Unmanned aerial vehicle satellite navigation chip with built-in three-dimensional electronic fence and working method thereof

Abstract

The present invention relates to the technical field of navigation chip design, and discloses a satellite navigation chip for a drone with a built-in three-dimensional electronic fence and a working method thereof, wherein the chip comprises a frequency band signal processing module, a baseband signal processing module, a three-dimensional electronic fence module and a task scheduling module; wherein the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module are mutually connected by signals in pairs through a task scheduling module; the frequency band signal processing module is used to receive and process multi-frequency multi-system navigation signals from satellites to obtain baseband signals, and the baseband signals are fed to the baseband signal processing module through the task scheduling module; the baseband signal processing module is used to process the baseband signals through a positioning algorithm processing unit, generate position and time information, and provide navigation support for the drone. The present invention eliminates the possibility of illegal flight of drones from a hardware level, and maintains aviation safety and public safety.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation chip design, and in particular to a satellite navigation chip for an unmanned aerial vehicle with a built-in three-dimensional electronic fence and a working method thereof. Background Art

[0002] Drones are unmanned aerial vehicles equipped with radio remote control equipment and self-contained program control systems. They have the advantages of high efficiency, safety and economy. They are widely used in aerial photography, agricultural monitoring, logistics distribution, environmental protection, urban management, disaster relief and other fields, and are promoting the digital transformation and intelligent development of various industries.

[0003] In order to effectively restrict illegal drone flights, drone manufacturers have integrated electronic fence functions into their products. Electronic fences are virtual boundaries based on geographic location. They are demarcated by the global satellite navigation system. When a drone enters or leaves the preset area, the system will sound an alarm and take corresponding measures. However, electronic fence technology still has obvious shortcomings and deficiencies, and cannot completely solve the problem of "illegal flying": 1) Technical bypass problem: Some drone users can bypass the restrictions of electronic fences by modifying the software. For example, modifying the electronic fence data, modifying the positioning results of the navigation system, disabling the electronic fence function, or flying in a non-navigation mode, so that the drone can fly in the no-fly zone; 2) Unified standards of drone manufacturers: Some cheap or unauthorized drone flight control software may not have the electronic fence function at all, or their electronic fence system is not sound enough, which makes these drones easily enter the no-fly zone; 3) Lack of height restrictions: Geographic fences only contain horizontal restrictions and lack flight height restrictions. The height limit of drones is mainly achieved by sensors such as barometers, satellite navigation, and inertial navigation, and is automatically controlled by the flight control system. However, this restriction is at risk of being tampered with, especially when users modify the firmware, turn off the restriction function, or interfere with the signal. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV satellite navigation chip with a built-in three-dimensional electronic fence and its working method, aiming to eliminate the possibility of illegal flight of UAVs from the hardware level and maintain aviation safety and public safety. Specifically, the present invention expands the traditional two-dimensional electronic fence to three dimensions, and also includes the UAV flight altitude limit in the regulatory scope. By comprehensively utilizing the longitude and latitude of the UAV and the flight altitude data, it is possible to comprehensively evaluate whether the spatial position of the UAV meets the regulatory requirements during the flight. At the same time, the present invention integrates the three-dimensional electronic fence technology with the satellite navigation positioning technology at the chip level, so that the detection and execution of the UAV no-fly zone no longer depends on the operating system, software and external sensor data, and can prevent the UAV from flying across the border illegally at the hardware level, greatly improving the safety and compliance of the UAV flight. In addition, the present invention also ensures the security of the no-fly zone information through identity authentication and encryption machine mechanisms, while ensuring the reliability of the no-fly zone data update process.

