Remote communication method and system for unmanned aircraft, and storage medium

Abstract

The invention discloses a remote communication method and system for an unmanned aircraft and a storage medium. The method comprises the following steps: acquiring real-time positioning information of the unmanned aircraft; obtaining a first communication distance of the unmanned aerial vehicle according to the real-time positioning information of the unmanned aerial vehicle and a preset ground control end position; judging whether the first communication distance of the unmanned aircraft is greater than a preset first communication distance threshold, and if so, triggering a preset relay equipment system; and carrying out amplification and relay transmission on the communication signal of the unmanned aerial vehicle according to a preset relay equipment system. According to the invention, the communication distance of the unmanned aircraft is determined, when the communication distance exceeds the preset first communication distance threshold, the preset relay equipment system is started, and the communication signal is amplified and subjected to relay transmission through the preset relay equipment system, so that the communication distance of the unmanned aircraft is increased.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and more particularly, to a method, a system and a storage medium for remote communication of unmanned aerial vehicles. Background Art

[0002] With the rapid development of unmanned aerial vehicles, the application fields of unmanned aerial vehicles are increasing, such as mapping by unmanned aerial vehicles, transportation by unmanned aerial vehicles, etc. However, due to the limited transmission distance of the signals received or sent by unmanned aerial vehicles, the usage range of unmanned aerial vehicles is restricted.

[0003] Therefore, there are defects in the prior art and it needs to be improved urgently. Summary of the Invention

[0004] In view of the above problems, the purpose of the present invention is to provide a method, a system and a storage medium for remote communication of unmanned aerial vehicles, which can more effectively increase the communication distance of unmanned aerial vehicles.

[0005] The first aspect of the present invention provides a method for remote communication of unmanned aerial vehicles, including:

[0006] Obtaining real-time positioning information of the unmanned aerial vehicle;

[0007] According to the real-time positioning information of the unmanned aerial vehicle and the preset position of the ground control terminal, obtaining the first communication distance of the unmanned aerial vehicle;

[0008] Judging whether the first communication distance of the unmanned aerial vehicle is greater than a preset first communication distance threshold, if so, triggering a preset relay device system;

[0009] Amplifying and relaying the communication signal of the unmanned aerial vehicle according to the preset relay device system.

[0010] In this solution, it further includes:

[0011] Calculating the difference between the first communication distance of the unmanned aerial vehicle and the preset first communication distance threshold to obtain the absolute value of the second communication distance;

[0012] Judging whether the absolute value of the second communication distance is greater than a preset second communication distance threshold, if so, not revising the corresponding first communication distance;

[0013] If not, obtaining the historical positioning information of the unmanned aerial vehicle;

[0014] According to the historical positioning information of the unmanned aerial vehicle, obtaining the historical distance of the unmanned aerial vehicle;

[0015] Subtracting the preset historical true distance from the historical distance of the unmanned aerial vehicle to obtain the third communication distance;

[0016] Accumulate the first communication distance and the third communication distance of the unmanned aerial vehicle to obtain a revised value of the first communication distance;

[0017] Replace the first communication distance with the revised value of the first communication distance and store it.

[0018] This solution also includes:

[0019] Extract the first communication distance of the unmanned aerial vehicle that is greater than the preset first communication distance threshold, and set the communication distance as the second communication distance;

[0020] Query according to the second communication distance in the preset relay device table to obtain the number of preset relay devices required for the corresponding second communication distance;

[0021] Judge whether the number of preset relay devices required for the second communication distance is greater than the preset quantity threshold. If so, adjust the flight distance of the unmanned aerial vehicle;

[0022] If not, based on the preset delivery distance, set the preset relay devices according to the corresponding number.

[0023] This solution also includes:

[0024] Obtain the flight environment information of the unmanned aerial vehicle;

[0025] Extract the first eigenvalue of the flight environment information of the unmanned aerial vehicle;

[0026] Perform a difference calculation between the first eigenvalue of the flight environment information of the unmanned aerial vehicle and the preset first eigenvalue to obtain a first eigenvalue difference;

[0027] Judge whether the first eigenvalue difference is less than the preset first eigenvalue difference threshold. If so, extract the environmental position of the first eigenvalue corresponding to the first eigenvalue difference;

[0028] Set the environmental position of the first eigenvalue as the delivery position of the preset relay device.

[0029] This solution also includes:

[0030] Based on the detection route of the unmanned aerial vehicle, obtain the signal feedback information during the flight of the unmanned aerial vehicle along the detection route;

[0031] Extract the second eigenvalue from the signal feedback information;

[0032] Perform a difference calculation between the second eigenvalue in the signal feedback information and the preset second eigenvalue to obtain a second eigenvalue difference;

[0033] Determine whether the second feature difference is less than a preset second feature difference threshold. If so, extract the second feature value corresponding to the second feature difference and set it as the third feature value;

[0034] Obtain the signal feedback position corresponding to the third feature value;

[0035] Revise the placement position of the preset relay device according to the signal feedback position corresponding to the third feature value.

[0036] This solution also includes:

[0037] Based on a preset first distance range, perform clustering analysis on the placement positions of the preset relay devices to obtain the aggregation points of the placement positions of the preset relay devices;

[0038] Continuously number the aggregation points according to the distance from the preset ground control end position to obtain aggregation points with different numbers;

[0039] Based on the number of preset relay devices required for the second communication distance, extract the aggregation points with any corresponding numbers;

[0040] Extract the positions of the aggregation points with any corresponding and non-repeating numbers;

[0041] Calculate the distances in sequence according to the signal passing order of the positions of the aggregation points with the corresponding number, the position of the unmanned aerial vehicle, and the position of the preset ground control end to obtain the first distance set of the aggregation points;

[0042] Extract the values in the first distance set of the aggregation points and calculate the differences between every two values to obtain the second distance difference set;

[0043] Accumulate the values in the second distance difference set to obtain the third distance value;

[0044] Extract the minimum third distance and set the aggregation point corresponding to the minimum third distance as the best point for the current preset relay device placement.

