Unmanned aerial vehicle management and control method and system based on Beidou grid code, and computing device

Abstract

The invention discloses an unmanned aerial vehicle management and control method and system based on Beidou grid codes, and a computing device. The method comprises the steps of determining a ground area corresponding to an area suitable for flight; acquiring ground elevation information of the ground area, and extending upwards by a predetermined height based on the ground elevation information to form a flight space area of the unmanned aerial vehicle; performing grid division on the flight space area based on the Beidou grid code so as to divide the flight space area into a plurality of space grid units; periodically acquiring flight information of the unmanned aerial vehicle; based on the flight information of each unmanned aerial vehicle, allocating a corresponding low-altitude task to each subordinate unmanned aerial vehicle through the master control unmanned aerial vehicle, and sending a control instruction to each subordinate unmanned aerial vehicle to control each subordinate unmanned aerial vehicle to execute the low-altitude task; and determining each space grid unit corresponding to the space position information of the unmanned aerial vehicle at each time point, and generating a grid flight path of the unmanned aerial vehicle so as to monitor and manage the flight process of the unmanned aerial vehicle based on the grid flight path.

Description

Technical Field

[0001] The present invention relates to the field of low-altitude flight technology, and in particular to a Beidou grid code-based unmanned aerial vehicle control method, a Beidou grid code-based unmanned aerial vehicle control system and a computing device. Background Art

[0002] With the development of low-altitude airspace and the rapid growth in the number of drones, it is crucial to reasonably divide the flight areas for drones and control them.

[0003] The traditional way of dividing low-altitude flight areas is to first determine the maximum flight altitude of the drone. For example, if the maximum flight altitude is 300m, the maximum altitude of the flight area is extended 300m upward based on the sea level. Then, roughly considering the terrain height problem, the area below 200m is directly divided into a no-fly zone, and the area between 200-300m is divided into a flight area. This division method has the following disadvantages: First, there is a large area of ​​space waste in the airspace below 200m. When low-altitude operations need to be performed in some extreme weather, low-altitude operations cannot be performed normally by lowering the flight altitude; secondly, if there is an ultra-high mountain range over 200m in the selected area, part of the mountain range will appear in the flight area, resulting in flight risks. In short, the above-mentioned method of dividing the flight area for drones is not accurate enough, the space utilization rate is low, and the flight risk is high. In addition, the method of obtaining drone information in the prior art requires the establishment of a ground station on the ground, which has a high construction cost.

[0004] Therefore, a drone control method based on Beidou grid code is needed to solve the problems existing in the above technical solutions. Summary of the invention

[0005] To this end, the present invention provides a drone control method based on Beidou grid code and a drone control system based on Beidou grid code to solve or at least alleviate the above problems.

[0006] According to one aspect of the present invention, there is provided a method for controlling a drone based on a Beidou grid code, which is executed in a control server to control a plurality of drones to perform low-altitude tasks, wherein the plurality of drones include a master drone and a plurality of slave drones, the control server is in communication connection with the master drone, and the master drone is in communication connection with each of the slave drones, and the method comprises: determining a ground area corresponding to a suitable flying area for performing low-altitude tasks; calling a digital elevation model corresponding to the ground area to obtain ground elevation information of the ground area, wherein the ground elevation information is used to represent the terrain surface morphology of the ground area; based on the ground elevation information of the ground area, extending upward to a predetermined height to form a flight space area of ​​each of the drones; and gridding the flight space area based on the Beidou grid code to divide the flight space area into a plurality of spatial grid units. A flight airspace grid model is obtained, wherein each spatial grid unit corresponds to a unique grid code; for each drone, during the flight of the drone in the flight space area, the flight information of the drone is periodically obtained, the flight information including spatial position information and flight speed, and the spatial position information including longitude, latitude and altitude; based on the flight information of each drone, the master drone is used to assign corresponding low-altitude tasks to each slave drone and send control instructions to each slave drone to control each slave drone to perform the low-altitude task; and for each drone, the spatial grid units corresponding to the spatial position information of the drone at each time point are determined, and the grid flight trajectory of the drone is generated based on the spatial grid units, so as to monitor and manage the flight process of the drone based on the grid flight trajectory of the drone.

[0007] Optionally, in the Beidou grid code-based drone control method according to the present invention, the control server is communicatively connected with the control client; the flight process of the drone is monitored and managed based on the grid flight trajectory of the drone, including: sending the grid flight trajectory of the drone to the control client for display, so as to monitor and manage the flight process of the drone.

[0008] Optionally, in the Beidou grid code-based drone control method according to the present invention, an ADS-B receiver is installed on the control server, and an RTL-SDR driver is deployed in the control server; periodically obtaining the flight information of the drone includes: using the ADS-B receiver to periodically obtain the flight information of the drone through the RTL-SDR driver.

[0009] Optionally, in the Beidou grid code-based drone control method according to the present invention, the ADS-B receiver is used to periodically obtain the flight information of the drone through the RTL-SDR driver, including: periodically obtaining the spatial position signal of the drone through the ADS-B receiver through the RTL-SDR driver; decoding the spatial position signal of the drone through ADS-B decoding software to obtain the spatial position information of the drone.

[0010] Optionally, in the Beidou grid code-based drone control method according to the present invention, the flight information of the drone is periodically obtained, including: requesting an application function network element from the 5G-A synaesthesia network to periodically obtain the flight information of the drone.

[0011] Optionally, in the Beidou grid code-based drone control method according to the present invention, the control server is communicatively connected with the control client, and the control client includes a suitable flying area operation interface; determining the ground area corresponding to the suitable flying area for performing low-altitude missions includes: responding to a box selection operation on the map of the suitable flying area operation interface, determining the suitable flying area for performing low-altitude missions according to the box selection operation, and determining the ground area corresponding to the suitable flying area.

[0012] Optionally, in the Beidou grid code-based drone control method according to the present invention, the predetermined height is 120m.

