Spatial information acquisition method, communication sensing terminal, and storage medium

Abstract

The present disclosure provides a method for acquiring airspace information, a method for sending airspace information, a communication-aware terminal, an airspace information sending device, a storage medium and a computer program product, wherein the method for acquiring airspace information comprises: the communication-aware terminal acquires flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information based on a received airspace indication message; or acquires pre-configured flight airspace information and valid time information. The present disclosure can expand the sensing range of the communication-aware terminal, expand the available flight space range of the communication-aware terminal while ensuring the sensing of the communication-aware terminal, and improve flight efficiency and safety.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method for acquiring airspace information, a method for transmitting airspace information, a communication sensing terminal, an airspace information transmitting device, a storage medium, and a computer program product device. Background Technology

[0002] Sensing communication refers to a technology that combines communication and sensing technologies. Communication mainly refers to the transmission and reception of information, while sensing mainly refers to acquiring information about the environment or objects through various sensors. By combining communication and sensing technologies, it is possible to better adapt to and utilize environmental information, thereby improving the intelligence and efficiency of the system. In low-altitude sensing communication fusion scenarios, base stations are needed to sense communication sensing terminals (such as drones) and provide sensing services. Simultaneously, the base stations themselves need to provide cellular coverage and communication services to the communication sensing terminals. Based on the communication sensing coverage capabilities of the base stations, two-dimensional or three-dimensional flight airspace can be delineated. Within this flight airspace, the sensing and communication services provided by the base stations can ensure safe flight for the communication sensing terminals. Currently, the limited sensing and coverage range of base stations restricts the safe flight space for communication sensing terminals under the sensing and communication services of base stations. Summary of the Invention

[0003] This disclosure provides a method for acquiring airspace information, a method for transmitting airspace information, a communication sensing terminal, an airspace information transmitting device, a storage medium, and a computer program product device.

[0004] According to a first aspect of this disclosure, an airspace information acquisition method is provided, applied to a communication sensing terminal, comprising: acquiring flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information based on a received airspace indication message; or, acquiring pre-configured flight airspace information and valid time information; wherein the flight airspace information includes airspace range information, and the airspace range information includes range information of a direct sensing area and / or an indirect sensing area associated with the location of the communication sensing terminal.

[0005] Optionally, the flight airspace information includes sensing service configuration information, which includes information about a first communication base station associated with the communication sensing terminal and / or information about a first other communication sensing terminal within the direct sensing area.

[0006] Optionally, the flight airspace information includes communication service provision information, which includes second communication base station information associated with the communication sensing terminal and / or information of a second other communication sensing terminal within the direct sensing area.

[0007] Optionally, when the communication sensing terminal is located within the indirect sensing area, data transmission is performed between the second other communication sensing terminal and the second communication base station, or data transmission is performed directly with the second communication base station.

[0008] Optionally, the flight airspace information includes range information of the non-sensing area associated with the communication sensing terminal.

[0009] Optionally, if the airspace range information is determined to be valid based on the valid time information, flight airspace update processing is performed based on the airspace range information and the perception service configuration information.

[0010] Optionally, when the airspace range information is determined to be valid based on the valid time information, the process of updating the flight airspace based on the airspace range information and the sensing service configuration information includes: if the sensing service configuration information only includes information of a first other communication sensing terminal, then the flight space is moved to or remains in the indirect sensing area according to the airspace range information.

[0011] Optionally, when the airspace range information is determined to be valid based on the valid time information, the process of updating the flight airspace based on the airspace range information and the sensing service configuration information includes: if the sensing service configuration information only includes the first communication base station information, then the flight space is moved to or remains in the directly sensing area according to the airspace range information.

[0012] Optionally, the range information includes at least one of the following: three-dimensional coordinate set information, three-dimensional spatial information based on the three-dimensional coordinate set indication, and three-dimensional spatial set information based on the three-dimensional coordinate set indication.

[0013] Optionally, the direct sensing area includes a first area, and the indirect sensing area includes a fourth area associated with the first area; the distance between a location within the first area and the base station is greater than a first distance threshold and less than a second distance threshold; the distance between a location within the fourth area and the base station is greater than a third distance threshold and less than or equal to the first distance threshold, or the distance between a location within the fourth area and the base station is greater than or equal to the second distance threshold and less than the fourth distance threshold; wherein the third distance threshold < the first distance threshold < the second distance threshold < the fourth distance threshold.

[0014] Optionally, the direct sensing area includes a second area, and the indirect sensing area includes a fifth area associated with the second area; the height of a position within the second area is greater than a first height threshold and less than a second height threshold, and the height of a position within the fifth area is greater than the second height threshold and less than a third height threshold.

