A signal strength prediction method, program product, device and medium

Abstract

An embodiment of the present application provides a signal strength prediction method, a program product, a device, and a medium. The method includes: obtaining a signal data set of a plurality of first signal points in a spatial region; the spatial region includes a plurality of signal points, and second signal points for which signal strengths have not been obtained are screened out from the plurality of signal points; for each second signal point, a target sphere is established with the second signal point as the center of the sphere, and a plurality of target first signal points that form a target geometric figure are determined on the surface of the target sphere; the second signal point is included in the target geometric figure; the target signal strength of the target first signal point is determined from the signal data set, and the signal strength of the second signal point is determined based on the target signal strength. Thus, signal strength prediction for an unknown region is achieved.

Description

Technical Field

[0001] This application relates to the technical field of signal processing. Specifically, it relates to a signal strength prediction method, a program product, a device, and a medium. Background Art

[0002] Unmanned aerial vehicles (UAVs) have the ability to plan flight routes in real time according to the surrounding environment during flight. However, route planning depends on the knowledge of the signal strength in the area. In practice, UAVs can only collect the signal strength of the areas they pass through and cannot determine the signal strength of the areas they have not passed through, which limits the route planning of UAVs for the areas they have not passed through. And when it is necessary for a UAV to change its flight route, if the signal strength of the area through which the changed route passes cannot be confirmed, this will cause the communication of the UAV to be disconnected, and in severe cases, it will cause damage to the UAV. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a signal strength prediction method, a program product, a device, and a medium to achieve the technical effect of signal prediction.

[0004] The first aspect of the embodiments of this application provides a signal strength prediction method, and the method includes:

[0005] Obtain a signal data set of multiple first signal points in a spatial region; wherein, the spatial region includes multiple signal points, and the first signal point is a signal point with a known signal strength among the multiple signal points;

[0006] Screen out second signal points for which signal strength has not been obtained from the multiple signal points in the spatial region;

[0007] For each of the second signal points, establish a target sphere with the second signal point as the center of the sphere, and determine multiple target first signal points that form a target geometric figure on the surface of the target sphere; wherein, the second signal point is included in the target geometric figure;

[0008] Determine the target signal strength of the target first signal point from the signal data set, and determine the signal strength of the second signal point based on the target signal strength.

[0009] In the above implementation process, by dividing the spatial region into multiple signal points and obtaining the signal data set of the first signal point with known signal strength, for the second signal point whose signal strength is not obtained, a virtual target sphere is established with the second signal point as the center of the sphere, and multiple target first signal points that form a target geometric figure are determined on the surface of the target sphere, and the signal strength of the second signal point is predicted based on the target signal strength of the multiple target first signal points. In this way, on the one hand, the prediction of the signal strength in the unknown region is realized. On the other hand, by requiring the second signal point to be included in the target geometric figure, the influence of the signal points in all directions around the second signal point on the signal strength of the second signal point can be taken into account, improving the accuracy of signal prediction.

[0010] Further, for each of the second signal points, establishing a target sphere with the second signal point as the center of the sphere and determining multiple target first signal points that form a target geometric figure on the surface of the target sphere includes:

[0011] For each of the second signal points, a target sphere is established with the second signal point as the center of the sphere and a preset length as the radius of the sphere;

[0012] When there are at least two candidate first signal points on the surface of the target sphere, if at least some of the candidate first signal points form the target geometric figure, determine the candidate first signal points that form the target geometric figure as the target first signal points;

[0013] If any multiple candidate first signal points do not form the target geometric figure, obtain the next second signal point and return to execute the step of establishing the target sphere until all the second signal points are traversed.

[0014] In the above implementation process, when there are at least two candidate first signal points on the surface of the target sphere, at least two candidate first signal points are extracted from all the candidate first signal points and it is determined whether they form the target geometric figure. If they form, the target first signal points can be determined. If they do not form, it is selected to predict the next second signal point first instead of using the insufficient number of signal points for signal strength prediction, ensuring the prediction accuracy.

[0015] Further, the method further includes:

[0016] When there is only one first signal point on the surface of the target sphere, obtain the next second signal point and return to execute the step of establishing the target sphere;

[0017] In the case where the surface of the target sphere does not include the first signal point, determine the next sphere radius with a step size of increasing the distance between adjacent signal points, and return to execute the step of establishing the target sphere until the target first signal point is determined, or the surface of the target sphere only includes one first signal point, or the candidate first signal points on the surface of the target sphere do not form the target geometric figure.