[0013] According to one aspect of the present invention, there is provided a drone control system based on Beidou grid code, which is used to control multiple drones to perform low-altitude tasks, wherein the multiple drones include a master drone and multiple slave drones, and the master drone is communicatively connected to each of the slave drones. The system comprises: a control client; a control server, which is communicatively connected to the control client and the master drone, and is suitable for executing the method as described above, wherein a drone control device is deployed in the control server, and the drone control device comprises: a determination module, which is suitable for determining a ground area corresponding to a suitable flying area for performing low-altitude tasks; a first acquisition module, which is suitable for calling a digital elevation model corresponding to the ground area to obtain ground elevation information of the ground area, and the ground elevation information is used to represent the terrain surface morphology of the ground area; a formation module, which is suitable for extending a predetermined height upward based on the ground elevation information of the ground area to form a flight space area for each of the drones; a grid division module, which is suitable for dividing the flying space area of ​​the flying space area based on the Beidou grid code; The invention relates to a method for gridding an area between the drones to divide the flight space area into a plurality of spatial grid units, so as to obtain a flight airspace grid model, wherein each spatial grid unit corresponds to a unique grid code; a second acquisition module, adapted to periodically acquire flight information of the drone during the flight of the drone in the flight space area, wherein the flight information includes spatial position information and current flight speed, and the spatial position information includes longitude, latitude and altitude; a control module, adapted to assign corresponding low-altitude tasks to each of the slave drones through the master drone based on the flight information of each of the drones and send control instructions to each of the slave drones to control each of the slave drones to perform the low-altitude tasks; and a generation module, adapted to determine, for each drone, each spatial grid unit corresponding to the spatial position information of the drone at each time point, and generate a grid flight trajectory of the drone based on each spatial grid unit, so as to monitor and manage the flight process of the drone based on the grid flight trajectory of the drone.

[0014] Optionally, in the Beidou grid code-based drone control system according to the present invention, the control server is communicatively connected to the control client, and is suitable for sending the grid flight trajectory of the drone to the control client for display, so as to monitor and manage the flight process of the drone.

[0015] Optionally, in the Beidou grid code-based drone control system according to the present invention, an ADS-B receiver is installed on the control server, and an RTL-SDR driver is deployed in the control server; the control server is suitable for periodically obtaining the flight information of the drone using the ADS-B receiver through the RTL-SDR driver.

[0016] Optionally, in the Beidou grid code-based drone control system according to the present invention, the control server is suitable for requesting the application function network element of the 5G-A interaural network to periodically obtain the flight information of the drone.

[0017] According to one aspect of the present invention, there is provided a computing device, comprising: at least one processor; and a memory storing program instructions, wherein the program instructions are configured to be suitable for execution by the at least one processor, and the program instructions include instructions for executing the Beidou grid code-based drone control method as described above.

[0018] According to one aspect of the present invention, a computer program product is provided, comprising a computer program / instruction, wherein the computer program / instruction implements the method as described above when executed by a processor.

[0019] According to one aspect of the present invention, a readable storage medium storing program instructions is provided. When the program instructions are read and executed by a computing device, the computing device executes the Beidou grid code-based drone control method as described above.

[0020] According to the technical solution of the present invention, a method for controlling unmanned aerial vehicles based on Beidou grid code is provided, which obtains the ground elevation information of the ground area corresponding to the suitable flying area for performing low-altitude tasks by calling the digital elevation model (DEM), and forms the flight space area of ​​the unmanned aerial vehicle by extending upward to a predetermined height based on the ground elevation information of the ground area. In this way, the flight space area of ​​the unmanned aerial vehicle can be calculated and divided based on the DEM, and the flight space area can be divided for the unmanned aerial vehicle more accurately, thereby improving the space utilization rate and reducing the flight risk of the unmanned aerial vehicle. In addition, by installing an ADS-B receiver on the control server or based on 5G-A interawareness integration technology, the flight information of the unmanned aerial vehicle can be obtained at low cost during the flight of each unmanned aerial vehicle, and then multiple subordinate unmanned aerial vehicles can be controlled to perform low-altitude tasks through the airborne aircraft control method, and the flight process of the unmanned aerial vehicle can be accurately controlled by generating a grid flight trajectory. It can be seen that according to the technical solution of the present invention, firstly, it is possible to more accurately divide the flight space area for drones, thereby improving space utilization and reducing the flight risk of drones; secondly, it is possible to obtain drone flight information at low cost during the flight of each drone, thereby being able to accurately manage and control the mission execution of each drone and its flight process; in addition, the use of airborne aircraft control methods can realize the control of drone clusters to perform complex and diverse tasks, thereby improving task execution efficiency and coverage.

[0021] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To achieve the above and related purposes, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings, which indicate various ways in which the principles disclosed herein can be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The above and other purposes, features and advantages of the present disclosure will become more apparent by reading the following detailed description in conjunction with the accompanying drawings. Throughout the present disclosure, the same reference numerals generally refer to the same parts or elements.

[0023] Figure 1 A schematic diagram of a Beidou grid code-based drone control system 100 provided according to an embodiment of the present invention is shown;

[0024] Figure 2 A schematic diagram of a computing device 200 provided according to an embodiment of the present invention is shown;

[0025] Figure 3 A schematic flow chart of a method 300 for controlling a drone based on a Beidou grid code according to an embodiment of the present invention is shown;

[0026] Figure 4 A schematic diagram of a suitable flying area operation interface provided according to an embodiment of the present invention is shown;

[0027] Figure 5 and Figure 6 Schematic diagrams showing the effects of the flight airspace grid model in the embodiments of the present invention are shown respectively. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0029] For ease of understanding, the terms involved in the present invention are explained below.

[0030] Beidou Grid Code (BGC), also known as Beidou Grid Location Code, is a geographic space coding method based on the Beidou Navigation Satellite System (BDS). It divides the earth's surface into grid cells of varying sizes according to certain mathematical rules, and assigns a unique code to each grid cell to identify the location of the grid cell. As a national standard, Beidou Grid Location Code has the following advantages: it can provide grid codes of different accuracy levels to meet different positioning needs; it can divide the earth's surface into grid cells of varying sizes and assign a unique grid code to each grid cell; Beidou Grid Location Code provides a global geographic grid coding solution; the coding model supports efficient spatial data indexing and retrieval, is suitable for large-scale video surveillance networks, and has high computational efficiency.

