned aerial vehicle according to an example of the present disclosure is shown.

[0020] 1 box

[0021] 2. Display panel;

[0022] 3. Charging control interface;

[0023] 4. Power switch button;

[0024] 5. Charging indicator light;

[0025] 6. Working indicator light;

[0026] 7. Positioning indicator light;

[0027] 8.RTK indicator light;

[0028] 9. Antenna surface identification.

[0029] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0030] The specific embodiments of the present disclosure will be further described below in conjunction with the accompanying drawings.

[0031] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments of the present disclosure are described as devices represented by block diagrams and processes or methods represented by flow charts. Although the flow charts describe the operating processes of the various embodiments of the present disclosure as sequential processing, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The processes of the various embodiments of the present disclosure can be terminated when their operations are completed, but can also include additional steps not shown in the flow charts. The processes of the various embodiments of the present disclosure can correspond to methods, functions, procedures, subroutines, subprograms, etc.

[0032] The methods illustrated by the flow charts and the devices illustrated by the block diagrams discussed below may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware, or microcode, program code or code segments that perform the necessary tasks may be stored in a machine or computer readable medium such as a storage medium. (One or more) processors may perform the necessary tasks.

[0033] Similarly, it will also be understood that any flow charts, flow diagrams, state transition diagrams, and the like represent various processes that can be fully described as program code stored in a computer readable medium and thereby executed by a computer device or processor, whether or not such computer device or processor is explicitly shown.

[0034] As used herein, the term "storage medium" may refer to one or more devices for storing data, including read-only memory (ROM), random access memory (RAM), magnetic RAM, kernel memory, magnetic disk storage media, optical storage media, flash memory devices and / or other machine-readable media for storing information. The term "computer-readable medium" may include, but is not limited to, portable or fixed storage devices, optical storage devices, and various other media capable of storing and / or containing instructions and / or data.

[0035] A code segment may represent a procedure, function, subprogram, program, routine, subroutine, module, software package, class, or any combination of instructions, data structures, or program descriptions. A code segment may be coupled to another code segment or hardware circuit by passing and / or receiving information, data, arguments, parameters, or storage contents. Information, arguments, parameters, data, etc. may be passed, forwarded, or transmitted via any suitable means including storage sharing, information passing, token passing, network transmission, etc.

[0036] The "computer device" referred to in this context refers to an electronic device that can perform predetermined processing procedures such as numerical calculations and / or logical calculations by running predetermined programs or instructions, and may include at least a processor and a memory, wherein the processor executes program instructions pre-stored in the memory to perform the predetermined processing process, or the predetermined processing process is performed by hardware such as ASIC, FPGA, DSP, or a combination of the above two.

[0037] The above-mentioned "computer device" is usually expressed in the form of a general-purpose computer device, and its components may include but are not limited to: one or more processors or processing units, system memory. The system memory may include a computer-readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The "computer device" may further include other removable / non-removable, volatile / non-volatile computer-readable storage media. The memory may include at least one computer program product having a set (e.g., at least one) of program modules that are configured to perform the functions and / or methods of the various embodiments of the present disclosure. The processor executes various functional applications and data processing by running the program stored in the memory.

[0038] For example, a computer program for executing various functions and processes of multiple embodiments of the present disclosure is stored in the memory, and when the processor executes the corresponding computer program, multiple embodiments of the present disclosure are implemented.

[0039] Typically, the computer device may be, for example, a user device or a network device, or even a combination of the two. The user device includes, but is not limited to, a personal computer (PC), a laptop, a mobile terminal, etc. The mobile terminal includes, but is not limited to, a smart phone, a tablet computer, etc. The network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of computers or network servers based on cloud computing (Cloud Computing), wherein cloud computing is a type of distributed computing, a super virtual computer consisting of a group of loosely coupled computer sets. The computer device may be operated alone to implement the various embodiments of the present disclosure, or may be connected to a network and implement the various embodiments of the present disclosure through interactive operations with other computer devices in the network. The network in which the computer device is located includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, etc.

[0040] It should be noted that the user equipment, network equipment and network are only examples. Other existing or future computing devices or networks that are applicable to the embodiments of the present disclosure should also be included in the scope of protection of the present disclosure and are included here by reference.

[0041] The specific structural and functional details disclosed herein are merely representative and are for the purpose of describing exemplary embodiments of the present disclosure. However, the various embodiments of the present disclosure may be implemented in many alternative forms and should not be interpreted as being limited to only the embodiments set forth herein.

