A Method and System for Connectivity Planning between an Unmanned Aerial Vehicle (UAV) and a Base Station during Patrol Inspections

Abstract

The present invention relates to a method and system for connecting and planning between an unmanned aerial vehicle (UAV) and a base station during inspection, belonging to the technical field of UAV communication. The method includes the following steps: By obtaining the inspection path of the UAV and estimating the total flight duration of the UAV, and combining the deployment position information of each base station in the inspection area, an optimization model for connecting the UAV and the base station is established. This model aims to maximize the communication spectrum efficiency, and the optimal base station connection scheme of the UAV during flight is obtained by solving the objective function. By presetting this connection scheme in the UAV, the UAV can perform wireless information transmission with the selected base station according to the preset optimal base station connection scheme during flight, thereby improving communication efficiency and stability. The present invention effectively solves the problem of network access point switching of the UAV in the sparse base station coverage area, and provides technical guarantee for the efficient operation of the UAV in various complex environments.

Description

Technical Field

[0001] The present invention relates to a method and system for connecting and planning with a base station during UAV inspection, belonging to the technical field of UAV communication. Background Art

[0002] With the rapid development of UAV technology, its application scenarios have expanded from traditional aerial photography to multiple important fields such as power base station inspection, agricultural monitoring, environmental monitoring, and air logistics. In these applications, a stable and reliable wireless network connection is not only the basis for UAV flight control but also the key to ensuring the real-time and accurate data transmission. However, in low-density areas with relatively sparse base station coverage (such as suburbs), the problem of wireless network access point switching faced by UAVs during flight has become increasingly prominent, becoming the main technical bottleneck restricting the improvement of their mission execution efficiency and communication quality.

[0003] Currently, the mainstream wireless network handover mechanism mainly relies on static indicators such as signal strength (e.g., signal-to-noise ratio). When the detected signal strength is lower than a preset threshold, the system will automatically switch to a base station with stronger signal. However, this handover strategy based on static indicators has obvious limitations in application scenarios where UAVs fly at high speeds or their flight paths change dynamically. Since the signal strength of UAVs may fluctuate violently during flight, traditional handover mechanisms often cause problems such as frequent handovers, connection interruptions, or communication delays due to judgment lags or misjudgments. This problem is particularly prominent in areas with sparse base station distributions or drastic signal quality changes.

[0004] More critically, existing technical solutions mainly focus on the analysis of static signal strength and coverage area, while ignoring the dynamic change characteristics of UAV flight trajectories. This technical limitation results in the system's inability to accurately predict the change trend of signal quality and difficulty in making forward-looking network handover decisions. Traditional handover mechanisms show obvious deficiencies in forward-looking and adaptability when dealing with network connection requirements in high-speed flight and complex environments, and cannot meet the strict requirements of UAV applications for highly stable connections.

[0005] The patent application document with the publication number "CN116540775A" discloses an automatic cruise method and device for an unmanned flight base station based on communication blind spots. The problems of this method are as follows: it involves multiple components such as an unmanned flight base station, a decision-making center, a ground telemetry device, and a low-earth orbit satellite. The system architecture is relatively complex, requiring higher integration and coordination, as well as great technical implementation difficulty. The unmanned flight base station needs to have good high-altitude flight ability and flight control ability, and at the same time, it also needs to perform complex communication interactions with the decision-making center, the ground telemetry device, and the low-earth orbit satellite. This requires a high level of technology and R & D investment. Summary of the Invention

[0006] To solve the problems existing in the above-mentioned prior art, the present invention proposes a method and system for connecting and planning between an unmanned aerial vehicle (UAV) and a base station during inspection.

[0007] The technical solution of the present invention is as follows:

[0008] On the one hand, the present invention provides a method for connecting and planning between an unmanned aerial vehicle and a base station during inspection, including the following steps:

[0009] Obtain the inspection path of the UAV, estimate the total flight duration of the UAV, and obtain the deployment location information of each base station in the inspection area;

[0010] Obtain the real-time position information of the UAV and calculate the communication spectrum efficiency between the UAV and the base station;

[0011] Model the connection planning problem between the UAV and the base station as an objective function with the maximization of communication spectrum efficiency as the goal;

[0012] Solve the objective function to obtain the optimal base station connection scheme during the flight of the UAV;

[0013] Preset the optimal base station connection scheme in the UAV, and the UAV performs wireless information transmission with the selected base station according to the preset optimal base station connection scheme during the flight.