[0045] The second aspect of the present invention provides an unmanned aerial vehicle remote communication system, including a memory and a processor. A program of an unmanned aerial vehicle remote communication method is stored in the memory. When the program of the unmanned aerial vehicle remote communication method is executed by the processor, the following steps are implemented:

[0046] Obtain the real-time positioning information of the unmanned aerial vehicle;

[0047] According to the real-time positioning information of the unmanned aerial vehicle and the position of the preset ground control end, obtain the first communication distance of the unmanned aerial vehicle;

[0048] Determine whether the first communication distance of the unmanned aerial vehicle is greater than a preset first communication distance threshold. If so, trigger the preset relay device system;

[0049] Amplify and relay the communication signal of the unmanned aerial vehicle according to the preset relay device system.

[0050] This solution also includes:

[0051] Calculate the difference between the first communication distance of the unmanned aerial vehicle and the preset first communication distance threshold to obtain the absolute value of the second communication distance;

[0052] Determine whether the absolute value of the second communication distance is greater than a preset second communication distance threshold. If so, do not revise the corresponding first communication distance;

[0053] If not, obtain the historical positioning information of the unmanned aerial vehicle;

[0054] Obtain the historical distance of the unmanned aerial vehicle according to the historical positioning information of the unmanned aerial vehicle;

[0055] Subtract the preset historical true distance from the historical distance of the unmanned aerial vehicle to obtain the third communication distance;

[0056] Accumulate the first communication distance of the unmanned aerial vehicle and the third communication distance to obtain the revised value of the first communication distance;

[0057] Replace the first communication distance with the revised value of the first communication distance and store it.

[0058] This solution also includes:

[0059] Extract the first communication distance of the unmanned aerial vehicle that is greater than the preset first communication distance threshold and set the communication distance as the second communication distance;

[0060] Query according to the second communication distance in the preset relay device table to obtain the number of preset relay devices required for the corresponding second communication distance;

[0061] Determine whether the number of preset relay devices required for the second communication distance is greater than a preset quantity threshold. If so, adjust the flight distance of the unmanned aerial vehicle;

[0062] If not, set the preset relay devices according to the corresponding number based on the preset delivery distance.

[0063] This solution also includes:

[0064] Obtain the flight environment information of the unmanned aerial vehicle;

[0065] Extract the first eigenvalue of the flight environment information of the unmanned aerial vehicle;

[0066] Calculate the difference between the first eigenvalue of the unmanned aerial vehicle flight environment information and the preset first eigenvalue to obtain a first feature difference;

[0067] Determine whether the first feature difference is less than a preset first feature difference threshold. If so, extract the environmental position of the first eigenvalue corresponding to the first feature difference;

[0068] Set the environmental position of the first eigenvalue as the deployment position of the preset relay device.

[0069] In this solution, it also includes:

[0070] Based on the detection route of the unmanned aerial vehicle, obtain the signal feedback information during the flight of the unmanned aerial vehicle along the detection route;

[0071] Extract the second eigenvalue from the signal feedback information;

[0072] Calculate the difference between the second eigenvalue in the signal feedback information and the preset second eigenvalue to obtain a second feature difference;

[0073] Determine whether the second feature difference is less than a preset second feature difference threshold. If so, extract the second eigenvalue corresponding to the second feature difference and set it as the third eigenvalue;

[0074] Obtain the signal feedback position corresponding to the third eigenvalue;

[0075] Revise the deployment position of the preset relay device according to the signal feedback position corresponding to the third eigenvalue.

[0076] In this solution, it also includes:

[0077] Based on a preset first distance range, perform clustering analysis on the deployment positions of the preset relay devices to obtain the aggregation points of the deployment positions of the preset relay devices;

[0078] Number the aggregation points continuously according to the distance from the preset ground control end position to obtain aggregation points with different numbers;

[0079] Based on the number of preset relay devices required for the second communication distance, extract the aggregation points with corresponding numbers of any numbers;

[0080] Extract the positions of the aggregation points with corresponding numbers of any and non-repeating numbers;

[0081] Calculate the distances in sequence according to the passing order of signals between the positions of the aggregation points with corresponding numbers of any and non-repeating numbers, the position of the unmanned aerial vehicle, and the position of the preset ground control end to obtain a first distance set of the aggregation points;

[0082] Extract the values in the first distance set of the aggregation points, and calculate the difference between every two values to obtain a second distance difference set;

[0083] Accumulate the values in the second distance difference set to obtain a third distance value;

[0084] Extract the minimum value of the third distance, and set the aggregation point corresponding to the minimum value of the third distance as the optimal point for the current preset relay device to be placed.

[0085] A third aspect of the present invention provides a computer storage medium, in which a program for a method of remotely communicating with an unmanned aerial vehicle is stored. When the program for the method of remotely communicating with an unmanned aerial vehicle is executed by a processor, the steps of a method of remotely communicating with an unmanned aerial vehicle as described in any one of the above are implemented.

[0086] The present invention discloses a method, a system and a storage medium for remotely communicating with an unmanned aerial vehicle. By determining the communication distance of the unmanned aerial vehicle, when the communication distance exceeds a preset first communication distance threshold, a preset relay device system is activated, and the communication signal is amplified and relayed through the preset relay device system, thereby improving the communication distance of the unmanned aerial vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 Shows a flowchart of a method for remotely communicating with an unmanned aerial vehicle according to the present invention;

[0088] Figure 2 Shows a block diagram of a system for remotely communicating with an unmanned aerial vehicle according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0089] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0090] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0091] Figure 1 Shows a flowchart of a method for remotely communicating with an unmanned aerial vehicle according to the present invention.

