Method and device for automatic positioning of a drone in a sensitive area based on a 5g network

Abstract

This invention discloses an automatic drone positioning method and apparatus in sensitive areas based on a 5G network. After identifying a drone, the monitoring terminal acquires its drone identifier and image, and sends a corresponding notification to the area management platform. The area management platform sends a positioning request containing the drone identifier and terminal identifier to the 5G core network. The AMF (Advanced Location Function) network element periodically obtains drone location acquisition requests from the LMF (Local Location Function) network element. The LMF network element sends a location measurement request containing the drone identifier and monitoring terminal identifier to each monitoring terminal to obtain the distance information detected by the monitoring terminal and the monitoring terminal's position coordinates. The LMF network element collects distance information from at least three monitoring terminals, calculates the drone's position coordinates using a terminal triangulation method, and returns the drone's position coordinates to the area management platform. This invention can accurately locate the drone's position and promptly report it to the area management platform without the drone's active participation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless communication, in particular to an automatic positioning method and device of a UAV based on a 5G network in a sensitive area. BACKGROUND

[0002] As UAVs are becoming more and more popular, if a UAV flies into a no-fly area such as a military base, it may capture some private information with a camera, or interfere with other normal flying UAVs. If only traditional radar is used for supervision, it is difficult to accurately capture them and deal with them.

[0003] Therefore, there is an urgent need for a UAV positioning method to solve the above problems. SUMMARY

[0004] The purpose of the present application is to provide an automatic positioning method and device of a UAV based on a 5G network in a sensitive area, which can accurately position the location of the UAV and timely report to the regional management platform without the active participation of the UAV.

[0005] In order to achieve the above purpose, the present application provides an automatic positioning method of a UAV based on a 5G network in a sensitive area, at least three monitoring terminals are arranged in the sensitive area, the monitoring terminal has radar and camera functions, and can automatically identify and track the UAV and collect the distance information between the monitoring terminal and the UAV, 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 UAV identifier and UAV image of the UAV after identifying the UAV, and continuously tracks, and also sends a notification containing the UAV identifier and UAV image to the regional management platform; the regional management platform stores the UAV identifier and UAV image, and sends a positioning request containing the UAV identifier and terminal identifier to the 5G core network through the 5G network; the AMF network element of the 5G core network starts a UAV location subscription process, and periodically obtains a UAV location acquisition request from the LMF network element of the 5G core network; the LMF network element sends a location measurement request containing the UAV identifier and the monitoring terminal identifier to each monitoring terminal according to the UAV location acquisition request, to obtain the distance information from the corresponding UAV to the monitoring terminal where the monitoring terminal is located and the location coordinates of the monitoring terminal detected by the monitoring terminal through the 5G network; after collecting the distance information sent by at least three monitoring terminals, the LMF network element calculates the location coordinates of the UAV according to the terminal triangulation method, and returns the location coordinates of the UAV to the regional management platform.

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

[0007] Preferably, the position coordinates comprise the longitude, latitude and altitude of the UAV.

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

[0009] Specifically, after receiving the UAV image, the monitoring terminal analyzes and understands the collected UAV image by using an image processing algorithm, judges whether the collected UAV image matches the stored UAV features, and if so, exchanges the collected UAV image with the monitoring terminal in the same monitoring area and sets the same UAV identification to mark the UAV, and tracks the UAV as a UAV.

[0010] Preferably, the regional management platform sends a positioning request containing the UAV identification and the terminal identification to the 5G core network through the 5G network specifically comprises: 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 comprises the monitoring terminal identification and the UAV identification for tracking the UAV; the GMLC network element requests the AMF network element to obtain the position coordinates of the UAV, so that the AMF network element starts the UAV position subscription process; and the LMF network element returns the position coordinates of the UAV to the regional management platform specifically comprises: the LMF network element returns the position coordinates of the UAV to the AMF network element, the AMF network element stores the UAV identification and the corresponding position coordinates of the UAV, and returns the position coordinates of the UAV to the regional management platform through the GMLC network element.

[0011] Preferably, the LMF network element sends a position measurement request containing the UAV identifier and the monitoring terminal identifier to each of the monitoring terminals according to the UAV position acquisition request, specifically comprising: the LMF network element requests the regional management platform to acquire the distance information from the corresponding UAV to the monitoring terminal where the monitoring terminal is located and the position coordinates of the monitoring terminal in the form of event exposure according to the UAV position acquisition request; the regional management platform requests the monitoring terminal to acquire the distance information from the UAV to the monitoring terminal through a data service channel, and the data service channel request includes the UAV identifier of the UAV; the monitoring terminal identifies the UAV according to the UAV identifier, measures the distance information from the monitoring terminal to the UAV through radar, and returns the distance information to the regional management platform; the regional management platform collects the position coordinates of the monitoring terminal, and sends the position 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 area or a safety control area.