[0005] In order to achieve the above purpose, the technical solutions adopted are as follows:

[0006] In a first aspect, the present invention provides a satellite navigation chip for a drone with a built-in three-dimensional electronic fence, comprising a frequency band signal processing module, a baseband signal processing module, a three-dimensional electronic fence module and a task scheduling module; wherein the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module are signal-connected to each other in pairs through the task scheduling module;

[0007] The frequency band signal processing module is used to receive and process multi-frequency multi-system navigation signals from satellites to obtain baseband signals, and the baseband signals are fed to the baseband signal processing module through the task scheduling module;

[0008] The baseband signal processing module is used to process the baseband signal through the positioning algorithm processing unit to generate position and time information to provide navigation support for the drone;

[0009] The three-dimensional electronic fence module includes:

[0010] Three-dimensional fence data storage module: used to store no-fly zone information, including the coordinates of the no-fly zone boundary and the flight altitude limit;

[0011] Altitude data storage module: used to store global terrain height data, assisting drones in determining flight altitude using navigation chip positioning information;

[0012] Data encryption module: used to protect the electronic fence data according to the encryption algorithm, ensure the security of the data during storage and transmission, and prevent unauthorized access; wherein the electronic fence data includes no-fly zone information and global terrain height data;

[0013] Authentication module: used to adopt multiple authentication mechanisms to authenticate users. Only authenticated and authorized users can access and modify the fence settings.

[0014] Furthermore, the task scheduling module mainly includes a power management unit, a peripheral interface, a clock management, a system bus integration and a memory;

[0015] The power management unit is used to monitor and optimize the power usage of the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module to extend the working time of the device;

[0016] The peripheral interface is used to exchange data with other devices and sensors to ensure real-time transmission of information;

[0017] The clock management module is used to ensure time synchronization between various functional modules to achieve efficient collaboration;

[0018] The system bus is integrated to be responsible for data transmission between the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module;

[0019] The memory is used to store processing data and algorithm parameters to ensure stable operation under high load conditions.

[0020] Furthermore, in the three-dimensional electronic fence module, the no-fly zone information and global terrain height data are directly burned into the three-dimensional fence data storage module and altitude data storage module corresponding to the three-dimensional electronic fence module by the chip manufacturer before the drone navigation chip leaves the factory, and the data is encrypted and protected by the data encryption module and the identity authentication module. At the same time, regular updates and maintenance are performed through the tools provided by the chip manufacturer to maintain the timeliness and accuracy of the data, so that the drone always has the latest no-fly zone data.

[0021] In a second aspect, the present invention provides a working method of the satellite navigation chip of the unmanned aerial vehicle with a built-in three-dimensional electronic fence as described above, the working method comprising:

[0022] Satellite signal reception and frequency band signal processing to obtain baseband signal;

[0023] The baseband signal is processed and positioned to obtain the real-time longitude of the drone. ,latitude and absolute height ;

[0024] Based on the three-dimensional electronic fence information, determine the position of the drone, and find the no-fly zone in the drone's flight area from the three-dimensional electronic fence storage module;

[0025] No-fly zone determination and risk assessment.

[0026] Furthermore, satellite signal reception and frequency band signal processing to obtain a baseband signal include:

[0027] Receive signals from multi-frequency and multi-system satellites;

[0028] The received multi-frequency multi-system satellite signal is amplified to increase the signal strength, and then the noise and interference are removed through a filter, and the multi-frequency multi-system satellite signal is converted into a baseband signal through a down-conversion process.

[0029] Furthermore, the baseband signal is processed and the positioning is solved to obtain the real-time longitude of the drone. ,latitude and absolute height ,include:

[0030] Demodulating, correlating, capturing and tracking the baseband signal to extract GNSS observation values; wherein the GNSS observation values ​​include pseudorange and carrier phase observation values;

[0031] Preprocessing the GNSS observation values ​​to remove abnormal values ​​in the observation values ​​to obtain preprocessed GNSS observation values;

[0032] Based on the GNSS positioning algorithm, the real-time longitude of the drone is generated according to the preprocessed GNSS observations. ,latitude and absolute height .

[0033] Further, based on the three-dimensional electronic fence information, the position of the drone is determined, and the no-fly zone of the drone flight area is searched from the three-dimensional electronic fence storage module, including;

[0034] According to the horizontal coordinates of the drone , search the altitude of the target area from the altitude data storage module ; Wherein, the target area is the area where the horizontal coordinates of the drone are located;

[0035] The absolute and the altitude of the area Make a difference and get the flight altitude of the drone ;

[0036] According to the real-time longitude of the drone ,latitude and the flight altitude of the drone Determine the drone's location ,

[0037] Based on the drone's location ,Find the no-fly zone near the drone’s flight area from the three-dimensional electronic fence storage module.

