Automatic positioning method and device of unmanned aerial vehicle in sensitive area based on 5G network

Abstract

The invention discloses an automatic positioning method and device for an unmanned aerial vehicle in a sensitive area based on a 5G network, and the method comprises the steps: obtaining an unmanned aerial vehicle identifier and an unmanned aerial vehicle image of the unmanned aerial vehicle after a monitoring terminal recognizes the unmanned aerial vehicle, and transmitting a corresponding notification to an area management platform; the regional management platform sends a positioning request containing the unmanned aerial vehicle identifier and the terminal identifier to a 5G core network; the AMF network element periodically acquires an unmanned aerial vehicle position acquisition request from the LMF network element; the LMF network element sends a position measurement request containing an unmanned aerial vehicle identifier and a monitoring terminal identifier to each monitoring terminal so as to obtain distance information detected by the monitoring terminal and position coordinates of the monitoring terminal; and the LMF network element collects distance information sent by the at least three monitoring terminals, calculates position coordinates of the unmanned aerial vehicle according to a terminal triangulation positioning method, and returns the position coordinates of the unmanned aerial vehicle to the regional management platform. According to the invention, the position of the unmanned aerial vehicle can be accurately positioned and reported to the regional management platform in time without active participation of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of wireless communications, and in particular to a method and device for automatically positioning a UAV in a sensitive area based on a 5G network. Background Art

[0002] As drones become more and more popular, if drones fly into no-fly zones such as military bases, they may use cameras to capture some private messages or interfere with other drones flying normally. If only traditional radars are used for supervision, it is difficult to accurately capture and deal with them.

[0003] Therefore, there is an urgent need for a UAV positioning method that solves the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a method and device for automatically positioning a UAV in a sensitive area based on a 5G network, which can accurately locate the position of the UAV and report it to the regional management platform in a timely manner without the active participation of the UAV.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a method for automatically positioning a drone in a sensitive area based on a 5G network, wherein at least three monitoring terminals are arranged in the sensitive area, the monitoring terminal having radar and camera functions, and can automatically identify and track the drone and collect the distance information between the monitoring terminal and the drone, and the radar monitoring range of the monitoring terminal fully covers the sensitive area; the monitoring terminal scans the sensitive area in real time, obtains the drone identification and drone image of the drone after identifying the drone, and continuously tracks it, and also sends a notification containing the drone identification and drone image to a regional management platform; the regional management platform stores the drone identification and drone image, and locates the drone identification and terminal identification The request is sent to the 5G core network through the 5G network; the AMF network element of the 5G core network starts the drone location subscription process, and periodically obtains the drone location acquisition request from the LMF network element of the 5G core network; the LMF network element sends a location measurement request containing a drone identifier and a monitoring terminal identifier to each of the monitoring terminals based on the drone location acquisition request, so as to obtain the distance information from the corresponding drone detected by the monitoring terminal to the monitoring terminal where the monitoring terminal is located and the location coordinates of the monitoring terminal through the 5G network; after the LMF network element collects the distance information sent by at least three of the monitoring terminals, it calculates the location coordinates of the drone based on the terminal triangulation positioning method, and returns the location coordinates of the drone to the regional management platform.

[0006] Preferably, calculating the position coordinates of the UAV according to the terminal triangulation positioning method specifically includes: selecting distance information sent by at least three monitoring terminals, drawing a circle with the position coordinates of each of the monitoring terminals as the center and the distance information detected by each of the monitoring terminals as the radius, taking the intersection of at least three circles as the position coordinates of the UAV, and calculating the position coordinates of the UAV using the multilateral positioning method.

[0007] Preferably, the location coordinates include the longitude, latitude and altitude of the drone.

[0008] Preferably, when the monitoring terminal is started, it requests the regional management platform to obtain various types of drone image information through the data service channel to obtain drone features so as to identify and track the drone.