[0013] The application also provides an automatic positioning device for a UAV in a sensitive area based on a 5G network, comprising: monitoring terminals, which have radar and camera functions, can automatically identify and track UAVs, and can collect distance information from the monitoring terminals to the UAVs, the monitoring terminals are at least three in number and the radar monitoring ranges of the monitoring terminals fully cover the sensitive area; a regional management platform, which is in communication connection with the monitoring terminals; and a 5G network, which comprises a 5G core network including an AMF network element and an LMF network element; the monitoring terminals, the regional management platform and the 5G network perform the automatic positioning method for a UAV in a sensitive area based on a 5G network as described above.

[0014] Preferably, the monitoring terminals, the regional management platform and the 5G network respectively comprise processors, memories and operation instructions stored in the memories, and the processors execute the operation instructions to complete the automatic positioning method for a UAV in a sensitive area based on a 5G network as described above.

[0015] Compared with the prior art, the application can perceive a UAV by obtaining sensing data of camera shooting using a monitoring terminal with image recognition capability without the active participation of the UAV, acquire the distance from the terminal to the UAV through radar, and report the information of the UAV to the 5G core network. The 5G core network analyzes the accurate geographic position of the UAV using positioning analysis technology, reports to the regional management platform, and achieves the goal that the UAV does not need to make any cooperation, the 5G core network can also sense the UAV, and timely handle problems. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1The present application is a flowchart of an automatic positioning method of a 5G network-based unmanned aerial vehicle in a sensitive area, which is executed by an automatic positioning device of a 5G network-based unmanned aerial vehicle in a sensitive area. DETAILED DESCRIPTION

[0017] To make the technical content, structural features, achieved purposes and effects of the present application clear, the following will be described in detail in combination with the embodiments and the accompanying drawings.

[0018] Reference Figure 1 The present application discloses an automatic positioning device of a 5G network-based unmanned aerial vehicle in a sensitive area, which comprises: a monitoring terminal 11, the monitoring terminal 11 has radar and camera functions, and can automatically identify and track unmanned aerial vehicles and collect distance information between the monitoring terminal 11 and the unmanned aerial vehicles, the monitoring terminal 11 has at least three and the radar monitoring range of the monitoring terminal 11 covers the sensitive area completely; a regional management platform 12, which is in communication connection with the monitoring terminal 11; a 5G network, which comprises a 5G core network, the 5G core network comprises an AMF network element 21 and an LMF network element 22; the monitoring terminal 11, the regional management platform 12 and the 5G network execute an automatic positioning method of a 5G network-based unmanned aerial vehicle in a sensitive area.

[0019] Among them, the sensitive area is a no-fly area or a safety control area.

[0020] Among them, the monitoring terminal 11, the regional management platform 12 and the 5G network respectively comprise a processor, a memory and an operation instruction stored in the memory, and the processor executes the operation instruction to complete the automatic positioning method of a 5G network-based unmanned aerial vehicle in a sensitive area as described above.

[0021] Reference Figure 1 The automatic positioning method of a 5G network-based unmanned aerial vehicle in a sensitive area comprises 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, and each monitoring terminal has also completed the positioning process and saved the position 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 unmanned aerial vehicle identifier and unmanned aerial vehicle image of the unmanned aerial vehicle after identifying the unmanned aerial vehicle, and continuously tracks, and also sends a notification containing the unmanned aerial vehicle identifier and unmanned aerial vehicle image to the regional management platform.

[0024] When the monitoring terminal 11 starts, it requests the regional management platform 12 to obtain various types of unmanned aerial vehicle image information through a data service channel to obtain the characteristics of the unmanned aerial vehicle, so as to identify and track the unmanned aerial vehicle.

[0025] Specifically, after receiving the UAV image, the monitoring terminal 11 monitors the sensitive area in all directions by using the camera function, and analyzes and understands the collected UAV image by using the image processing algorithm. If it is found that the collected UAV image matches the stored UAV feature, the monitoring terminal 11 exchanges the collected UAV image with the monitoring terminal 11 in the same monitoring area as itself and sets the same UAV identification mark for the UAV, and tracks the UAV as a UAV. The monitoring terminal 11 in the same area is the monitoring terminal 11 monitoring the same monitoring area in the sensitive area. For example, the sensitive area can be divided into multiple monitoring areas, each monitoring area corresponds to a plurality of monitoring terminals 11, and each monitoring terminal 11 can correspond to one monitoring area or a plurality of monitoring areas.

[0026] Step 2. The region management platform 12 stores the UAV identification and UAV image, and sends a positioning request containing the UAV 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 UAV location subscription process, and periodically acquires the UAV 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 containing the UAV identification and UAV image sent by the monitoring terminal, the region management platform 12 stores the UAV identification and UAV image.