[0042] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0043] The terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms "one", "one" and "item" used herein are also intended to include plural numbers. It should also be understood that the terms "include" and / or "comprise" used herein specify the existence of stated features, integers, steps, operations, units and / or components, without excluding the existence or addition of one or more other features, integers, steps, operations, units, components and / or combinations thereof.

[0044] It should also be noted that, in some alternative implementations, the functions / actions mentioned may occur in a different order than that indicated in the accompanying drawings. For example, depending on the functions / actions involved, two figures shown in succession may actually be performed substantially simultaneously or may sometimes be performed in the reverse order.

[0045] See also Figure 1 , which shows a process for tracking an unmanned aerial vehicle according to an embodiment of the present disclosure.

[0046] See also Figure 1 In step S1, the communication device receives the unmanned aerial vehicle's own identity and current three-dimensional grid position information transmitted in real time; in step S2, the communication device associates and records the unmanned aerial vehicle's identity and current three-dimensional grid position information to form a real-time position mark for the unmanned aerial vehicle.

[0047] Here, "communication equipment" generally refers to various types of computing resource collections, such as cloud computing platforms, server clusters, virtualized environments, etc., which can generally be functionally referred to as "tracking management platforms / systems" and can be used equivalently herein unless otherwise specified. These communication devices can be configured to implement the functions required by the various embodiments of the present disclosure, including but not limited to data storage, processing, analysis, and application deployment. Through flexible configuration and optimization, these communication devices can support high-performance computing, real-time data processing, data security, and system scalability to meet the actual needs of the technical solutions of the present disclosure.

[0048] Specifically, in step S1, the communication device receives the UAV's own identity and current three-dimensional grid position information transmitted in real time.

[0049] The airspace is divided into multiple airspace grid cells according to specific standards, which are usually three-dimensional, including horizontal planes (XY planes) and vertical heights (Z axis). This can cover different height levels and geographical locations of the airspace. The size and shape of the grid cells can be defined as needed, usually as cubes or cuboids, so as to cover the entire airspace. The location information of each three-dimensional grid cell can be represented by, for example, GeoSOT code or Beidou grid location code.

[0050] The grid division method can adopt a variety of three-dimensional grid division algorithms, such as GeoSOT three-dimensional grid, earth partition theory, Beidou grid location code or multi-dimensional space-time grid segmentation algorithm.

[0051] GeoSOT 3D grid division: Based on GeoSOT (Geographic Space Organization Theory) theory, the space is divided into equal intervals and the earth space is divided into multiple levels using binary bits. GeoSOT supports both planar geographic location division and height dimension (Z axis) division, which is suitable for 3D airspace division.

[0052] BeiDou grid location coding: By dividing the earth's surface into multiple three-dimensional grids and assigning a unique code to each grid, it provides accurate three-dimensional geographic location identification. This system uses data from the BeiDou satellite system to support efficient regional division and location management, and is widely used in aviation, drones, and map making.

[0053] Geodesic Gridding: The space is divided by dividing the surface of the sphere into regular geometric shapes (such as hexagons and pentagons). Common gridding methods include projecting the sphere onto a regular dodecahedron or a regular icosahedron to generate polygonal grid units of equal area.

[0054] Multi-dimensional space-time grid division algorithm: Introducing the time dimension, the space is divided into three dimensions (XYZ axis) + time (T axis), allowing the dynamic changes of the airspace at different times to be described in grid form. Space-time grid division is suitable for processing real-time data and dynamic environmental changes.

[0055] In some embodiments, the unmanned aerial vehicle is equipped with a Beidou positioning module, and the Beidou positioning module communicates with Beidou satellites to obtain the current Beidou grid location code.

[0056] Each unmanned aerial vehicle is equipped with a Beidou positioning module. This module is responsible for receiving signals from Beidou satellites to obtain the geographic location information of the aircraft. Beidou positioning modules usually include a transceiver and a processor. The transceiver is used to receive signals from satellites, and the processor converts them into geographic location coordinates. According to one example, the Beidou positioning module has a volume of less than 47x37x24mm, a weight of less than 70g, a battery life of more than 7 hours, and a static positioning accuracy of better than 50 cm. Based on the lightweight and compact body size and auxiliary quick-install design, it can be installed on common unmanned aerial vehicles on the market.