[0092] As Figure 1 shown, the present invention discloses a method for remotely communicating with an unmanned aerial vehicle, including:

[0093] S101. Obtain the real-time positioning information of the unmanned aerial vehicle;

[0094] S102. Obtain the first communication distance of the unmanned aerial vehicle based on the real-time positioning information of the unmanned aerial vehicle and the preset position of the ground control terminal;

[0095] S103. Determine whether the first communication distance of the unmanned aerial vehicle is greater than the preset first communication distance threshold. If so, trigger the preset relay device system;

[0096] S104. Amplify and relay the communication signal of the unmanned aerial vehicle according to the preset relay device system.

[0097] It should be noted that the position of the corresponding unmanned aerial vehicle is determined through the real-time positioning information of the unmanned aerial vehicle. The first communication distance of the unmanned aerial vehicle is the distance from the preset position of the ground control terminal to the position of the unmanned aerial vehicle. The preset relay device system includes relay devices that can amplify or relay communication signals, such as routers, etc. The preset first communication distance threshold is set by those skilled in the art. If the first communication distance exceeds the preset threshold, a trigger signal is sent to the relay device management system through the control logic of the ground control terminal or the drone itself. The relay device system receives the original communication signal, enhances the signal strength through a power amplifier, and forwards it to the target node using a multi-hop transmission protocol.

[0098] According to an embodiment of the present invention, it further includes:

[0099] Calculate the difference between the first communication distance of the unmanned aerial vehicle and the preset first communication distance threshold to obtain the absolute value of the second communication distance;

[0100] Determine whether the absolute value of the second communication distance is greater than the preset second communication distance threshold. If so, do not revise the corresponding first communication distance;

[0101] If not, obtain the historical positioning information of the unmanned aerial vehicle;

[0102] Obtain the historical distance of the unmanned aerial vehicle according to the historical positioning information of the unmanned aerial vehicle;

[0103] Subtract the preset historical real distance from the historical distance of the unmanned aerial vehicle to obtain the third communication distance;

[0104] Accumulate the first communication distance of the unmanned aerial vehicle and the third communication distance to obtain the revised value of the first communication distance;

[0105] Replace the first communication distance with the revised value of the first communication distance and store it.

[0106] It should be noted that due to environmental interference or time differences in signal reception, there is a deviation between the positioning position and the actual position of the unmanned aerial vehicle. Therefore, the first communication distance is corrected by the revised value of the first communication distance and stored. The specific process includes: judging whether to revise the first communication distance based on the absolute value of the difference between the first communication distance and the preset first communication distance threshold; obtaining the historical distance based on the historical positioning information for calculating the third communication distance; obtaining the revised value of the first communication distance based on the first communication distance and the third communication distance to correct and store the first communication distance.

[0107] In this embodiment, the absolute difference between the current communication distance and the threshold is calculated to judge whether positioning error correction is required. The historical positioning data of the unmanned aerial vehicle is read to obtain the historical distance, which is used to calculate the deviation from the preset historical actual distance to obtain the third communication distance. Finally, the first communication distance and the third communication distance of the unmanned aerial vehicle are accumulated to obtain the revised value of the first communication distance for correcting and storing the first communication distance.

[0108] According to the embodiment of the present invention, it further includes:

[0109] Extract the first communication distance of the unmanned aerial vehicle greater than the preset first communication distance threshold and set the communication distance as the second communication distance;

[0110] Query according to the second communication distance in the preset relay device table to obtain the number of preset relay devices required for the corresponding second communication distance;

[0111] Judge whether the number of preset relay devices required for the second communication distance is greater than the preset quantity threshold. If so, adjust the flight distance of the unmanned aerial vehicle;

[0112] If not, based on the preset placement distance, set the preset relay devices according to the corresponding number.

[0113] It should be noted that the preset relay devices are divided into preset fixed relay devices and preset movable relay devices. The preset fixed relay devices include immovable routers, etc. The preset movable relay devices include unmanned aerial vehicles, etc. The unmanned aerial vehicle serving as the preset relay device has the function of receiving and sending communication signals, and the preset placement distance is set by those skilled in the art.

[0114] In this embodiment, all communication distances exceeding the first threshold are screened, marked as unmanned aerial vehicles (UAVs) that need relay coverage, and the communication distance of the UAVs is recorded as the second communication distance. Based on the preset relay device table, the number of relay devices required for the second communication distance is queried. If the number of required relay devices exceeds the relay transmission upper limit, the path planning algorithm is triggered to adjust the UAV flight path to shorten the communication distance; otherwise, signal transmission is performed based on the number of relay devices.

[0115] According to an embodiment of the present invention, it further includes:

[0116] Obtain the flight environment information of the unmanned aerial vehicle;

[0117] Extract the first eigenvalue of the flight environment information of the unmanned aerial vehicle;

[0118] Perform a difference calculation between the first eigenvalue of the flight environment information of the unmanned aerial vehicle and the preset first eigenvalue to obtain a first eigenvalue difference;

[0119] Determine whether the first eigenvalue difference is less than the preset first eigenvalue difference threshold. If so, extract the environmental position of the first eigenvalue corresponding to the first eigenvalue difference;

[0120] Set the environmental position of the first eigenvalue as the placement position of the preset relay device.

