Low-altitude signal testing method and related equipment

Abstract

The invention discloses a low-altitude signal test method and related equipment. The method comprises the following steps: acquiring flight position information and flight measurement information sent by an unmanned aerial vehicle at a first timestamp; the flight position information comprises latitude and longitude data and terrain clearance data; the first timestamp is any timestamp; and selecting the flight position information and the flight measurement information corresponding to each timestamp according to the timestamps to obtain first flight position information and first flight measurement information, and performing information backfilling on the first flight measurement information according to the first flight position information to obtain a target flight signal. According to the embodiment of the invention, information backfilling is carried out on the flight measurement information through the obtained flight position information, and the flight position information comprises the latitude and longitude data and the terrain clearance data, so that the generated target flight signal comprises the three-dimensional position information used for describing the latitude, longitude and height of the unmanned aerial vehicle. And the information acquisition accuracy of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, belonging to the field of UAV communication technologies, and specifically relates to a low-altitude signal testing method and related equipment. Background Art

[0002] With the large-scale deployment of 5G networks and the rapid development of the UAV industry, unprecedented opportunities have been brought to the development of numerous industries. At the same time, the UAV industry has also shown a booming development trend, continuously breaking through technical bottlenecks and expanding application scenarios at an astonishing speed. The excellent characteristics of 5G networks, such as high speed, low latency, and large connection, can open up new doors for innovative development in multiple fields of the low-altitude economy. With the wide application of networked UAVs in various fields, the demand for the coverage quality of low-altitude wireless signals is also increasing day by day. During the process of UAVs performing tasks, stable and reliable wireless signal support is required to ensure smooth communication and accurate data transmission. Once the signal quality is poor, it may lead to the loss of control of the UAV, mission failure, or even safety accidents. Therefore, the signal testing and evaluation work in the low-altitude airspace is particularly important and urgent. Summary of the Invention

[0003] Aiming at the above at least one technical problem, the purpose of the present invention is to provide a low-altitude signal testing method and related equipment.

[0004] On the one hand, an embodiment of the present invention includes a low-altitude signal testing method applied to an electronic device, and the method includes:

[0005] Obtain the flight position information and flight measurement information sent by the UAV at the first timestamp; the flight position information includes longitude and latitude data and altitude data from the ground; the first timestamp is any timestamp;

[0006] Select the flight position information and flight measurement information corresponding to each timestamp according to the timestamp to obtain the first flight position information and the first flight measurement information, and backfill the first flight measurement information according to the first flight position information to obtain the target flight signal.

[0007] Further, the flight position information includes first identity recognition data, and the flight measurement information includes second identity recognition data; after obtaining the flight position information and flight measurement information sent by the UAV at each timestamp respectively, the method further includes:

[0008] Compare the first identity recognition data with the second identity recognition data;

[0009] Selecting the flight position information and flight measurement information corresponding to each timestamp according to the timestamp to obtain first flight position information and first flight measurement information, including:

[0010] Selecting the flight position information and flight measurement information with the same timestamp where the first identity recognition data matches the second identity recognition data as the first flight position information and the first flight measurement information.

[0011] Further, backfilling the first flight measurement information with the first flight position information to obtain a target flight signal, including:

[0012] Concatenating the first flight position information and the first flight measurement information to obtain the target flight signal.

[0013] Further, the method further includes:

[0014] Detecting the flight position information corresponding to each timestamp;

[0015] If it is determined that the flight position information corresponding to the first timestamp is missing, calculating the flight position information corresponding to the first timestamp according to the flight position information corresponding to the historical event timestamp and the flight position information corresponding to the target timestamp; wherein, the first timestamp is any timestamp, the historical timestamp is the timestamp before the first timestamp, and the target timestamp is the timestamp after the first timestamp.

[0016] Further, the flight measurement information includes a base station identifier, and the method further includes:

[0017] Detecting the flight measurement information corresponding to each timestamp;

[0018] If it is determined that the flight measurement information corresponding to the first timestamp is missing, identifying the base station identifiers in the flight measurement information corresponding to the historical timestamp and the flight measurement information corresponding to the target timestamp to obtain a base station identification result, and calculating the flight measurement information corresponding to the first timestamp according to the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

[0019] Further, calculating the flight measurement information corresponding to the first timestamp according to the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp, including:

[0020] If the base station identification result indicates that the base station identification corresponding to the historical timestamp is inconsistent with the flight measurement information identification corresponding to the target timestamp, calculate the distance between the base station used by the UAV at the historical timestamp and the position of the UAV at the first timestamp to obtain a first base station distance, and calculate the distance between the base station used by the UAV at the target timestamp and the position of the UAV at the first timestamp to obtain a second base station distance;

[0021] Calculate the flight measurement information corresponding to the first timestamp based on the first base station distance, the second base station distance, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

[0022] Further, the calculating the flight measurement information corresponding to the first timestamp based on the first base station distance, the second base station distance, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp includes:

[0023] If the first base station distance is greater than or equal to the second base station distance, correct the flight measurement information corresponding to the historical timestamp according to the first base station distance to obtain the flight measurement information corresponding to the first timestamp;

[0024] If the first base station distance is less than the second base station distance, correct the flight measurement information corresponding to the target timestamp according to the second base station distance to obtain the flight measurement information corresponding to the first timestamp.

[0025] On the other hand, an embodiment of the present invention includes a low-altitude signal testing device applied to an electronic device, and the device includes:

[0026] An information acquisition module, configured to acquire the flight position information and flight measurement information respectively sent by the UAV at each timestamp; the flight position information includes longitude and latitude data and ground clearance data;

[0027] An information filling module, configured to select the flight position information and flight measurement information at the same timestamp as the first flight position information and the first flight measurement information, and perform information filling on the first flight measurement information according to the first flight position information to obtain a target flight signal.

[0028] On the other hand, an embodiment of the present application discloses an electronic device, including a memory and a processor, where a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements any low-altitude signal testing method disclosed in the embodiments of the present application.

[0029] On the other hand, an embodiment of the present invention further includes a storage medium storing a program executable by a processor, and the program executable by the processor is used to execute any one of the low-altitude signal testing methods in the embodiments when executed by the processor.