[0018] In the above implementation process, when there is only one first signal point on the surface of the target sphere, or the first signal points on the surface of the target sphere cannot form the target geometric body, it means that the signal distribution around the current second signal point is not yet clear. Therefore, continue to predict the signal strength of the next second signal point to avoid reducing the prediction accuracy by making signal predictions based on unclear signal distribution.

[0019] Further, after determining the signal strength of the second signal point based on the target signal strength, the method further includes:

[0020] Update the signal data set based on the signal strength of the second signal point, and return to execute the step of screening out the second signal points for which the signal strength has not been obtained from the multiple signal points until the signal strengths of all the signal points are obtained.

[0021] In the above implementation process, the signal strength predicted in the previous round can be used as the basis for predicting the signal of the second signal point in the subsequent round. The number of second signal points in the subsequent round will be less than that in the previous round. As the number of second signal points decreases, the signal distribution of the space region becomes increasingly complete, and finally the signal acquisition of the entire space region is completed.

[0022] Further, the second signal point is included in the target geometric figure, including: the second signal point coincides with the center point of the target geometric figure.

[0023] In the above implementation process, by defining that the second signal point coincides with the center point of the target geometric figure, the credibility of the signal strength of the second signal point can be improved.

[0024] Further, the determining the signal strength of the second signal point based on the target signal strength includes:

[0025] Determine the mean value of the multiple target signal strengths as the signal strength of the second signal point.

[0026] In the above implementation process, by determining a plurality of target first signal points from the surface of the target sphere, and taking advantage of the characteristic that the distances from all points on the sphere to the center of the sphere are the same, it is no longer necessary to evaluate the influence weights of each target first signal point on the signal strength of the second signal point, and the mean value can be directly obtained as the signal strength of the second signal point, thereby improving the signal prediction efficiency.

[0027] Further, the obtaining of the signal data set of a plurality of first signal points in the spatial region includes:

[0028] Obtaining the signal data set collected when the aircraft flies along the signal acquisition route in the spatial region; wherein, the waypoints in the signal acquisition route coincide with some of the plurality of signal points.

[0029] In the above implementation process, by designing the signal acquisition route passing through some signal points, the aircraft can collect the signal data of some signal points when flying along the signal acquisition route. For the second signal points in the area not collected by the aircraft, the signal strength can be predicted, and it is not necessary for the aircraft to cruise through each signal point for signal acquisition, thereby improving the acquisition efficiency of the signal distribution in the spatial region.

[0030] Further, the signal acquisition route includes a plurality of signal acquisition routes at different heights, and the projections of each signal acquisition route on the horizontal plane are the same.

[0031] In the above implementation process, by designing a plurality of signal acquisition routes with different heights, the aircraft can obtain the signal data of a plurality of signal points in the three-dimensional spatial region, providing a prediction basis for the subsequent signal strength prediction of the second signal points.

[0032] Further, the spatial region includes a plurality of three-dimensional grids, and the characteristic points on each three-dimensional grid are the signal points in the spatial region; the characteristic points include the vertices and / or the center points of the three-dimensional grids.

[0033] In the above implementation process, by dividing the spatial region into a plurality of three-dimensional grids through grid division and predicting the signal strength of the three-dimensional grids with unknown signal strength distributions, it is beneficial to improve the quality of the aircraft inspection operation and the flight safety during the aircraft inspection operation.

[0034] A second aspect of the embodiments of the present application provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method according to any one of the first aspect.

[0035] A third aspect of the embodiments of the present application provides an electronic device, the electronic device includes:

[0036] A processor;

[0037] A memory for storing processor-executable instructions;

[0038] Wherein, when the processor calls the executable instructions, the operations of any of the methods in the first aspect are implemented.

[0039] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the steps of any of the methods in the first aspect are implemented. Description of the Drawings

[0040] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0041] Figure 1 A flowchart showing a signal strength prediction method provided by an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a target sphere and a target geometric figure provided by an embodiment of the present application;

[0043] Figure 3 A flowchart showing another signal strength prediction method provided by an embodiment of the present application;

[0044] Figure 4 A flowchart showing another signal strength prediction method provided by an embodiment of the present application;

[0045] Figure 5 A schematic diagram of a signal acquisition flight path provided by an embodiment of the present application;

[0046] Figure 6 A hardware structure diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0047] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0048] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0049] In the related art, for flight route planning, it is crucial to accurately grasp the signal distribution in each area of space. To avoid communication loss of the aircraft, the route planning often has to avoid areas with unknown signal distribution. And the signal distribution of the area needs to be determined by the aircraft flying to that area for signal acquisition. If the aircraft flies to each area of space for signal acquisition, this is obviously a time-consuming and costly task. Therefore, how to improve the signal prediction ability for unflown areas is of great significance.

