Unmanned aerial vehicle communication base station switching method, device, equipment, medium and program product

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle communication base station switching method, device and equipment, a medium and a program product. Comprising the steps of obtaining basic parameter information and flight path planning information of an unmanned aerial vehicle; the basic parameter information at least comprises unmanned aerial vehicle brand information, storage parameter information and information sending demand information; determining flight path RSRP estimation information according to predetermined unmanned aerial vehicle RSRP estimation information, unmanned aerial vehicle brand information and flight path planning information; and determining a communication base station switching scheme according to the flight path RSRP estimation information, the storage parameter information, the information sending demand information and a pre-constructed flight condition switching comparison table. According to the method, the communication guarantee support capability of the access network in the flight process of the unmanned aerial vehicle is improved, communication base station switching is performed on the unmanned aerial vehicle at the frequency as low as possible, the switching load of the unmanned aerial vehicle is reduced, the base station switching pressure is reduced, and the difficulty of providing guarantee service for the flight of the unmanned aerial vehicle by an operator is reduced.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a method, apparatus, device, medium, and program product for switching communication base stations for unmanned aerial vehicles (UAVs). Background Technology

[0002] With the development of technology, drones are gradually being applied to human production and daily life, subtly influencing people's work and habits. Given the complexity of the communication environment, ensuring the communication capabilities of drones has always been a challenge affecting operators' ability to provide support services.

[0003] On the one hand, due to the lack of sample information, operators cannot provide information such as the Reference Signal Receiving Power (RSRP) in any airspace; on the other hand, the high speed of drones leads to frequent cell handovers. When drones fly fast, they may cross multiple cells in a very short time. If all these cells start the drone equipment access program, it will inevitably be inefficient, while not allowing drones to access will not guarantee the normal operation of drones.

[0004] Current communication support for drones often only considers the operational status of the drone's own hardware or provides a dual-channel emergency switching solution for situations where the drone loses signal during flight. However, this cannot meet the communication base station switching requirements throughout the entire flight process of a drone. Summary of the Invention

[0005] This invention provides a method, apparatus, device, medium, and program product for switching communication base stations for unmanned aerial vehicles (UAVs). Based on fully considering the flight altitude characteristics of UAVs and covering the UAV's flight range with estimated RSRP (Remote RSRP), it estimates the RSRP that may exist on the UAV's flight trajectory. Then, based on the UAV's own storage and information transmission capabilities, as well as a pre-built flight condition switching lookup table, it determines whether the communication base station needs to be switched in areas that may affect the UAV's communication capabilities during flight. This improves the communication support capability for UAVs accessing the network during flight, switches communication base stations for UAVs at the lowest possible frequency, reduces the UAV's switching load, and also reduces the pressure of base station switching.

[0006] In a first aspect, embodiments of the present invention provide a method for switching communication base stations for unmanned aerial vehicles (UAVs), including:

[0007] Acquire basic parameter information and flight trajectory planning information of the drone; the basic parameter information should include at least the drone brand information, storage parameter information, and information transmission requirement information.

[0008] Based on the predetermined UAV reference signal received power (RSRP) estimation information, UAV brand information, and flight trajectory planning information, determine the flight trajectory RSRP estimation information;

[0009] Based on the RSRP estimation information of the flight trajectory, the storage parameter information, the information transmission requirement information, and the pre-constructed flight condition handover comparison table, the communication base station handover scheme is determined.

[0010] Secondly, embodiments of the present invention also provide a UAV communication base station switching device, comprising:

[0011] The basic information acquisition module is used to acquire the basic parameter information and flight trajectory planning information of the drone; the basic parameter information includes at least the drone brand information, storage parameter information, and information transmission requirement information.

[0012] The estimation information determination module is used to determine the flight trajectory RSRP estimation information based on the pre-determined UAV RSRP estimation information, UAV brand information, and flight trajectory planning information;

[0013] The handover scheme determination module is used to determine the communication base station handover scheme based on the flight trajectory RSRP estimation information, storage parameter information, information transmission requirement information, and a pre-built flight condition handover comparison table.