[0030] Compared with the related art, the embodiments of the present application have the following beneficial effects:

[0031] The embodiments of the present application provide a low-altitude signal testing method and related devices, which obtain the flight position information and flight measurement information sent by the unmanned aerial vehicle (UAV) at the first timestamp; the flight position information includes longitude and latitude data and altitude data from the ground; select the flight position information and flight measurement information corresponding to each timestamp according to the timestamp to obtain the first flight position information and the first flight measurement information, and backfill the first flight measurement information according to the first flight position information to obtain the target flight signal. By implementing the embodiments of the present application, backfilling the flight measurement information through the obtained flight position information, which includes longitude and latitude data and altitude data from the ground, can make the generated target flight signal contain three-dimensional position information for describing the longitude, latitude, and altitude of the UAV, thereby completing the information collection of the altitude of the UAV, realizing the breakthrough of the collected target flight signal measurement from two-dimensional information to three-dimensional information, and improving the accuracy of the information collection of the UAV. Description of the Drawings

[0032] Figure 1 is an application scenario diagram of a low-altitude signal testing method disclosed in an embodiment of the present application;

[0033] Figure 2 is a flowchart of a low-altitude signal testing method disclosed in an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of a UAV sending flight measurement information in an embodiment;

[0035] Figure 4 is a flowchart of a base station controlling a UAV to perform signal test reporting in an embodiment;

[0036] Figure 5 is a schematic diagram of a UAV collecting and processing flight position information and flight measurement information in an embodiment;

[0037] Figure 6 is a schematic diagram of splicing the first flight position information and the first flight measurement information in an embodiment;

[0038] Figure 7 is a flowchart of generating a target flight signal in an embodiment;

[0039] Figure 8It is a schematic flow chart of correcting missing flight position information disclosed in an embodiment of the present application;

[0040] Figure 9 It is a schematic diagram of the flight trajectory of a drone in an embodiment;

[0041] Figure 10 It is a schematic flow chart of correcting missing flight measurement information disclosed in an embodiment of the present application;

[0042] Figure 11 It is a schematic diagram of the positions of base stations used by a drone at each time stamp in an embodiment;

[0043] Figure 12 It is a schematic flow chart of an electronic device correcting flight position information and flight measurement information in an embodiment;

[0044] Figure 13 It is a schematic structural diagram of a low-altitude signal testing device disclosed in an embodiment of the present application;

[0045] Figure 14 It is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0047] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0048] It can be understood that the terms "first", "second", etc. used in the present application can be used to describe various elements herein, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the present application, the first base station distance can be referred to as the second base station distance, and similarly, the second base station distance can be referred to as the first base station distance. Both the first base station distance and the second base station distance are base station distances, but they are not the same base station distance.

[0049] Since drones often have flexible and three-dimensional dynamic trajectories when flying at low altitudes, existing testing methods are difficult to meet the comprehensive three-dimensional spatial testing requirements. Specifically, there are mainly the following three technologies for current 5G signal evaluation: The traditional DT measurement method is through Drive Test (DT), also known as road test. This technology is a method of measuring the performance of a wireless network by driving along a certain road. This technology is limited to ground testing and cannot achieve airspace testing. It can only approximately simulate the signal quality above the road surface.

[0050] Another technology is the airborne 5G mobile phone testing technology. The airborne 5G mobile phone testing technology refers to a method of carrying a 5G mobile phone and road test software on a drone to conduct 5G network performance testing. Usually, the testing equipment (such as a 5G mobile phone) is fixedly installed on the drone, and during the flight, the performance indicators such as the coverage, signal quality, and transmission speed of the 5G network are tested through the mobile phone and software. However, the road test software mainly used in this technology still cannot record the flight altitude of the drone. Therefore, it is necessary to preset the flight altitude to test the 5G signal. Substantially, it is still a two-dimensional plane test and cannot achieve three-dimensional space dynamic signal measurement. Moreover, when the drone flies at low altitude, it is greatly affected by obstacles, visibility, wind force, etc. It often needs to adjust the altitude temporarily during flight. If the drone deviates from the originally preset altitude, it will affect the accuracy of signal testing.

[0051] There is also a technology called MR (Measurement Report) coverage evaluation technology. This technology means that the 5G mobile terminal periodically measures the transmitted signal of the base station, collects and reports it to the network, which contains information about the wireless signal quality, strength, and other related parameters. By analyzing the MR data, network engineers can evaluate the 5G coverage quality of a certain area. However, the MR data reported by this technology does not carry longitude, latitude, and altitude. The longitude and latitude data of the existing MR data are often obtained by simulating algorithms such as triangulation positioning and fingerprint positioning, and the positioning accuracy is not as high as the longitude and latitude data obtained through GPS positioning. At the same time, due to the lack of altitude information, the MR analysis is limited to a two-dimensional plane and cannot achieve three-dimensional space signal quality testing. Moreover, 5G MR coverage is mostly used to evaluate the signal quality of a regional area and cannot achieve signal coverage evaluation based on the mobile trajectory of a specific terminal.

[0052] Since the demand for the coverage quality of low-altitude wireless signals for networked drones is also increasing day by day, it is necessary to improve the accuracy of signal testing and evaluation in the low-altitude airspace in order to provide a basis for optimizing the network layout and improving the signal quality.

[0053] The embodiments of this application disclose a low-altitude signal testing method and related devices, which can improve the accuracy of information collection for drones. The following will be described in detail respectively.

[0054] Please refer toFigure 1 , Figure 1 This is an application scenario diagram of a low-altitude signal testing method disclosed in an embodiment of the present application. The low-altitude signal testing method is applicable to the electronic device 101, which may include but is not limited to mobile phones, tablet computers, wearable devices, laptop computers, PCs (Personal Computers), etc., and the embodiments of the present application do not make limitations. The application scenario diagram of the low-altitude signal testing method may include the electronic device 101, the unmanned aerial vehicle 102, and the Remote ID receiver 103. The unmanned aerial vehicle 102 may establish a communication connection with the Remote ID receiver 103. The unmanned aerial vehicle 102 may broadcast the flight position information at every preset time interval, so that the Remote ID receiver 103 receives the flight position information sent by the unmanned aerial vehicle 102. At the same time, the unmanned aerial vehicle 102 may also establish a communication connection with the base station. The unmanned aerial vehicle may send the flight measurement information to the base station at every preset time interval. Among them, the time intervals for the unmanned aerial vehicle to send the flight position information and the flight measurement information may be the same. The Remote ID receiver 103 transmits the received flight position information to the electronic device 101, and the base station transmits the received flight measurement information to the electronic device 101, so that the electronic device 101 can obtain the flight position information and the flight measurement information sent by the unmanned aerial vehicle at each time stamp.