[0121] It should be noted that the placement position of the preset relay device is preliminarily screened according to the flight environment of the unmanned aerial vehicle, and a difference calculation is performed based on the first eigenvalue of the flight environment information and the preset first eigenvalue to obtain a first eigenvalue difference. If the first eigenvalue difference is less than the preset first eigenvalue difference threshold, it indicates that the basic requirement for the signal strength of relay communication is met, and the current position is added to the relay device candidate list. If the first eigenvalue difference is greater than or equal to the preset first eigenvalue difference threshold, it indicates that the interference of the corresponding unmanned aerial vehicle flight environment to the communication signal is relatively strong, and it is marked as an interference area.

[0122] According to an embodiment of the present invention, it further includes:

[0123] Based on the detection route of the unmanned aerial vehicle, obtain the signal feedback information during the flight of the unmanned aerial vehicle along the detection route;

[0124] Extract the second eigenvalue from the signal feedback information;

[0125] Perform a difference calculation between the second eigenvalue in the signal feedback information and the preset second eigenvalue to obtain a second eigenvalue difference;

[0126] Determine whether the second feature difference is less than a preset second feature difference threshold. If so, extract the second feature value corresponding to the second feature difference and set it as the third feature value;

[0127] Obtain the signal feedback position corresponding to the third feature value;

[0128] Revise the placement position of the preset relay device according to the signal feedback position corresponding to the third feature value.

[0129] It should be noted that the detection route of the unmanned aerial vehicle corresponds to the flight route of the unmanned aerial vehicle. This embodiment provides a detection feedback mechanism to revise the positions corresponding to signal transmission problems based on feedback signals. The specific process includes: obtaining signal feedback information based on the detection route for extracting the second feature value; if the difference between the second feature value and the preset second feature value is less than the preset second feature difference threshold, then obtain the third feature value; revise the placement position of the preset relay device based on the signal feedback position corresponding to the third feature value.

[0130] In this embodiment, through the signal feedback information during the flight of the unmanned aerial vehicle along the detection route, the strength of the communication signal of the corresponding unmanned aerial vehicle is determined in real time, denoted as the second feature value. If the second feature difference is greater than or equal to the preset second feature difference threshold, it indicates that there is a problem with signal transmission at the position of the corresponding unmanned aerial vehicle, and the position with the signal transmission problem is deleted. If the second feature difference is less than the preset second feature difference threshold, the corresponding second feature value is set as the third feature value to obtain the signal feedback position, and then the placement position of the relay device is adjusted according to the signal feedback position to enhance the communication signal.

[0131] According to an embodiment of the present invention, it further includes:

[0132] Based on a preset first distance range, perform cluster analysis on the placement positions of the preset relay devices to obtain the aggregation points of the placement positions of the preset relay devices;

[0133] Consecutively number the aggregation points according to the distance from the position of the preset ground control terminal to obtain aggregation points with different numbers;

[0134] Based on the number of preset relay devices required for the second communication distance, extract the aggregation points with any corresponding numbers;

[0135] Extract the positions of the aggregation points with any corresponding and non-repeating numbers;

[0136] Calculate the distances in sequence according to the signal passing order of the positions of the aggregation points with the corresponding number of any and non-repeating numbers, the position of the unmanned aerial vehicle, and the position of the preset ground control terminal to obtain the first distance set of the aggregation points;

[0137] Extract the values in the first distance set of the aggregation points, and calculate the difference between each pair of values to obtain a second distance difference set;

[0138] Accumulate the values in the second distance difference set to obtain a third distance value;

[0139] Extract the minimum value of the third distance, and set the aggregation point corresponding to the minimum value of the third distance as the optimal point for the current preset relay device to be placed.

[0140] It should be noted that this embodiment provides a process for setting the optimal placement point, which specifically includes: obtaining the aggregation points of the placement positions according to a preset first distance range, and continuously numbering them according to the distance; randomly selecting non-repeating aggregation point numbers according to the number of relays required for the second communication distance; based on the selected aggregation point positions, sequentially performing distance calculations to obtain a first distance set; obtaining a second distance difference set through the difference operation of the first distance set, which is used for accumulation to obtain a third distance value; setting the aggregation point corresponding to the minimum value of the third distance as the optimal point for the current preset relay device to be placed.

[0141] In this embodiment, the placement positions of the preset relay devices within the preset first distance range are set as one aggregation point. For example, if the preset first distance range is a square with a side length of 1 meter, then all the placement positions of the preset relay devices within the square with a side length of 1 meter are set as one aggregation point. The boundary reference points of the preset first distance range are set according to actual requirements. For example, if the number of preset relay devices is 2, then extract the positions of any two aggregation points, and then calculate the distances from one aggregation point to the position of the unmanned aerial vehicle, the distance from one aggregation point to another aggregation point, and the distance from another aggregation point to the position of the preset ground control terminal according to the positions of the corresponding two aggregation points and the position of the unmanned aerial vehicle and the position of the preset ground control terminal, and form a first distance set with the calculated distances. The smaller the third distance, the more evenly distributed the placement positions of the corresponding preset relay devices are.

[0142] It is worth mentioning that it also includes:

[0143] Judge whether the first eigenvalue of the flight environment information of the unmanned aerial vehicle is greater than a preset first eigenvalue threshold. If so, trigger a communication warning message;

[0144] Adjust the flight route of the unmanned aerial vehicle according to the communication warning message.

[0145] It should be noted that when the first eigenvalue of the flight environment information of the unmanned aerial vehicle is greater than the preset first eigenvalue threshold, it indicates that there are communication interference factors, such as noise, etc. in the current flight environment, and a communication warning is triggered. Then, based on the communication warning, the interference area is avoided through the path planning algorithm, and the flight route of the unmanned aerial vehicle is adjusted.

[0146] It is worth mentioning that it also includes:

[0147] Obtain the monitoring information of the preset relay device;

[0148] Obtain the noise value according to the monitoring information of the preset relay device;

[0149] Determine whether the noise value is greater than the preset noise threshold. If so, trigger the communication pause information;

[0150] Send the communication pause information to the previous communication sender.