[0014] As a preferred embodiment, the deployment location information is expressed as:

[0015] ;

[0016] Wherein, represents the deployment location information of the i-th base station, represents the longitude of the i-th base station, represents the latitude of the i-th base station, represents the height difference between the i-th base station and the ground;

[0017] Let the total flight duration be ;

[0018] Divide the total flight duration of the UAV into equal-length time intervals, and the length of one time interval is ;

[0019] At the -th time interval, the position information of the UAV is expressed as:

[0020] ;

[0021] ;

[0022] Wherein, represents at the The position information of the UAV at a time interval, indicating the longitude of the UAV at the th time interval, indicating the latitude of the UAV at the th time interval, indicating the altitude difference between the UAV in flight and the ground at the th time interval.

[0023] As a preferred embodiment, the communication spectral efficiency is calculated through the communication distance:

[0024] ;

[0025] where, indicating the communication spectral efficiency at the th time interval, indicating the binary variable of the UAV and the th base station at the th time interval, indicating the signal-to-noise ratio of the UAV and the th base station at the th time interval, indicating the number of base stations;

[0026] The calculation method of the signal-to-noise ratio is:

[0027] ;

[0028] where, indicating the transmission power of the UAV, indicating the noise power, indicating the path loss between the UAV and the th base station at the th time interval.

[0029] As a preferred embodiment, the calculation method of the path loss is:

[0030] Calculate the distance between the UAV and the th base station within the th time interval :

[0031] ;

[0032] According to the distance calculate the path loss:

[0033] ;

[0034] where, indicating the maximum value function, represents the carrier frequency.

[0035] As a preferred embodiment, the objective function is expressed as:

[0036] ;

[0037] ;

[0038] ;

[0039] wherein, represents the data volume loss of the handover signaling;

[0040] The calculation method of the data volume loss is:

[0041] ;

[0042] wherein, represents the handover delay, represents at the th time interval the communication spectrum efficiency, represents at the th time interval the binary variable of the UAV and the th base station, represents the exclusive OR operation.

[0043] On the other hand, the present invention also provides a connection planning system between a UAV and a base station during UAV inspection, including:

[0044] Information acquisition module: Obtain the inspection path of the UAV, estimate the total flight duration of the UAV, and obtain the deployment location information of each base station in the inspection area; obtain the real-time position information of the UAV, and calculate the communication spectrum efficiency between the UAV and the base station;

[0045] Optimization modeling module: Model the connection planning problem between the UAV and the base station as an objective function with the maximization of communication spectrum efficiency as the goal;

[0046] Objective function solving module: Solve the objective function to obtain the optimal base station connection scheme during the flight of the UAV;

[0047] Connection implementation module: Preset the optimal base station connection scheme in the UAV, and the UAV performs wireless information transmission with the selected base station according to the preset optimal base station connection scheme during the flight.

[0048] As a preferred embodiment, the deployment location information is expressed as:

[0049] ;

[0050] wherein, Indicates the deployment location information of the i-th base station, Indicates the longitude of the i-th base station, Indicates the latitude of the i-th base station, Indicates the height difference between the i-th base station and the ground;

[0051] Let the total flight duration be ;

[0052] Divide the total flight duration of the UAV into equal-length time intervals, and the length of one time interval is ;

[0053] At the th time interval, the position information of the UAV is expressed as:

[0054] ;

[0055] ;

[0056] Among them, Indicates the position information of the UAV at the th time interval, Indicates the longitude of the UAV at the th time interval, Indicates the latitude of the UAV at the th time interval, Indicates the height difference between the UAV and the ground during flight at the th time interval.

[0057] As a preferred implementation manner, the communication spectrum efficiency is calculated through the communication distance:

[0058] ;

[0059] Among them, Indicates the communication spectrum efficiency at the th time interval, Indicates the binary variable between the UAV and the th base station at the th time interval, Indicates the signal-to-noise ratio between the UAV and the th base station at the th time interval, Indicates the number of base stations;

[0060] The calculation method of the signal-to-noise ratio is:

[0061] ;

[0062] Among them, Represents the transmission power of the UAV, Represents the noise power, Represents at the th time interval, the path loss between the UAV and the th base station.

[0063] As a preferred embodiment, the calculation method of the path loss is:

[0064] Calculate the distance between the UAV and the th base station within the th time interval: :

[0065] ;

[0066] According to the distance calculate the path loss:

[0067] ;

[0068] Wherein, Represents the maximum value function, Represents the carrier frequency.

[0069] As a preferred embodiment, the objective function is expressed as:

[0070] ;

[0071] ;

[0072] ;

[0073] Wherein, Represents the data volume loss of the handover signaling;

[0074] The calculation method of the data volume loss is:

[0075] ;

[0076] Wherein, Represents the handover delay, Represents the communication spectrum efficiency at the th time interval, Represents the binary variable between the UAV and the th base station at the th time interval, Represents the exclusive OR operation.

