Unmanned aerial vehicle communication method based on 4G / 5G wireless network

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, and discloses an unmanned aerial vehicle communication method based on a 4G / 5G wireless network, and the method comprises the steps: marking an obstacle region on a planar map through the planar map data fed back in real time, and calculating the distance between a plurality of point locations on a current motion path of an unmanned aerial vehicle and a circle center coordinate of the obstacle region, according to the method, the unmanned aerial vehicle is used as a vehicle, the minimum distance is selected, and whether collision occurs or entering an obstacle area is judged, so that deceleration can be carried out in time when the vehicle faces the obstacle area, a controller is reminded to carry out early warning, and the network state of the unmanned aerial vehicle is displayed to monitor the signal intensity received by the unmanned aerial vehicle in real time. And the situation that the network state is poor is avoided, and early warning is carried out on control personnel in time.

Description

Technical Field

[0001] The present invention relates to the field of drone communication technology, and in particular to a drone communication method based on a 4G / 5G wireless network. Background Art

[0002] With the development of science and technology, the production cost of drones is getting lower and lower. Therefore, drones can be combined with professional technologies in various fields and used in more and more fields with their advantages of no risk of casualties, strong survivability, good maneuverability and ease of use. For example, drones can be used in communications, aerial photography, geological surveys, high-voltage transmission line inspections, oil field pipeline inspections, highway management, forest fire inspections, toxic gas surveys, drug enforcement, emergency rescue, and other civil fields, and their application prospects are extremely broad.

[0003] The application of drones in the field of communication can combine drone technology with communication technology, and install the base station used for communication on the drone to form a drone communication system. The operation and control of the drone in the drone communication system is generally realized through the flight control subsystem in the drone. The flight control subsystem consists of a flight control terminal located on the ground and a flight control component located in the drone. First, the drone operator inputs the command to control the flight of the drone through the flight control terminal; secondly, the flight control terminal sends these commands to the drone through wireless communication technology; finally, the flight control component in the drone completes various flight actions (such as turning, acceleration, deceleration, take-off, landing, etc.) according to the received commands. In addition, the drone can also send various flight status parameters to the aircraft control terminal for the reference of the drone operator to complete subsequent control operations. Drone communication takes advantage of the flexibility of drones. According to needs, drone communication can be quickly deployed at a specified location by controlling the flight, so that the base station in the drone communication provides communication services for users within the coverage area. However, the existing drone communication has a single function and cannot provide timely warnings in the face of signal interference and obstacles that occur during the flight of the drone. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides a UAV communication method based on 4G / 5G wireless network, which has the advantages of providing early warning when the UAV encounters obstacle areas and signal interference during flight, thereby solving the above-mentioned technical problems.

[0006] (II) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solution: a UAV communication method based on a 4G / 5G wireless network, comprising:

[0008] The data receiving unit in the data transmission module stores the drone communication data, receives and decodes the signal, and analyzes and determines the integrity and legality of the received signal; the data sending unit in the data transmission module sends the output signal of the drone to the management module through the 4G / 5G wireless network;

[0009] The drone positioning unit in the positioning module determines the location of the drone based on the data fed back in real time by the data receiving unit, and locates the drone; the obstacle positioning unit in the positioning module determines the obstacle area in the flight path and avoids it based on the received signal in the data transmission module, and the obstacle area includes obstacles and no-fly zones;

[0010] The network management module calculates the network status of the current drone based on the output signal and the received signal in the data transmission module, and sends the calculated network status of the drone to the status detection module;

[0011] The state of the drone is judged by the state judgment unit in the state detection module based on the drone position and the network state of the network management module; if the judgment result is that an early warning is required, the state early warning unit in the state detection module is called; the integrity and legality of the signal received by the data receiving unit are read by the state early warning unit to warn the signal received by the data receiving unit; when the state judgment unit determines that the state early warning unit needs to be called, an early warning is issued, and when the early warning is issued, the state early warning unit sends an early warning information to the management module through the data sending unit for early warning;

[0012] The information interaction management unit in the management module provides feedback on the drone status to the staff; the drone landing management unit in the management module provides the nearest landing point based on the drone's location.

[0013] Furthermore, the steps of analyzing and judging the integrity and legality of the received signal by the data receiving unit are as follows:

[0014] Step A1: Calculate the signal integrity based on the size of the received signal;

[0015] Step A2: Compare the received signal with the signal type stored in the drone signal repository. If the drone signal repository does not contain a type consistent with the received signal, the received signal is judged to be illegal. If the drone signal repository contains a type consistent with the received signal, the received signal is judged to be legal.