[0038] Furthermore, the no-fly zone determination and risk assessment include:

[0039] The drone's location information The boundary with all adjacent no-fly zones is judged; the judgment process includes checking whether the drone is in the no-fly zone and whether its flight altitude meets the set altitude;

[0040] Based on the results of the no-fly zone judgment, execute corresponding flight decisions.

[0041] Furthermore, based on the result of the no-fly zone determination, corresponding flight decisions are executed, including:

[0042] If the drone is judged to have entered a no-fly zone, an alarm will be triggered and the drone will immediately take safety measures such as automatic return or automatic landing to ensure that the drone does not further enter the restricted area;

[0043] If the drone's flight altitude does not meet the set altitude, quickly lower the drone to a height that meets the set altitude;

[0044] If the drone does not enter the no-fly zone, the drone will continue to perform the scheduled flight mission.

[0045] The beneficial effects of the present invention are:

[0046] (1) Hardware-level flight area restriction: The present invention directly embeds the no-fly zone data and global altitude data into the drone navigation chip. The detection and execution of the no-fly zone no longer rely on software and chip external sensor data, but are directly managed and executed by the navigation chip. The drone automatically limits its operations within the no-fly zone based on the built-in hardware logic. It is difficult for ordinary users or illegal flyers to crack the flight restrictions of the no-fly zone by modifying the no-fly zone data or sensor data, disabling electronic fences, replacing flight control software, etc., which greatly improves the safety and compliance of drone flights. In addition, this design supports encryption and authentication of no-fly zone data and global altitude data, ensuring the security and anti-tampering capabilities of no-fly zone information, and providing reliable technical guarantees for drone operations.

[0047] (2) Three-dimensional space management: This invention expands the electronic fence from two dimensions to three dimensions, and comprehensively utilizes the longitude and latitude and flight altitude data of the drone to comprehensively evaluate whether the spatial position of the drone complies with flight restrictions during flight. This multi-dimensional management mechanism not only improves the real-time monitoring capability of drone activities, but also enhances the adaptability to complex airspace environments, ensures the safety and compliance of drones at different altitude levels, and effectively prevents potential airspace intrusions and flight risks.

[0048] (3) Unified standardization: The present invention uses navigation chips to detect and enforce no-fly zones, which can unify the standards among drone manufacturers. All drones are restricted by no-fly zone data built into the hardware. This technical solution not only helps to improve the overall standardization of the industry, but also simplifies the legal supervision process, making the management of cheap or unauthorized drones more efficient and reliable, thereby ensuring public safety and airspace order. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A structural diagram of a satellite navigation chip for a drone with a built-in three-dimensional electronic fence according to an embodiment of the present invention is shown.

[0050] Figure 2 A workflow diagram of a satellite navigation chip for a drone with a built-in three-dimensional electronic fence according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0051] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0052] The specific implementation of the present invention is further described in detail below in conjunction with the drawings and examples.

[0053] Figure 1 The structure diagram of a satellite navigation chip for a drone with a built-in three-dimensional electronic fence according to an embodiment of the present invention is shown. Figure 1 The satellite navigation chip of the drone with built-in three-dimensional electronic fence includes a frequency band signal processing module, a baseband signal processing module, a three-dimensional electronic fence module and a task scheduling module. The navigation chip designed by the present invention is a system-on-a-chip (SOC), which encapsulates multiple modules with different functions in a single chip, has the advantages of high integration, high performance and low power consumption, can effectively reduce the development cost of drones, shorten the development cycle, and improve the competitiveness of products.