[0015] Optionally, the direct sensing area includes a third area; the indirect sensing area includes a sixth area associated with the third area; the third area is the intersection of the base station communication signal coverage area and the P-wave coverage area transmitted by the base station, and the sixth area is a set area outside the base station communication signal coverage area and / or a set area outside the P-wave coverage area transmitted by the base station.

[0016] According to a second aspect of this disclosure, an airspace information transmission method is provided, applied to an airspace information transmission device, comprising: sending an airspace indication message to a communication sensing terminal, so that the communication sensing terminal acquires flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information based on the airspace indication message; wherein, the flight airspace information includes airspace range information, and the airspace range information includes range information of a directly sensed area and / or an indirectly sensed area associated with the location of the communication sensing terminal.

[0017] Optionally, the flight airspace information includes sensing service configuration information, which includes information about a first communication base station associated with the communication sensing terminal and / or information about a first other communication sensing terminal within the direct sensing area.

[0018] Optionally, the flight airspace information includes communication service provision information, which includes second communication base station information associated with the communication sensing terminal and / or information of a second other communication sensing terminal within the direct sensing area.

[0019] Optionally, when the communication sensing terminal is located within the indirect sensing area, data transmission is performed between the second other communication sensing terminal and the second communication base station, or data transmission is performed directly with the second communication base station.

[0020] Optionally, the flight airspace information includes range information of the non-sensing area associated with the communication sensing terminal.

[0021] Optionally, the range information includes at least one of the following: three-dimensional coordinate set information, three-dimensional spatial information based on the three-dimensional coordinate set indication, and three-dimensional spatial set information based on the three-dimensional coordinate set indication.

[0022] According to a third aspect of this disclosure, a communication sensing terminal is provided, comprising: an information acquisition module, configured to acquire, based on a received airspace indication message, flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information; or, acquire pre-configured flight airspace information and valid time information; wherein the flight airspace information includes airspace range information, and the airspace range information includes range information of a direct sensing area and / or an indirect sensing area associated with the location of the communication sensing terminal.

[0023] According to a fourth aspect of this disclosure, a communication sensing terminal is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the method described above by the communication sensing terminal based on instructions stored in the memory.

[0024] According to a fifth aspect of this disclosure, an airspace information transmission device is provided, comprising: an indication transmission module, configured to send an airspace indication message to a communication sensing terminal, so that the communication sensing terminal obtains flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information based on the airspace indication message; wherein the flight airspace information includes airspace range information, and the airspace range information includes range information of a direct sensing area and / or an indirect sensing area associated with the location of the communication sensing terminal.

[0025] According to a sixth aspect of this disclosure, a space information transmission device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute, based on instructions stored in the memory, the method performed by the space information transmission device as described above.

[0026] According to a seventh aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions which, when executed by a processor, perform the method described above.

[0027] According to an eighth aspect of this disclosure, a computer program product is provided, the computer program product storing computer instructions which are executed by a processor using the method described above.

[0028] The airspace information acquisition method, airspace information transmission method, communication sensing terminal, airspace information transmission device, storage medium, and computer program product device disclosed herein, wherein the communication sensing terminal acquires flight airspace information corresponding to the base station and effective time information corresponding to the flight airspace information, the flight airspace including the direct sensing area and / or indirect sensing area, which can expand the sensing range of the communication sensing terminal, and can expand the available flight space range of the communication sensing terminal while ensuring the sensing of the communication sensing terminal, thereby improving flight efficiency and safety. Attached Figure Description

[0029] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The accompanying drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. The above and other objects and advantages of this disclosure will be further described below with reference to specific embodiments and the accompanying drawings. In the drawings, the same or corresponding technical features or components will be represented by the same or corresponding reference numerals.

[0030] Figure 1 This is a flowchart illustrating some embodiments of the airspace information acquisition method according to the present disclosure;

[0031] Figure 2 This is a schematic diagram of the flight airspace update process in some embodiments of the airspace information acquisition method according to this disclosure;

[0032] Figures 3A-3C This is a schematic diagram illustrating an application scenario of the airspace information acquisition method disclosed herein;

[0033] Figure 4 This is a flowchart illustrating some embodiments of the airspace information transmission method according to the present disclosure;

[0034] Figure 5A and Figure 5B A schematic diagram of modules according to some embodiments of the communication sensing terminal according to the present disclosure;

[0035] Figure 6 The following are schematic diagrams of modules of a communication sensing terminal according to other embodiments of the present disclosure;

[0036] Figure 7 A schematic diagram of modules for some embodiments of an airspace information transmission device according to this disclosure;

[0037] Figure 8 This is a schematic diagram of modules for some other embodiments of the airspace information transmission device according to the present disclosure. Detailed Implementation

[0038] Exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of the embodiments are described in the specification. However, it should be understood that many implementation-specific settings must be made in carrying out the embodiments to achieve the developer's specific goals, such as complying with constraints related to the device and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the present disclosure.