[0151] It should be noted that the preset relay device monitors the surrounding environment in real time. The monitoring information includes the noise value of the surrounding environment. If the noise value is greater than the preset noise threshold, it indicates that the surrounding environment of the preset relay device interferes with communication. Therefore, the communication is paused, and at the same time, the communication pause information is sent to the previous communication sender. If the previous communication sender is the preset relay node, the corresponding preset relay node stores the communication information temporarily. When the noise disappears or the noise value is lower than or equal to the preset noise threshold, the communication is restarted.

[0152] It is worth mentioning that it also includes:

[0153] Real-time monitor the spectrum occupancy status of the communication frequency band of the unmanned aerial vehicle, and obtain the spectrum idle window and interference intensity;

[0154] Dynamically select the optimal communication frequency band as the backup frequency band according to the duration of the spectrum idle window and the interference intensity;

[0155] If the interference of the current frequency band exceeds the preset threshold, switch to the backup frequency band;

[0156] Synchronize the frequency band switching information to the preset relay device system.

[0157] It should be noted that by scanning the communication frequency band, analyzing the spectrum occupancy rate and noise power, marking the idle frequency band and interference intensity. Based on the principle of long idle time and low interference, the greedy algorithm is used to obtain the optimal communication frequency band as the backup frequency band. If the interference of the current frequency band exceeds the preset threshold, switch to the backup frequency band and synchronize the frequency band switching information to the preset relay device system.

[0158] Figure 2 The block diagram of a remote communication system for an unmanned aerial vehicle according to the present invention is shown.

[0159] As Figure 2As shown in the figure, the second aspect of the present invention provides an unmanned aerial vehicle remote communication system 2, including a memory 21 and a processor 22. A program of an unmanned aerial vehicle remote communication method is stored in the memory. When the program of the unmanned aerial vehicle remote communication method is executed by the processor, the following steps are implemented:

[0160] Obtain the real-time positioning information of the unmanned aerial vehicle;

[0161] According to the real-time positioning information of the unmanned aerial vehicle and the preset position of the ground control terminal, obtain the first communication distance of the unmanned aerial vehicle;

[0162] Judge whether the first communication distance of the unmanned aerial vehicle is greater than the preset first communication distance threshold. If so, trigger the preset relay device system;

[0163] Amplify and relay the communication signal of the unmanned aerial vehicle according to the preset relay device system.

[0164] It should be noted that the position of the corresponding unmanned aerial vehicle is determined by the real-time positioning information of the unmanned aerial vehicle. The first communication distance of the unmanned aerial vehicle is the distance from the preset position of the ground control terminal to the position of the unmanned aerial vehicle. The preset relay device system includes relay devices that can amplify or relay communication signals, such as routers, etc. The preset first communication distance threshold is set by those skilled in the art. If the first communication distance exceeds the preset threshold, a trigger signal is sent to the relay device management system through the control logic of the ground control terminal or the drone local. The relay device system receives the original communication signal, enhances the signal strength through a power amplifier, and forwards it to the target node using a multi-hop transmission protocol.

[0165] According to an embodiment of the present invention, it further includes:

[0166] Calculate the difference between the first communication distance of the unmanned aerial vehicle and the preset first communication distance threshold to obtain the absolute value of the second communication distance;

[0167] Judge whether the absolute value of the second communication distance is greater than the preset second communication distance threshold. If so, do not revise the corresponding first communication distance;

[0168] If not, obtain the historical positioning information of the unmanned aerial vehicle;

[0169] According to the historical positioning information of the unmanned aerial vehicle, obtain the historical distance of the unmanned aerial vehicle;

[0170] Subtract the preset historical real distance from the historical distance of the unmanned aerial vehicle to obtain the third communication distance;

[0171] Accumulate the first communication distance and the third communication distance of the unmanned aerial vehicle to obtain a revised value of the first communication distance;

[0172] Replace the first communication distance with the revised value of the first communication distance and store it.

[0173] It should be noted that due to environmental interference or time differences in signal reception, there is a deviation between the positioning position and the actual position of the unmanned aerial vehicle. Therefore, the first communication distance is corrected and stored through the revised value of the first communication distance. The specific process includes: judging whether to revise the first communication distance based on the absolute value of the difference between the first communication distance and the preset first communication distance threshold; obtaining the historical distance based on the historical positioning information for calculating the third communication distance; obtaining the revised value of the first communication distance based on the first communication distance and the third communication distance for correcting and storing the first communication distance.

[0174] In this embodiment, calculate the absolute difference between the current communication distance and the threshold for judging whether positioning error correction is required. Read the historical positioning data of the unmanned aerial vehicle to obtain the historical distance for calculating the deviation from the preset historical actual distance to obtain the third communication distance. Finally, accumulate the first communication distance and the third communication distance of the unmanned aerial vehicle to obtain the revised value of the first communication distance for correcting and storing the first communication distance.

[0175] According to the embodiment of the present invention, it further includes:

[0176] Extract the first communication distance of the unmanned aerial vehicle that is greater than the preset first communication distance threshold and set the communication distance as the second communication distance;

[0177] Query according to the second communication distance in the preset relay device table to obtain the number of preset relay devices required for the corresponding second communication distance;

[0178] Judge whether the number of preset relay devices required for the second communication distance is greater than the preset quantity threshold. If so, adjust the flight distance of the unmanned aerial vehicle;

[0179] If not, set the preset relay devices according to the corresponding number based on the preset placement distance.

[0180] It should be noted that the preset relay devices are divided into preset fixed relay devices and preset movable relay devices. The preset fixed relay devices include immovable routers, etc. The preset movable relay devices include unmanned aerial vehicles, etc. The unmanned aerial vehicle serving as the preset relay device has the function of receiving and sending communication signals. The preset placement distance is set by those skilled in the art.