[0054] Specifically, the frequency band signal processing module includes an RF front end and a multi-tone interference suppression module. Among them, the RF front end includes an impedance matching network, a low-noise amplifier, a filter and an external antenna. The RF front end is responsible for receiving multi-frequency and multi-system navigation signals from satellites through an external antenna. These multi-frequency and multi-system navigation signals are fed to the low-noise amplifier through an impedance matching network. The low-noise amplifier is connected to the filter. The low-noise amplifier and the filter are used to amplify, filter and down-convert the input signal and convert it into a baseband signal suitable for further processing. In this process, the multi-tone interference suppression module can effectively reduce interference from other signal sources based on multi-tone interference suppression technology, and improve the clarity and accuracy of the signal.

[0055] The core component of the baseband signal processing module is the GNSS multi-system baseband signal processing engine. The engine supports the processing of multi-system signals such as BDS, GPS, GLONASS and Galileo, and has powerful demodulation, correlation operation, pseudo code capture and tracking capabilities. Through the positioning algorithm processing unit, the baseband signal processing module can generate high-precision position and time information, providing reliable navigation support for drones.

[0056] The task scheduling module includes a power management unit, a peripheral interface, a clock management module, a system bus integration, a memory and a multi-core central processing unit.

[0057] The power management unit includes a voltage conversion circuit, a voltage stabilization circuit, a real-time clock and backup memory. It is responsible for monitoring and optimizing the power usage of various components (such as baseband signal processing modules, frequency band signal processing modules, peripheral interfaces, clock management modules, system bus integration, memory and multi-core central processing units, etc.) to extend the working time of the equipment.

[0058] Peripheral interfaces are used to exchange data with other devices and sensors to ensure real-time transmission of information. For example, peripheral interfaces include general purpose input and output, serial communication interface, external interrupt interface, and pulse width modulation interface.

[0059] The clock management module is used to ensure time synchronization between components to achieve efficient collaboration.

[0060] System bus integration is responsible for data transmission between components and provides high-speed data channels to achieve efficient signal and information exchange, reduce latency, and improve system responsiveness.

[0061] The memory part is used to store processing data and algorithm parameters to ensure that the system can still run stably under high load conditions. For example, the memory includes multi-level cache, read-only memory ROM and random access memory RAM.

[0062] The multi-core central processing unit includes at least two processor cores, for example, a first processor core and a second processor core.

[0063] In some embodiments, the task scheduling module also includes a counter, a network control unit, an encryption unit and an analog-to-digital conversion unit; wherein the counter can be used to count satellite signals, the network control unit is used to control the on and off of the network, the encryption unit is used to implement encryption and decryption during data transmission, and the analog-to-digital conversion unit is used to perform analog-to-digital conversion on sensor data accessed through the peripheral interface to obtain a digital signal that is convenient for subsequent processing.

[0064] In particular, the present invention integrates a three-dimensional electronic fence module in the drone navigation chip, which includes the following key components: 1) Three-dimensional fence data storage module: used to store detailed no-fly zone information, including the coordinates (longitude and latitude) of the no-fly zone boundary and the flight altitude limit; 2) Altitude data storage module: stores global terrain altitude data to assist the drone in determining the flight altitude using the navigation chip positioning information; 3) Data encryption module: uses advanced encryption algorithms (such as AES-256) to protect the electronic fence data, ensure the security of the data during storage and transmission, and prevent unauthorized access; 4) Identity verification module: uses multiple identity verification mechanisms, including password authentication and digital certificates, etc., so that only authorized users can access and modify the fence settings, reducing the risk of illegal intrusion and operation. The three-dimensional electronic fence data and global altitude data are directly burned into the dedicated storage unit of the three-dimensional electronic fence module by the chip manufacturer before the drone navigation chip leaves the factory, and the data is encrypted and protected by the data encryption module and the identity verification module to ensure its integrity and security. At the same time, the chip manufacturer's own tools are used to regularly update and maintain the timeliness and accuracy of the data, so that the drone always has the latest no-fly zone data.