[0055] The electronic device 101 obtains the flight position information and the flight measurement information sent by the unmanned aerial vehicle at each time stamp; the flight position information includes longitude and latitude data and the height data from the ground; select the flight position information and the flight measurement information at the same time stamp as the first flight position information and the first flight measurement information, and fill in the information for the first flight measurement information according to the first flight position information to obtain the target flight signal.

[0056] Figure 2 This is a schematic flowchart of a low-altitude signal testing method disclosed in an embodiment of the present application. Among them, Figure 2 the described low-altitude signal testing method is applicable to the above-mentioned electronic device. As Figure 2 shown, the low-altitude signal testing method may include the following steps:

[0057] Step S201, obtain the flight position information and the flight measurement information sent by the unmanned aerial vehicle at the first time stamp; the flight position information includes longitude and latitude data and the height data from the ground; the first time stamp is any time stamp.

[0058] In some embodiments, the flight position information can be used to describe the position of the unmanned aerial vehicle (UAV) during flight, and the flight measurement information can be used to describe the environment of the wireless network where the UAV is located. The flight position information can include latitude and longitude data and altitude data from the ground. Among them, the latitude and longitude data can be used to describe the position of the UAV in terms of latitude and longitude, and the altitude data from the ground can be used to describe the distance between the height at which the UAV is currently flying and the ground.

[0059] As an alternative implementation, the UAV can broadcast the flight position information to the Remote ID receiver at every preset time interval, and at the same time send the flight measurement information to the base station. For example, it can be every 0.1 seconds. Among them, the Remote ID receiver can be bound to the UAV and used to receive the flight position information sent by the UAV. The base station can be a base station within the base station signal range used by the UAV. There can be one or more base stations. If the base station signal range used by the UAV exactly includes multiple base stations, then all these base stations can receive the flight measurement information sent by the UAV; if the base station signal range used by the UAV only includes one base station, then only this base station can receive the flight measurement information sent by the UAV. Further, the UAV can enable the remote identification broadcast function, and the remote identification broadcast function can include sending the flight position information of the UAV. The flight position information can include the first identification data (Drone ID), position information, speed data, heading data, and type data, etc. Among them, the first identification data can be used to uniquely identify the corresponding UAV. The position information can include latitude and longitude data and altitude data from the ground. The position information can be used to describe the latitude and longitude coordinates where the UAV is located and the height from the ground, jointly describing the three-dimensional position of the UAV. The speed data can be used to describe the flight speed of the UAV, usually in miles or kilometers per hour. The heading data can be used to represent the flight direction of the UAV, usually in degrees. The type data can include the model, category, or other identification information of the UAV, etc.

[0060] The Remote ID receiver can be equipped with a gain receiving module, which can be used to improve the efficiency of receiving the flight position information broadcast by the drone. The Remote ID receiver can receive the flight position information broadcast by the drone through the gain receiving module, so as to avoid the loss of flight position information and improve the efficiency of receiving the flight position information of the drone at each timestamp. After the electronic device receives the flight position information transmitted by the Remote ID receiver and the flight measurement information transmitted by the base station, it can analyze and obtain the flight position information and flight measurement information, extract the first identity recognition data contained in the flight position information, and extract the second identity recognition data (Trace ID) contained in the flight measurement information. Among them, the second identity recognition data uniquely identifies the drone in wireless communication.

[0061] Optionally, the drone includes a 5G module and a SIM card, and the flight measurement information can be configured through the background. The flight measurement information can include message type, reporting times, measurement reporting period, number of users for collection, measurement frequency band, and measurement time period. Among them, the message type can be used to describe the type of the flight measurement information. The reporting times can be the limit on the number of times the flight measurement information is reported within a preset time period. For example, the reporting times can describe the number of times the flight measurement information can be reported within a day. The measurement reporting period can be used to describe the period for the drone to report measurements on wireless communication. The number of users for collection can be used to describe the number of users selected for testing in the wireless network domain where the drone is located. The test frequency band can be used to describe the network frequency band for testing. The measurement time period can be used to describe the time period for the drone to measure the wireless network. Further, the 5G radio network management can set the key measurement parameters in the flight measurement information and set the period for the drone to send the flight measurement information. The setting of the parameters in the flight measurement information can be as shown in Table 1:

[0062] Table 1

[0063]

[0064] Furthermore, the 5G core network network management can also set Trace signaling tracking for the 5G number corresponding to the SIM card, obtain the Trace ID, and use this Trace ID as the second identity recognition data in the flight measurement information. Among them, the Trace configuration parameters can include the mobile phone number, measurement range, measurement period, and Trace ID. The mobile phone number can be used to uniquely identify the information sent by the drone containing the corresponding SIM card; the measurement range can be used to describe the wireless network area that the drone needs to test; the test period can be used to describe the time period when the drone needs to be tested during flight; the Trace ID is the second identity recognition data corresponding to the drone and can be used to uniquely identify the flight test information sent by the drone. Specifically, the setting of the Trace configuration parameters can be as shown in Table 2:

[0065] Table 2

[0066]

[0067]

[0068] By performing Trace signaling tracking on a specified number through the 5G core network, end-to-end signaling collection from the mobile phone to the network can be achieved, which includes the air interface signaling from the mobile phone to the base station.

[0069] After configuring the flight measurement information parameters and the Trace configuration parameters, the 5G radio network side network management enables signaling tracking based on the Trace ID and obtains the signaling of the 5G module in real time, so that the drone can send flight measurement information to the electronic device according to the preset configured parameters.

[0070] Figure 3 It is a schematic diagram of a drone sending flight measurement information in an embodiment. The drone sends flight measurement information to the base stations within the signal range of the current base station through the included 5G module. The base station can send this flight measurement information to the transmission network, and the transmission network can transmit this flight measurement information according to the flight measurement information parameters set by the radio network side network management and the Trace configuration parameters set by the core network side network management, so as to transmit the flight measurement information to the electronic device, enabling the electronic device to obtain the flight measurement signal sent by the drone at the first timestamp. At the same time, the transmission network can also control the drone to continue generating and sending flight measurement information according to the flight measurement information parameters and the Trace configuration parameters. The drone can perform signal measurement reporting according to the flight measurement information configured by the base station.