[0077] The present invention has the following beneficial effects:

[0078] By modeling the connection planning problem between the drone and the base station as an objective function aiming at maximizing the communication spectrum efficiency and solving to obtain the optimal base station connection scheme, the present invention can significantly improve the communication spectrum efficiency of the drone during the inspection process, thereby enhancing the efficiency and stability of data transmission. The traditional wireless network handover mechanism often relies on static metrics such as signal strength, which may lead to problems such as frequent handovers, connection interruptions, or communication delays. Through forward-looking network handover decisions, the present invention can effectively reduce the number of handovers and reduce the data volume loss caused by handovers, thereby improving the reliability and accuracy of drone inspections. The present invention takes into account the dynamic change characteristics of the drone flight trajectory, can accurately predict the change trend of signal quality, and realizes forward-looking network handover decisions. This enables the drone to maintain a stable network connection during high-speed flight and complex environments, meeting the requirements of various application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a flowchart of the method implementation of the present invention.

[0080] Figure 2 It is a flowchart of the connection handover between the drone and the base station of the present invention.

[0081] Figure 3 It is a schematic diagram of the application scenario of the present invention.

[0082] Figure 4 It is a comparison of the average effective spectrum resource utilization of the present invention with other different algorithms under different drone transmission powers. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0083] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0084] It should be understood that the step numbers used in the text are only for convenience of description and do not limit the execution order of the steps.

[0085] It should be understood that the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0086] The terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0087] The term "and / or" refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0088] Embodiment 1:

[0089] See Figures 1-3 , the present invention provides a method for planning the connection between an unmanned aerial vehicle (UAV) and a base station during inspection, including the following steps:

[0090] Obtain the inspection path of the UAV, estimate the total flight duration of the UAV, and obtain the deployment location information of each base station in the inspection area;

[0091] Obtain the real-time position information of the UAV and calculate the communication spectral efficiency between the UAV and the base station;

[0092] Model the connection planning problem between the UAV and the base station as an objective function with the maximization of communication spectral efficiency as the goal;

[0093] Solve the objective function to obtain the optimal base station connection scheme during the flight of the UAV;

[0094] Preset the optimal base station connection scheme in the UAV, and the UAV performs wireless information transmission with the selected base station according to the preset optimal base station connection scheme during the flight.

[0095] Assume that there are base stations available for connection in the vicinity, and use to represent the set of base stations, and let represent the th base station, where .

[0096] According to the known flight path of the UAV, we can calculate its total flight duration . Divide the total flight duration into equal-length time intervals, and use to represent the th time interval, where . The length of each time interval is . Assume that the communication transmission power of the UAV remains unchanged; and within one time interval, the UAV can perform at most one connection switch.

[0097] As a preferred embodiment, the deployment location information is expressed as:

[0098] ;

[0099] Among them, represents the deployment location information of the i-th base station, represents the longitude of the i-th base station, represents the latitude of the i-th base station, represents the height difference between the i-th base station and the ground;

[0100] Let the total flight duration be ;

[0101] Divide the total flight duration of the UAV into equal-length time intervals, and the length of one time interval is ;

[0102] At the -th time interval, the position information of the UAV is expressed as:

[0103] ;

[0104] ;

[0105] Among them, represents the position information of the UAV at the -th time interval, represents the longitude of the UAV at the -th time interval, represents the latitude of the UAV at the -th time interval, represents the height difference between the UAV and the ground during flight at the -th time interval.

[0106] Since UAVs usually fly at high altitudes and the probability of line-of-sight propagation is very high, in the base station connection planning, we ignore small-scale fading and only consider large-scale fading caused by communication distance.

[0107] As a preferred implementation method, the communication spectral efficiency is calculated through the communication distance:

[0108] ;

[0109] Among them, represents the communication spectral efficiency at the -th time interval, represents the binary variable between the UAV and the -th base station at the -th time interval, with a value of 0 or 1. When , it means that within the -th time interval, the UAV and the is connected to a base station, otherwise , represents the signal-to-noise ratio of the drone to the th base station in the th time interval, represents the number of base stations;

[0110] The calculation method of the signal-to-noise ratio is:

[0111] ;

[0112] Among them, represents the transmission power of the drone, represents the noise power, represents the th time interval when the drone is at the th base station path loss.

[0113] According to the channel model of the drone to the base station in the suburban environment defined by 3GPP, the distance between the drone and the th base station within the th time interval and the height difference between the drone and the ground during flight within the th time interval can be used to calculate the path loss between the drone and each base station . In this embodiment, the height of the drone is higher than 40 meters and lower than 300 meters.