[0057] The BeiDou positioning module communicates with the BeiDou satellite system. The BeiDou satellite system includes multiple satellites, and the signals from these satellites enable the UAV to determine its precise geographic location. The positioning module calculates the longitude, latitude and altitude of the UAV by receiving signals sent by the satellites.

[0058] In one example, the unmanned aerial vehicle receives and parses Beidou satellite signals through a Beidou positioning module to obtain position data, encodes the position data according to a Beidou position coding algorithm, and obtains a Beidou grid position code.

[0059] Specifically, after receiving satellite signals, the Beidou positioning module will calculate the current position of the unmanned aerial vehicle based on the time difference and signal strength of these signals. The calculated position information usually includes data such as longitude, latitude and altitude, which are used to determine the specific location of the aircraft.

[0060] Once the current location data of the UAV is obtained, the positioning module will encode the location data according to the Beidou location coding algorithm. Beidou grid location code is a specific format of encoding that converts location data into a grid identifier. This encoding method divides the airspace into several grids, each corresponding to a unique code, thereby simplifying location identification and management.

[0061] According to the Beidou location coding algorithm, the location information of the UAV is converted into a Beidou grid location code. This location code is a simplified, gridded identifier that facilitates location tracking and monitoring in the airspace management system. The Beidou grid location code can represent the specific grid area where the UAV is located, usually containing grid division information of latitude, longitude and altitude.

[0062] See also Figure 2 When the positioning indicator light 7 of the UAV lights up, it indicates that the UAV is currently in the positioning state. Usually when the aircraft locks the Beidou positioning system signal, the light will light up in white, indicating that the positioning is successful. At the same time, the RTK indicator light 8 also lights up, indicating that the aircraft is currently using RTK (Real-Time Kinematic, real-time dynamic positioning) precise positioning technology. When the blue light is on, it means that the RTK positioning function has been enabled and the aircraft is receiving RTK signals to achieve higher precision positioning.

[0063] The positioning indicator light 7 is used to indicate whether the UAV has obtained a basic positioning signal, such as a Beidou satellite system signal. The accuracy of this basic positioning is usually within a few meters and is suitable for ordinary navigation and position tracking.

[0064] RTK indicator light 8 is used to indicate whether the UAV has enabled RTK high-precision positioning technology. RTK uses ground reference stations to send differential signals and cooperates with satellite navigation systems to greatly improve positioning accuracy. RTK positioning accuracy usually reaches centimeter level, which is much higher than basic satellite system positioning and is suitable for highly precise position control.

[0065] When RTK is enabled, the ground reference station (Base Station) is a fixed-position satellite system signal receiver used to improve the positioning accuracy of the unmanned aerial vehicle. The ground reference station is located at a known fixed position and continuously receives signals from the Global Navigation Satellite System (GNSS). Since the position is known, the ground reference station can compare the received satellite signals with the known position and calculate the errors in the satellite signals. The ground reference station transmits these error data (i.e., differential signals) to the unmanned aerial vehicle in real time via radio or network. The unmanned aerial vehicle uses these differential data to correct the satellite signals it receives to achieve centimeter-level positioning accuracy. In this RTK configuration, the differential correction data provided by the ground reference station is the key, which can effectively eliminate or reduce the effects of atmospheric delay, satellite orbit errors, etc., thereby significantly improving positioning accuracy.

[0066] In some embodiments, the real-time transmission between the communication device and the unmanned aerial vehicle is performed through a wireless communication network. For long-distance communication, the communication device and the unmanned aerial vehicle transmit information in real time through a wireless communication network, such as a 4G / 5G wireless communication network, or a faster wireless communication network that may appear in the future.

[0067] Data transmission between communication equipment and unmanned aerial vehicles relies on wireless communication networks, such as 4G / 5G networks, which provide high-speed, low-latency real-time wireless data transmission capabilities. More advanced wireless communication networks that may appear in the future can also serve as a medium for data transmission, and these networks may have higher data transmission rates and lower latency.

[0068] The UAV encapsulates its current 3D grid position information and the aircraft's identity (device ID) into a data packet. These data packets are transmitted to the communication device in real time. In order to ensure the security and integrity of the data, encryption technology is usually used to protect the data during the transmission process.

[0069] The wireless communication network (4G / 5G network) used here supports low-latency data transmission, so that the location information of the unmanned aerial vehicle can be transmitted to the communication device in almost real time. The communication device can immediately update the location record of the aircraft after receiving the data and perform necessary processing and analysis.