[0031] The ADS-B system is an automatic dependent surveillance-broadcast system, which consists of multiple ground stations and airborne stations, and completes two-way data communication in a meshed, multi-point to multi-point manner. It mainly implements air-to-air surveillance. The ADS-B system is an information system that integrates communication and surveillance, and consists of three parts: information source, information transmission channel, and information processing and display. In general, only airborne electronic equipment (GPS receiver, data link transceiver and its antenna, cockpit conflict information display CDTI) is needed, and no ground auxiliary equipment is required to complete the relevant functions. Aircraft equipped with ADS-B can broadcast its own precise position and other data (such as speed, altitude, and whether the aircraft is turning, climbing or descending, etc.) through the data link. The ADS-B receiver is combined with the air traffic control system and the airborne ADS-B of other aircraft to provide accurate and real-time conflict information in the air and on the ground. The main information sent and received by ADS-B is the aircraft's four-dimensional position information (longitude, latitude, altitude and time) and other possible additional information (conflict warning information, pilot input information, track angle, route turning point, etc.), as well as the aircraft's identification information and category information. In addition, it may also include some other additional information, such as heading, airspeed, wind speed, wind direction and aircraft external temperature, etc. The information transmission channel of ADS-B is in the form of ADS-B messages, which are broadcasted through air-to-air and air-to-ground data links.

[0032] Digital Elevation Model (DEM) is a digital simulation of the ground terrain (i.e., a digital expression of the terrain surface morphology) achieved through limited terrain elevation data. It is a physical ground model that represents the ground elevation in the form of a set of ordered numerical arrays.

[0033] In view of the problems in the prior art that the method of dividing the flight area for drones is not accurate enough, the space utilization rate is low, and the flight risk is high, an embodiment of the present invention provides a drone control method based on Beidou grid code.

[0034] According to the Beidou grid code-based drone control method provided in an embodiment of the present invention, first, the flight space area of ​​the drone is calculated and divided based on the DEM, which can more accurately divide the flight space area for the drone, improve space utilization, and reduce the flight risk of the drone; secondly, by installing an ADS-B receiver on the control server or based on 5G-A interawareness technology, the drone flight information can be obtained at low cost during the flight of each drone, thereby enabling the precise control of the execution of tasks and the flight process of each drone.

[0035] The unmanned aerial vehicle control method based on Beidou grid code provided according to the embodiment of the present invention can be implemented in an unmanned aerial vehicle control system based on Beidou grid code. The unmanned aerial vehicle control system based on Beidou grid code of the present invention is introduced below.

[0036] Figure 1 A schematic diagram of a drone control system 100 based on Beidou grid code provided according to an embodiment of the present invention is shown. The drone control system 100 is used to control multiple drones to perform low-altitude tasks. The multiple drones include at least one master drone and multiple slave drones.

[0037] like Figure 1 As shown, the Beidou grid code-based drone control system 100 includes a control server 120 and a control client 110. The control server 120 is connected to the control client 110 in communication, for example, through a wired or wireless network connection. In an embodiment of the present invention, the control server 120 can be implemented as a ground control station.

[0038] The control server 120 is connected to the master drone in communication. The master drone is connected to multiple slave drones in communication, so that the master drone can perform real-time data transmission with each slave drone and issue control instructions to each slave drone. The control server 120 is not directly connected to each slave drone in communication. It can communicate with each slave drone via the master drone, and assign low-altitude tasks to each slave drone via the master drone. In this way, it can control each slave drone to perform low-altitude tasks based on the airborne control method. The airborne control method can control the drone cluster to perform complex and diverse tasks, and improve the efficiency and coverage of task execution.

[0039] It should be noted that a three-dimensional omnidirectional communication topology is formed between the control server 120 and the master drone, and between the master drone and multiple slave drones in the present invention, which is different from the communication topology between each individual drone and the control server. In order to solve the problems of delay, data loss, and signal fading in the drone cluster communication process, in an embodiment of the present invention, Ghazal A et al. can be used to establish an IMT-A channel model based on the harmonic superposition method. In addition, since the application scenario of the drone cluster system is usually in an outdoor environment, for this reason, Petkovic M et al. can be used to establish a free space optical communication system for drones based on signal transmission based on infrared band spectra in outdoor environments, as well as related optical antenna communication (OWC) technology. This system can solve the problems of communication bandwidth, data congestion, and delay to a certain extent, and based on the photoelectric signal conversion technology, it can meet the system requirements within the line of sight.

[0040] In an embodiment of the present invention, the master drone is equipped with powerful computing capabilities and multiple communication modules, and is capable of controlling, commanding and coordinating multiple slave drones to perform low-altitude tasks and perform data processing. Each slave drone is used to perform low-altitude tasks assigned by the master drone. Low-altitude tasks include, for example, flight tasks, monitoring tasks, data collection tasks, etc.

[0041] In some embodiments, the master drone can communicate with each slave drone through a variety of wireless communication protocols (including Wi-Fi, LTE, 5G, radio frequency and other protocols) to ensure stable communication connection with each slave drone. Each slave drone is configured with a corresponding communication module for communicating with the master drone. In addition, the master drone is configured with a high-performance processor to support real-time data processing and complex algorithm operations, such as algorithms for flight path planning or obstacle avoidance. In addition, the master drone can also be configured with GPS, IMU (inertial measurement unit), camera, radar equipment, etc. for navigation, positioning and environmental perception. In an embodiment of the present invention, the control server 120 can first determine the ground area corresponding to the suitable flight area for performing low-altitude missions, and then call the digital elevation model (DEM) corresponding to the ground area to obtain the ground elevation information of the ground area, and the ground elevation information is used to represent the terrain surface morphology (including the undulating morphology of the terrain) of the ground area.