[0039] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0040] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0041] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0042] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0043] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0044] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0045] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0046] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0047] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0048] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0049] Furthermore, to avoid obscuring this disclosure with unnecessary detail, only processing steps and / or apparatus structures closely related to at least the solutions according to this disclosure are shown in the accompanying drawings, while other details less relevant to this disclosure are omitted. It should also be noted that similar reference numerals and letters in the drawings indicate similar items, and therefore once an item is defined in one drawing, it need not be discussed again in subsequent drawings.

[0050] In the relevant technologies known to the inventors, there are blind spots in the base station's perception and / or communication with the communication sensing terminal:

[0051] 1. When a base station uses P-waves for communication sensing, due to the physical limitations of the P-wave's transmission and guard time slots, there is a sensing "dead zone" with a radius of tens to hundreds of meters within the sensing range. When a base station uses a mixture of C-waves and P-waves for communication sensing, although the sensing "dead zone" problem can be solved to some extent, the base station needs to be equipped with an additional C-wave transceiver, which increases cost and power consumption. Among them, P-wave is a pulse wave, which is usually used in millimeter-wave outdoor base stations to achieve high-speed wireless connections; C-wave (continuous waveform) is a continuous wave.

[0052] 2. Base station antennas are usually equipped with a mechanical downtilt angle. Although the beam direction can be adjusted to some extent and the beam can be raised through digital beamforming technology, the amplitude of beam raising and the transmission power are limited in cellular deployment and site planning, considering the influence of factors such as inter-site interference. This makes it difficult for the base station to provide sensing and coverage for objects and areas higher than the base station antenna beam.

[0053] The combination of the two situations mentioned above makes the problem of limited sensing and coverage of base stations more prominent, which restricts the safe operating space of communication sensing terminals under the sensing and communication services of base stations.

[0054] Figure 1 This is a flowchart illustrating some embodiments of the airspace information acquisition method according to this disclosure. Figure 1 As shown, the spatial information acquisition method is applied to a communication sensing terminal, including step S101.

[0055] Step S101: Based on the received airspace indication message, obtain the flight airspace information corresponding to the base station and the valid time information corresponding to the flight airspace information; or, obtain the pre-configured flight airspace information and valid time information.

[0056] Communication sensing terminals include drones, and base stations can be integrated sensing base stations. The flight airspace information corresponding to the base station includes airspace range information, which includes the range of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal. The valid time information corresponding to the flight airspace information can be a valid time range; within this valid time range, the corresponding flight airspace information is valid; outside this valid time range, the corresponding flight airspace information is invalid.

[0057] The directly perceived region and the indirectly perceived region can be three-dimensional spatial regions. The range information of the directly perceived region and the indirectly perceived region includes at least one of the following: three-dimensional coordinate set information, three-dimensional spatial information based on the three-dimensional coordinate set, and three-dimensional spatial set information based on the three-dimensional coordinate set.

[0058] The airspace information transmitting device can determine and send airspace indication messages to the communication sensing terminal. These messages can be of various types, carrying flight airspace information and validity period information. Alternatively, the flight airspace information and validity period information can be pre-configured in the communication sensing terminal.

[0059] Airspace information transmission equipment can be of various types, such as application-side equipment for communication sensing, base stations, and network-side equipment of communication networks. Application-side equipment can be control and scheduling equipment for communication sensing terminals. Network-side equipment can be application servers deployed on the network side to provide communication, sensing, and control capabilities for communication sensing terminals. Application-side equipment and network-side equipment can send flight airspace information and validity time information corresponding to the communication sensing terminal and multiple base stations to the communication sensing terminal. Base stations can send flight airspace information and validity time information corresponding to the communication sensing terminal and themselves to the communication sensing terminal.

[0060] Airspace information transmission equipment can determine the corresponding airspace information and valid time information for base stations based on the location or flight path information of communication sensing terminals during the network planning phase or during flight path planning or updates. For example, based on the location and / or flight path information of communication sensing terminals, the airspace information transmission equipment can determine the base stations and other communication sensing terminals providing sensing and coverage at that location or along that flight path. Then, based on the planning / deployment information of these base stations and the location or flight path information of other communication sensing terminals, it can determine the direct sensing area and indirect sensing area, as well as the base stations and other communication sensing terminals, and determine the corresponding valid time information.