[0016] Furthermore, the specific expression for calculating the signal integrity based on the size of the received signal in step A1 is as follows:

[0017]

[0018] Among them, WZX represents integrity, DQXH represents the size of the current received signal, ∑ N XHBZ represents the total value of the sizes of all received signals in the received signal set N that has been executed, XHBZ represents the received signals in the received signal set N that has been executed, and {N} represents the number of data in the received signal set N.

[0019] Furthermore, the drone positioning unit determines the location of the drone as the coordinates (x, y) on the plane map based on the data fed back in real time by the data receiving unit, and the obstacle positioning unit determines the obstacle area in the flight path and avoids it based on the received signal in the data transmission module. The specific steps are as follows:

[0020] Step B1: Mark the obstacle area on the plane map using the plane map data fed back in real time by the data transmission module;

[0021] Step B2: Use the smallest circular frame to select the obstacle area marked on the plane map, and determine the center coordinates (x a ,y a ) and the radius R of the ath obstacle area a , where the subscript a represents the ath obstacle area;

[0022] Step B3: Calculate the coordinates (x a ,y a ) and select the minimum distance l min ;

[0023] Step B4: Determine the center coordinates (x a ,y a ) min The radius R of the ath obstacle area a The size relationship between them is, if l min >R a , no adjustment is made. If l min ≤R a , then execute step B5;

[0024] Step B5: Call the status detection module to determine the warning and reduce the flight speed according to the calculation formula on board.

[0025] Further: In step B3, the coordinates (x a ,y a The specific expression of the distance between ) is as follows:

[0026]

[0027] Among them, l a Indicates the coordinates of the point on the current UAV motion path and the center of the a-th obstacle area (x a ,y a ), x t ,y t represents the coordinates of the UAV at time t, and the plurality of points represent predicted points at three equal sampling intervals from time t onwards based on the current UAV route, angle and flight speed.

[0028] Further: In step B5, the management module is called to feedback the drone status to the staff, and the staff performs obstacle avoidance, and the expression for reducing the flight speed according to the calculation formula carried is as follows:

[0029]

[0030] Among them, v t+1 represents the flight speed at time t, v t represents the flight speed at time t, v min Indicates the minimum flight speed.

[0031] Furthermore, the network management module calculates the network status of the current drone based on the output signal and the received signal in the data transmission module as follows:

[0032]

[0033] Among them, SQI represents the network status of the drone, w1, w2 and w3 represent three different weight coefficients respectively, and w1+w2+w3=1, RSSI represents the received signal strength, Packet Loss Rate represents the packet loss rate, Late represents the network delay threshold, L represents the current network delay, and |*| represents the absolute value.

[0034] Furthermore: the status judgment unit judges the status of the drone based on the drone position and the network status of the network management module. When step B5 is called or the value of the drone's network status SQI is lower than the set threshold, the status warning unit is called to send warning information to the management module for warning.

[0035] Furthermore: the information interaction management unit feeds back the drone status to the staff, including the drone's network status, drone's driving route, angle and flight speed.

[0036] Further: the specific steps of the drone landing management unit providing the nearest landing point based on the location of the drone are as follows:

[0037] Step C1: read all the landing point sets KJLDJ on the plane map, where the landing point set stores the coordinates (x, y) of the drone's location on the plane map;

[0038] Step C2: Select the point closest to the controller from all possible landing points and within the reach of the drone as the landing point, and remind the controller to land at the landing point. Compared with the prior art, the present invention provides a drone communication method based on 4G / 5G wireless network, which has the following beneficial effects:

[0039] The present invention uses real-time feedback of plane map data to mark obstacle areas on the plane map, calculates the distances between several points on the current UAV motion path and the center coordinates of the obstacle area, selects the minimum distance, and determines whether a collision will occur or the obstacle area will be entered, so that the drone can slow down in time when facing an obstacle area and remind the control personnel to issue an early warning. At the same time, the network status of the UAV can be displayed to monitor the signal strength received by the UAV in real time, so as to avoid the occurrence of poor network status and issue an early warning to the control personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the process of the present invention.