[0050] For this reason, this application provides a signal strength prediction method, which specifically includes steps 110 - 140 as Figure 1 shown.

[0051] Step 110: Obtain a signal data set of multiple first signal points in a spatial area; wherein, the spatial area includes multiple signal points, and the first signal point is a signal point with a known signal strength among the multiple signal points.

[0052] Exemplarily, the spatial area may refer to the flight airspace of the aircraft or other spatial areas. The spatial area can be divided into multiple signal points. The signal point refers to a virtual point with a signal strength. The signal point is a virtual concept and may not have any physical form. The signal strength of each signal point in the spatial area characterizes the signal distribution of the spatial area. Among the multiple signal points included in the spatial area, the signal points with known signal strength can be called first signal points. Among them, the process of collecting the signal strength of the first signal point can refer to the related art. The signal data set includes the signal data of all first signal points in the spatial area. The signal data includes at least the signal strength and may also include the signal direction.

[0053] Step 120: Screen out second signal points for which the signal strength has not been obtained from the multiple signal points in the spatial area.

[0054] Exemplarily, among the multiple signal points in the spatial area, the signal points with known signal strength can be called first signal points, then the remaining signal points with unknown signal strength are called second signal points. As an example, since the signal data set includes the signal strengths of multiple first signal points, it is possible to determine that the remaining signal points in the spatial area other than the signal points recorded in the signal data set are the second signal points. Among them, the determined second signal points include one or more. For each second signal point, its signal strength can be predicted by performing steps 130 - 140.

[0055] Step 130: For each of the second signal points, establish a target sphere with the second signal point as the center of the sphere, and determine a plurality of target first signal points on the surface of the target sphere that form a target geometric figure; wherein, the second signal point is included in the target geometric figure.

[0056] Step 140: Determine the target signal strength of the target first signal point from the signal data set, and determine the signal strength of the second signal point based on the target signal strength.

[0057] Exemplarily, the target sphere established for each second signal point is a virtual sphere and may not have any physical form. The purpose of establishing the target sphere is to predict the signal strength of the second signal point. Specifically, a plurality of target first signal points can be determined from the surface of the target sphere. Among them, the target first signal points meet the following several conditions: 1) The signal strength is known, that is, the signal points recorded in the signal data set; 2) They are located on the surface of the target sphere; 3) A plurality of target first signal points form a target geometric figure, and the target geometric figure is a geometric figure that can contain the second signal point.

[0058] As an example, as Figure 2 shown in Fig. (a) in the middle, the target geometric figure includes a one-dimensional line segment, such as Figure 2 the line segment A1A2 connected by the target first signal point A1 and the target first signal point A2 in Fig. (a) in the middle. The second signal point being included in the target geometric figure means that the second signal point is located on the one-dimensional line segment. That is, the one-dimensional line segment passes through the second signal point. At the same time, considering that the two target first signal points forming the one-dimensional line segment are located on the surface of the target sphere, and the second signal point is the center of the target sphere, the second signal point is located at the center point of the one-dimensional line segment.

[0059] As an example, as Figure 2 shown in Fig. (b) in the middle, the target geometric figure includes a two-dimensional planar figure, such as Figure 2 the triangle B1B2B3 enclosed by the target first signal point B1, the target first signal point B2, and the target first signal point B3 in Fig. (b) in the middle. The second signal point being included in the target geometric figure means that the second signal point is located inside the two-dimensional planar figure. Of course, in addition to Figure 2 the triangle shown in Fig. (b) in the middle, the two-dimensional planar figure can also include other planar polygons, and the present application does not limit this.