[0042] Furthermore, the control server 120 can extend a predetermined height upward (based on the terrain of the ground area) based on the ground elevation information of the ground area to form the flight space area of ​​each drone, and the flight space area is a three-dimensional space area. Specifically, the control server 120 extends a predetermined height upward based on the terrain of the ground area based on the ground elevation information of the ground area, and uses the area extended upward based on the terrain of the ground area as the flight space area of ​​each drone. It should be understood that the terrain surface morphology is an irregular morphology with ups and downs. Therefore, the flight space area of ​​the drone formed by extending a predetermined height upward based on the terrain is also an irregular space area that matches the terrain surface morphology and does not overlap with each other. Therefore, the present invention is based on DEM to calculate and form the flight space area, which can not only more accurately divide the flight space area for the drone, improve space utilization, and reduce the flight risk of the drone, but also can be applied to all scenarios.

[0043] After the flight space area of ​​the drone is formed, the control server 120 can control each drone to fly within the flight space area and perform low-altitude missions.

[0044] Specifically, the control server 120 can grid the flight space area based on the Beidou grid code to divide the flight space area into multiple spatial grid units (three-dimensional grid units) to obtain a flight airspace grid model. Among them, each spatial grid unit corresponds to a unique grid code. It can be understood that the flight airspace grid model is a three-dimensional grid representation of the flight space area. The flight airspace grid model includes multiple three-dimensional spatial grid units formed by dividing the flight space area. Among them, each spatial grid unit covers a corresponding geographic space range in the flight space area.

[0045] In addition, during the flight of each drone in the flight space area, the control server 120 can periodically (at predetermined time intervals) obtain the flight information of the drone, so as to obtain the flight information of the drone at each time point. Here, the flight information of the drone includes at least the spatial position information and flight speed of the drone, and may also include the flight direction angle of the drone. Among them, the spatial position information includes longitude, latitude and altitude.

[0046] The control server 120 can determine the low-altitude tasks corresponding to each slave drone based on the flight information of each drone obtained, and the control server 120 can assign corresponding low-altitude tasks (including flight tasks, monitoring tasks, and data collection tasks) to each slave drone through the master drone, and send control instructions to each slave drone through the master drone, so that each slave drone can be controlled by the master drone to perform the corresponding low-altitude tasks. In this way, multiple slave drones can be coordinated to perform tasks.

[0047] Furthermore, based on the periodically acquired flight information (including spatial position information) of the drone at each time point, the management and control server 120 can determine the spatial grid units corresponding to the spatial position information of the drone at each time point, and then generate the grid flight trajectory of the drone based on the spatial grid units corresponding to the drone at each time point. Furthermore, the flight process of the drone can be monitored and managed based on the grid flight trajectory of the drone.

[0048] In some embodiments, after generating the grid flight trajectory of the drone, the control server 120 may send the grid flight trajectory of the drone to the control client 110, and display the grid flight trajectory of the drone on the control client 110. In this way, based on the visualized grid flight trajectory, the flight process of the drone can be intuitively monitored and managed.

[0049] In some embodiments, an ADS-B receiver is installed on the control server 120, and an RTL-SDR driver is deployed in the control server 120. The control server 120 can use the ADS-B receiver to periodically obtain the flight information of the drone through the RTL-SDR driver.

[0050] In other embodiments, the control server 120 may also request to periodically obtain the flight information of the drone from the application function network element of the 5G-A integrated network.

[0051] In an embodiment of the present invention, the control server 120 is adapted to execute a Beidou grid code-based drone control method 300 to control multiple drones to perform low-altitude missions. The Beidou grid code-based drone control method 300 of the present invention will be described in detail below.

[0052] In an embodiment of the present invention, Figure 1 As shown, a drone control device 150 is deployed in the control server 120, and the drone control device 150 can be configured to execute the drone control method 300 based on the Beidou grid code of the present invention.

[0053] In an embodiment of the present invention, Figure 1 As shown, the drone control device 150 includes a determination module 151, a first acquisition module 152, a formation module 153, a grid division module 154, a second acquisition module 155, a control module 156 and a generation module 157 coupled in sequence.

[0054] Among them, the determination module 151 can determine the ground area corresponding to the suitable flying area for performing low-altitude missions.

[0055] The first acquisition module 152 may call a digital elevation model corresponding to the ground area to acquire ground elevation information of the ground area, where the ground elevation information is used to represent the terrain surface morphology of the ground area.

[0056] The forming module 153 can extend upward to a predetermined height based on the ground elevation information of the ground area to form the flight space area of ​​each drone.

[0057] The grid division module 154 can perform grid division on the flight space area based on the Beidou grid code to divide the flight space area into a plurality of space grid units to obtain a flight airspace grid model, wherein each space grid unit corresponds to a unique grid code.

[0058] The second acquisition module 155 can periodically acquire the flight information of the UAV during the flight of the UAV in the flight space area, where the flight information includes spatial position information and current flight speed, and the spatial position information includes longitude, latitude and altitude.

[0059] Based on the flight information of each UAV, the control module 156 can assign corresponding low-altitude tasks to each slave UAV through the master UAV and send control instructions to each slave UAV to control each slave UAV to perform the low-altitude task.

[0060] The generation module 157 can determine, for each drone, the spatial grid units corresponding to the spatial position information of the drone at each time point, and generate a grid flight trajectory of the drone based on each spatial grid unit, so as to monitor and manage the flight process of the drone based on the grid flight trajectory of the drone.

[0061] It should be pointed out that for the specific execution logic of the determination module 151, the first acquisition module 152, the formation module 153, the grid division module 154, the second acquisition module 155 and the generation module 157 in the drone control device 150, please refer to the description of steps 310 to 360 in the drone control method 300 based on the Beidou grid code below.

[0062] According to the Beidou grid code-based drone control system 100 provided by the embodiment of the present invention, the ground elevation information of the ground area corresponding to the suitable flying area for performing low-altitude tasks is obtained by calling the digital elevation model (DEM), and the flight space area of ​​the drone is formed by extending upward to a predetermined height based on the ground elevation information of the ground area. In this way, the flight space area of ​​the drone is calculated and divided based on the DEM, and the flight space area can be divided for the drone more accurately, thereby improving the space utilization rate and reducing the flight risk of the drone. In addition, by installing an ADS-B receiver on the control server or based on 5G-A interawareness integration technology, the flight information of the drone can be obtained at low cost during the flight of each drone, and then multiple subordinate drones can be controlled to perform low-altitude tasks through the airborne control method, and the flight process of the drone can be accurately controlled by generating a grid flight trajectory. It can be seen that according to the technical solution of the present invention, firstly, it is possible to more accurately divide the flight space area for drones, thereby improving space utilization and reducing the flight risk of drones; secondly, it is possible to obtain drone flight information at low cost during the flight of each drone, thereby being able to accurately manage and control the mission execution of each drone and its flight process; in addition, the use of airborne aircraft control methods can realize the control of drone clusters to perform complex and diverse tasks, thereby improving task execution efficiency and coverage.