[0070] Since Wi-Fi networks usually have limited coverage and are suitable for connecting devices in fixed locations, their signal range is usually insufficient to meet the needs of applications that require extensive mobility, such as unmanned aerial vehicles. In addition, the connection stability of Wi-Fi is limited by environmental factors, such as building structure and wireless interference, which may affect the transmission quality and reliability of data. Therefore, the real-time transmission between the unmanned aerial vehicle and the communication device in this disclosure will not use Wi-Fi connection.

[0071] In step S2, the communication device associates and records the identity of the UAV with the current three-dimensional grid position information to form a real-time position mark for the UAV.

[0072] The communication device receives data transmitted in real time by the unmanned aerial vehicle through the wireless communication network. These data include the identity of the unmanned aerial vehicle (device ID) and its current three-dimensional grid position information. In some embodiments, the three-dimensional grid position information can be, for example, the GeoSOT three-dimensional grid or Beidou grid position code of the unmanned aerial vehicle.

[0073] In some examples, the communication device decodes the received Beidou grid location code, which is generated by the Beidou satellite system based on the current location of the UAV and indicates the precise location of the UAV in the Beidou grid.

[0074] In some embodiments, the communication device associates the identity of the unmanned aerial vehicle with the decoded three-dimensional grid position information. The identity is used to uniquely identify the unmanned aerial vehicle, and the current three-dimensional grid position information provides the specific location of the aircraft.

[0075] The associated data of the two are then recorded in a database or real-time monitoring system. The record includes the UAV's identity, location code, and timestamp information to ensure data integrity and time consistency.

[0076] Based on the recorded data, the communication device generates real-time location annotations on a map or monitoring platform. Such annotations usually show the location of the UAV on the map and are presented in a visual manner, such as icons or markers, providing instant monitoring and tracking of the location of the aircraft.

[0077] In some embodiments, the communication device records the current three-dimensional grid position information transmitted by the unmanned aerial vehicle each time, and stores it in association with the identity of the unmanned aerial vehicle.

[0078] In some examples, the communication device can record the Beidou grid location code transmitted by the unmanned aerial vehicle in real time each time, and store it in association with the identity of the unmanned aerial vehicle. The unmanned aerial vehicle obtains the Beidou grid location code of the current location through the Beidou positioning module, and transmits it to the communication device in real time through the wireless communication network. After receiving this data, the communication device will associate the identity of the unmanned aerial vehicle with the corresponding Beidou grid location code to ensure that each location code is clearly bound to the corresponding aircraft.

[0079] This associative storage process involves storing the data in a backend database, recording each data transmission and ensuring that the UAV’s flight path can be fully tracked.

[0080] Further, in some embodiments, the communication device analyzes historical flight data of the UAV to evaluate its flight path and behavior patterns.

[0081] Communication equipment can analyze the historical flight data of UAVs and evaluate their flight paths and behavior patterns to provide more comprehensive management and optimization services. During each flight, the communication equipment will record the real-time location data of the UAV, including three-dimensional grid location information, flight altitude, speed, direction and other information. These data are continuously transmitted through the wireless communication network and stored in the system, forming a detailed flight history record.

[0082] By analyzing this historical data, the communication equipment can evaluate the flight path of the UAV. The system can trace back the past flight trajectory of the UAV, generate a detailed flight path map, and analyze the starting point, end point, stopover point, and flight time and distance of each flight. This evaluation can not only help users and managers understand the common routes and flight habits of UAVs, but also be used to optimize route planning for future flight missions.

[0083] In addition, the communication equipment can also analyze the behavior patterns of UAVs through historical data. For example, by comparing multiple flight data, the system can detect whether the UAV has followed the predetermined flight plan, whether it has deviated from the planned route, flown into a no-fly zone, or frequently changed the flight altitude, etc. In combination with factors such as flight speed and direction, the communication equipment can also identify high-risk flight behaviors, such as high-speed flight, sudden changes in direction, or failure to operate at the prescribed flight altitude.

[0084] The results of these historical data analyses can not only improve the safety and compliance of UAVs, but can also be used to optimize the performance of UAVs. For example, communication equipment can adjust the parameters of future flight missions based on the UAV’s past flight patterns, avoid repeating incorrect flight paths, optimize flight time, and even recommend more appropriate flight strategies for users.

[0085] Through historical data analysis, communication equipment can provide detailed flight reports, provide data support for the management, maintenance and scheduling of unmanned aerial vehicles, and also help improve the efficiency and safety of flight missions.