[0071] Figure 4 It is a schematic flowchart of a base station controlling a drone to perform signal test reporting in an embodiment. As Figure 4As shown, the base station sends an RRC Reconfiguration message to the UAV. That is to say, through this signaling, the base station requests the UAV to measure and report the 5G signal quality (such as RSRP, RSRQ, SINR) of the specified frequency, as well as the reporting period, etc. The UAV can send an RRC Reconfiguration Complete message to the base station, that is, the UAV sends back to the base station that it has correctly received the RRC Reconfiguration message sent by the base station. Finally, the UAV can periodically report flight measurement messages. The UAV periodically reports flight measurement information according to the configuration requirements of the RRC Reconfiguration message.

[0072] The UAV can send flight position information to the Remote ID receiver and send flight measurement information to the base station according to the preset configuration. The electronic device can receive the flight position information transmitted by the Remote ID receiver and the flight measurement information transmitted by the base station, so that the electronic device can obtain the flight position information and flight measurement information sent by the UAV at the first timestamp, thus providing a technical basis for the electronic device to generate the target flight signal in real time.

[0073] Figure 5 It is a schematic diagram of a UAV collecting and processing flight position information and flight measurement information in an embodiment. As Figure 5 shown, the UAV broadcasts flight position information to the Remote ID receiver and sends flight measurement information to the base station. The base station can send the flight measurement information to the transmission network, and through the parameters configured by the radio network management and the core network management, transmit the flight measurement information to the data processing platform through the transmission network, and the data processing platform processes the flight measurement information to obtain the processed flight measurement information, and sends the processed flight measurement information to the electronic device. At the same time, the electronic device can also directly receive the flight position information transmitted by the Remote ID receiver, so that the electronic device can obtain the flight position information of the UAV and the processed flight measurement information.

[0074] Step S202, select the flight position information and flight measurement information corresponding to each timestamp according to the timestamp to obtain the first flight position information and the first flight measurement information, and fill back the first flight measurement information according to the first flight position information to obtain the target flight signal.

[0075] In some embodiments, the electronic device may obtain flight position information and flight measurement information corresponding to multiple timestamps. The timestamps corresponding to each piece of flight position information and each piece of flight measurement information may be the time points when the drone sends the flight position information and the flight measurement information. For example, if the drone sends flight position information A and flight measurement information A at 15:00:01 and sends flight position information B and flight measurement information B at 15:00:02, then the timestamp corresponding to flight position information A and flight measurement information A is 15:00:01, and the timestamp corresponding to flight position information B and flight measurement information B is 15:00:02.

[0076] In some embodiments, the electronic device may compare the first identification data with the second identification data and select the flight position information and flight measurement information where the first identification data matches the second identification data and has the same timestamp as the first flight position information and the first flight measurement information. Among them, the corresponding relationship between the first identification data and the second identification data may be stored in the electronic device in advance, or the corresponding relationship between the first identification data and the second identification data may be updated according to the user to obtain an updated corresponding relationship, so that the electronic device compares the first identification data with the second identification data according to the updated corresponding relationship. The electronic device may compare the first identification data included in the flight position information with the second identification data included in the flight measurement information and select the flight position information and flight measurement information where the first identification data matches the second identification data and has the same timestamp as the first flight position information and the first flight measurement information. The electronic device can match the corresponding flight position information and flight measurement information, thereby further providing a technical basis for generating the target flight signal.

[0077] As an alternative embodiment, the electronic device may splice the first flight position information and the first flight measurement information to obtain the target flight signal. Among them, the electronic device may simultaneously splice the first flight position information corresponding to multiple timestamps and the first flight measurement information corresponding to the same multiple timestamps, so as to obtain the target flight signal corresponding to multiple timestamps. Before the electronic device simultaneously splices the first flight position information corresponding to multiple timestamps and the first flight measurement information corresponding to the same multiple timestamps, if it detects that the first flight position information corresponding to multiple timestamps is missing, it may predict the first flight position information corresponding to the missing timestamp, so that there is corresponding first flight position information for each timestamp. Similarly, if the electronic device detects that the first flight measurement information corresponding to multiple timestamps is missing, it may predict the first flight measurement information corresponding to the missing timestamp, so that there is corresponding first flight measurement information for each timestamp.

[0078] Figure 6 This is a schematic diagram of splicing the first flight position information and the first flight measurement information in an embodiment. As Figure 6 shown, the electronic device obtains the flight position information and the flight measurement information corresponding to timestamps t1, t2, t3, t4, and t5 respectively. The electronic device can compare the first identity recognition data (Drone ID) included in the flight position information with the second identity recognition data (Trace ID) included in the flight measurement information, so as to associate the drone's machine and card and align the time sequence. Then, splice the first flight position information and the first flight measurement information with aligned time sequence to obtain the target flight signals corresponding to timestamps t1, t2, t3, t4, and t5 respectively.

[0079] The electronic device directly splices the first flight position information and the first flight measurement information to obtain the target flight signal, which can improve the efficiency of the electronic device to obtain the three-dimensional position information composed of longitude and latitude data and the ground height data of the drone, thereby improving the accuracy of the information collection of the drone.

[0080] Figure 7 This is a schematic diagram of the process of generating the target flight signal in an embodiment. As Figure 7 shown, the electronic device can control the drone to turn on the broadcast function of the flight position information and receive the flight position information through the Remote ID receiver. The drone can be equipped with a 5G module and a SIM card. The 5G wireless network management configures the periodic reporting parameters of the flight measurement information, and the 5G core network management configures the Trace signaling tracking of the airborne 5G card number, so that the drone periodically sends the flight measurement information to the base station according to the configured reporting parameters. After the electronic device obtains the flight position information and the flight measurement information, it associates the Trace ID in the flight measurement information with the Drone ID in the flight position information, and associates the flight position information and the flight measurement information in the drone through the timestamp to obtain the first flight position information and the first flight measurement information. Repair the missing information through position interpolation and signal interpolation to obtain the complete first flight position information and the complete first flight measurement information. And according to the complete first flight position information, backfill the information of the complete first flight measurement information to generate the target flight signal, thereby completing the accurate three-dimensional stereo collection of the 5G signal.