[0061] The airspace information acquisition method disclosed herein proposes a method for indicating airspace range information to a communication sensing terminal. By acquiring flight airspace information corresponding to the base station and effective time information corresponding to the flight airspace information, the communication sensing terminal can expand its sensing range. Under the premise of ensuring the sensing of the communication sensing terminal, the usable flight space range of the communication sensing terminal can be expanded, thereby improving flight efficiency and safety.

[0062] In some embodiments, the flight airspace information includes sensing service configuration information, which is used to provide sensing services to the communication sensing terminal; the sensing service configuration information may also be sensing service indication information. The sensing service configuration information includes information about a first communication base station associated with the communication sensing terminal and / or information about other first communication sensing terminals within the direct sensing area, etc.

[0063] The first communication base station information may include information such as the base station number. The first communication base station provides direct sensing services to the communication sensing terminal. The first other communication sensing terminal may be other drones or other devices located within the direct sensing area. The information of the first other communication sensing terminal may include identification information of the first other communication sensing terminal. The information of the first other communication sensing terminal is used to provide direct or indirect sensing services to the communication sensing terminal.

[0064] Flight airspace information includes communication service provision information, which is used to provide communication services to communication sensing terminals. This communication service provision information includes information about a second communication base station associated with the communication sensing terminal and / or information about other second communication sensing terminals within the direct sensing area.

[0065] The second communication base station information may include information such as the base station number. The second communication base station provides direct communication services to the communication sensing terminal. The second other communication sensing terminal may be other drones or other devices located within the direct sensing area. The information of the second other communication sensing terminal may include identification information of the second other communication sensing terminal. The information of the second other communication sensing terminal is used to provide direct or indirect communication services to the communication sensing terminal.

[0066] When the communication sensing terminal is located in an indirect sensing area, the communication sensing terminal can transmit data with the second communication base station through another second communication sensing terminal; the communication sensing terminal can communicate with one or more base stations by communicating with the second communication base station; or, the communication sensing terminal can directly transmit data with one or more second communication base stations.

[0067] Flight airspace information may also include the range information of non-sensing areas associated with communication sensing terminals. The range of non-sensing areas is the area outside the direct sensing area and the indirect sensing area. A specific spatial area can be set as a non-sensing area. The non-sensing area does not overlap with the direct sensing area and the indirect sensing area, and its function is similar to delineating a no-fly zone.

[0068] Figure 2 This is a schematic diagram illustrating the flight airspace update process in some embodiments of the airspace information acquisition method according to this disclosure. For example... Figure 2 As shown, the flight airspace update processing method is applied to the communication sensing terminal, including steps S201 and S202.

[0069] Step S201: Determine whether the airspace range information is valid based on the valid time information.

[0070] Step S202: If the airspace range information is determined to be valid, the flight airspace is updated based on the airspace range information and the perception service configuration information.

[0071] For example, the valid time information is the valid time interval [time A, time B]. When the communication sensing terminal performs flight airspace update processing actively or according to received control commands, it determines whether the time of the flight airspace update processing is within the valid time interval [time A, time B]. If so, it determines that the airspace range information is valid, based on the airspace range information and the sensing service configuration information.

[0072] Several methods can be used for flight airspace update processing. If the sensing service configuration information only includes information about the first other communication sensing terminal, then the aircraft moves to or remains within the indirect sensing area based on the airspace range information; if the sensing service configuration information only includes information about the first communication base station, then the aircraft moves to or remains within the direct sensing area based on the airspace range information.

[0073] For example, if a communication sensing terminal device determines that the associated direct communication base station information (first communication base station information) is empty based on the airspace range information and sensing service configuration information, but the information of other communication sensing terminal devices in the direct sensing area (first other communication sensing terminal information) is not empty, then it is determined that the location of the communication sensing terminal cannot be directly sensed and needs to be moved to the indirect sensing area.

[0074] If the communication and sensing terminal device determines that the information of other communication and sensing terminal devices (the first information of other communication and sensing terminal devices) in the directly sensed area associated with it is empty based on the airspace range information and sensing service configuration information, but the information of the direct communication base station (the first communication base station information) is not empty, then the position of this communication and sensing terminal device cannot use indirect sensing, and this communication and sensing terminal device will move to the directly sensed area.

[0075] When the sensing service configuration information includes the first information of other communication and sensing terminal devices and the first communication base station information, the communication and sensing terminal can move to the indirect sensing area or the direct sensing area.

[0076] In some embodiments, the directly sensed area includes the first area, the second area or the third area; the indirect sensing area includes the fourth area associated with the first area, the fifth area associated with the second area or the sixth area associated with the third area. The directly sensed area and the indirect sensing area are areas in three-dimensional space and can be associated with the signal coverage ability of the base station, etc.