[0114] As a preferred implementation manner, the calculation method of the path loss is:

[0115] Calculate the distance between the drone and the th base station within the th time interval :

[0116] ;

[0117] According to the distance calculate the path loss:

[0118] ;

[0119] Among them, represents the maximum value function, represents the carrier frequency.

[0120] As a preferred implementation manner, the objective function is expressed as:

[0121] ;

[0122] ;

[0123] ;

[0124] Among them, represents the data volume loss of the handover signaling;

[0125] The calculation method of the data volume loss is:

[0126] ;

[0127] Among them, represents the handover delay, represents at the th time interval, the communication spectrum efficiency, represents at the th time interval, the binary variable of the UAV and the th base station, represents the exclusive OR operation, represents the constraint condition.

[0128] For this objective function, by relaxing to a continuous variable with a value in the interval to solve. After obtaining the relaxed optimal solution, for the th time interval, select the base station with the largest value, and set its corresponding to 1, and set the of other base stations to 0.

[0129] See Figure 4 , the comparison of the average effective spectrum resource utilization of the present invention with other different algorithms under different UAV transmission powers is as Figure 4 shown.

[0130] Embodiment 2:

[0131] The present invention also provides a connection planning system between a UAV and a base station during UAV inspection, including:

[0132] Information acquisition module: Obtain the inspection path of the UAV, estimate the total flight duration of the UAV, and obtain the deployment location information of each base station in the inspection area; obtain the real-time position information of the UAV, and calculate the communication spectrum efficiency between the UAV and the base station;

[0133] Optimization modeling module: Model the connection planning problem between the UAV and the base station as an objective function with the maximization of communication spectrum efficiency as the goal;

[0134] Objective function solving module: Solve the objective function to obtain the optimal base station connection scheme during the flight of the UAV;

[0135] Connection implementation module: Preset the optimal base station connection scheme in the UAV. During flight, the UAV performs wireless information transmission with the selected base station according to the preset optimal base station connection scheme.

[0136] As a preferred implementation, the deployment location information is expressed as:

[0137] ;

[0138] Wherein, represents the deployment location information of the i-th base station, represents the longitude of the i-th base station, represents the latitude of the i-th base station, represents the height difference between the i-th base station and the ground;

[0139] Let the total flight duration be ;

[0140] Divide the total flight duration of the UAV into equal-length time intervals, and the length of one time interval is ;

[0141] The position information of the UAV in the -th time interval is expressed as:

[0142] ;

[0143] ;

[0144] Wherein, represents the position information of the UAV in the -th time interval, represents the longitude of the UAV in the -th time interval, represents the latitude of the UAV in the -th time interval, represents the height difference between the UAV and the ground during flight in the -th time interval.

[0145] As a preferred implementation, the communication spectral efficiency is calculated through the communication distance:

[0146] ;

[0147] Wherein, represents the communication spectral efficiency in the -th time interval, represents the binary variable of the UAV and the -th base station in the -th time interval, Indicates the signal-to-noise ratio of the drone and the th base station during the th time interval; represents the number of base stations;

[0148] The calculation method of the signal-to-noise ratio is:

[0149] ;

[0150] Among them, represents the transmit power of the drone, represents the noise power, represents during the th time interval, the path loss between the drone and the th base station.

[0151] As a preferred embodiment, the calculation method of the path loss is:

[0152] Calculate the distance between the drone and the th base station during the th time interval :

[0153] ;

[0154] According to the distance calculate the path loss:

[0155] ;

[0156] Among them, represents the maximum value function, represents the carrier frequency.

[0157] As a preferred embodiment, the objective function is expressed as:

[0158] ;

[0159] ;

[0160] ;

[0161] Among them, represents the data volume loss of the handover signaling;

[0162] The calculation method of the data volume loss is:

[0163] ;

[0164] Among them, represents the handover delay, represents during the The communication spectrum efficiency of a time interval Indicates at the th time interval, the binary variable of the drone and the th base station Indicates the exclusive OR operation

[0165] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent the cases of A existing alone, A and B existing simultaneously, and B existing alone. Where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple

[0166] Those of ordinary skill in the art can realize that the units and algorithm steps described in the embodiments disclosed herein can be implemented by a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application

[0167] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein

[0168] In several embodiments provided by the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present 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 may 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 the present 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), random access memories (RAM), magnetic disks, or optical discs.