[0081] In an embodiment of the present application, the electronic device acquires the flight position information and flight measurement information sent by the unmanned aerial vehicle (UAV) at the first timestamp; the flight position information includes longitude and latitude data and altitude data from the ground; the flight position information and flight measurement information corresponding to each timestamp are selected according to the timestamp to obtain the first flight position information and the first flight measurement information, and the first flight measurement information is filled with information according to the first flight position information to obtain the target flight signal. By filling the flight measurement information with the acquired flight position information, which includes longitude and latitude data and altitude data from the ground, the generated target flight signal can include three-dimensional position information for describing the longitude, latitude, and altitude of the UAV, thereby completing the information collection of the altitude of the UAV, achieving a breakthrough in the measurement of the collected target flight signal from two-dimensional information to three-dimensional information, and improving the accuracy of the information collection of the UAV.

[0082] Figure 8 It is a schematic flowchart of the correction of the missing flight position information disclosed in an embodiment of the present application. As Figure 8 shown, the low-altitude signal test method may further include the following steps:

[0083] Step S801, detecting the flight position information corresponding to each timestamp.

[0084] Step S802, if it is determined that the flight position information corresponding to the first timestamp is missing, then calculate the flight position information corresponding to the first timestamp according to the flight position information corresponding to the historical event timestamp and the flight position information corresponding to the target timestamp; wherein, the first timestamp is any timestamp, the historical timestamp is the timestamp before the first timestamp, and the target timestamp is the timestamp after the first timestamp.

[0085] In an embodiment, the first timestamp can be any timestamp. That is to say, the flight position information may be missing at any timestamp of the electronic device. Similarly, the flight measurement information may be missing at any timestamp of the electronic device, or both the flight position information and the flight measurement information may be missing at any timestamp. After the electronic device acquires the flight position information corresponding to each timestamp, it can detect the flight position information corresponding to each timestamp. If it is determined that the flight position information corresponding to each timestamp is complete, the flight position information and flight measurement information at the same timestamp can be directly selected as the first flight position information and the first flight measurement information, and the first flight measurement information is filled with information according to the first flight position information to obtain the target flight signal.

[0086] If it is determined that there is no corresponding flight position information at the first timestamp, then based on the flight position information corresponding to the historical timestamp and the flight position information corresponding to the target timestamp, the flight position information corresponding to the first timestamp is calculated according to a preset formula. Among them, the historical timestamp can be a timestamp earlier than the first timestamp, and the target timestamp can be a timestamp later than the first timestamp. For example, if the drone sends flight position information to the electronic device every 1 second, assuming the first timestamp is 15:00:02, the historical timestamp can be 15:00:01, and the target timestamp can be 15:00:03. Further, the flight position information includes data such as horizontal speed, vertical speed, and heading. The electronic device can first calculate the horizontal speed, vertical speed, and heading corresponding to the first timestamp based on the horizontal speed, vertical speed, and heading corresponding to the historical timestamp, and the horizontal speed, vertical speed, and heading corresponding to the target timestamp, and calculate the longitude and latitude data and height above ground data corresponding to the first timestamp based on the horizontal speed, vertical speed, and heading corresponding to the first timestamp, so as to obtain the flight position information corresponding to the first timestamp. Furthermore, the electronic device can calculate the horizontal speed corresponding to the first timestamp according to formula (1) as follows:

[0087]

[0088] where S b is the horizontal speed corresponding to the first timestamp, S0 is the horizontal speed corresponding to the historical timestamp, and S1 is the horizontal speed corresponding to the target timestamp.

[0089] Similarly, the electronic device can calculate the vertical speed corresponding to the first timestamp according to formula (2) as follows:

[0090]

[0091] where V b is the vertical speed corresponding to the first timestamp, V0 is the vertical speed corresponding to the historical timestamp, and V1 is the vertical speed corresponding to the target timestamp.

[0092] Similarly, the electronic device can calculate the heading corresponding to the first timestamp according to formula (3) as follows:

[0093]

[0094] where Φ(t) is the heading corresponding to the first timestamp, is the heading corresponding to the historical timestamp, is the heading corresponding to the target timestamp, t0 is the historical timestamp, t1 is the target timestamp, and t is the first timestamp.

[0095] The electronic device can calculate the latitude of the UAV at the first timestamp according to formula (4):

[0096]

[0097] where lat b is the latitude of the UAV at the first timestamp, lat0 is the latitude of the UAV at the historical timestamp, S b is the horizontal speed corresponding to the first timestamp, Φ(t) is the heading corresponding to the first timestamp, t0 is the historical timestamp, and t b is the first timestamp.

[0098] The electronic device can calculate the longitude of the UAV at the first timestamp according to formula (5):

[0099]

[0100] where lon b is the longitude of the UAV at the first timestamp, lon0 is the longitude of the UAV at the historical timestamp, S b is the horizontal speed corresponding to the first timestamp, Φ(t) is the heading corresponding to the first timestamp, t0 is the historical timestamp, and t b is the first timestamp, and lat b is the latitude of the UAV at the first timestamp.

[0101] The electronic device can calculate the height data of the UAV from the ground at the first timestamp according to formula (6):

[0102]

[0103] where h b is the height data of the UAV from the ground at the first timestamp, h0 is the height data of the UAV from the ground at the historical timestamp, h1 is the height data of the UAV from the ground at the target timestamp, and t b is the first timestamp, t0 is the historical timestamp, and t1 is the target timestamp.

[0104] The electronic device can calculate the flight position information corresponding to the first timestamp according to formulas (1) to (6), so as to repair the missing flight position information. For example, Figure 9 is a schematic diagram of the flight trajectory of the UAV in an embodiment, such as Figure 9As shown, assume that the initial position of the UAV at the historical timestamp 15:00:00 is point A. The flight position information at point A includes an initial latitude of 22.706999°, an initial longitude of 114.297291°, an initial horizontal speed of 20 m / s, an initial vertical speed of 5 m / s, an initial heading of 90°, and an initial altitude of 100 m. After 3 seconds, the target position at the target timestamp 15:00:03 is point D. The flight position information at point D includes a target horizontal speed of 30 m / s, a target vertical speed of 9 m / s, a target heading of 45°, and a target altitude of 120 m. The UAV does not broadcast flight position information at point B at timestamp 15:00:01 and point C at timestamp 15:00:02. It is necessary to interpolate and estimate the latitude, longitude, and altitude. That is, take the average horizontal speed of points A and D as the horizontal speed at point B at the first timestamp: Take the heading difference between points A and D and calculate the heading with time as the independent variable: Take the altitude difference between points A and D and calculate the altitude with time as the independent variable: Then the altitude at point B at timestamp 15:00:01 is meters, the latitude is the longitude is The altitude at point C at timestamp 15:00:02 meters, the latitude the longitude is

[0105] In the embodiment of the present application, the electronic device detects the flight position information corresponding to each timestamp. If it is determined that the flight position information corresponding to the first timestamp is missing, the flight position information corresponding to the first timestamp is calculated based on the flight position information corresponding to the historical timestamp and the flight position information corresponding to the target timestamp, which can ensure that there is corresponding flight position information for each timestamp, thereby ensuring the integrity of the flight position information, providing a technical basis for backfilling the first flight measurement information according to the first flight position information to obtain the target flight signal, and thus improving the accuracy of the generated target flight signal.