[0041] Figure 2 Schematic diagram of the system framework of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1 , a UAV communication method based on 4G / 5G wireless network, comprising:

[0044] S101, storing drone communication data, receiving signals and decoding them through the data receiving unit in the data transmission module, and analyzing and judging the integrity and legitimacy of the received signals; sending output signals of the drone to the management module through the 4G / 5G wireless network through the data sending unit in the data transmission module;

[0045] S102, determining the location of the drone based on the data fed back in real time by the data receiving unit through the drone positioning unit in the positioning module, and positioning the drone; determining and avoiding obstacle areas in the flight path based on the received signal in the data transmission module through the obstacle positioning unit in the positioning module, wherein the obstacle areas include obstacles and no-fly zones;

[0046] S103, calculating the network status of the current drone based on the output signal and the received signal in the data transmission module through the network management module, and sending the calculated network status of the drone to the status detection module;

[0047] S104, judging the state of the drone based on the drone position and the network state of the network management module through the state judgment unit in the state detection module; if the judgment result is that an early warning is needed, calling the state early warning unit in the state detection module; reading the integrity and legality of the signal received by the data receiving unit through the state early warning unit to warn the signal received by the data receiving unit; when the state judgment unit determines that the state early warning unit needs to be called, the state early warning unit sends an early warning message to the management module through the data sending unit for early warning;

[0048] S105, the information interaction management unit in the management module feeds back the drone status to the staff; the drone landing management unit in the management module provides the nearest landing point based on the location of the drone.

[0049] See also Figure 2 , a UAV communication system based on 4G / 5G wireless network, including a data transmission module, a positioning module, a network management module, a state detection module and a management module;

[0050] The data transmission module includes a data receiving unit and a data sending unit. The data receiving unit is used to store drone communication data, receive signals and decode them, and analyze and determine the integrity and legitimacy of the received signals. The data sending unit is used to send the output signal of the drone to the management module through the 4G / 5G wireless network. The steps of the data receiving unit analyzing and determining the integrity and legitimacy of the received signals are as follows:

[0051] Step A1: The signal integrity is calculated based on the size of the received signal. The specific expression for calculating the signal integrity based on the size of the received signal in step A1 is as follows:

[0052]

[0053] Among them, WZX represents integrity, DQXH represents the size of the current received signal, ∑ NXHBZ represents the total value of the sizes of all received signals in the received signal set N that has been executed, XHBZ represents the received signals in the received signal set N that has been executed, and {N} represents the number of data in the received signal set N;

[0054] Step A2: Compare the received signal with the signal type stored in the drone signal repository. If the drone signal repository does not contain a type consistent with the received signal, the received signal is judged to be illegal. If the drone signal repository contains a type consistent with the received signal, the received signal is judged to be legal.

[0055] The positioning module includes a drone positioning unit and an obstacle positioning unit. The drone positioning unit determines the location of the drone based on the data fed back in real time by the data receiving unit and positions the drone. The obstacle positioning unit determines the obstacle area in the flight path and avoids it based on the received signal in the data transmission module. The obstacle area includes obstacles and no-fly zones. The drone positioning unit determines the location of the drone as the coordinates (x, y) on the plane map based on the data fed back in real time by the data receiving unit. The specific steps of the obstacle positioning unit determining the obstacle area in the flight path and avoiding it based on the received signal in the data transmission module are as follows:

[0056] Step B1: Mark the obstacle area on the plane map using the plane map data fed back in real time by the data transmission module;

[0057] Step B2: Use the smallest circular frame to select the obstacle area marked on the plane map, and determine the center coordinates (x a ,y a ) and the radius R of the ath obstacle area a , where the subscript a represents the ath obstacle area;

[0058] Step B3: Calculate the coordinates (x a ,y a ) and select the minimum distance l min In step B3, the coordinates of the center of the a-th obstacle area and the points on the current UAV motion path are calculated (x a ,y a The specific expression of the distance between ) is as follows:

[0059]

[0060] Among them, l a Indicates the coordinates of the point on the current UAV motion path and the center of the a-th obstacle area (x a ,y a ), xt ,y t represents the coordinates of the drone at time t, and several points represent the predicted points at three equal sampling intervals from time t onwards based on the current drone route, angle and flight speed;

[0061] Step B4: Determine the center coordinates (x a ,y a ) min The radius R of the ath obstacle area a The size relationship between them is, if l min >R a , no adjustment is made. If l min ≤R a , then execute step B5;