[0169] The above are only the embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for connecting and planning with a base station during UAV inspection, characterized in that, Including the following steps: Obtain the inspection path of the drone, estimate the total flight duration of the drone, and obtain the deployment location information of each base station within the inspection area; Obtain the real-time position information of the drone, calculate the communication spectrum efficiency between the drone and the base station, which is expressed by the formula: ； Among them, represents the communication spectral efficiency at the -th time interval, represents a binary variable of the UAV and the -th base station at the -th time interval, represents the signal-to-noise ratio of the UAV and the -th base station at the -th time interval, represents the number of base stations; The calculation method of the signal-to-noise ratio is: ； Among them, represents the transmission power of the UAV, represents the noise power, represents at the th time interval, the path loss between the UAV and the th base station; ； Among them, represents the maximum value function, represents the carrier frequency, represents at the th time interval, the height difference between the UAV in flight and the ground, represents the distance between the UAV and the th base station within the th time interval; Model the connection planning problem between the drone and the base station as an objective function with the maximization of communication spectrum efficiency as the goal, which is expressed by the formula: ； ； ； Among them, represents the data volume loss of the handover signaling, represents the number of time intervals, represents the length of the time interval; The calculation method of the data volume loss is: ； Among them, represents the handover time delay, represents at the th communication spectrum efficiency of the time interval, represents at the th time interval, the binary variable of the UAV and the th base station, represents the exclusive OR operation, represents the constraint condition; Solve the objective function to obtain the optimal base station connection scheme during the flight of the drone; Preset the optimal base station connection scheme in the drone, and the drone performs wireless information transmission with the selected base station according to the preset optimal base station connection scheme during the flight.

2. The method for connecting and planning with a base station during drone inspection according to claim 1, wherein The deployment location information is expressed as: ； Among them, represents the deployment location information of the i-th base station, represents the longitude of the i-th base station, represents the latitude of the i-th base station, represents the height difference between the i-th base station and the ground; Let the total flight duration be ; Divide the total flight duration of the drone into equal-length time intervals; At the th time interval, the position information of the UAV is expressed as: ； ； Among them, represents the position information of the drone at the th time interval, represents the longitude of the drone at the th time interval, represents the latitude of the drone at the th time interval.

3. The method for connecting and planning with a base station during the drone inspection according to claim 2, wherein The calculation method of the distance is expressed by the formula: 。 4. A connection planning system between an unmanned aerial vehicle (UAV) and a base station during inspection, characterized in that, Including: Information acquisition module: Obtain the inspection path of the drone, estimate the total flight duration of the drone, and obtain the deployment location information of each base station within the inspection area; Obtain the real-time position information of the drone, calculate the communication spectrum efficiency between the drone and the base station, which is expressed by the formula: ； Among them, represents the communication spectral efficiency at the -th time interval, represents the binary variable of the UAV and the -th base station at the -th time interval, represents the signal-to-noise ratio of the UAV and the -th base station at the -th time interval, represents the number of base stations; The calculation method of the signal-to-noise ratio is: ； Among them, represents the transmission power of the drone, represents the noise power, represents at the th time interval, the path loss between the drone and the th base station; ； Among them, represents the maximum value function, represents the carrier frequency, represents at the th time interval, the height difference between the drone in flight and the ground, represents the distance between the drone and the th base station within the th time interval; Optimization modeling module: Model the connection planning problem between the drone and the base station as an objective function with the maximization of communication spectrum efficiency as the goal, which is expressed by the formula: ； ； ； Among them, represents the data volume loss of the handover signaling, represents the number of time intervals, represents the length of the time interval; The calculation method of the data volume loss is: ； Among them, represents the handover delay, represents the communication spectral efficiency at the -th time interval, represents the binary variable of the UAV and the -th base station at the -th time interval, represents the exclusive OR operation, represents the constraint condition; Objective function solving module: Solve the objective function to obtain the optimal base station connection scheme during the flight of the drone; Connection implementation module: Preset the optimal base station connection scheme in the drone, and the drone performs wireless information transmission with the selected base station according to the preset optimal base station connection scheme during the flight.

5. The UAV inspection connection planning system with the base station according to claim 4, characterized in that, The deployment location information is expressed as: ； Among them, represents the deployment location information of the i-th base station, represents the longitude of the i-th base station, represents the latitude of the i-th base station, represents the height difference between the i-th base station and the ground; Let the total flight duration be ; Divide the total flight duration of the drone into equal-length time intervals; At the th time interval, the position information of the UAV is represented as: ； ； Among them, represents the position information of the drone at the th time interval, represents the longitude of the drone at the th time interval, represents the latitude of the drone at the th time interval.

6. The UAV inspection and base station connection planning system according to claim 5, characterized in that, The calculation method of the distance is expressed by the formula: 。

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