[0106] Figure 10 is a schematic flow diagram of the correction of missing flight measurement information disclosed in the embodiment of the present application. As Figure 9 shown, the low-altitude signal test method may further include the following steps:

[0107] Step S1001, detect the flight measurement information corresponding to each timestamp.

[0108] Step S1002: If it is determined that the flight measurement information corresponding to the first timestamp is missing, then identify the base station identifiers in the flight measurement information corresponding to the historical timestamp and the base station identifiers in the flight measurement information corresponding to the target timestamp to obtain a base station identification result, and calculate the flight measurement information corresponding to the first timestamp based on the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

[0109] In some embodiments, the flight measurement information may include a base station identifier, and the base station identifier can be used to uniquely identify the corresponding base station. That is to say, the unmanned aerial vehicle (UAV) can send the flight measurement information including the base station identifier corresponding to the base station within the signal range where the flight is located. For example, if the signal range where the UAV is located is base station A, the UAV can send the flight measurement information including the base station identifier corresponding to base station A. The electronic device can detect the flight measurement information corresponding to each timestamp. If it is determined that the flight measurement information corresponding to each timestamp is complete, the flight position information and the flight measurement information at the same timestamp can be directly selected as the first flight position information and the first flight measurement information, and the flight measurement information can be filled with information based on the first flight position information to obtain the target flight signal.

[0110] If the electronic device determines that the flight measurement information corresponding to the first timestamp is missing, it identifies the base station identifiers in the flight measurement information corresponding to the historical timestamp and the base station identifiers in the flight measurement information corresponding to the target timestamp to obtain a base station identification result. Among them, the base station identification result can be used to describe the change of the base station where the UAV is located at the historical timestamp and the target timestamp. For example, if the signal range where the UAV is located at the historical timestamp is base station A and the signal range where the UAV is located at the target timestamp is base station D, the base station identifier result can indicate that the base station identifier corresponding to the historical timestamp is inconsistent with the flight measurement information identifier corresponding to the target timestamp. If the signal range where the UAV is located at the historical timestamp and the target timestamp is base station A, the base station identifier result can indicate that the base station identifier corresponding to the historical timestamp is consistent with the flight measurement information identifier corresponding to the target timestamp.

[0111] The electronic device can identify the base station identification result, and calculate the flight measurement information corresponding to the first timestamp based on the flight measurement information corresponding to the historical timestamp and the flight measurement information corresponding to the target timestamp. Further, if the base station identification result indicates that the base station identification corresponding to the historical timestamp is inconsistent with the flight measurement information identification corresponding to the target timestamp, then calculate the distance between the base station used by the drone at the historical timestamp and the position of the drone at the first timestamp to obtain the first base station distance, and calculate the distance between the base station used by the drone at the target timestamp and the position of the drone at the first timestamp to obtain the second base station distance, and calculate the flight measurement information corresponding to the first timestamp based on the first base station distance, the second base station distance, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

[0112] Figure 11 It is a schematic diagram of the positions of the base stations used by the drone at each timestamp in an embodiment. As Figure 11 shown, it is known that the electronic device has correctly received the flight measurement information corresponding to the two position points A and D of the drone. Among them, at the historical timestamp t0, the drone is at point A and occupies the PCI of base station a a , and the signal quality is (RSRP0, SINR0). At the target timestamp t1, the drone is at point D and occupies the PCI of base station d d , and the signal quality is (RSRP1, SINR1); within the position interval of A and D, the information at point B is lost at the timestamp t b , that is, the electronic device detects that the flight measurement information corresponding to the timestamp t b is missing. Therefore, the flight measurement information corresponding to the timestamp t b is estimated to obtain the flight measurement information corresponding to the timestamp t b .

[0113] For the missing flight measurement information, it can be estimated separately according to two cases: reverse interference and weak coverage reasons. Generally speaking, there are mainly two reasons for the base station not receiving the terminal message: interference and weak coverage. When the base station interference noise > -105 dbm, it is considered that the interference is large, and the interference model is used to estimate the flight measurement information at this time; when the base station interference noise ≤ -105 dbm, the weak coverage model is applied to estimate the flight measurement information.

[0114] The reason for high interference is that the drone receives the base station signal normally at this time, but due to interference to the base station, the base station cannot correctly receive the signal transmitted by the drone. The reason for weak coverage is that the signal quality of the base station is too low for the drone to receive normally. If the base station interference noise is normal and no flight measurement information reported by the drone is received, it is generally caused by weak coverage. According to experience, the coverage rate threshold can be set as RSRP = -110dbm and SINR = -3db. Below this threshold, it indicates large link loss and weak coverage, and the flight measurement information sent by the drone cannot reach the base station correctly. At this time, the signal at point B is uniformly set as: RSRP = -110 and SINR = -3.

[0115] Furthermore, the electronic device can calculate the distance to the first base station and the distance to the second base station according to the formula where x, y, and z respectively represent the plane and space coordinate values. That is to say, the distance to the first base station can be expressed as where x0, y0, and z0 are the space coordinate values corresponding to the space where the drone is located at the historical timestamp, and x b , y b , z b are the space coordinate values corresponding to the space where the drone is located at the first timestamp; the distance to the second base station can be expressed as where x1, y1, and z1 are the space coordinate values corresponding to the space where the drone is located at the target timestamp.