[0009] Specifically, after receiving the drone image, the monitoring terminal uses an image processing algorithm to analyze and understand the collected drone image, and determines whether the collected drone image matches the stored drone features. If so, the collected drone image is exchanged with the monitoring terminal in the same monitoring area and the same drone identification is set to mark the drone, and the drone is tracked as a drone.

[0010] Preferably, the regional management platform sends a positioning request including a drone identifier and a terminal identifier to the 5G core network through the 5G network, specifically including: the regional management platform initiates a positioning service to the GMLC network element of the 5G network in the form of event exposure, and the positioning service includes a monitoring terminal identifier and a drone identifier for tracking the drone; the GMLC network element requests the AMF network element to obtain the location coordinates of the drone so that the AMF network element starts a drone location subscription process; the LMF network element returns the location coordinates of the drone to the regional management platform, specifically including: the LMF network element returns the location coordinates of the drone to the AMF network element, the AMF network element stores the drone identifier and the corresponding drone location coordinates, and returns the location coordinates of the drone to the regional management platform through the GMLC network element.

[0011] Preferably, the LMF network element sends a location measurement request including a drone identifier and a monitoring terminal identifier to each monitoring terminal according to the drone location acquisition request, specifically including: the LMF network element requests the regional management platform to obtain the distance information from the corresponding drone detected by the monitoring terminal to the monitoring terminal where it is located and the location coordinates of the monitoring terminal in the form of event exposure according to the drone location acquisition request; the regional management platform requests the monitoring terminal to obtain the distance information from the drone to the monitoring terminal through a data service channel, and the data service channel request includes the drone identifier of the drone; the monitoring terminal identifies the drone according to the drone identifier, measures the distance information from the monitoring terminal to the drone through a radar, and returns the distance information to the regional management platform; the regional management platform collects the location coordinates of the monitoring terminal, and sends the location coordinates of the monitoring terminal and the distance information sent by the monitoring terminal to the LMF network element through the 5G network.

[0012] Preferably, the sensitive area is a no-fly zone or a security control area.

[0013] The present invention also provides an automatic positioning device for drones in sensitive areas based on a 5G network, comprising: a monitoring terminal, the monitoring terminal having radar and camera functions, and being able to automatically identify and track drones and collect distance information between the monitoring terminal and the drone, the monitoring terminals being at least three and the radar monitoring range of the monitoring terminals fully covering sensitive areas; an area management platform, which is communicatively connected to the monitoring terminals; a 5G network, comprising a 5G core network, the 5G core network comprising an AMF network element and an LMF network element; the monitoring terminal, the area management platform, and the 5G network execute the automatic positioning method for drones in sensitive areas based on a 5G network as described above.

[0014] Preferably, the monitoring terminal, the regional management platform, and the 5G network respectively include a processor, a memory, and operating instructions stored in the memory, and the processor executes the operating instructions to complete the automatic positioning method of the drone in the sensitive area based on the 5G network as described above.

[0015] Compared with the existing technology, the present invention can sense drones by obtaining camera sensing data using a monitoring terminal with image recognition capabilities without the active participation of drones, obtain the distance from the terminal to the drone through radar, and report the drone information to the 5G core network. The 5G core network uses positioning analysis technology to analyze the precise geographical location of the drone and reports it to the regional control platform, so that the drone does not need to cooperate in any way, and the 5G core network can sense the drone and deal with the problem in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a flow chart of the automatic positioning method of a UAV in a sensitive area based on a 5G network executed by the automatic positioning device of the UAV in a sensitive area based on a 5G network of the present invention. DETAILED DESCRIPTION

[0017] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the implementation methods and the accompanying drawings.