[0086] In some embodiments, the communication device compares the current location of the UAV and its authorized flight area to check whether the UAV is within the permitted flight area.

[0087] Each UAV usually has a preset flight area before starting to fly. This area can be an area defined by mission settings, regulatory agencies, or a user-defined flight range. The communication device continuously tracks the actual position of the UAV by receiving its real-time three-dimensional grid position information and compares it with the flight authorization area stored in the system. If the UAV is found to have deviated from the permitted flight area, the system will immediately issue a warning and notify the relevant management personnel to take corresponding measures, such as returning the UAV or restricting its flight function.

[0088] Furthermore, the communication device verifies the identity of the unmanned aerial vehicle to confirm whether it is a registered and legal aircraft.

[0089] Each unmanned aerial vehicle has a unique identification (device ID), which is recorded in the management system when the unmanned aerial vehicle is registered. The communication device ensures that the unmanned aerial vehicle in flight is legally registered and has obtained flight permission by matching the identification received in real time with the legal registration information in the database. If the identification fails to match, the system will regard the unmanned aerial vehicle as an illegal aircraft and may take further measures, such as notifying law enforcement agencies or triggering automatic protection mechanisms.

[0090] The legal identity confirmation and authorized flight area confirmation can be performed separately as a single legality check, or they can be combined for double confirmation to improve safety testing.

[0091] The above two legality checks can be performed separately. For example, the communication equipment can only detect the flight area of ​​the UAV to ensure that it does not exceed the permitted range without checking the identity, which is suitable for scenarios with stricter regional flight control. Similarly, the system can also only check the identity without checking its flight area, which is used to detect the legality of the aircraft but does not limit its flight range.

[0092] To enhance overall flight safety, the system can also combine these two tests for double confirmation. When comparing the flight area of ​​the UAV, the communication equipment also verifies its identity to ensure that the UAV is not only flying in a legal area, but also is a legally registered aircraft. Only when the UAV meets both conditions will the system determine it as a fully compliant aircraft. This double confirmation mechanism greatly improves safety and effectively prevents illegal aircraft or improper operations from entering sensitive airspace or performing unauthorized flight missions.

[0093] The dual confirmation system that combines identity verification and flight area detection can achieve stricter management of unmanned aerial vehicles, especially for airspace control in sensitive areas or flight missions with high safety requirements. For example, in high-risk areas such as airports or city centers, this mechanism can avoid the safety hazards caused by the intrusion of illegal aircraft or disorderly flight.

[0094] In some embodiments, the communication device updates the flight authority of the UAV at the current location along the flight route of the UAV.

[0095] The communication equipment can dynamically update the flight permissions of the UAV according to its real-time location, ensuring that the UAV has permissions that meet the requirements of the current area when performing corresponding tasks in different flight phases or different airspaces. When the UAV starts to fly, the system will assign it initial flight permissions, such as allowing it to operate within a specific flight area or perform specified tasks (such as reconnaissance, photography, delivery, etc.).

[0096] As the flight path of the UAV changes, the communication device will continue to receive and process its location information, such as tracking its current location in real time through the Beidou grid location code. When the UAV enters a different airspace or approaches a specific control area, the communication device will automatically update the permissions of the aircraft. For example:

[0097] Entering restricted airspace: When an unmanned aerial vehicle enters or approaches a restricted or controlled airspace (such as near an airport, military base, or government agency), the communication device will automatically adjust its permissions, which may limit its flight altitude, flight speed, or even suspend certain functions (such as photography, data collection). In some cases, flight permissions may be temporarily frozen until the unmanned aerial vehicle leaves the restricted airspace.

[0098] Mission change: The communication equipment can also adjust the flight permissions of the UAV in real time according to the mission requirements of the UAV. For example, when the UAV completes the current phase of the mission and is ready to enter the next mission area, the system can update its permissions to adapt to the new mission requirements. This includes adjustments to the flight altitude and mission permissions (such as starting video recording, data collection, etc.) to ensure that the UAV performs operations within the authorized scope.

[0099] Changes in airspace conditions: In some cases, the communication equipment will dynamically adjust the UAV's permissions based on airspace conditions (such as weather changes, other aircraft activities, etc.). If the system detects that weather conditions in the area have deteriorated (such as strong winds, rainfall) or there are other potential risks (such as the establishment of a temporary no-fly zone), the communication equipment will dynamically adjust the UAV's flight permissions based on these changes, which may reduce its flight speed, adjust its route, or require it to return.