[0116] Even further, if the distance to the first base station is greater than or equal to the distance to the second base station, then according to the distance to the first base station, the flight measurement information corresponding to the historical timestamp is corrected to obtain the flight measurement information corresponding to the first timestamp. The electronic device can calculate the RSRP corresponding to the first timestamp according to formula (7) b , calculate the SINR corresponding to the first timestamp according to formula (8) b , and according to RSRP b and SINR b , obtain the flight measurement information corresponding to the first timestamp:

[0117] RSRP b = RSRP0 - 20(log 10 D b-a - log 10 D a-a ) (7)

[0118] SINR b = SINR0 - 20(log 10 D b-a - log 10 D a-a ) (8)

[0119] If the distance to the first base station is less than the distance to the second base station, then, based on the distance to the second base station, correct the flight measurement information corresponding to the target timestamp to obtain the flight measurement information corresponding to the first timestamp. The electronic device may calculate the RSRP corresponding to the first timestamp according to formula (9) b , calculate the SINR corresponding to the first timestamp according to formula (10) b , and based on the RSRP b and the SINR b , obtain the flight measurement information corresponding to the first timestamp:

[0120] RSRP b = RSRP1 - 20(log 10 D d-a - log 10 D d-d ) (9)

[0121] SINR b = SINR0 - 20(log 10 D b-a - log 10 D a-a ) (10)

[0122] If the distance to the first base station is equal to the distance to the second base station, then, based on either the distance to the first base station or the distance to the second base station, correct the flight measurement information corresponding to the target timestamp. That is to say, the electronic device may calculate the flight measurement information corresponding to the target timestamp according to formula (7) and formula (8), or formula (9) and formula (10).

[0123] Figure 12 is a schematic flowchart of the process for an electronic device to correct flight position information and flight measurement information in an embodiment. As Figure 12As shown, if the electronic device detects the loss of RID information, that is, the loss of the flight position information corresponding to the first timestamp, it extracts the most recently correctly received flight position information, that is, the flight position information received at the historical timestamp (point A), and the flight position information received at the target timestamp (point D), and estimates and generates the flight position information corresponding to the first timestamp based on speed, heading, altitude, longitude and latitude. If the electronic device detects the loss of MR information, that is, the loss of the flight measurement information corresponding to the first timestamp, it determines whether there is interference. If it is determined that there is an interference problem, it determines whether the flight measurement information received at the historical timestamp (point A) and the flight measurement information received at the target timestamp (point D) are signals from the same base station. If it is confirmed that they are signals from the same base station, it calculates the flight measurement information corresponding to the first timestamp according to the same-station model; if it is confirmed that they are signals from different base stations, it calculates the flight measurement information corresponding to the first timestamp according to the different-station model. If it is determined that there is no interference problem, it calculates the flight measurement information corresponding to the first timestamp according to the weak-coverage model. After the electronic device corrects the flight position information and the flight measurement information, it obtains the flight position information and the flight measurement information corresponding to each timestamp, selects the flight position information and the flight measurement information at the same timestamp as the first flight position information and the first flight measurement information, and fills back the information of the first flight measurement information according to the first flight position information to obtain the target flight signal.

[0124] In the embodiment of the present application, the electronic device detects the flight measurement information corresponding to each timestamp. If it is determined that the flight measurement information corresponding to the first timestamp is missing, it identifies the base station identifier in the flight measurement information corresponding to the historical timestamp and the base station identifier in the flight measurement information corresponding to the target timestamp, obtains the base station identification result, and calculates the flight measurement information corresponding to the first timestamp according to the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp, which can ensure that there is corresponding flight measurement information for each timestamp, thus ensuring the integrity of the flight measurement information, providing a technical basis for filling back the information of the first flight measurement information according to the first flight position information to obtain the target flight signal, and thus improving the accuracy of the generated target flight signal.

[0125] Please refer to Figure 13 , Figure 13 which is a schematic structural diagram of a low-altitude signal testing device disclosed in the embodiment of the present application. This device can be applied to the above-mentioned electronic device. As Figure 13 shown, the low-altitude signal testing device 1300 may include: an information acquisition module 1301 and an information filling-back module 1302.

[0126] An information acquisition module 1301, configured to acquire the flight position information and flight measurement information sent by the drone at a first timestamp; the flight position information includes longitude and latitude data and altitude data from the ground; the first timestamp is any timestamp.

[0127] An information backfilling module 1302, configured to select the flight position information and flight measurement information corresponding to each timestamp according to the timestamp, obtain the first flight position information and the first flight measurement information, and perform information backfilling on the first flight measurement information according to the first flight position information to obtain the target flight signal.

[0128] In one embodiment, the low-altitude signal test device 1300 further includes an information comparison module:

[0129] The information comparison module is configured to compare the first identity recognition data with the second identity recognition data.

[0130] The information backfilling module 1302 is further configured to select the flight position information and flight measurement information with the first identity recognition data matching the second identity recognition data and at the same timestamp as the first flight position information and the first flight measurement information.

[0131] In one embodiment, the information backfilling module 1302 is further configured to splice the first flight position information and the first flight measurement information to obtain the target flight signal.

[0132] In one embodiment, the low-altitude signal test device 1300 further includes a position detection module and a position estimation module:

[0133] The position detection module is configured to detect the flight position information corresponding to each timestamp respectively.

[0134] The position estimation module is configured to calculate the flight position information corresponding to the first timestamp according to the flight position information corresponding to the historical event timestamp and the flight position information corresponding to the target timestamp if it is determined that the flight position information corresponding to the first timestamp is missing; wherein, the first timestamp is any timestamp, the historical timestamp is the timestamp before the first timestamp, and the target timestamp is the timestamp after the first timestamp.

[0135] In one embodiment, the low-altitude signal test device 1300 further includes a measurement detection module and a measurement estimation module:

[0136] The measurement detection module is configured to detect the flight measurement information corresponding to each timestamp respectively.