[0060] As another example, as Figure 2 shown in Fig. (c) in the middle, the target geometric figure includes a three-dimensional solid figure, such as Figure 2 the triangular pyramid C1C2C3C4 formed by the target first signal point C1 to the target first signal point C4 in Fig. (c) in the middle. Another example is Figure 2The cone D1D2D3D4D5D6 formed by the target first signal points D1 to D6 in FIG. (d). The second signal point being included in the target geometric figure means that the second signal point is located inside the three-dimensional solid figure. Of course, in addition to Figure 2 the cone shown in FIGS. (c)-(d), the three-dimensional solid figure may also include other polyhedrons, which are not limited in this application.

[0061] It can be understood that when the second signal point is included in the target geometric figure, then the target first signal points come from at least two directions relative to the second signal point. For example, when the target geometric figure is a one-dimensional line segment, two target first signal points are located at both ends of the second signal point. When the target geometric figure is a two-dimensional planar figure, at least three target first signal points are located in three directions relative to the second signal point. When the target geometric figure is a three-dimensional solid figure, at least four target first signal points are located in four directions relative to the second signal point, and so on. Thus, the influence of the signal points in all directions around the second signal point on the signal strength of the second signal point can be taken into account. If the second signal point is not included in the target geometric figure, then the target first signal points will come from the same side relative to the second signal point, and at this time, the influence of the signal points on the other side on the signal strength of the second signal point will be missing, reducing the accuracy of signal strength prediction.

[0062] It can be known that in this application, the space area is divided into multiple signal points, and the signal data set of the first signal points with known signal strength is obtained. For the second signal point whose signal strength is not obtained, a virtual target sphere is established with the second signal point as the center of the sphere, and multiple target first signal points that make up the target geometric figure are determined on the surface of the target sphere. Based on the target signal strength of the multiple target first signal points, the signal strength of the second signal point is predicted. In this way, on the one hand, the signal strength prediction of the unknown area is realized, and on the other hand, by requiring the second signal point to be included in the target geometric figure, the influence of the signal points in all directions around the second signal point on the signal strength of the second signal point can be taken into account, improving the accuracy of signal prediction.

[0063] The following provides a detailed introduction to steps 110 - 140.

[0064] According to some embodiments of this application, determining multiple target first signal points that make up the target geometric figure in step 130 may specifically include steps 131 - 133 as Figure 3 shown.

[0065] Step 131: For each of the second signal points, establish a target sphere with the second signal point as the center of the sphere and a preset length as the radius of the sphere.

[0066] Exemplarily, for each second signal point, when initially establishing the target sphere, the preset length may be the distance between adjacent signal points. That is, if the distance between two adjacent signal points in the spatial region is r, then when initially establishing the target sphere for a certain second signal point, a target sphere is established with this second signal point as the center of the sphere and a sphere radius of r.

[0067] After performing step 131, determine whether the following situation one is satisfied: the surface of the target sphere includes at least two candidate first signal points. If situation one is satisfied, then perform step 132 or step 133. Among them, the candidate first signal point refers to: among all the first signal points for which signal strength has been obtained, the first signal points located on the surface of the target sphere.

[0068] Step 132: If at least some of the candidate first signal points form the target geometric figure, determine the candidate first signal points that form the target geometric figure as the target first signal points.

[0069] Step 133: If any number of candidate first signal points do not form the target geometric figure, obtain the next second signal point, and return to perform the step of establishing the target sphere until all the second signal points are traversed.

[0070] Exemplarily, in the case where the surface of the target sphere includes at least two candidate first signal points, at least two candidate first signal points can be extracted from all candidate first signal points by means of permutation and combination, and it is determined whether the extracted at least two candidate first signal points can form the target geometric figure. At this time, it is possible that all candidate first signal points jointly form the target geometric figure, or only some candidate first signal points can jointly form the target geometric figure, or the combinations of various candidate first signal points cannot form the target geometric figure. Then, if the target geometric figure can be formed (formed by some or all candidate first signal points), determine the candidate first signal points that form the target geometric figure as the target first signal points. On the contrary, if any number of candidate first signal points cannot form the target geometric figure, it means that there are not enough first signal points with obtained signal strength around the second signal point, the first signal points that can be used as a reference for signal strength prediction are insufficient, and it is difficult to accurately predict the signal strength of the second signal point. Therefore, the next second signal point can be obtained first, and signal strength prediction can be performed through any embodiment of the present application.

[0071] It can be known that in this embodiment, when the surface of the target sphere includes at least two candidate first signal points, at least two candidate first signal points are extracted from all candidate first signal points and it is determined whether they form a target geometric figure. If they form, the target first signal point can be determined. If they do not form, it is selected to first predict the next second signal point instead of using the insufficient number of first signal points for signal strength prediction, ensuring the prediction accuracy.