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

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

[0031] Step 3. The LMF network element 22 sends a location measurement request containing the UAV identification and the monitoring terminal identification to each monitoring terminal 11 according to the UAV location acquisition request, so as to acquire the distance information from the corresponding UAV to the monitoring terminal 11 where the monitoring terminal 11 is located and the location coordinates of the monitoring terminal 11 detected by 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 unmanned aerial vehicle to the monitoring terminal 11 where the unmanned aerial vehicle is located and the position coordinates of the monitoring terminal 11 in the form of event exposure according to the unmanned aerial vehicle position obtaining request.

[0034] S32, the regional management platform 12 requests the monitoring terminal 11 to obtain the distance information from the unmanned aerial vehicle to the monitoring terminal 11 through a data service channel, and the data service channel request includes the unmanned aerial vehicle identifier of the unmanned aerial vehicle.

[0035] S33, the monitoring terminal 11 identifies the unmanned aerial vehicle according to the unmanned aerial vehicle identifier, measures the distance information from the monitoring terminal 11 to the unmanned aerial vehicle through radar, and returns the distance information to the regional management platform 12.

[0036] S34, the regional management platform 12 collects the position coordinates of the monitoring terminal 11, and sends the position 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 at least three distance information and position coordinates of the monitoring terminal 11 sent by the monitoring terminal 11, the position coordinates of the unmanned aerial vehicle are calculated according to the terminal triangulation method, and the position coordinates of the unmanned aerial vehicle are returned to the regional management platform 12.

[0038] Wherein, the position coordinates include the longitude, latitude and altitude of the unmanned aerial vehicle.

[0039] Step 4 includes S41 to S43.

[0040] S41, select at least three distance information sent by the monitoring terminal 11, take the position coordinates of each monitoring terminal 11 as the center and the distance information detected by each monitoring terminal 11 as the radius to draw a circle, and take the intersection of at least three circles as the position coordinates of the unmanned aerial vehicle. The position coordinates of the unmanned aerial vehicle are calculated by using the multilateral positioning method.

[0041] S42, the LMF network element 22 returns the position coordinates of the unmanned aerial vehicle to the AMF network element 21.

[0042] S43, the AMF network element 21 stores the unmanned aerial vehicle identifier and the corresponding unmanned aerial vehicle position coordinates, and returns the position coordinates of the unmanned aerial vehicle 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 merely preferred embodiments of the present application and is not intended to limit the scope of the present application. Therefore, equivalent changes made in the scope of the patent application are still within the scope of the present application.