[0137] A measurement estimation module, configured to, if it is determined that there is no corresponding flight measurement information at a first timestamp, identify the base station identifiers in the flight measurement information corresponding to a historical timestamp and the base station identifiers in the flight measurement information corresponding to a target timestamp, obtain a base station identification result, and calculate the flight measurement information corresponding to the first timestamp according to the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

[0138] In one embodiment, the measurement estimation module further includes:

[0139] A distance calculation unit, configured to, if the base station identifier result indicates that the base station identifier corresponding to the historical timestamp is inconsistent with the flight measurement information identifier corresponding to the target timestamp, calculate the distance between the base station used by the unmanned aerial vehicle (UAV) at the historical timestamp and the location of the UAV at the first timestamp to obtain a first base station distance, and calculate the distance between the base station used by the UAV at the target timestamp and the location of the UAV at the first timestamp to obtain a second base station distance;

[0140] An information calculation unit, configured to calculate the flight measurement information corresponding to the first timestamp according to the first base station distance, the second base station distance, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

[0141] In one embodiment, the information calculation unit is further configured to, if the first base station distance is greater than or equal to the second base station distance, correct the flight measurement information corresponding to the historical timestamp according to the first base station distance to obtain the flight measurement information corresponding to the first timestamp; if the first base station distance is less than the second base station distance, correct the flight measurement information corresponding to the target timestamp according to the second base station distance to obtain the flight measurement information corresponding to the first timestamp.

[0142] Please refer to Figure 14 , Figure 14 which is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. As Figure 13 shown, the electronic device 101 may include:

[0143] A memory 1401 storing executable program code;

[0144] A processor 1402 coupled to the memory 1401;

[0145] wherein, the processor 1402 calls the executable program code stored in the memory 1401 to execute any one of the low-altitude signal testing methods disclosed in the embodiments of the present application.

[0146] An embodiment of the present application discloses a computer-readable storage medium that stores a computer program. When the computer program is executed by the processor, the processor implements any one of the low-altitude signal testing methods disclosed in the embodiments of the present application.

[0147] An embodiment of the present application discloses a computer program product, including a computer program, and when the computer program is executable by a processor, it implements the method described in each of the above embodiments.

[0148] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures, or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in an embodiment" that appears throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0149] In various embodiments of the present application, it should be understood that the magnitude of the serial numbers of the above processes does not necessarily mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0150] The units described as separate components above may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be 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.

[0151] In addition, in each embodiment of the present application, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0152] When the above integrated unit 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-accessible memory. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several requests for causing a computer device (which can be a personal computer, a server, or a network device, etc., specifically, the processor in the computer device) to execute some or all of the steps of the above methods in various embodiments of the present application.

[0153] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium that can be used to carry or store data.

[0154] The above has introduced in detail a low-altitude signal testing method and related devices disclosed in the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. At the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A low-altitude signal testing method, characterized in that, Applied to an electronic device, the method includes: Obtain the flight position information and flight measurement information sent by the drone at a first timestamp; the flight position information includes longitude and latitude data and altitude data from the ground; the first timestamp is any timestamp. Select the flight position information and flight measurement information corresponding to each timestamp according to the timestamp to obtain first flight position information and first flight measurement information, and backfill the information of the first flight measurement information according to the first flight position information to obtain a target flight signal.

2. The low-altitude signal testing method according to claim 1, characterized in that The flight position information contains first identification data, and the flight measurement information contains second identification data; after obtaining the flight position information and flight measurement information sent by the drone at each timestamp respectively, the method further includes: Compare the first identification data with the second identification data. The selecting the flight position information and flight measurement information corresponding to each timestamp according to the timestamp to obtain first flight position information and first flight measurement information includes: Select the flight position information and flight measurement information with the same timestamp where the first identification data matches the second identification data as the first flight position information and the first flight measurement information.

3. The low-altitude signal testing method according to claim 1, characterized in that The backfilling the information of the first flight measurement information according to the first flight position information to obtain a target flight signal includes: Concatenate the first flight position information and the first flight measurement information to obtain the target flight signal.

4. The low-altitude signal testing method according to claim 1, wherein The method further includes: Detect the flight position information corresponding to each timestamp. If it is determined that the flight position information corresponding to the first timestamp is missing, calculate the flight position information corresponding to the first timestamp according to the flight position information corresponding to the historical event timestamp and the flight position information corresponding to the target timestamp; where the first timestamp is any timestamp, the historical timestamp is a timestamp before the first timestamp, and the target timestamp is a timestamp after the first timestamp.

5. The low-altitude signal testing method according to claim 1, characterized in that, The flight measurement information contains a base station identifier, and the method further includes: Detect the flight measurement information corresponding to each timestamp. If it is determined that the flight measurement information corresponding to the first timestamp is missing, identify the base station identifier in the flight measurement information corresponding to the historical timestamp and the base station identifier in the flight measurement information corresponding to the target timestamp to obtain a base station identification result, and calculate the flight measurement information corresponding to the first timestamp according to the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

6. The low-altitude signal testing method according to claim 5, wherein The calculating the flight measurement information corresponding to the first timestamp according to the base station identification result, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp includes: If the base station identification result indicates that the base station identification corresponding to the historical timestamp is inconsistent with the flight measurement information identification corresponding to the target timestamp, calculate the distance between the base station used by the UAV at the historical timestamp and the location of the UAV at the first timestamp to obtain a first base station distance, and calculate the distance between the base station used by the UAV at the target timestamp and the location of the UAV at the first timestamp to obtain a second base station distance; Calculate the flight measurement information corresponding to the first timestamp based on the first base station distance, the second base station distance, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp.

7. The low-altitude signal testing method according to claim 6, wherein The calculating the flight measurement information corresponding to the first timestamp based on the first base station distance, the second base station distance, the flight measurement information corresponding to the historical timestamp, and the flight measurement information corresponding to the target timestamp includes: If the first base station distance is greater than or equal to the second base station distance, correct the flight measurement information corresponding to the historical timestamp according to the first base station distance to obtain the flight measurement information corresponding to the first timestamp; If the first base station distance is less than the second base station distance, correct the flight measurement information corresponding to the target timestamp according to the second base station distance to obtain the flight measurement information corresponding to the first timestamp.

8. A low-altitude signal testing device, characterized in that, Applied to an electronic device, the apparatus includes: An information acquisition module, configured to acquire the flight position information and flight measurement information respectively sent by the UAV at each timestamp; the flight position information includes longitude and latitude data and ground clearance data; An information filling module, configured to select the flight position information and flight measurement information at the same timestamp as the first flight position information and the first flight measurement information, and perform information filling on the first flight measurement information according to the first flight position information to obtain a target flight signal.

9. An electronic device, characterized in that, Including a memory and a processor, where a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the low-altitude signal testing method according to any one of claims 1 to 7.

10. A storage medium storing a program executable by a processor, characterized in that, The program executable by the processor is used to execute the low-altitude signal testing method according to any one of claims 1 to 8 when executed by the processor.

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