[0072] In addition, in some embodiments, the multiple target first signal points determined in step 130 to form the target geometric figure may specifically further include steps 131 as shown, and steps 134 - 135. Figure 4 as shown in the following.

[0073] Step 131: For each of the second signal points, a target sphere is established with the second signal point as the center of the sphere and a preset length as the radius of the sphere.

[0074] Among them, for the specific implementation process of step 131, refer to the above embodiments and will not be elaborated here.

[0075] After executing step 131, it is determined whether case two or case three is satisfied. Among them, case two is that the surface of the target sphere includes only one first signal point; case three is that the surface of the target sphere does not include a first signal point. If case two is satisfied, step 134 is executed. If case three is satisfied, step 135 is executed.

[0076] Step 134: When the surface of the target sphere includes only one first signal point, obtain the next second signal point and return to execute the step of establishing the target sphere.

[0077] Exemplarily, in case two, the surface of the target sphere includes only one first signal point for which the signal strength has been obtained. One first signal point cannot form a geometric figure, which also shows that there are insufficient first signal points that can be used as a reference for signal strength prediction. Therefore, it is selected to first predict the signal strength of the next second signal point, that is, obtain the next second signal point and return to execute step 131.

[0078] Step 135: When the surface of the target sphere does not include the first signal point, determine the next sphere radius with the distance between adjacent signal points as the step size of the radius increase, and return to execute the step of establishing the target sphere until the target first signal point is determined, or the surface of the target sphere includes only one first signal point, or the candidate first signal points on the surface of the target sphere do not form the target geometric figure.

[0079] Exemplarily, in Case 3, the surface of the target sphere does not include the first signal point. At this time, the radius of the target sphere can be increased, and the sphere can be expanded outward to search for the first signal point. Among them, the distance between adjacent signal points can be used as the step size for increasing the radius. For example, in the above example, if the distance between two adjacent signal points in the spatial region is r, then when initially establishing the target sphere for a certain second signal point, a target sphere is established with this second signal point as the center of the sphere and r as the radius of the sphere. When the surface of the target sphere with a radius of r does not include the first signal point, the next sphere radius is determined to be 2r with a step size of increasing the radius by r, and step 131 is returned for execution, that is, a target sphere with a radius of 2r is established with this second signal point as the center of the sphere, until the target first signal point is determined, or the surface of the re-established target sphere only includes one first signal point (in this case, it conforms to Case 2, and the next second signal point will be selected), or the candidate first signal points on the surface of the re-established target sphere cannot form the target geometric figure (in this case, the next second signal point will be selected).

[0080] Combining the above three cases, it can be seen that when there is only one first signal point on the surface of the target sphere, or the first signal points on the surface of the target sphere cannot form the target geometric body, the signal strength prediction of the current second signal point will be skipped, and the signal strength prediction of the next second signal point will continue. This is because in this embodiment, it is considered that both of these two cases represent that there are not enough first signal points with known signal strength around the current second signal point as the basis for signal strength prediction, or in other words, the signal distribution around the current second signal point is not yet clear. And the signal strength prediction of the second signal point depends on the signal distribution around it. If signal prediction is performed based on an unclear signal distribution, the prediction accuracy will be reduced. Therefore, the signal strength prediction of the next second signal point is selected. At the same time, according to the corresponding processing measures for the above three cases, the target sphere will only include first signal points on the surface and does not include other signal points except the second signal point inside the sphere.

[0081] In addition, on the basis of any of the above embodiments, after step 140, step 150 is further included.

[0082] Step 150: Update the signal data set based on the signal strength of the second signal point, and return to execute the step of screening out the second signal points that have not obtained the signal strength from the multiple signal points until the signal strengths of all the signal points are obtained.

[0083] Exemplarily, after obtaining the signal strength of the second signal point through any of the above embodiments, it can be determined that the second signal point for which the signal strength has been predicted is the first signal point with the known signal strength. At this time, this signal point and the corresponding signal strength can be recorded in the signal data set to update the signal data set.