[0181] In this embodiment, all communication distances exceeding the first threshold are screened, marked as unmanned aerial vehicles (UAVs) that require relay coverage, and the communication distance of the UAVs is recorded as the second communication distance. Based on the preset relay device table, the number of relay devices required for the second communication distance is queried. If the number of required relay devices exceeds the relay transmission upper limit, the path planning algorithm is triggered to adjust the UAV flight path to shorten the communication distance; otherwise, signal transmission is performed based on the number of relay devices.

[0182] According to an embodiment of the present invention, it further includes:

[0183] Obtain the flight environment information of the unmanned aerial vehicle;

[0184] Extract the first eigenvalue of the flight environment information of the unmanned aerial vehicle;

[0185] Perform a difference calculation between the first eigenvalue of the flight environment information of the unmanned aerial vehicle and the preset first eigenvalue to obtain a first eigenvalue difference;

[0186] Determine whether the first eigenvalue difference is less than a preset first eigenvalue difference threshold. If so, extract the environmental position of the first eigenvalue corresponding to the first eigenvalue difference;

[0187] Set the environmental position of the first eigenvalue as the placement position of the preset relay device.

[0188] It should be noted that the placement position of the preset relay device is preliminarily screened according to the flight environment of the unmanned aerial vehicle, and a difference calculation is performed based on the first eigenvalue of the flight environment information and the preset first eigenvalue to obtain a first eigenvalue difference. If the first eigenvalue difference is less than the preset first eigenvalue difference threshold, it indicates that the basic requirement for the signal strength of relay communication is met, and the current position is added to the relay device candidate list. If the first eigenvalue difference is greater than or equal to the preset first eigenvalue difference threshold, it indicates that the corresponding flight environment of the unmanned aerial vehicle has a strong interference on the communication signal, and it is marked as an interference area.

[0189] According to an embodiment of the present invention, it further includes:

[0190] Based on the detection route of the unmanned aerial vehicle, obtain the signal feedback information during the flight of the unmanned aerial vehicle along the detection route;

[0191] Extract the second eigenvalue from the signal feedback information;

[0192] Perform a difference calculation between the second eigenvalue in the signal feedback information and the preset second eigenvalue to obtain a second eigenvalue difference;

[0193] Determine whether the second feature difference is less than a preset second feature difference threshold. If so, extract the second feature value corresponding to the second feature difference and set it as the third feature value;

[0194] Obtain the signal feedback position corresponding to the third feature value;

[0195] Revise the placement position of the preset relay device according to the signal feedback position corresponding to the third feature value.

[0196] It should be noted that the detection route of the unmanned aerial vehicle corresponds to the flight route of the unmanned aerial vehicle. This embodiment provides a detection feedback mechanism to revise the positions corresponding to signal transmission problems based on the feedback signal. The specific process includes: obtaining signal feedback information based on the detection route for extracting the second feature value; if the difference between the second feature value and the preset second feature value is less than the preset second feature difference threshold, then obtain the third feature value; revise the placement position of the preset relay device based on the signal feedback position corresponding to the third feature value.

[0197] In this embodiment, through the signal feedback information during the flight of the unmanned aerial vehicle on the detection route, the strength of the communication signal of the corresponding unmanned aerial vehicle is determined in real time, denoted as the second feature value. If the second feature difference is greater than or equal to the preset second feature difference threshold, it indicates that there is a problem with the signal transmission at the position of the corresponding unmanned aerial vehicle, and the position with the signal transmission problem is deleted. If the second feature difference is less than the preset second feature difference threshold, the corresponding second feature value is set as the third feature value to obtain the signal feedback position, and then the placement position of the relay device is adjusted according to the signal feedback position to enhance the communication signal.

[0198] According to an embodiment of the present invention, it further includes:

[0199] Based on a preset first distance range, perform clustering analysis on the placement positions of the preset relay devices to obtain the aggregation points of the placement positions of the preset relay devices;

[0200] Successively number the aggregation points continuously according to the distance from the position of the preset ground control terminal to obtain aggregation points with different numbers;

[0201] Based on the number of preset relay devices required for the second communication distance, extract the corresponding number of aggregation points with arbitrary numbers;

[0202] Extract the positions of the corresponding number of arbitrary and non-repeating numbered aggregation points;

[0203] Calculate the distances in sequence according to the signal passing order for the positions of the corresponding number of arbitrary and non-repeating numbered aggregation points, the position of the unmanned aerial vehicle, and the position of the preset ground control terminal to obtain the first distance set of the aggregation points;

[0204] Extract the values in the first distance set of the aggregation points, and calculate the difference between every two values to obtain a second distance difference set;

[0205] Accumulate the values in the second distance difference set to obtain a third distance value;

[0206] Extract the minimum value of the third distance, and set the aggregation point corresponding to the minimum value of the third distance as the best point for the current preset relay device to be placed.

[0207] It should be noted that this embodiment provides a best placement point setting process, which specifically includes: obtaining the aggregation points of the placement positions according to a preset first distance range, and continuously numbering them according to the distance; randomly selecting non-repeating aggregation point numbers according to the number of relays required for the second communication distance; based on the selected aggregation point positions, performing distance calculations in sequence to obtain a first distance set; obtaining a second distance difference set according to the difference operation of the first distance set, which is used to obtain a third distance value after accumulation; setting the aggregation point corresponding to the minimum value of the third distance as the best point for the current preset relay device to be placed.