[0063] In some embodiments, the control server 120 can be implemented as a computing device described below, so that the Beidou grid code-based drone control method 300 of the present invention can be executed in the computing device.

[0064] Figure 2 FIG. 2 shows a schematic diagram of a computing device 200 provided according to an embodiment of the present invention. Figure 2 As shown, in a basic configuration, the computing device 200 includes at least one processing unit 202 and a system memory 204. According to one aspect, depending on the configuration and type of the computing device, the processing unit 202 can be implemented as a processor. The system memory 204 includes, but is not limited to, volatile storage (e.g., random access memory), non-volatile storage (e.g., read-only memory), flash memory, or any combination of such memories. According to one aspect, the system memory 204 includes an operating system 205.

[0065] According to one aspect, operating system 205 is suitable for controlling the operation of computing device 200, for example. Furthermore, examples are practiced in conjunction with graphics libraries, other operating systems, or any other application programs, and are not limited to any particular application or system. Figure 2The basic configuration is shown in FIG. 2 by those components within the dashed lines. According to one aspect, the computing device 200 has additional features or functionality. For example, according to one aspect, the computing device 200 includes additional data storage devices (removable and / or non-removable), such as magnetic disks, optical disks, or tapes. Such additional storage Figure 2 2 is illustrated by a removable storage device 209 and a non-removable storage device 210.

[0066] As stated above, according to one aspect, a program module 203 is stored in the system memory 204. According to one aspect, the program module 203 may include one or more application programs, and the present invention does not limit the type of application program, for example, the application program may include: email and contact application programs, word processing application programs, spreadsheet application programs, database application programs, slide show application programs, drawing or computer-aided application programs, web browser application programs, etc.

[0067] In an embodiment of the present invention, the program module 203 includes a plurality of program instructions for executing the Beidou grid code-based drone control method 300 of the present invention.

[0068] According to one aspect, the examples may be practiced on a circuit comprising discrete electronic components, a packaged or integrated electronic chip containing logic gates, a circuit utilizing a microprocessor, or a single chip containing electronic components or a microprocessor. Figure 2 Each or many components shown in can be integrated into a system on a chip (SOC) on a single integrated circuit to practice examples. According to one aspect, such a SOC device may include one or more processing units, a graphics unit, a communication unit, a system virtualization unit, and various application functions, all of which are integrated (or "burned") into a chip substrate as a single integrated circuit. When operated via SOC, the functions described in this article can be operated via a dedicated logic integrated with other components of the computing device 200 on a single integrated circuit (chip). Other technologies that can perform logical operations (such as AND, OR, and NOT) can also be used to practice embodiments of the present invention, including but not limited to mechanical, optical, fluid, and quantum technologies. In addition, embodiments of the present invention can be practiced in a general-purpose computer or in any other circuit or system.

[0069] According to one aspect, the computing device 200 may also have one or more input devices 212, such as a keyboard, a mouse, a pen, a voice input device, a touch input device, etc. Output devices 214 may also be included, such as a display, a speaker, a printer, etc. The aforementioned devices are examples and other devices may also be used. The computing device 200 may include one or more communication connections 216 that allow communication with other computing devices 218. Examples of suitable communication connections 216 include, but are not limited to: RF transmitters, receivers and / or transceiver circuits; Universal Serial Bus (USB), parallel and / or serial ports.

[0070] The term computer-readable medium as used herein includes computer storage media. Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (e.g., computer-readable instructions, data structures, or program modules). System memory 204, removable storage device 209, and non-removable storage device 210 are all examples of computer storage media (i.e., memory storage). Computer storage media may include random access memory (RAM), read-only memory (ROM), electrically erasable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical storage, cassettes, tapes, disk storage or other magnetic storage devices, or any other products that can be used to store information and can be accessed by computing device 200. According to one aspect, any such computer storage medium can be a part of computing device 200. Computer storage media does not include carrier waves or other propagated data signals.

[0071] According to one aspect, communication media is implemented by computer readable instructions, data structures, program modules, or other data in a modulated data signal (e.g., a carrier wave or other transport mechanism), and includes any information delivery media. According to one aspect, the term "modulated data signal" describes a signal that has one or more characteristics set or changed in a manner that encodes information in the signal. By way of example and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, radio frequency (RF), infrared, and other wireless media.

[0072] In an embodiment according to the present invention, the computing device 200 is configured to execute the unmanned aerial vehicle control method 300 based on the Beidou grid code. The computing device 200 includes one or more processors and one or more readable storage media storing program instructions. When the program instructions are configured to be executed by one or more processors, the computing device executes the unmanned aerial vehicle control method 300 based on the Beidou grid code in the embodiment of the present invention. By executing the unmanned aerial vehicle control method 300 based on the Beidou grid code of the present invention, the computing device 200 can more accurately divide the flight space area for the unmanned aerial vehicle, improve the space utilization rate, reduce the flight risk of the unmanned aerial vehicle, and, during the flight of the unmanned aerial vehicle, can obtain the spatial position information of the unmanned aerial vehicle at a low cost, thereby accurately controlling the execution of tasks and the flight process of multiple unmanned aerial vehicles.

[0073] In an embodiment of the present invention, the computing device for executing the Beidou grid code-based drone control method 300 may be the control server 120. The Beidou grid code-based drone control method 300 in an embodiment of the present invention is described in detail below.

[0074] The Beidou grid code-based drone control method 300 of the present invention is used to accurately divide the flight space area for drones in low-altitude airspace, and then control multiple drones (drone clusters) to perform low-altitude tasks. Low-altitude tasks include, for example, flight tasks, monitoring tasks, and data collection tasks, but are not limited thereto.