[0084] It can be understood that after one traversal prediction of all the second signal points, as a possible situation, the signal strength prediction of all the second signal points is completed in the first traversal. As another possible situation, the signal strength prediction of some of the second signal points is completed in the first traversal, while for the other part of the second signal points, due to the lack of first signal points with known signal strength around them during the first traversal, the signal strength cannot be predicted. At this time, a second traversal prediction is required. Therefore, in the second traversal prediction, first, a new round of second signal points needs to be determined according to the updated signal data set, and then the signal strength of each second signal point is predicted based on the method provided in any of the embodiments.

[0085] The prediction traversal in the previous round supplements the signal strength of some of the second signal points, and actually continuously improves the signal distribution in the spatial region. At the same time, the signal strength obtained through the prediction in the previous round can be used as the basis for predicting the signal of the second signal points in the subsequent round. Therefore, in the multi-round signal strength prediction, the number of second signal points in the subsequent round is less than that in the previous round. As the number of second signal points decreases, the signal distribution in the spatial region becomes increasingly complete, and finally the signal acquisition of the entire spatial region is completed.

[0086] In addition, based on any of the above embodiments, the second signal point is included in the target geometric figure, specifically including: the second signal point coincides with the center point of the target geometric figure.

[0087] As an example, the target geometric figure includes a one-dimensional line segment. As described above, the second signal point is located at the center point of the one-dimensional line segment, bisecting the one-dimensional line segment. As an example, the target geometric figure includes a two-dimensional planar figure, then the second signal point coincides with the center point of the two-dimensional planar figure. As another example, the target geometric figure includes a three-dimensional solid figure, then the second signal point coincides with the center point of the three-dimensional solid figure.

[0088] It can be seen that by defining that the second signal point coincides with the center point of the target geometric figure, the credibility of the predicted signal strength of the second signal point can be improved.

[0089] In addition, based on any of the above embodiments, in step 140, determining the signal strength of the second signal point based on the target signal strength specifically includes: determining the mean value of the multiple target signal strengths as the signal strength of the second signal point.

[0090] Exemplarily, since multiple target first signal points are located on the surface of the target sphere, the distance from each target first signal point to the center of the sphere (i.e., the second signal point) is the same. Then, the influence weight of each target first signal point on the signal strength of the second signal point is the same. Therefore, the mean value of the target signal strengths of multiple target first signal points can be directly determined as the signal strength of the second signal point.

[0091] It can be seen that in this embodiment, by determining multiple target first signal points from the surface of the target sphere and utilizing the characteristic that the distances from points on the spherical surface to the center of the sphere are the same, it is no longer necessary to evaluate the influence weight of each target first signal point on the signal strength of the second signal point, and the mean value can be directly obtained as the signal strength of the second signal point, thereby improving the signal prediction efficiency.

[0092] Based on any of the above embodiments, regarding the acquisition process of the signal data of the first signal point, as an example, signal data can be acquired for the signal points in the spatial region based on an aircraft. Specifically, step 110 may specifically include:

[0093] Obtain a set of signal data collected when the aircraft flies along a signal acquisition route in the spatial region; wherein, the waypoints in the signal acquisition route coincide with some of the multiple signal points.

[0094] Exemplarily, the aircraft includes, but is not limited to, aerial devices with flight capabilities such as unmanned aerial vehicles, manned aircraft, and helicopters. Based on this, the signal strength prediction method can be applied to the aircraft or an electronic device communicatively connected to the aircraft. The electronic device communicatively connected to the aircraft includes, but is not limited to, devices with data processing capabilities such as a remote controller, a console, a server, and a mobile terminal.

[0095] Among them, the aircraft is equipped with a signal acquisition device. Optionally, the signal acquisition device can capture the omnidirectional signal strength. For example, the signal acquisition device may include three mutually perpendicular antennas, and the three antennas are respectively arranged along the mutually perpendicular x, y, and z directions, so that the signal acquisition device can acquire omnidirectional signal data.

[0096] As an example, there are multiple sets of signal acquisition devices. Each set of signal acquisition devices is used to acquire signals in different frequency bands, and multiple sets of signal acquisition devices can receive signals in different frequency bands simultaneously. The layout of multiple sets of signal acquisition devices on the aircraft needs to avoid mutual interference to ensure the best signal reception performance. The frequency bands include but are not limited to 4G frequency band, 5G frequency band, video transmission frequency band, etc. As another example, there can be one set of signal acquisition devices, and this signal acquisition device can use Software Defined Radio (SDR) technology to switch between different frequency bands and collect signals by dynamically adjusting the frequency band. Since the aircraft has the ability to acquire signals in multiple frequency bands, for each frequency band signal, the signal strength of this frequency band can be predicted by using a signal strength prediction method provided by any of the above embodiments.