[0077] The directly sensed area can perform various fusion processes. For example, the first area and the second area can be fused into one area, and the third area can be a separate area; the first area can be a separate area, and the second area and the third area can be fused into one area. The indirect sensing area can perform various fusion processes. For example, the fourth area and the fifth area can be fused into one area, and the sixth area can be a separate area; the fourth area can be a separate area, and the fifth area and the sixth area can be fused into one area.

[0078] The distance between the position in the first area and the base station is greater than the first distance threshold and less than the second distance threshold; the distance between the position in the fourth area and the base station is greater than the third distance threshold and less than or equal to the first distance threshold, or the distance between the position in the fourth area and the base station is greater than or equal to the second distance threshold and less than the fourth distance threshold.

[0079] In the application scenario as Figure 3A shown, the directly sensed area (the first area) is located in the space where the distance d from the base station ∈ D direct : d1 < D direct < d2, where the first distance threshold is d1 and the second distance threshold is d2; the indirect sensing area (the fourth area) includes the indirect sensing area a and the sensing area b. The indirect sensing area a is located in the space where the distance d from the base station ∈ D indirect1 : d0 < D indirect1 ≤ d1; where the third distance threshold is d0, and the indirect sensing area b is located in the space where the distance d from the base station ∈ D indirect2 : d2 ≤ D indirect2 < d3; where the fourth distance threshold is d3.

[0080] As Figure 3A shown, the location of the base station can be set as the origin 0, and multiple distance thresholds d0 - d3 are set to divide the direct sensing area, the indirect sensing area, and the non - sensing area. The non - sensing area a includes a part of the blind area of the base station communication signal, the blind area of the P - wave sensing signal, or the dead zone range; the indirect sensing area a is within the coverage range of the base station communication signal and within the blind area of the P - wave sensing signal, and the indirect sensing area a (the area with a distance from the base station in the range of d0 - d1) is within the reachable range of D2D communication (direct communication between sensing terminals).

[0081] The direct sensing area is within the coverage range of the base station communication signal; the indirect sensing area b is outside the coverage range of the base station communication signal, and the indirect sensing area b (the area with a distance from the base station in the range of d2 - d3) is within the reachable range of D2D communication (direct communication between sensing terminals). The non - sensing area b is outside the coverage range of the base station communication signal, and the non - sensing area b is outside the reachable range of D2D communication (direct communication between sensing terminals).

[0082] Figures 3A-3C The base station in

[0083] can provide direct communication services to the communication sensing terminals located in the direct sensing area, can provide indirect communication services to the communication sensing terminals in the indirect sensing area, and cannot guarantee to provide direct communication services to the communication sensing terminals in the indirect sensing area. Figure 3B In the application scenario as Figure 3B shown, the direct sensing area (the second area) and the indirect sensing area (the fifth area) are at different heights. Multiple height thresholds H0 - H2 can be set to divide the direct sensing area, the indirect sensing area, and the non - sensing area. The direct sensing area (the second area) is located in the space where the height H ∈ H Direct : H0 < H Direct < H1, where the first height threshold is H0 and the second height threshold is H1; the indirect sensing area (the fifth area) is located in the space where the height H ∈ H inDirect : H1 < H inDirect < H2; where the third height threshold is H2, and the value of H0 can be 0 or non - zero.

[0084] The indirect sensing area is located within the range reachable by D2D communication (direct communication between sensing terminals); the location within the non-sensing area has a height greater than or equal to H2, and the non-sensing area is located outside the range reachable by D2D communication (direct communication between sensing terminals). Areas with a height less than H1 are areas that can be covered by the scanning angle of the base station communication beam / P-wave, while areas with a height greater than or equal to H1 are areas that cannot be covered by the scanning angle of the base station communication beam / P-wave.

[0085] Direct sensing areas, indirect sensing areas, and non-sensing areas can be defined by distance or height. For example, different distance or height thresholds can be set based on one or more factors such as spectrum, base station site planning, antenna angle, signal coverage, and relevant regulations. Different distance or height thresholds can also be set based on distance (or latitude and longitude) and height (or altitude). Direct sensing areas, indirect sensing areas, and non-sensing areas can be defined by different distance or height thresholds.

[0086] The third region is the intersection of the base station communication signal coverage area and the P-wave coverage area transmitted by the base station. The sixth region is a designated area outside the base station communication signal coverage area and / or a designated area outside the P-wave coverage area transmitted by the base station.