[0075] Figure 3 FIG. 3 is a flow chart of a method 300 for controlling a drone based on a Beidou grid code according to an embodiment of the present invention. Figure 3 As shown, the drone control method 300 based on Beidou grid code includes the following steps 310-370.

[0076] Step 310: The control server 120 determines the ground area corresponding to the suitable flying area for performing the low-altitude mission.

[0077] In an embodiment of the present invention, the suitable flying area may be a part of the low-altitude airspace. The range of the ground area corresponding to the suitable flying area may be represented by a longitude range and a latitude range.

[0078] In some embodiments, the control server 120 is in communication with the control client 110 , and the control client 110 includes a suitable flight area operation interface. Figure 4 FIG. 2 is a schematic diagram showing a suitable flying area operation interface provided according to an embodiment of the present invention. Figure 4 As shown, a map is displayed on the suitable flying area operation interface of the control client 110.

[0079] like Figure 4As shown, the user can perform a selection operation on the map of the suitable flight area operation interface of the control client 110 to select the suitable flight area for each drone to perform low-altitude missions. The control server 120 can respond to the user's selection operation on the map of the suitable flight area operation interface of the control client 110, and according to the selection operation, the suitable flight area (one or more suitable flight areas) for each drone to perform low-altitude missions can be determined, and then the ground area corresponding to the suitable flight area can be determined.

[0080] Step 320: The control server 120 may call a digital elevation model (DEM) corresponding to the ground area to obtain ground elevation information of the ground area. The ground elevation information is used to represent the terrain surface morphology (including the undulating morphology of the terrain) of the ground area.

[0081] Step 330: The control server 120 may extend upward to a predetermined height (based on the terrain of the ground area) based on the ground elevation information of the ground area to form a flight space area for the drone. The flight space area is a three-dimensional space area.

[0082] Specifically, the management and control server 120 extends a predetermined height upward based on the terrain of the ground area based on the ground elevation information of the ground area, and uses the area extended upward based on the terrain of the ground area as the flight space area of ​​each drone.

[0083] It should be understood that the terrain surface morphology is an irregular shape with ups and downs. Therefore, the flight space area of ​​the drone formed by extending upward to a predetermined height based on the terrain is also an irregular space area that matches the terrain surface morphology and does not overlap with each other.

[0084] Therefore, the present invention calculates and forms the flight space area based on DEM, which can not only divide the flight space area for the UAV more accurately, improve space utilization, and reduce the flight risk of the UAV, but also be applicable to all scenarios.

[0085] In some embodiments, the predetermined height may be 120 m. However, it should be noted that the present invention does not limit the specific value of the predetermined height, which may be set and adjusted by those skilled in the art according to actual conditions.

[0086] After the flight space area of ​​the drone is formed by executing the above steps 310 to 330, each drone can be controlled to fly within the range of the flight space area and perform low-altitude tasks, as shown in the following steps 340 to 370.

[0087] Step 340: The control server 120 may perform grid division on the flight space region based on the Beidou grid code to divide the flight space region into a plurality of spatial grid units (three-dimensional grid units) to obtain a flight airspace grid model, wherein each spatial grid unit corresponds to a unique grid code.

[0088] It can be understood that the flight airspace grid model is a three-dimensional grid representation of the flight space area. The flight airspace grid model includes multiple three-dimensional space grid units formed by dividing the flight space area. Among them, each space grid unit covers a corresponding geographic space range in the flight space area.

[0089] Furthermore, when the control server 120 performs grid division on the flight space area based on the Beidou grid code, it can assign a unique corresponding grid code to each space grid unit, so that each space grid unit corresponds to a unique grid code.

[0090] It should be noted that the present invention is not limited to the segmentation accuracy level when the flight space area is gridded based on the Beidou grid code. For example, in some embodiments, the flight space area can be gridded based on a 7-level grid.

[0091] Step 350: For each drone, during the flight of the drone in the flight space area, the control server 120 can periodically (at predetermined time intervals) obtain the flight information of the drone, so as to obtain the flight information of the drone at each time point (corresponding to the time point of periodic acquisition). Here, the flight information of the drone includes at least the spatial position information and flight speed of the drone, and may also include the flight direction angle of the drone. The spatial position information includes longitude, latitude and altitude.

[0092] Step 360: The control server 120 can determine the low-altitude tasks corresponding to each slave drone based on the flight information of each drone obtained, and the control server 120 can assign corresponding low-altitude tasks (including flight tasks, monitoring tasks, and data collection tasks) to each slave drone through the master drone, and send control instructions to each slave drone through the master drone, so that each slave drone can be controlled by the master drone to perform the corresponding low-altitude tasks. In this way, multiple slave drones can be coordinated to perform tasks.

[0093] Step 370: For each drone, the management and control server 120 can determine the spatial grid units corresponding to the spatial position information of the drone at each time point based on the flight information (including spatial position information) of the drone periodically obtained at each time point, and then generate the grid flight trajectory of the drone based on the spatial grid units corresponding to the drone at each time point. Furthermore, the flight process of the drone can be monitored and managed based on the grid flight trajectory of the drone.

[0094] In some embodiments, the control server 120 is in communication connection with the control client 110. After generating the grid flight trajectory of the drone, the control server 120 may send the grid flight trajectory of the drone to the control client 110, and display the grid flight trajectory of the drone on the control client 110. In this way, based on the visualized grid flight trajectory, the flight process of the drone can be intuitively monitored and managed.

[0095] In addition, in some embodiments, after obtaining the flight airspace grid model, the control server 120 may also send the flight airspace grid model to the control client 110 so as to display the flight airspace grid model on the interface of the control client 110 . Figure 5 and Figure 6 Schematic diagrams showing the effects of the flight airspace grid model in the embodiments of the present invention are shown respectively.

[0096] Figure 5 and Figure 6 The white grid area (including multiple white grids) in the figure represents the flight airspace grid model (a three-dimensional grid representation of the flight space area), which includes multiple space grid units.