[0097] The aircraft acquires the signal data of signal points by flying along a signal acquisition route in the spatial area. Among them, the signal acquisition route includes multiple waypoints. The waypoints of the signal acquisition route coincide with some of the signal points in the spatial area, so that when the aircraft flies along the signal acquisition route, it acquires signal data at each waypoint to obtain the signal data of the signal point corresponding to this waypoint. If the signal data acquisition is successful, then this signal point is the first signal point. Optionally, if the aircraft acquires signal data multiple times at a certain waypoint, then the average value of the multiple signal data can be determined as the signal data of the signal point corresponding to this waypoint. After the flight is completed, a signal data set can be obtained, and the signal data set includes the signal data of signal points (or called the first signal points) corresponding to multiple waypoints.

[0098] In addition, as described above, the waypoints of the signal acquisition route coincide with some of the signal points in the spatial area. Then, except for some signal points that coincide with the waypoints, the other signal points in the spatial area have not been acquired by the aircraft for signal acquisition, so the corresponding signal strength has not been obtained, and these are the second signal points described in step 120. In addition, for the signal points that coincide with the waypoints, there are some signal points where the signal acquisition may fail. Therefore, the signal points corresponding to the waypoints where the signal acquisition fails are also the second signal points described in step 120.

[0099] It can be seen that in this embodiment, by designing a signal acquisition route passing through some signal points, the aircraft can acquire the signal data of some signal points when flying along the signal acquisition route. For the second signal points in the area not acquired by the aircraft, the signal strength can be predicted by the above method, without the aircraft cruising through each signal point for signal acquisition, improving the acquisition efficiency of the signal distribution in the spatial area.

[0100] In addition, based on any of the above embodiments, the signal acquisition flight paths include multiple ones, and the multiple signal acquisition flight paths have different heights, and the projections of each signal acquisition flight path with a different height on the horizontal plane are the same. For the case where there are multiple signal acquisition flight paths, the signal data set can be obtained after the aircraft completes the flight of all signal acquisition flight paths.

[0101] As Figure 5 shows, 5 signal acquisition flight paths with different heights are taken as an exemplary example. Each signal acquisition flight path includes multiple waypoints. Figure 5 The signal intensity of the signal point corresponding to each waypoint is represented by color. These 5 signal acquisition flight paths have the same projection on the horizontal plane. As an example, as Figure 5 shown, each signal acquisition flight path includes N successively connected waypoints. The i-th waypoint of each signal acquisition flight path has the same longitude and latitude but different heights, where 1 ≤ i ≤ N and i is a positive integer. As another example, the i-th waypoint of each signal acquisition flight path can have different longitudes, latitudes and heights.

[0102] It can be seen that in this embodiment, by designing multiple signal acquisition flight paths with different heights, the aircraft can obtain the signal data of multiple signal points in the three-dimensional space region, providing a prediction basis for the subsequent prediction of the signal intensity of the second signal point.

[0103] In addition, based on any of the above embodiments, the space region includes multiple three-dimensional grids, and the feature points on each three-dimensional grid are the signal points in the space region. Among them, the feature points include the vertices and / or the center points of the three-dimensional grids.

[0104] Exemplarily, the three-dimensional space corresponding to the space region can be meshed to obtain multiple three-dimensional grids. The vertices and / or the center points in each three-dimensional grid can be the signal points described in any of the above embodiments. In this way, each three-dimensional grid includes one or more signal points. In this way, for all the three-dimensional grids in the space region, there are some signal points in some three-dimensional grids for which the signal intensity has been obtained, which are the first signal points, while there are some signal points in some other three-dimensional grids for which the signal intensity has not been obtained, which are the second signal points. Then, through a signal intensity prediction method described in any of the above embodiments, the signal distribution in some other three-dimensional grids can be predicted.

[0105] It can be seen that in this embodiment, by meshing the space region into multiple three-dimensional grids and predicting the signal intensity of the three-dimensional grids with unknown signal intensity distributions, it is beneficial to improve the quality of the aircraft patrol operation and the flight safety during the aircraft patrol operation.

[0106] Based on the signal strength prediction method described in any of the above embodiments, the present application also provides a computer program product, which includes one or more computer programs or instructions. The computer program or instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. When the computer program is executed by a processor, it implements the signal strength prediction method described in any of the above embodiments.