[0018] refer to Figure 1 The present invention discloses an automatic positioning device for a UAV in a sensitive area based on a 5G network, comprising: a monitoring terminal 11, wherein the monitoring terminal 11 has radar and camera functions, and can automatically identify and track the UAV and collect distance information between the monitoring terminal 11 and the UAV, wherein there are at least three monitoring terminals 11 and the radar monitoring range of the monitoring terminal 11 fully covers the sensitive area; an area management platform 12, which is communicatively connected with the monitoring terminal 11; a 5G network, comprising a 5G core network, wherein the 5G core network comprises an AMF network element 21 and an LMF network element 22; the monitoring terminal 11, the area management platform 12, and the 5G network execute an automatic positioning method for a UAV in a sensitive area based on a 5G network.

[0019] The sensitive area is a no-fly zone or a security control area.

[0020] Among them, the monitoring terminal 11, the regional management platform 12, and the 5G network respectively include a processor, a memory, and operating instructions stored in the memory, and the processor executes the operating instructions to complete the automatic positioning method of the drone in the sensitive area based on the 5G network as described above.

[0021] refer to Figure 1 ,The automatic positioning method of a UAV in a sensitive area based on a 5G network includes the following steps 1 to 4.

[0022] Among them, each monitoring terminal has completed registration in the 5G core network and established a PDU session. Each monitoring terminal has also completed the positioning process and saved the location coordinates of the corresponding monitoring terminal in the regional management platform.

[0023] Step 1. The monitoring terminal 11 scans the sensitive area in real time, obtains the drone identification and drone image of the drone after identifying the drone, and continuously tracks it, and also sends a notification containing the drone identification and drone image to the regional management platform.

[0024] When the monitoring terminal 11 is started, it requests the regional management platform 12 to obtain various types of drone image information through a data service channel to obtain drone features in order to identify and track the drone.

[0025] Specifically, after receiving the drone image, the monitoring terminal 11 uses the camera function to monitor the sensitive area in all directions, and uses the image processing algorithm to analyze and understand the collected drone image. If it is found that the collected drone image matches the stored drone feature, the monitoring terminal 11 exchanges the collected drone image with the monitoring terminal 11 in the same monitoring area as the drone and sets the same drone identification to mark the drone, and tracks it as a drone. The so-called monitoring terminals 11 with the same distinction are monitoring terminals 11 in the sensitive area that monitor the same monitoring area. For example, the sensitive area can be divided into multiple monitoring areas, each monitoring area corresponds to a number of monitoring terminals 11, and each monitoring terminal 11 can correspond to one monitoring area or multiple monitoring areas.

[0026] Step 2. The regional management platform 12 stores the drone identification and drone image, and sends the positioning request containing the drone identification and terminal identification to the 5G core network through the 5G network; the AMF network element 21 of the 5G core network starts the drone location subscription process, and periodically obtains the drone location acquisition request from the LMF network element 22 of the 5G core network.

[0027] Step 2 specifically includes:

[0028] S21, after receiving the notification including the drone identifier and the drone image sent by the monitoring terminal, the regional management platform 12 stores the drone identifier and the drone image.

[0029] S22, the regional management platform 12 initiates a positioning service to the GMLC network element 23 of the 5G network in the form of event exposure, and the positioning service includes tracking the monitoring terminal identifier and the drone identifier of the drone.

[0030] S23, the GMLC network element 23 requests the AMF network element 21 to obtain the location coordinates of the drone so that the AMF network element 21 starts the drone location subscription process to periodically obtain the drone location acquisition request from the LMF network element 22 of the 5G core network. The request includes the monitoring terminal identifier and the drone identifier.

[0031] Step 3. The LMF network element 22 sends a location measurement request including a drone identifier and a monitoring terminal identifier to each of the monitoring terminals 11 based on the drone location acquisition request, so as to obtain the distance information from the corresponding drone detected by the monitoring terminal 11 to the monitoring terminal 11 where it is located and the location coordinates of the monitoring terminal 11 through the 5G network.

[0032] Step 3 specifically includes S31 to S34.