[0097] In addition, in some embodiments, when the flight space area is gridded based on the Beidou grid code, the terrain of the ground area can be gridded based on the Beidou grid code at the same time to divide the terrain of the ground area into multiple terrain grid units to obtain a terrain grid model. Figure 5 and Figure 6 The green grid area (including multiple green grids) in represents a terrain grid model formed by gridding the terrain of the ground area, which includes multiple terrain grid units.

[0098] The following describes a specific method of obtaining drone information (spatial location information) according to the present invention through some embodiments.

[0099] First, we need to explain the existing technology: the mainstream way to obtain aircraft information in the existing technology is to install "ADS-B Out" on the drone to periodically send the drone's information: such as the current position, altitude, speed and other information. In addition, it is necessary to establish a ground station on the ground to receive the signal from the drone's "ADS-B Out" and obtain data. In fact, this is a solution directly adopted to receive information about high-altitude aircraft models, and the construction cost is high.

[0100] The application scenario of the present invention is for low-altitude flying drones. Since the flight altitude of the drone will not be too high (no more than 2000m) and the range will not be too wide (prefecture-level city range), it is not necessary to build a ground station considering the cost.

[0101] Based on this, in some embodiments of the present invention, by installing an ADS-B receiver on the control server 120 and installing an antenna capable of receiving the ADS-B signal frequency (1090MHz), the signal sent by the drone can be directly obtained. In addition, an RTL-SDR driver for identifying ADS-B signals can be deployed in the control server 120. It should be noted that since the RTL-SDR driver can identify and use SDR (radio) receivers, and the SDR receivers include ADS-B receivers, the control server 120 in the present invention can identify the ADS-B signal received by the ADS-B receiver installed on the control server 120 through the RTL-SDR driver.

[0102] In this embodiment, in step 350, the control server 120 can periodically obtain the flight information of the UAV in the following manner: through the RTL-SDR driver running in the control server 120, the flight information of the UAV is periodically obtained by using the ADS-B receiver installed on the control server 120.

[0103] Furthermore, the spatial position signal (ADS-B signal) of the drone can be periodically acquired by using the RTL-SDR driver running in the control server 120 and the ADS-B receiver installed on the control server 120. Furthermore, the spatial position signal of the drone can be decoded by the ADS-B decoding software to obtain the spatial position information of the drone. In one implementation, the ADS-B decoding software can be implemented as a dump1090 mainstream switch, for example, but the present invention is not limited thereto.

[0104] In some other embodiments, in step 350, the control server 120 may also periodically obtain the flight information of the drone based on the 5G-A synaesthesia technology. Specifically, the control server 120 may request to periodically obtain the flight information of the drone from the application function (AF) network element of the 5G-A synaesthesia network.

[0105] It should be noted that 5G-A synaesthesia technology, as an important direction of 5G network evolution, is realizing efficient use of spectrum resources and significantly improving real-time perception capabilities with its innovative functions of integrating communication and perception, and gradually becoming a key force in leading industry change. Based on the main challenges currently faced, such as the imperfect three-dimensional networking coverage technology system, the immature end-to-end industrial chain, and the closed-loop business model. In order to achieve perception capabilities, the 5G-A synaesthesia network adds two network elements on the basis of the traditional communication network architecture, namely the Sensing Function (SF) network element and the Application Function (AF) network element. SF is responsible for the control and management of the perception function, the aggregation and reporting of perception data; AF provides application services and platform management.

[0106] 5G-A interawareness technology is built on 5G base stations. In order to achieve data docking, it is necessary to dock with the three major domestic operators. After the operator builds the base station, there will be two sets of perception devices inside the operator: AF network element and SF network element. As the original data obtained by the operator from the base station, the SF network element will be stored in the operator's intranet computer room. The original data will only be stored in the intranet and cannot be retrieved from the outside. The AF network element will publish data on the public Internet as an application platform. The data here is actively provided to the AF network element by the SF network element, which contains most of the drone information. Based on this, the control server 120 in the present invention can request the required drone flight information (including spatial position information and flight speed, etc.) from the AF network element by docking with the operator. Here, the required drone flight information can be requested from the AF network element in the form of an interface call.

[0107] According to the Beidou grid code-based drone control method 300 of the present invention, the ground elevation information of the ground area corresponding to the suitable flying area for performing low-altitude tasks is obtained by calling the digital elevation model (DEM), and the flight space area of ​​the drone is formed by extending upward to a predetermined height based on the ground elevation information of the ground area. In this way, the flight space area of ​​the drone is calculated and divided based on the DEM, and the flight space area can be divided for the drone more accurately, thereby improving the space utilization rate and reducing the flight risk of the drone. In addition, by installing an ADS-B receiver on the control server or based on 5G-A interawareness integration technology, the flight information of the drone can be obtained at low cost during the flight of each drone, and then multiple subordinate drones can be controlled to perform low-altitude tasks through the airborne control method, and the flight process of the drone can be accurately controlled by generating a grid flight trajectory. It can be seen that according to the technical solution of the present invention, firstly, it is possible to more accurately divide the flight space area for drones, thereby improving space utilization and reducing the flight risk of drones; secondly, it is possible to obtain drone flight information at low cost during the flight of each drone, thereby being able to accurately manage and control the mission execution of each drone and its flight process; in addition, the use of airborne aircraft control methods can realize the control of drone clusters to perform complex and diverse tasks, thereby improving task execution efficiency and coverage.

[0108] In addition, an embodiment of the present invention also discloses: B9, a system as described in B8, wherein the control server is communicatively connected with the control client, and is suitable for sending the grid flight trajectory of the drone to the control client for display, so as to monitor and manage the flight process of the drone. B10, a system as described in B8 or B9, wherein an ADS-B receiver is installed on the control server, and an RTL-SDR driver is deployed in the control server; the control server is suitable for periodically obtaining the flight information of the drone using the ADS-B receiver through the RTL-SDR driver. B11, a system as described in B8 or B9, wherein the control server is suitable for requesting the application function network element of the 5G-A interawareness network to periodically obtain the flight information of the drone. E14, a readable storage medium storing program instructions, when the program instructions are read and processed by a computing device, the computing device processes a method as described in any one of A1-A7.