[0208] In this embodiment, the placement positions of the preset relay devices within the preset first distance range are set as an aggregation point. For example, if the preset first distance range is a square with a side length of 1 meter, then all the placement positions of the preset relay devices within the square with a side length of 1 meter are set as an aggregation point. The boundary reference points of the preset first distance range are set according to actual needs. For example, if the number of preset relay devices is 2, then extract the positions of any two aggregation points, and then perform distance calculations based on the positions of the corresponding two aggregation points, the position of the unmanned aerial vehicle, and the position of the preset ground control terminal to obtain the distance from one aggregation point to the position of the unmanned aerial vehicle, the distance from one aggregation point to another aggregation point, and the distance from another aggregation point to the position of the preset ground control terminal, and form a first distance set with the calculated distances. The smaller the third distance, the more evenly distributed the placement positions of the corresponding preset relay devices are.

[0209] It is worth mentioning that it also includes:

[0210] Judge whether the first eigenvalue of the flight environment information of the unmanned aerial vehicle is greater than a preset first eigenvalue threshold. If so, trigger a communication warning message;

[0211] Adjust the flight route of the unmanned aerial vehicle according to the communication warning message.

[0212] It should be noted that when the first eigenvalue of the flight environment information of the unmanned aerial vehicle is greater than the preset first eigenvalue threshold, it indicates that there are communication interference factors, such as noise, etc. in the current flight environment, and a communication warning is triggered. Then, based on the communication warning, the interference area is avoided through a path planning algorithm, and the flight route of the unmanned aerial vehicle is adjusted.

[0213] It is worth mentioning that it also includes:

[0214] Obtain the monitoring information of the preset relay device;

[0215] Obtain the noise value according to the monitoring information of the preset relay device;

[0216] Judge whether the noise value is greater than the preset noise threshold. If so, trigger the communication pause information;

[0217] Send the communication pause information to the previous communication sender.

[0218] It should be noted that the preset relay device monitors the surrounding environment in real time. The monitoring information includes the noise value of the surrounding environment. If the noise value is greater than the preset noise threshold, it indicates that the surrounding environment of the preset relay device interferes with the communication. Therefore, the communication is paused, and at the same time, the communication pause information is sent to the previous communication sender. If the previous communication sender is a preset relay node, the corresponding preset relay node will temporarily store the communication information. When the noise disappears or the noise value is lower than or equal to the preset noise threshold, the communication is restarted.

[0219] It is worth mentioning that it also includes:

[0220] Real-time monitor the spectrum occupancy status of the communication frequency band of the unmanned aerial vehicle, and obtain the spectrum idle window and interference intensity;

[0221] Dynamically select the optimal communication frequency band as the backup frequency band according to the duration of the spectrum idle window and the interference intensity;

[0222] If the interference of the current frequency band exceeds the preset threshold, switch to the backup frequency band;

[0223] Synchronize the frequency band switching information to the preset relay device system.

[0224] It should be noted that by scanning the communication frequency band, analyzing the spectrum occupancy rate and noise power, marking the idle frequency band and interference intensity. Based on the principle of long idle time and low interference, the greedy algorithm is used to obtain the optimal communication frequency band as the backup frequency band. If the interference of the current frequency band exceeds the preset threshold, switch to the backup frequency band and synchronize the frequency band switching information to the preset relay device system.

[0225] The third aspect of the present invention provides a computer storage medium, in which a program for a method of remote communication of an unmanned aerial vehicle is stored. When the program for the method of remote communication of an unmanned aerial vehicle is executed by a processor, the steps of the method of remote communication of an unmanned aerial vehicle as described in any one of the above are implemented.

[0226] The present invention discloses a method, a system and a storage medium for remote communication of an unmanned aerial vehicle. The method includes: obtaining real-time positioning information of the unmanned aerial vehicle; obtaining a first communication distance of the unmanned aerial vehicle according to the real-time positioning information of the unmanned aerial vehicle and a preset position of a ground control terminal; determining whether the first communication distance of the unmanned aerial vehicle is greater than a preset first communication distance threshold, and if so, triggering a preset relay device system; amplifying and relaying the communication signal of the unmanned aerial vehicle through the preset relay device system. By determining the communication distance of the unmanned aerial vehicle, when the communication distance exceeds the preset first communication distance threshold, the preset relay device system is started, and the communication signal is amplified and relayed through the preset relay device system, thereby improving the communication distance of the unmanned aerial vehicle.

[0227] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0228] The units described as separate components above may or may not be physically separated, and the components shown as units may or may not be physical units; they may be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0229] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in a unit; the above integrated units can be implemented in the form of hardware, or in the form of a hardware plus a software functional unit.

[0230] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0231] Alternatively, if the above integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solutions of the embodiments of the present invention, in essence or the parts that contribute to the prior art, 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 methods described in the various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

Claims

1. A method for remote communication of an unmanned aerial vehicle, characterized in that, Including: Obtain the real-time positioning information of the unmanned aerial vehicle; According to the real-time positioning information of the unmanned aerial vehicle and the preset position of the ground control terminal, obtain the first communication distance of the unmanned aerial vehicle; Judge whether the first communication distance of the unmanned aerial vehicle is greater than the preset first communication distance threshold. If so, trigger the preset relay device system; Amplify and relay the communication signal of the unmanned aerial vehicle according to the preset relay device system.

2. The method for remote communication of an unmanned aerial vehicle according to claim 1, wherein Also including: Perform a difference calculation on the first communication distance of the unmanned aerial vehicle and the preset first communication distance threshold to obtain the absolute value of the second communication distance; Judge whether the absolute value of the second communication distance is greater than the preset second communication distance threshold. If so, do not revise the corresponding first communication distance; If not, obtain the historical positioning information of the unmanned aerial vehicle; According to the historical positioning information of the unmanned aerial vehicle, obtain the historical distance of the unmanned aerial vehicle; Subtract the preset historical true distance from the historical distance of the unmanned aerial vehicle to obtain the third communication distance; Accumulate the first communication distance of the unmanned aerial vehicle and the third communication distance to obtain the revised value of the first communication distance; Replace the first communication distance with the revised value of the first communication distance and store it.