[0062] Step B5: Call the status detection module to judge the warning, and reduce the flight speed according to the calculation formula carried. In step B5, the management module is called to feedback the drone status to the staff, and the staff avoids obstacles, and the expression of reducing the flight speed according to the calculation formula carried is as follows:

[0063]

[0064] Among them, v t+1 represents the flight speed at time t, v t represents the flight speed at time t, v min Indicates the minimum flight speed, so that it can slow down in time when facing an obstacle area and remind the control personnel to issue an early warning. The network management module calculates the current network status of the drone based on the output signal and the received signal in the data transmission module, and sends the calculated network status of the drone to the platform detection module. The network management module calculates the current network status of the drone based on the output signal and the received signal in the data transmission module. The expression is as follows:

[0065]

[0066] Among them, SQI represents the network status of the drone, w1, w2 and w3 represent three different weight coefficients, and w1+w2+w3=1, RSSI represents the received signal strength, Packet Loss Rate represents the packet loss rate, Late represents the network delay threshold, L represents the current network delay, and |*| represents the absolute value, which ensures The overall trend is positively correlated. By displaying the network status of the drone, the signal strength received by the drone can be monitored in real time to avoid the failure to warn the control personnel in time when the network status is poor;

[0067] The state detection module includes a state judgment unit and a state warning unit. The state judgment unit judges the state of the drone based on the position of the drone and the network state of the network management module. If the judgment result is that a warning is needed, the state warning unit is called. The state judgment unit judges the state of the drone based on the position of the drone and the network state of the network management module. When step B5 is called or the value of the network state SQI of the drone is lower than the set threshold, the state warning unit is called to send warning information to the management module for warning. The state warning unit reads the integrity and legality of the signal received in the data receiving unit to warn the signal received by the data receiving unit. The state warning unit also includes a warning when the state judgment unit determines that the state warning unit needs to be called. When the state warning unit sends a warning information to the management module through the data sending unit for warning;

[0068] The management module includes an information interaction management unit and a drone landing management unit. The information interaction management unit is used to feedback the drone status to the staff. The drone landing management unit provides the nearest landing point based on the location of the drone when the drone power is insufficient to return. The information interaction management unit feedbacks the drone status to the staff, including the drone's network status, drone route, angle and flight speed. By displaying the drone's network status, the signal strength received by the drone can be monitored in real time, including whether it is in a good communication signal area and the stability of the network connection. At the same time, the positioning system provides the real-time geographic location of the drone so that the staff can understand the specific flight location of the drone at a glance. The specific steps for the drone landing management unit to provide the nearest landing point based on the drone's location are as follows:

[0069] Step C1: read all the landing point sets KJLDJ on the plane map, where the landing point set stores the coordinates (x, y) of the drone's location on the plane map;

[0070] Step C2: Select the point closest to the controller from all possible landing points and within the reach of the drone as the landing point, and remind the controller to land at the landing point. The specific judgment process is: if there are three points ABC, where point A is 300m away from the controller, point B is 450m away from the controller, and point C is 600m away from the controller, if the distances from the drone to points ABC are equal, the drone will prioritize point A as the landing point. If the drone can only fly to points BC, point B is selected as the landing point.

[0071] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A UAV communication method based on 4G / 5G wireless network, characterized in that: include: The data receiving unit in the data transmission module stores the drone communication data, receives and decodes the signal, and analyzes and determines the integrity and legality of the received signal; the data sending unit in the data transmission module sends the output signal of the drone to the management module through the 4G / 5G wireless network; The drone positioning unit in the positioning module determines the location of the drone based on the data fed back in real time by the data receiving unit, and locates the drone; the obstacle positioning unit in the positioning module determines the obstacle area in the flight path and avoids it based on the received signal in the data transmission module, and the obstacle area includes obstacles and no-fly zones; The network management module calculates the network status of the current drone based on the output signal and the received signal in the data transmission module, and sends the calculated network status of the drone to the status detection module; The state judgment unit in the state detection module judges the state of the drone based on the drone position and the network state of the network management module; if the judgment result is that an early warning is required, the state early warning unit in the state detection module is called; the integrity and legality of the signal received by the data receiving unit are read by the state early warning unit to warn the signal received by the data receiving unit; When the state judgment unit determines that the state warning unit needs to be called, the state warning unit sends warning information to the management module through the data sending unit to issue a warning; The information interaction management unit in the management module provides feedback on the drone status to the staff; the drone landing management unit in the management module provides the nearest landing point based on the drone's location.