[0109] The various techniques described herein may be implemented in combination with hardware or software, or a combination thereof. Thus, the method and apparatus of the present invention, or some aspects or parts of the method and apparatus of the present invention may be in the form of program codes (i.e., instructions) embedded in a tangible medium, such as a removable hard disk, a USB flash drive, a floppy disk, a CD-ROM, or any other machine-readable storage medium, wherein when the program is loaded into a machine such as a computer and executed by the machine, the machine becomes a device for practicing the present invention.

[0110] In the case where the program code is executed on a programmable computer, the mobile terminal generally includes a processor, a storage medium readable by the processor (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. The memory is configured to store the program code; the processor is configured to execute the Beidou grid code-based drone control method of the present invention according to the instructions in the program code stored in the memory.

[0111] By way of example and not limitation, readable media include readable storage media and communication media. Readable storage media stores information such as computer readable instructions, data structures, program modules or other data. Communication media generally embody computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and include any information transfer medium. Any combination of the above is also included within the scope of readable media.

[0112] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the best mode of the present invention.

[0113] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0114] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0115] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0116] Unless otherwise specified, the use of ordinal numbers "first", "second", "third", etc. to describe common objects merely indicates that different instances of similar objects are involved and is not intended to imply that the objects so described must have a given order in time, space, order or in any other manner.

Claims

1. A method for controlling drones based on Beidou grid code, executed in a control server, to control multiple drones to perform low-altitude missions, wherein: The plurality of drones include a master drone and a plurality of slave drones, the control server is in communication connection with the master drone, and the master drone is in communication connection with each of the slave drones, and the method includes: Determine the ground area corresponding to the suitable flying area for performing low-altitude missions; Calling a digital elevation model corresponding to the ground area to obtain ground elevation information of the ground area, wherein the ground elevation information is used to represent the terrain surface morphology of the ground area; Based on the ground elevation information of the ground area, a predetermined height is extended upward to form a flight space area of ​​each of the drones; Gridding the flight space area based on the Beidou grid code to divide the flight space area into a plurality of space grid units to obtain a flight airspace grid model, wherein each space grid unit corresponds to a unique grid code; For each drone, during the flight of the drone in the flight space area, periodically obtain flight information of the drone, the flight information including spatial position information and flight speed, the spatial position information including longitude, latitude and altitude; Based on the flight information of each of the drones, the master drone assigns corresponding low-altitude tasks to each of the slave drones and sends control instructions to each of the slave drones to control each of the slave drones to perform the low-altitude tasks; and For each drone, the spatial grid units corresponding to the spatial position information of the drone at each time point are determined, and the grid flight trajectory of the drone is generated based on the spatial grid units, so that the flight process of the drone can be monitored and managed based on the grid flight trajectory of the drone.

2. The method of claim 1, wherein: The control server is in communication with the control client; the flight process of the drone is monitored and managed based on the grid flight trajectory of the drone, including: The grid flight trajectory of the drone is sent to the control client for display, so as to monitor and manage the flight process of the drone.

3. The method according to claim 1 or 2, wherein: An ADS-B receiver is installed on the control server, and an RTL-SDR driver is deployed in the control server; Periodically obtain the flight information of the UAV, including: The flight information of the UAV is periodically acquired by using the ADS-B receiver through the RTL-SDR driver.

4. The method of claim 3, wherein: The RTL-SDR driver is used to periodically obtain the flight information of the UAV using the ADS-B receiver, including: The ADS-B receiver is used to periodically acquire the spatial position signal of the UAV through the RTL-SDR driver; The spatial position signal of the UAV is decoded by ADS-B decoding software to obtain the spatial position information of the UAV.

5. The method according to claim 1 or 2, wherein: Periodically obtain the flight information of the UAV, including: Request to periodically obtain the flight information of the drone from the application function network element of the 5G-A interawareness network.

6. The method according to any one of claims 1 to 5, wherein: The control server is connected to a control client in communication, and the control client includes a suitable flight area operation interface; Determine the ground area corresponding to the suitable flight area for performing low-altitude missions, including: In response to a box selection operation on the map of the suitable flight area operation interface, a suitable flight area for performing low-altitude missions is determined according to the box selection operation, and a ground area corresponding to the suitable flight area is determined.

7. The method according to any one of claims 1 to 6, wherein: The predetermined height is 120m.

8. A Beidou grid code-based drone control system for controlling multiple drones to perform low-altitude missions, where: The plurality of drones include a master drone and a plurality of slave drones, the master drone is in communication connection with each of the slave drones, and the system includes: Manage and control clients; A control server, communicating with the control client and connected to the master control drone, is suitable for executing the method according to any one of claims 1 to 7, wherein a drone control device is deployed in the control server, and the drone control device includes: A determination module, adapted to determine a ground area corresponding to a suitable flying area for performing a low-altitude mission; A first acquisition module is adapted to call a digital elevation model corresponding to the ground area to acquire ground elevation information of the ground area, wherein the ground elevation information is used to represent the terrain surface morphology of the ground area; A forming module, adapted to extend upwards by a predetermined height based on the ground elevation information of the ground area to form a flight space area for each of the drones; A grid division module, adapted to perform grid division on the flight space region based on a Beidou grid code, so as to divide the flight space region into a plurality of space grid units, and obtain a flight airspace grid model, wherein each space grid unit corresponds to a unique grid code; A second acquisition module is adapted to periodically acquire flight information of the UAV during the flight of the UAV in the flight space area, wherein the flight information includes spatial position information and current flight speed, and the spatial position information includes longitude, latitude and altitude; A control module, adapted to assign corresponding low-altitude tasks to each of the slave drones through the master drone based on flight information of each of the drones and send control instructions to each of the slave drones to control each of the slave drones to perform the low-altitude tasks; and The generation module is suitable for determining, for each drone, the spatial grid units corresponding to the spatial position information of the drone at each time point, and generating the grid flight trajectory of the drone based on the spatial grid units, so as to monitor and manage the flight process of the drone based on the grid flight trajectory of the drone.

9. A computing device comprising: at least one processor; and A memory storing program instructions, wherein the program instructions are configured to be processed by the at least one processor, and the program instructions include instructions for processing the method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, wherein: When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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