[0065] Figure 2 The working flow chart of a satellite navigation chip for a drone with a built-in three-dimensional electronic fence according to an embodiment of the present invention is shown. The embodiment of the present invention also provides a working method of the satellite navigation chip for a drone with a built-in three-dimensional electronic fence as described above, which realizes the chip-level integration of satellite navigation positioning technology and electronic fence technology, does not rely on operating systems and software, and can prevent drones from flying beyond the boundary at the hardware level. Figure 2 As shown, the working method includes:

[0066] Step 1: Satellite signal reception and frequency band signal processing: The drone’s external GNSS antenna is responsible for receiving signals from multi-frequency and multi-system satellites. The RF front-end module first amplifies the received signal to increase signal strength, and then removes noise and interference through a filter to ensure a clear signal. Next, the signal is down-converted to convert the high-frequency signal into a baseband signal for subsequent processing.

[0067] Step 2: Baseband signal processing and positioning solution: In the baseband signal processing module, the GNSS multi-system baseband signal processing engine performs demodulation, correlation operations, pseudo-code capture and tracking on the received baseband signal to extract valid pseudo-range and carrier phase observations. Before positioning solution, the GNSS observations are pre-processed to remove abnormal values ​​in the observations to improve the accuracy and reliability of positioning. Finally, through the GNSS positioning algorithm, the baseband signal processing engine can generate the real-time longitude of the drone. ,latitude and absolute height , providing a basis for subsequent flight decisions and mission execution.

[0068] Step 3: Acquisition of 3D electronic fence information: The 3D electronic fence module obtains the horizontal coordinates of the drone based on the GNSS multi-system baseband signal processing engine. , search the altitude of the area from the altitude data storage module The absolute altitude of the drone and the altitude of the area By making a difference, you can get the flight altitude of the drone The flight altitude of the drone can be obtained only by the internal data of the navigation chip, without relying on the data of external sensors (such as altimeters, etc.), which greatly reduces the risk of breaking through the flight area restrictions by tampering with external sensor data. The three-dimensional electronic fence storage module contains detailed no-fly zone information, including the coordinates (longitude and latitude) of the no-fly zone boundary and the flight altitude limit. The three-dimensional electronic fence module , quickly find the no-fly zone near the drone flight area from the three-dimensional electronic fence storage module.

[0069] Step 4: No-fly zone determination and risk assessment: The system sends the drone location information The system compares the drone’s position with the boundaries of all nearby no-fly zones. The judgment process includes checking whether the drone is in the no-fly zone and whether its flight altitude meets the legal height limit. If the drone’s current position and altitude do not meet the requirements of the no-fly zone, the system will trigger an alarm to alert the operator. Based on the results of the no-fly zone judgment, the system will execute the corresponding flight decision. If the drone is judged to have entered a no-fly zone, the system will trigger an alarm and immediately take safety measures such as automatic return or automatic landing to ensure that the drone does not further enter the restricted area. If the drone is in the restricted altitude area and the flight altitude exceeds the limit, the drone will be quickly lowered to a reasonable altitude. If the drone has not entered the no-fly zone, it will be allowed to continue to perform the scheduled flight mission.

[0070] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The patent protection scope of the present invention should be defined by the claims.

Claims

1. A UAV satellite navigation chip with a built-in three-dimensional electronic fence, characterized in that: It includes a frequency band signal processing module, a baseband signal processing module, a three-dimensional electronic fence module and a task scheduling module; wherein the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module are mutually connected in signal through the task scheduling module; The frequency band signal processing module is used to receive and process multi-frequency and multi-system navigation signals from satellites to obtain baseband signals, and the baseband signals are fed to the baseband signal processing module through the task scheduling module; The baseband signal processing module is used to process the baseband signal through the positioning algorithm processing unit to generate position and time information to provide navigation support for the drone; The three-dimensional electronic fence module includes: Three-dimensional fence data storage module: used to store no-fly zone information, including the coordinates of the no-fly zone boundary and the flight altitude limit; Altitude data storage module: used to store global terrain height data, assisting drones in determining flight altitude using navigation chip positioning information; Data encryption module: used to protect the electronic fence data according to the encryption algorithm, ensure the security of the data during storage and transmission, and prevent unauthorized access; wherein the electronic fence data includes no-fly zone information and global terrain height data; Authentication module: used to authenticate users using a multiple authentication mechanism. Only authenticated and authorized users can access and modify the fence settings. The task scheduling module mainly includes a power management unit, a peripheral interface, a clock management, a system bus integration and a memory; The power management unit is used to monitor and optimize the power usage of the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module to extend the working time of the device; The peripheral interface is used to exchange data with other devices and sensors to ensure real-time transmission of information; The clock management module is used to ensure time synchronization between various functional modules to achieve efficient collaboration; The system bus is integrated to be responsible for data transmission between the frequency band signal processing module, the baseband signal processing module and the three-dimensional electronic fence module; The memory is used to store processing data and algorithm parameters to ensure stable operation under high load conditions; In the three-dimensional electronic fence module, the no-fly zone information and global terrain height data are directly burned into the three-dimensional fence data storage module and altitude data storage module corresponding to the three-dimensional electronic fence module by the chip manufacturer before the drone navigation chip leaves the factory, and the data is encrypted and protected by the data encryption module and the identity authentication module. At the same time, regular updates and maintenance are performed through the tools provided by the chip manufacturer to maintain the timeliness and accuracy of the data, so that the drone always has the latest no-fly zone data.