[0033] S31, the LMF network element 22 requests the regional management platform 12 to obtain the distance information from the corresponding drone detected by the monitoring terminal 11 to the monitoring terminal 11 where it is located and the location coordinates of the monitoring terminal 11 in the form of event exposure based on the drone location acquisition request.

[0034] S32, the area management platform 12 requests the monitoring terminal 11 to obtain the distance information from the drone to the monitoring terminal 11 through the data service channel, and the data service channel request includes the drone identification of the drone.

[0035] S33, the monitoring terminal 11 identifies the drone according to the drone identifier, measures the distance information from the monitoring terminal 11 to the drone through a radar, and returns the distance information to the area management platform 12.

[0036] S34, the regional management platform 12 collects the location coordinates of the monitoring terminal 11, and sends the location coordinates of the monitoring terminal 11 and the distance information sent by the monitoring terminal 11 to the LMF network element 22 through the 5G network.

[0037] Step 4. After the LMF network element 22 collects the distance information and the location coordinates of the monitoring terminal 11 sent by at least three of the monitoring terminals 11, it calculates the location coordinates of the drone based on the terminal triangulation positioning method, and returns the location coordinates of the drone to the regional management platform 12.

[0038] The location coordinates include the longitude, latitude and altitude of the drone.

[0039] Step 4 includes S41 to S43.

[0040] S41, select the distance information sent by at least three of the monitoring terminals 11, draw a circle with the position coordinates of each of the monitoring terminals 11 as the center and the distance information detected by each of the monitoring terminals 11 as the radius, take the intersection of at least three circles as the position coordinates of the UAV, and use the multilateral positioning method to calculate the position coordinates of the UAV.

[0041] S42, the LMF network element 22 returns the location coordinates of the drone to the AMF network element 21.

[0042] S43, the AMF network element 21 stores the drone identification and the corresponding drone location coordinates, and returns the drone location coordinates to the regional management platform 12 through the GMLC network element 23.

[0043] DN: Data Network. AMF: Access and mobility management function. LMF: Location Management Function. GMLC: Gateway Mobile Location Centre.

[0044] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A method for automatic positioning of drones in sensitive areas based on 5G networks, characterized in that: At least three monitoring terminals are set up in sensitive areas. The monitoring terminals have radar and camera functions and can automatically identify and track drones and collect distance information between the monitoring terminals and the drones. The radar monitoring range of the monitoring terminals fully covers the sensitive areas. The monitoring terminal scans the sensitive area in real time, obtains the drone identification and drone image of the drone after identifying the drone, and continuously tracks the drone, and also sends a notification containing the drone identification and drone image to the regional management platform; The regional management platform stores the drone identifier and the drone image, and sends a positioning request including the drone identifier and the terminal identifier to the 5G core network through the 5G network; The AMF network element of the 5G core network starts the drone location subscription process and periodically obtains drone location acquisition requests from the LMF network element of the 5G core network; The LMF network element sends a location measurement request including a drone identifier and a monitoring terminal identifier to each of the monitoring terminals according to the drone location acquisition request, so as to obtain the distance information from the corresponding drone detected by the monitoring terminal to the monitoring terminal where the monitoring terminal is located and the location coordinates of the monitoring terminal through the 5G network; After the LMF network element collects the distance information sent by at least three of the monitoring terminals, it calculates the position coordinates of the drone based on the terminal triangulation positioning method, and returns the position coordinates of the drone to the regional management platform.

2. The automatic positioning method of a drone in a sensitive area based on a 5G network as claimed in claim 1, characterized in that: Calculating the position coordinates of the drone based on the terminal triangulation positioning method specifically includes: selecting the distance information sent by at least three monitoring terminals, drawing a circle with the position coordinates of each of the monitoring terminals as the center and the distance information detected by each of the monitoring terminals as the radius, taking the intersection of at least three circles as the position coordinates of the drone, and calculating the position coordinates of the drone using the multilateral positioning method.