[0100] Regional authority adjustment: Communication equipment can also dynamically update authority according to flight rules in different regions. For example, unmanned aerial vehicles may be restricted in the central area of ​​the city to reduce the impact on residents' lives, while when flying into suburban or rural areas, the flight altitude authority may be relaxed to allow them to fly freely in a larger range.

[0101] This mechanism of dynamically updating flight permissions can ensure that UAVs always operate in accordance with local airspace regulations and mission requirements, and avoid flight behaviors beyond the scope of authorization. Communication equipment can flexibly adjust flight permissions by real-time monitoring of the position of UAVs, combining various airspace management rules and mission parameters, to ensure the smooth completion of flight missions while ensuring flight safety and compliance.

[0102] It should be noted that the various embodiments of the present disclosure may be implemented in software and / or a combination of software and hardware, for example, may be implemented using an application specific integrated circuit (ASIC), a general purpose computer, or any other similar hardware device. In one embodiment, the software program of the various embodiments of the present disclosure may be executed by a processor to implement the steps or functions described above. Similarly, the software program of the various embodiments of the present disclosure (including related data structures) may be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive, or a floppy disk and the like. In addition, some steps or functions of the various embodiments of the present disclosure may be implemented using hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0103] In addition, at least a portion of the embodiments of the present disclosure may be applied as a computer program product, such as a computer program instruction, which, when executed by a computing device, can call or provide the method and / or technical solution according to the embodiments of the present disclosure through the operation of the computing device. The program instruction for calling / providing the method of the embodiments of the present disclosure may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in a working memory of a computing device that runs according to the program instruction.

[0104] For those skilled in the art, it is obvious that the embodiments of the present disclosure are not limited to the details of the above exemplary embodiments, and the embodiments of the present disclosure can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present disclosure. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present disclosure is limited by the attached claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the embodiments of the present disclosure. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the system claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

Claims

1. A method for tracking an unmanned aerial vehicle, wherein: The method comprises the following steps: Receive the UAV's own identity and current three-dimensional grid position information transmitted in real time; The identity of the unmanned aerial vehicle is associated with the current three-dimensional grid position information and recorded to form a real-time position mark for the unmanned aerial vehicle.

2. The method according to claim 1, wherein: The unmanned aerial vehicle is equipped with a Beidou positioning module; The current three-dimensional grid position information is the current Beidou grid position code obtained by the unmanned aerial vehicle through the Beidou positioning module communicating with the Beidou satellite.

3. The method according to claim 2, wherein: The unmanned aerial vehicle receives Beidou satellite signals through the Beidou positioning module, and the Beidou positioning module parses the Beidou satellite signals to obtain position data; The Beidou positioning module encodes the position data according to a Beidou position coding algorithm to obtain the Beidou grid position code.

4. The method according to claim 1, wherein: The real-time transmission is performed via a wireless communication network.

5. The method according to claim 1, wherein: The method further comprises the following steps: The current three-dimensional grid position information transmitted each time by the unmanned aerial vehicle is recorded and stored in association with the identity of the unmanned aerial vehicle.

6. The method according to claim 5, wherein: The method further comprises the following steps: Analyze historical flight data of the UAV and evaluate its flight path and behavior patterns.

7. The method according to claim 1, wherein: The method further comprises the following steps: Compare the current position of the UAV and its authorized flight area to check whether the UAV is within the permitted flight area.

8. The method according to claim 1 or 7, wherein: The method further comprises the following steps: The network communication device checks the identity of the unmanned aerial vehicle to confirm whether it is a registered legal aircraft.

9. The method according to claim 1, wherein: The method further comprises the following steps: The flight authority of the UAV at the current position is updated along the flight route of the UAV.

10. An unmanned aerial vehicle tracking device, wherein: The device comprises a memory and a processor, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the computer device is configured to perform the following operations: Receive the UAV's own identity and current three-dimensional grid position information transmitted in real time; The identity of the unmanned aerial vehicle is associated with the current three-dimensional grid position information and recorded to form a real-time position mark for the unmanned aerial vehicle.

11. A computer program product comprising computer program instructions, wherein: When the computer program instructions are executed by a computer device, the computer device is configured to perform the method according to any one of claims 1 to 9.

12. A computer program storage medium storing computer executable instructions, wherein when the computer executable instructions are executed by a computer device, the computer device is configured to perform the method according to any one of claims 1 to 9.

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