2. The UAV communication method based on 4G / 5G wireless network according to claim 1 is characterized in that: The steps of analyzing and judging the integrity and legitimacy of the received signal by the data receiving unit are as follows: Step A1: Calculate the signal integrity based on the size of the received signal; Step A2: Compare the received signal with the signal type stored in the drone signal repository. If the drone signal repository does not contain a type consistent with the received signal, the received signal is judged to be illegal. If the drone signal repository contains a type consistent with the received signal, the received signal is judged to be legal.

3. The UAV communication method based on 4G / 5G wireless network according to claim 2 is characterized in that: The specific expression for calculating the signal integrity based on the size of the received signal in step A1 is as follows: Among them, WZX represents integrity, DQXH represents the size of the current received signal, ∑ N XHBZ represents the total value of the sizes of all received signals in the received signal set N that has been executed, XHBZ represents the received signals in the received signal set N that has been executed, and {N} represents the number of data in the received signal set N.

4. The UAV communication method based on 4G / 5G wireless network according to claim 3 is characterized in that: The specific steps of determining the position of the drone as the coordinates (x, y) on the plane map based on the data fed back in real time by the data receiving unit and determining the obstacle area in the flight path and avoiding it based on the received signal in the data transmission module by the drone positioning unit are as follows: Step B1: Mark the obstacle area on the plane map using the plane map data fed back in real time by the data transmission module; Step B2: Use the smallest circular frame to select the obstacle area marked on the plane map, and determine the center coordinates (x a ,y a ) and the radius R of the ath obstacle area a , where the subscript a represents the ath obstacle area; Step B3: Calculate the coordinates (x a ,y a ) and select the minimum distance l min ; Step B4: Determine the center coordinates (x a ,y a ) min The radius R of the ath obstacle area a The size relationship between them is, if l min >R a , no adjustment is made. If l min ≤R a , then execute step B5; Step B5: Call the status detection module to determine the warning and reduce the flight speed according to the calculation formula on board.

5. The UAV communication method based on 4G / 5G wireless network according to claim 4 is characterized in that: In step B3, the coordinates (x a ,y a The specific expression of the distance between ) is as follows: Among them, l a Indicates the coordinates of the point on the current UAV motion path and the center of the a-th obstacle area (x a ,y a ), x t ,y t represents the coordinates of the UAV at time t, and the plurality of points represent predicted points at three equal sampling intervals from time t onwards based on the current UAV route, angle and flight speed.

6. The UAV communication method based on 4G / 5G wireless network according to claim 5, characterized in that: In step B5, the management module is called to feedback the drone status to the staff, and the staff performs obstacle avoidance, and the expression for reducing the flight speed according to the calculation formula carried is as follows: Among them, v t+1 represents the flight speed at time t, v t represents the flight speed at time t, v min Indicates the minimum flight speed.

7. The UAV communication method based on 4G / 5G wireless network according to claim 1, characterized in that: The network management module calculates the network status of the current drone based on the output signal and the received signal in the data transmission module as follows: Among them, SQI represents the network status of the drone, w1, w2 and w3 represent three different weight coefficients respectively, and w1+w2+w3=1, RSSI represents the received signal strength, Packet Loss Rate represents the packet loss rate, Late represents the network delay threshold, L represents the current network delay, and |*| represents the absolute value.

8. The UAV communication method based on 4G / 5G wireless network according to claim 7, characterized in that: The status judgment unit judges the status of the drone based on the drone position and the network status of the network management module. When step B5 is called or the value of the drone's network status SQI is lower than the set threshold, the status warning unit is called to send warning information to the management module for warning.

9. The UAV communication method based on 4G / 5G wireless network according to claim 7, characterized in that: The information interaction management unit feeds back the drone status to the staff, including the drone's network status, drone's driving route, angle and flight speed.

10. The UAV communication method based on 4G / 5G wireless network according to claim 9, characterized in that: The specific steps of the drone landing management unit providing the nearest landing point based on the location of the drone are as follows: Step C1: read all the landing point sets KJLDJ on the plane map, where the landing point set stores the coordinates (x, y) of the drone's location on the plane map; Step C2: Select a point that is closest to the controller and within the reach of the drone from all possible landing points as the landing point, and remind the controller to land at the landing point.

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