2. A method for operating the satellite navigation chip of a drone with a built-in three-dimensional electronic fence as claimed in claim 1, characterized in that: The working method comprises: Satellite signal reception and frequency band signal processing to obtain baseband signal; The baseband signal is processed and positioned to obtain the real-time longitude of the drone. ,latitude and absolute height ; Based on the three-dimensional electronic fence information, determine the position of the drone, and find the no-fly zone in the drone's flight area from the three-dimensional electronic fence storage module; No-fly zone determination and risk assessment.

3. The working method according to claim 2, characterized in that: Satellite signal reception and frequency band signal processing to obtain baseband signals, including: Receive signals from multi-frequency and multi-system satellites; The received multi-frequency multi-system satellite signal is amplified to increase the signal strength, and then the noise and interference are removed through a filter, and the multi-frequency multi-system satellite signal is converted into a baseband signal through a down-conversion process.

4. The working method according to claim 2, characterized in that: The baseband signal is processed and positioned to obtain the real-time longitude of the drone. ,latitude and absolute height ,include: Performing demodulation, correlation operation, pseudo code capture and tracking operations on the baseband signal to extract GNSS observation values; wherein the GNSS observation values ​​include pseudo range and carrier phase observation values; Preprocessing the GNSS observation values ​​to remove abnormal values ​​in the observation values ​​to obtain preprocessed GNSS observation values; Based on the GNSS positioning algorithm, the real-time longitude of the drone is generated according to the preprocessed GNSS observations. ,latitude and absolute height .

5. The working method according to claim 2, characterized in that: Based on the three-dimensional electronic fence information, determine the position of the drone, and find the no-fly zone of the drone's flight area from the three-dimensional electronic fence storage module, including; According to the horizontal coordinates of the drone , search the altitude of the target area from the altitude data storage module ; Wherein, the target area is the area where the horizontal coordinates of the drone are located; The absolute and the altitude of the area Make a difference and get the flight altitude of the drone ; According to the real-time longitude of the drone ,latitude and the flight altitude of the drone Determine the drone's location , Based on the drone's location ,Find the no-fly zone near the drone’s flight area from the three-dimensional electronic fence storage module.

6. The working method according to claim 4, characterized in that: The no-fly zone determination and risk assessment include: The drone's location information The boundary with all adjacent no-fly zones is judged; the judgment process includes checking whether the drone is in the no-fly zone and whether its flight altitude meets the set altitude; Based on the results of the no-fly zone judgment, execute corresponding flight decisions.

7. The working method according to claim 5, characterized in that: Based on the results of the no-fly zone determination, corresponding flight decisions are made, including: If the drone is judged to have entered a no-fly zone, an alarm will be triggered and the drone will immediately take safety measures such as automatic return or automatic landing to ensure that the drone does not further enter the restricted area; If the drone's flight altitude does not meet the set altitude, quickly lower the drone to a height that meets the set altitude; If the drone does not enter the no-fly zone, the drone will continue to perform the scheduled flight mission.

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