[0087] In such Figure 3C In the application scenario shown, the direct sensing area and the indirect sensing area can be determined based on the beam coverage / sensing range and the P-wave coverage range. Multiple distance thresholds d0-d3 can be set to divide the direct sensing area, the indirect sensing area, and the non-sensing area; multiple height thresholds H0-H2 can also be set to divide the direct sensing area, the indirect sensing area, and the non-sensing area.

[0088] The direct sensing area (third area) is the intersection or union of the coverage area of ​​the base station beam or sensing signal and the coverage area of ​​the P-wave transmitted by the base station; the base station communication signal can be the base station beam or sensing signal, etc.; base station coverage refers to the coverage area where the base station provides communication services; the base station beam refers to the control beam and data channel beam that the base station provides communication services. For example... Figure 3C The direct sensing region (third region) in the image can be set as follows: Figure 3A and Figure 3B The intersection of the directly perceived regions.

[0089] The indirect sensing area (sixth area) is the area within a preset spatial distance outside the direct coverage area (a set area outside the coverage area of ​​the base station communication signal and / or the coverage area of ​​the P-wave transmitted by the base station); the preset spatial distance can be set according to the application scenario. For example, Figure 3C The indirect sensing region (third region) can be based on, for example... Figure 3A and Figure 3B Indirect sensing area settings.

[0090] The airspace information acquisition method in the above embodiments allows the communication sensing terminal to acquire flight airspace information corresponding to the base station and valid time information corresponding to the flight airspace information. When the validity of the airspace range information is determined, the communication sensing terminal can perform flight airspace update processing based on the airspace range information and sensing service configuration information. This can expand the available flight space range of the communication sensing terminal while ensuring the perception of the communication sensing terminal, thereby improving flight efficiency and safety.

[0091] Figure 4 This is a flowchart illustrating some embodiments of the airspace information transmission method according to this disclosure. For example... Figure 4 As shown, the airspace information transmission method is applied to the airspace information transmission device and includes step S401.

[0092] Step 401: Send an airspace indication message to the communication sensing terminal so that the communication sensing terminal can obtain the flight airspace information corresponding to the base station and the valid time information corresponding to the flight airspace information based on the airspace indication message.

[0093] The flight airspace information includes airspace extent information, which includes the extent of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal. The flight airspace information also includes sensing service configuration information, which includes information about the first communication base station associated with the communication sensing terminal and / or information about the first other communication sensing terminal within the direct sensing area.

[0094] Flight airspace information includes communication service provision information, which includes information on a second communication base station associated with the communication sensing terminal and / or information on other second communication sensing terminals within the direct sensing area. Flight airspace information may also include range information of non-sensing areas associated with the communication sensing terminal.

[0095] The airspace information transmission method in the above embodiments can send flight airspace information corresponding to the base station and effective time information corresponding to the flight airspace information to the communication sensing terminal. Under the premise of ensuring the perception of the communication sensing terminal, it can expand the flight space range available to the communication sensing terminal, thereby improving flight efficiency and safety.

[0096] In some embodiments, such as Figure 5AAs shown, this disclosure provides a communication sensing terminal 50, including an information acquisition module 51. The information acquisition module 51 acquires, based on a received airspace indication message, flight airspace information corresponding to a base station, and valid time information corresponding to the flight airspace information; or, the information acquisition module 51 acquires pre-configured flight airspace information and valid time information; wherein, the flight airspace information includes airspace range information, which includes range information of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal.

[0097] In some embodiments, such as Figure 5B As shown, the communication sensing terminal 50' includes an information acquisition module 51 and an airspace update module 52. When the airspace range information is determined to be valid based on the valid time information, the airspace update module 52 performs flight airspace update processing based on the airspace range information and the sensing service configuration information.

[0098] If the sensing service configuration information only includes information about the first other communication sensing terminal, then the airspace update module 52 moves to or remains within the indirect sensing area based on the airspace range information. If the sensing service configuration information only includes information about the first communication base station, then the airspace update module 52 moves to or remains within the direct sensing area based on the airspace range information.

[0099] In some embodiments, such as Figure 6 As shown, the communication sensing terminal may include a memory 61, a processor 62, a communication interface 63, and a bus 64. The memory 61 is used to store instructions, and the processor 62 is coupled to the memory 61. The processor 62 is configured to execute instructions stored in the memory 61 to implement the above-described spatial information acquisition method.

[0100] The memory 61 can be a high-speed RAM, non-volatile memory, or a memory array. The memory 61 may also be divided into blocks, and these blocks can be combined into virtual volumes according to certain rules. The processor 62 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the spatial information acquisition method of this disclosure.

[0101] In some embodiments, such as Figure 7As shown, this disclosure provides an airspace information transmission device 70, including an indication transmission module 71. The indication transmission module 71 sends an airspace indication message to a communication sensing terminal, so that the communication sensing terminal, based on the airspace indication message, transmits flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information; wherein, the flight airspace information includes airspace range information, and the airspace range information includes range information of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal.