3. A method for remote communication of an unmanned aerial vehicle according to claim 1, characterized in that, Also including: Extract the first communication distance of the unmanned aerial vehicle that is greater than the preset first communication distance threshold, and set the communication distance as the second communication distance; Query according to the second communication distance in the preset relay device table to obtain the number of preset relay devices required for the corresponding second communication distance; Judge whether the number of preset relay devices required for the second communication distance is greater than the preset quantity threshold. If so, adjust the flight distance of the unmanned aerial vehicle; If not, set the preset relay devices according to the corresponding number based on the preset deployment distance.

4. The method for remotely communicating an unmanned aerial vehicle according to claim 3, wherein Also including: Obtain the flight environment information of the unmanned aerial vehicle; Extract the first characteristic value of the flight environment information of the unmanned aerial vehicle; Perform a difference calculation on the first characteristic value of the flight environment information of the unmanned aerial vehicle and the preset first characteristic value to obtain the first characteristic difference; Judge whether the first characteristic difference is less than the preset first characteristic difference threshold. If so, extract the environmental position of the first characteristic value corresponding to the first characteristic difference; Set the environmental position of the first characteristic value as the deployment position of the preset relay device.

5. A method for remote communication of an unmanned aerial vehicle according to claim 4, characterized in that, Also including: Based on the detection route of the unmanned aerial vehicle, obtain the signal feedback information during the flight of the unmanned aerial vehicle on the detection route; Extract the second characteristic value from the signal feedback information; Perform a difference calculation on the second characteristic value in the signal feedback information and the preset second characteristic value to obtain the second characteristic difference; Judge whether the second characteristic difference is less than the preset second characteristic difference threshold. If so, extract the second characteristic value corresponding to the second characteristic difference and set it as the third characteristic value; Obtain the signal feedback position corresponding to the third characteristic value; Revise the deployment position of the preset relay device according to the signal feedback position corresponding to the third characteristic value.

6. A method for remote communication of an unmanned aerial vehicle according to claim 5, characterized in that, Also including: Based on the preset first distance range, perform a clustering analysis on the deployment positions of the preset relay devices to obtain the aggregation points of the deployment positions of the preset relay devices; Number the clustering points continuously according to their distances from the position of the preset ground control terminal to obtain clustering points with different numbers; Based on the number of preset relay devices required for the second communication distance, extract the corresponding number of clustering points with arbitrary numbers; Extract the positions of the corresponding number of clustering points with arbitrary and non-repeating numbers; Calculate the distances in sequence according to the passing order of signals for the positions of the corresponding number of clustering points with arbitrary and non-repeating numbers, the position of the unmanned aerial vehicle, and the position of the preset ground control terminal to obtain the first distance set of the clustering points; Extract the values in the first distance set of the clustering points and calculate the differences between every two values to obtain the second distance difference set; Accumulate the values in the second distance difference set to obtain the third distance value; Extract the minimum value of the third distance and set the clustering point corresponding to the minimum value of the third distance as the best point for the current preset relay device to be placed; 7. A remote communication system for an unmanned aerial vehicle, characterized in that, It includes a memory and a processor. A program for a method of remote communication of an unmanned aerial vehicle is stored in the memory. When the program for the method of remote communication of an unmanned aerial vehicle is executed by the processor, the following steps are implemented: Obtain the real-time positioning information of the unmanned aerial vehicle; According to the real-time positioning information of the unmanned aerial vehicle and the position of the preset ground control terminal, obtain the first communication distance of the unmanned aerial vehicle; Judge whether the first communication distance of the unmanned aerial vehicle is greater than the preset first communication distance threshold. If so, trigger the preset relay device system; Amplify and relay the communication signal of the unmanned aerial vehicle according to the preset relay device system; 8. A remote communication system for an unmanned aerial vehicle according to claim 7, characterized in that, It further includes: Calculate the difference between the first communication distance of the unmanned aerial vehicle and the preset first communication distance threshold to obtain the absolute value of the second communication distance; Judge whether the absolute value of the second communication distance is greater than the preset second communication distance threshold. If so, do not revise the corresponding first communication distance; If not, obtain the historical positioning information of the unmanned aerial vehicle; According to the historical positioning information of the unmanned aerial vehicle, obtain the historical distance of the unmanned aerial vehicle; Subtract the preset historical real distance from the historical distance of the unmanned aerial vehicle to obtain the third communication distance; Accumulate the first communication distance of the unmanned aerial vehicle and the third communication distance to obtain the revised value of the first communication distance; Replace the first communication distance with the revised value of the first communication distance and store it; 9. The remote communication system for an unmanned aerial vehicle according to claim 7, characterized in that, It further includes: Extract the first communication distance of the unmanned aerial vehicle that is greater than the preset first communication distance threshold and set the communication distance as the second communication distance; Query according to the second communication distance in the preset relay device table to obtain the number of preset relay devices required for the corresponding second communication distance; Judge whether the number of preset relay devices required for the second communication distance is greater than the preset quantity threshold. If so, adjust the flight distance of the unmanned aerial vehicle; If not, set the preset relay devices according to the corresponding number based on the preset placement distance; 10. A computer storage medium, characterized in that, A program for a method of remote communication of an unmanned aerial vehicle is stored in the computer storage medium. When the program for the method of remote communication of an unmanned aerial vehicle is executed by a processor, the steps of a method of remote communication of an unmanned aerial vehicle as described in any one of claims 1 to 6 are implemented.

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