3. The automatic positioning method of a UAV in a sensitive area based on a 5G network as claimed in claim 1, characterized in that: The location coordinates include the longitude, latitude and altitude of the drone.

4. The automatic positioning method of a UAV in a sensitive area based on a 5G network as claimed in claim 1, characterized in that: When the monitoring terminal is started, it requests the regional management platform to obtain various types of drone image information through the data service channel to obtain drone features, so as to identify and track the drone.

5. The automatic positioning method of a UAV in a sensitive area based on a 5G network as claimed in claim 4, characterized in that: After receiving the drone image, the monitoring terminal uses an image processing algorithm to analyze and understand the collected drone image, and determines whether the collected drone image matches the stored drone features. If so, the collected drone image is exchanged with the monitoring terminal in the same monitoring area and the same drone identification is set to mark the drone, and the drone is tracked as a drone.

6. The automatic positioning method of a UAV in a sensitive area based on a 5G network as claimed in claim 1, characterized in that: The regional management platform sends the positioning request including the drone identifier and the terminal identifier to the 5G core network through the 5G network, specifically including: The regional management platform initiates a positioning service to the GMLC network element of the 5G network in the form of event exposure, and the positioning service includes a monitoring terminal identifier and a drone identifier for tracking the drone; The GMLC network element requests the AMF network element to obtain the location coordinates of the drone so that the AMF network element starts the drone location subscription process; The LMF network element returns the position coordinates of the drone to the regional management platform specifically including: The LMF network element returns the location coordinates of the drone to the AMF network element. The AMF network element stores the drone identifier and the corresponding drone location coordinates, and returns the location coordinates of the drone to the regional management platform through the GMLC network element.

7. The automatic positioning method of a UAV in a sensitive area based on a 5G network as claimed in claim 1, characterized in that: The LMF network element sends a location measurement request including a drone identifier and a monitoring terminal identifier to each monitoring terminal according to the drone location acquisition request, specifically including: The LMF network element requests the regional management platform to obtain the distance information from the corresponding drone detected by the monitoring terminal to the monitoring terminal where the monitoring terminal is located and the location coordinates of the monitoring terminal in the form of event exposure according to the drone location acquisition request; The regional management platform requests the monitoring terminal to obtain the distance information between the drone and the monitoring terminal through the data service channel, and the data service channel request includes the drone identifier of the drone; The monitoring terminal identifies the drone according to the drone identifier, measures the distance information from the monitoring terminal to the drone through radar, and returns the distance information to the regional management platform; The regional management platform collects the location coordinates of the monitoring terminal, and sends the location coordinates of the monitoring terminal and the distance information sent by the monitoring terminal to the LMF network element through the 5G network.

8. The automatic positioning method of a UAV in a sensitive area based on a 5G network as claimed in claim 1, characterized in that: The sensitive area is a no-fly zone or a security control area.

9. An automatic positioning device for drones in sensitive areas based on 5G network, characterized in that: include: A monitoring terminal, wherein the monitoring terminal has radar and camera functions, and can automatically identify and track drones and collect distance information between the monitoring terminal and the drones. There are at least three monitoring terminals, and the radar monitoring range of the monitoring terminals fully covers sensitive areas; A regional management platform, which is in communication connection with the monitoring terminal; 5G network, including a 5G core network, wherein the 5G core network includes an AMF network element and a LMF network element; The monitoring terminal, the regional management platform, and the 5G network execute the automatic positioning method of a UAV in a sensitive area based on a 5G network as described in any one of claims 1 to 8.

10. The automatic positioning device for a drone in a sensitive area based on a 5G network as claimed in claim 8, characterized in that: The monitoring terminal, the regional management platform, and the 5G network respectively include a processor, a memory, and operating instructions stored in the memory. The processor executes the operating instructions to complete the automatic positioning method of a drone based on a 5G network in a sensitive area as described in any one of claims 1 to 8.

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