[0102] In some embodiments, such as Figure 8 As shown, the airspace information transmission device may include a memory 81, a processor 82, a communication interface 83, and a bus 84. The memory 81 is used to store instructions, and the processor 82 is coupled to the memory 81. The processor 82 is configured to execute the airspace information transmission method described above based on the instructions stored in the memory 81.

[0103] The memory 81 can be a high-speed RAM, non-volatile memory, or a memory array. The memory 81 may also be divided into blocks, and these blocks can be combined into virtual volumes according to certain rules. The processor 82 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the spatial information transmission method of this disclosure.

[0104] In some embodiments, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the methods as described in any of the foregoing embodiments.

[0105] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (not an exhaustive list) of readable storage media may include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0106] Embodiments of this disclosure may also be computer program products, including computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this disclosure described in the "Exemplary Methods" section above.

[0107] The airspace information acquisition method, airspace information transmission method, communication sensing terminal, airspace information transmission device, storage medium, and computer program product device in the above embodiments enable the communication sensing terminal to acquire flight airspace information corresponding to the base station and valid time information corresponding to the flight airspace information. When the validity of the airspace range information is confirmed, the communication sensing terminal can perform flight airspace update processing based on the airspace range information and sensing service configuration information. This expands the sensing range of the communication sensing terminal, increasing the usable flight space range of the communication sensing terminal while ensuring its sensing capabilities. It also allows for dynamic adjustment of the communication sensing terminal's flight airspace, improving flight efficiency and safety, and enhancing the user experience.

[0108] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0109] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0110] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0111] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0112] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0113] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although several exemplary aspects and embodiments have been discussed above, those skilled in the art will understand that the above embodiments are illustrative only and do not limit the scope of this disclosure. Those skilled in the art will understand that the above embodiments can be combined, modified, or replaced without departing from the scope and spirit of this disclosure.

Claims

1. A method for acquiring spatial information, applied to a communication sensing terminal, comprising: Based on the received airspace indication message, obtain the flight airspace information corresponding to the base station and the valid time information corresponding to the flight airspace information; Alternatively, obtain the pre-configured flight airspace information and the valid time information; The flight airspace information includes airspace range information, which includes range information of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal. The direct sensing area includes a first area, and the indirect sensing area includes a fourth area associated with the first area; The distance between a location in the first region and the base station is greater than a first distance threshold and less than a second distance threshold; the distance between a location in the fourth region and the base station is greater than a third distance threshold and less than or equal to the first distance threshold, or the distance between a location in the fourth region and the base station is greater than or equal to the second distance threshold and less than the fourth distance threshold; the third distance threshold < the first distance threshold < the second distance threshold < the fourth distance threshold.

2. The method as described in claim 1, wherein, The flight airspace information includes sensing service configuration information, which includes information about a first communication base station associated with the communication sensing terminal and / or information about a first other communication sensing terminal within the direct sensing area.

3. The method as described in claim 1, wherein, The flight airspace information includes communication service provision information, which includes information about a second communication base station associated with the communication sensing terminal and / or information about a second other communication sensing terminal within the direct sensing area.

4. The method of claim 3, wherein, When the communication sensing terminal is located within the indirect sensing area, data is transmitted between the second other communication sensing terminal and the second communication base station, or data is transmitted directly between the second communication base station and the second communication base station.

5. The method of claim 1, comprising: The flight airspace information includes the range information of the non-sensing area associated with the communication sensing terminal.

6. The method of claim 2, comprising: If the airspace range information is determined to be valid based on the valid time information, the flight airspace is updated based on the airspace range information and the perception service configuration information.

7. The method of claim 6, wherein, When the airspace range information is determined to be valid based on the valid time information, the process of updating the flight airspace based on the airspace range information and the perception service configuration information includes: If the sensing service configuration information only includes information about the first other communication sensing terminal, then the device moves to or remains in the indirect sensing area according to the airspace range information.

8. The method of claim 6, wherein, When the airspace range information is determined to be valid based on the valid time information, the process of updating the flight airspace based on the airspace range information and the perception service configuration information includes: If the sensing service configuration information only includes the first communication base station information, then the user moves to or remains in the direct sensing area according to the airspace range information.

9. The method of claim 1, wherein, The range information includes at least one of the following: Three-dimensional coordinate set information, three-dimensional spatial information based on three-dimensional coordinate set indication, and three-dimensional spatial set information based on three-dimensional coordinate set indication.