Claims

1. An automatic positioning method of a 5G network-based unmanned aerial vehicle in a sensitive area, characterized in that: at least three monitoring terminals are arranged in the sensitive area, the monitoring terminals have radar and camera functions, can automatically identify and track unmanned aerial vehicles, and can collect distance information between the monitoring terminals and the unmanned aerial vehicles, and the radar monitoring range of the monitoring terminals fully covers the sensitive area; the monitoring terminals scan the sensitive area in real time, obtain the unmanned aerial vehicle identification and unmanned aerial vehicle image of the unmanned aerial vehicle after identifying the unmanned aerial vehicle, continuously track the unmanned aerial vehicle, and send a notification containing the unmanned aerial vehicle identification and unmanned aerial vehicle image to a regional management platform; the regional management platform stores the unmanned aerial vehicle identification and unmanned aerial vehicle image, and sends a positioning request containing the unmanned aerial vehicle identification and terminal identification to a 5G core network through a 5G network; an AMF network element of the 5G core network starts an unmanned aerial vehicle location subscription process, and periodically obtains an unmanned aerial vehicle location acquisition request from an LMF network element of the 5G core network; the LMF network element sends a location measurement request containing the unmanned aerial vehicle identification and monitoring terminal identification to each monitoring terminal according to the unmanned aerial vehicle location acquisition request, to obtain the distance information from the corresponding unmanned aerial vehicle to the monitoring terminal where the monitoring terminal is located and the location coordinates of the monitoring terminal detected by the monitoring terminal through the 5G network; after the LMF network element collects the distance information sent by at least three monitoring terminals, the location coordinates of the unmanned aerial vehicle are calculated according to a terminal triangulation method, and the location coordinates of the unmanned aerial vehicle are returned to the regional management platform; wherein the regional management platform sends a positioning request containing the unmanned aerial vehicle identification and terminal identification to the 5G core network through the 5G network, specifically including: the regional management platform initiates a positioning service in the form of event exposure to a GMLC network element of the 5G network, and the positioning service includes the monitoring terminal identification and unmanned aerial vehicle identification for tracking the unmanned aerial vehicle; the GMLC network element requests the AMF network element to obtain the location coordinates of the unmanned aerial vehicle, so that the AMF network element starts the unmanned aerial vehicle location subscription process; and the LMF network element returns the location coordinates of the unmanned aerial vehicle to the regional management platform, specifically including: the LMF network element returns the location coordinates of the unmanned aerial vehicle to the AMF network element, the AMF network element stores the unmanned aerial vehicle identification and corresponding location coordinates of the unmanned aerial vehicle, and returns the location coordinates of the unmanned aerial vehicle to the regional management platform through the GMLC network element. The location coordinates of the unmanned aerial vehicle are calculated according to the terminal triangulation method, specifically including: selecting at least three distance information sent by the monitoring terminals, taking the location coordinates of each monitoring terminal as the center and the distance information detected by each monitoring terminal as the radius to draw a circle, taking the intersection of at least three circles as the location coordinates of the unmanned aerial vehicle, and calculating the location coordinates of the unmanned aerial vehicle by using a multilateration method. The location coordinates include the longitude, latitude and altitude of the unmanned aerial vehicle. When the monitoring terminal is started, the regional management platform is requested to obtain various types of unmanned aerial vehicle image information through a data service channel to obtain the characteristics of the unmanned aerial vehicle, so as to identify and track the unmanned aerial vehicle. ​ ​ ​ ​ ​ ​ ​ 2.The method of claim 1, wherein the method further comprises: receiving a 5G network-based UAV flight plan from the UAV; and determining whether the UAV is in the sensitive area based on the received flight plan. ​ 3.The method of claim 1, wherein the method further comprises: receiving a 5G network-based UAV flight plan from the UAV; and determining whether the UAV is in the sensitive area based on the received flight plan. ​ 4.The method of claim 1, wherein the method further comprises: receiving a 5G network-based UAV flight plan from the UAV; and determining whether the UAV is in the sensitive area based on the received flight plan. ​ 5.The method of claim 4, wherein the method further comprises: receiving a 5G network-based UAV flight plan from the UAV; and determining whether the UAV is in the sensitive area based on the received flight plan. The monitoring terminal analyzes and understands the collected UAV image by using an image processing algorithm after receiving the UAV image, judges whether the collected UAV image matches the stored UAV feature, and if so, exchanges the collected UAV image with the monitoring terminal of the same monitoring area and sets the same UAV identification to mark the UAV, tracks the UAV as a UAV. 6.The method of claim 1, wherein the method further comprises: receiving a 5G network-based UAV flight plan from the UAV; and determining whether the UAV is in the sensitive area based on the received flight plan. The LMF network element sends a position measurement request containing a UAV identification and a monitoring terminal identification to each monitoring terminal according to the UAV position acquisition request, specifically including: The LMF network element requests the regional management platform to acquire the distance information from the corresponding UAV to the monitoring terminal where the regional management platform is located and the position coordinates of the monitoring terminal in the form of event exposure according to the UAV position acquisition request; The regional management platform requests the monitoring terminal to acquire the distance information from the UAV to the monitoring terminal through a data service channel, and the data service channel request includes a UAV identification of the UAV; The monitoring terminal identifies the UAV according to the UAV identification, measures the distance information from the monitoring terminal to the UAV through a radar, and returns the distance information to the regional management platform; The regional management platform acquires the position coordinates of the monitoring terminal, and sends the position coordinates of the monitoring terminal and the distance information sent by the monitoring terminal to the LMF network element through a 5G network. 7.The method of claim 1, wherein the method further comprises: receiving a 5G network-based UAV flight plan from the UAV; and determining whether the UAV is in the sensitive area based on the received flight plan. The sensitive area is a no-fly area or a safety control area.

8. An automatic positioning device of a 5G network-based unmanned aerial vehicle in a sensitive area, characterized in that: including: The monitoring terminal has a radar and camera function, can automatically identify and track a UAV, and can collect distance information from the monitoring terminal to the UAV, the monitoring terminal is at least three, and the radar monitoring range of the monitoring terminal fully covers the sensitive area; The regional management platform is in communication connection with the monitoring terminal; The 5G network includes a 5G core network, and the 5G core network includes an AMF network element and an LMF network element; The monitoring terminal, the regional management platform, and the 5G network perform the automatic positioning method of the UAV in the sensitive area based on the 5G network according to any one of claims 1-7. 9.The 5G network based automatic positioning device of UAV in sensitive area according to claim 8, wherein: The monitoring terminal, the regional management platform, and the 5G network respectively include a processor, a memory, and operation instructions stored in the memory, and the processor executes the operation instructions to complete the automatic positioning method of the UAV in the sensitive area based on the 5G network according to any one of claims 1-7.

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