[0107] Based on the signal strength prediction method described in any of the above embodiments, the present application also provides Figure 6 a schematic structural diagram of an electronic device as shown in Figure 6 , at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the signal strength prediction method described in any of the above embodiments.

[0108] The present application also provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, it can be used to execute the signal strength prediction method described in any of the above embodiments.

[0109] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0110] In addition, in each embodiment of the present application, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0111] When the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0112] The above are only the embodiments of this application and are not used to limit the protection scope of this application. For those skilled in the art, this application can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included in the protection scope of this application. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0113] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or replacements, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0114] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

Claims

1. A signal strength prediction method, characterized in that, The method includes: Obtaining a signal data set of multiple first signal points in a spatial region; wherein, the spatial region includes multiple signal points, and the first signal points are signal points with known signal intensities among the multiple signal points; Filtering out second signal points for which signal intensities have not been obtained from the multiple signal points in the spatial region; For each of the second signal points, establishing a target sphere with the second signal point as the center of the sphere, and determining multiple target first signal points that form a target geometric figure on the surface of the target sphere; wherein, the second signal point is included in the target geometric figure; Determining the target signal intensities of the target first signal points from the signal data set, and determining the signal intensity of the second signal point based on the target signal intensities.

2. The method according to claim 1, wherein The step of, for each of the second signal points, establishing a target sphere with the second signal point as the center of the sphere, and determining multiple target first signal points that form a target geometric figure on the surface of the target sphere, includes: For each of the second signal points, establishing a target sphere with the second signal point as the center of the sphere and a preset length as the radius of the sphere; When there are at least two candidate first signal points on the surface of the target sphere, if at least some of the candidate first signal points form the target geometric figure, determining the candidate first signal points that form the target geometric figure as the target first signal points; wherein, the candidate first signal points refer to: among all the first signal points for which signal intensities have been obtained, the first signal points located on the surface of the target sphere; If any multiple candidate first signal points do not form the target geometric figure, obtaining the next second signal point, and returning to execute the step of establishing the target sphere until all the second signal points have been traversed.

3. The method according to claim 2, wherein The method further includes: When there is only one of the first signal points on the surface of the target sphere, obtaining the next second signal point, and returning to execute the step of establishing the target sphere; When there are no first signal points on the surface of the target sphere, determining the next sphere radius with the distance between adjacent signal points as the step size of increase, and returning to execute the step of establishing the target sphere until target first signal points are determined, or there is only one of the first signal points on the surface of the target sphere, or the candidate first signal points on the surface of the target sphere do not form the target geometric figure.

4. The method according to claim 2 or 3, characterized in that, After determining the signal intensity of the second signal point based on the target signal intensities, the method further includes: Updating the signal data set based on the signal intensity of the second signal point, and returning to execute the step of filtering out second signal points for which signal intensities have not been obtained from the multiple signal points until the signal intensities of all the signal points have been obtained.

5. The method according to any one of claims 1-3, characterized in that The second signal point being included in the target geometric figure includes: the second signal point coinciding with the center point of the target geometric figure.

6. The method according to any one of claims 1 to 3, characterized in that The determining the signal intensity of the second signal point based on the target signal intensities includes: Determining the mean value of the multiple target signal intensities as the signal intensity of the second signal point.

7. The method according to any one of claims 1 to 3, characterized in that, The obtaining a signal data set of multiple first signal points in a spatial region includes: Obtain a set of signal data collected when the aircraft flies along the signal acquisition route in the spatial region; wherein, the waypoints in the signal acquisition route coincide with some of the signal points among the multiple signal points.

8. The method according to claim 7, wherein The signal acquisition route includes multiple signal acquisition routes at different heights, and the projections of each signal acquisition route on the horizontal plane are the same.

9. The method according to any one of claims 1-3, characterized in that The spatial region includes multiple three-dimensional grids, and the feature points on each three-dimensional grid are the signal points in the spatial region; the feature points include the vertices and / or the center points of the three-dimensional grids.

10. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method described in any one of claims 1-9.

11. An electronic device, characterized in that, The electronic device includes: A processor; A memory for storing processor-executable instructions; Wherein, when the processor calls the executable instructions, it implements the operations of the method described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, Computer instructions are stored thereon, and when the computer instructions are executed by a processor, they implement the steps of the method described in any one of claims 1-9.

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