10. The method according to any one of claims 1 to 9, wherein, The direct sensing area includes a second area, and the indirect sensing area includes a fifth area associated with the second area; The height of the location in the second region is greater than the first height threshold and less than the second height threshold, and the height of the location in the fifth region is greater than the second height threshold and less than the third height threshold.

11. The method according to any one of claims 1 to 9, wherein, The direct sensing area includes a third area; the indirect sensing area includes a sixth area associated with the third area; The third region is the intersection of the base station communication signal coverage area and the P-wave coverage area transmitted by the base station, and the sixth region is a designated area outside the base station communication signal coverage area and / or a designated area outside the P-wave coverage area transmitted by the base station.

12. A method for transmitting airspace information, applied to an airspace information transmitting device, comprising: Send an airspace indication message to the communication sensing terminal so that the communication sensing terminal can obtain the flight airspace information corresponding to the base station and the effective time information corresponding to the flight airspace information based on the airspace indication message; The flight airspace information includes airspace range information, which includes range information of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal. The direct sensing area includes a first area, and the indirect sensing area includes a fourth area associated with the first area; The distance between a location in the first region and the base station is greater than a first distance threshold and less than a second distance threshold; the distance between a location in the fourth region and the base station is greater than a third distance threshold and less than or equal to the first distance threshold, or the distance between a location in the fourth region and the base station is greater than or equal to the second distance threshold and less than the fourth distance threshold; the third distance threshold < the first distance threshold < the second distance threshold < the fourth distance threshold.

13. The method of claim 12, wherein, The flight airspace information includes sensing service configuration information, which includes information about a first communication base station associated with the communication sensing terminal and / or information about a first other communication sensing terminal within the direct sensing area.

14. The method of claim 12, wherein, The flight airspace information includes communication service provision information, which includes information about a second communication base station associated with the communication sensing terminal and / or information about a second other communication sensing terminal within the direct sensing area.

15. The method of claim 14, wherein, When the communication sensing terminal is located within the indirect sensing area, data is transmitted between the second other communication sensing terminal and the second communication base station, or data is transmitted directly between the second communication base station and the second communication base station.

16. The method of claim 12, comprising: The flight airspace information includes the range information of the non-sensing area associated with the communication sensing terminal.

17. The method of claim 12, wherein, The range information includes at least one of the following: Three-dimensional coordinate set information, three-dimensional spatial information based on three-dimensional coordinate set indication, and three-dimensional spatial set information based on three-dimensional coordinate set indication.

18. A communication sensing terminal, comprising: The information acquisition module is used to acquire, based on the received airspace indication message, the flight airspace information corresponding to the base station and the valid time information corresponding to the flight airspace information; or, to acquire the pre-configured flight airspace information and the valid time information. The flight airspace information includes airspace range information, which includes range information of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal. The direct sensing area includes a first area, and the indirect sensing area includes a fourth area associated with the first area; The distance between a location in the first region and the base station is greater than a first distance threshold and less than a second distance threshold; the distance between a location in the fourth region and the base station is greater than a third distance threshold and less than or equal to the first distance threshold, or the distance between a location in the fourth region and the base station is greater than or equal to the second distance threshold and less than the fourth distance threshold; the third distance threshold < the first distance threshold < the second distance threshold < the fourth distance threshold.

19. A communication sensing terminal, comprising: Memory; and a processor coupled to the memory, the processor being configured to perform the method as described in any one of claims 1 to 11 based on instructions stored in the memory.

20. A spatial information transmission device, comprising: The instruction sending module is used to send an airspace instruction message to the communication sensing terminal so that the communication sensing terminal can obtain the flight airspace information corresponding to the base station and the effective time information corresponding to the flight airspace information based on the airspace instruction message. The flight airspace information includes airspace range information, which includes range information of the direct sensing area and / or indirect sensing area associated with the location of the communication sensing terminal. The direct sensing area includes a first area, and the indirect sensing area includes a fourth area associated with the first area; The distance between a location in the first region and the base station is greater than a first distance threshold and less than a second distance threshold; the distance between a location in the fourth region and the base station is greater than a third distance threshold and less than or equal to the first distance threshold, or the distance between a location in the fourth region and the base station is greater than or equal to the second distance threshold and less than the fourth distance threshold; the third distance threshold < the first distance threshold < the second distance threshold < the fourth distance threshold.

21. A spatial information transmission device, comprising: Memory; and a processor coupled to the memory, the processor being configured to perform the method as described in any one of claims 12 to 17 based on instructions stored in the memory.

22. A computer-readable storage medium storing computer instructions that are executed by a processor according to any one of claims 1 to 17.

23. A computer program product storing computer instructions which are executed by a processor using the method as described in any one of claims 1 to 17.

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