[0014] Thirdly, embodiments of the present invention also provide a UAV communication base station switching device, comprising:

[0015] At least one processor; and a memory communicatively connected to the at least one processor;

[0016] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that at least one processor can implement the UAV communication base station switching method of any embodiment of the present invention.

[0017] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the UAV communication base station switching method of any embodiment of the present invention.

[0018] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program, which, when executed by a processor, is used to perform the UAV communication base station switching method of any embodiment of the present invention.

[0019] This invention provides a method, apparatus, device, medium, and program product for switching communication base stations for unmanned aerial vehicles (UAVs). The method involves acquiring basic parameter information and flight trajectory planning information of the UAV. The basic parameter information includes at least UAV brand information, storage parameter information, and information transmission requirement information. Based on pre-determined UAV RSRP estimation information, UAV brand information, and flight trajectory planning information, flight trajectory RSRP estimation information is determined. Finally, based on the flight trajectory RSRP estimation information, storage parameter information, information transmission requirement information, and a pre-constructed flight condition switching lookup table, a communication base station switching scheme is determined. By adopting the above technical solution, after determining the flight trajectory planning information required for UAV flight, the RSRP estimation information of the UAV, which includes RSRP estimation information of all reachable points in the UAV flight area and takes into account the UAV's flight altitude, as well as the basic parameter information of the UAV, is used to estimate the RSRP values ​​of each point on the UAV's flight trajectory, thus obtaining the corresponding flight trajectory RSRP estimation information. Then, based on the UAV's own storage and information transmission capabilities, as well as the pre-built flight condition switching comparison table, it is determined whether the communication base station needs to be switched in areas that may affect the UAV's communication capabilities during flight. This improves the communication support capability for UAV accessing the network during flight, switches the UAV's communication base station at the lowest possible frequency, reduces the UAV's switching load, reduces the base station switching pressure, and lowers the difficulty for operators to provide support services for UAV flight.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a UAV communication base station switching method provided in Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of a UAV communication base station switching method provided in Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a UAV communication base station switching device provided in Embodiment 3 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a drone communication base station switching device provided in Embodiment 4 of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 This is a flowchart of a UAV communication base station switching method provided in Embodiment 1 of the present invention. This embodiment of the invention is applicable to situations where the UAV needs to switch communication base stations along its planned flight path before takeoff, ensuring good communication capabilities during flight. This method can be executed by a UAV communication base station switching device, which can be implemented by software and / or hardware and can be configured in a UAV communication base station switching equipment. Optionally, the UAV communication base station switching equipment can be a laptop, desktop computer, communication node (such as a base station), etc., and this embodiment of the invention does not impose any limitations on this.

[0030] like Figure 1 As shown in the figure, an embodiment of the present invention provides a method for switching communication base stations for unmanned aerial vehicles (UAVs), which specifically includes the following steps:

[0031] S101. Obtain basic parameter information and flight trajectory planning information of the UAV.

[0032] The basic parameter information includes at least the drone brand information, storage parameter information, and information transmission requirement information.

[0033] In this embodiment, the basic parameter information of the UAV can be understood as parameters that are directly determined by the UAV's own hardware and capabilities and that affect the UAV's communication.

[0034] In this embodiment, the drone brand information can be specifically understood as the brand of the manufacturer that produces the drone. It is understood that, since different drone manufacturers have their own process characteristics, the communication capabilities of the drone products they produce are affected by materials and antennas, etc. Therefore, drone brand information can also be used as one of the parameters that affect the communication status of the drone.

[0035] In this embodiment, storage parameter information can be specifically understood as parameter information related to the UAV's storage capacity. For example, it may include the UAV's maximum storage space, the initial occupied space after initialization, and the maximum available storage ratio. It is understood that the UAV needs to utilize its own storage during communication, such as for storing information to be sent externally. Therefore, the UAV's storage parameter information can also be considered as one of the parameters affecting the UAV's communication.

[0036] In this embodiment, the information transmission requirement information can be specifically understood as parameter information related to the drone's need to transmit information during flight. For example, the information transmission requirement information can be determined by the drone's own parameter settings, such as the drone's information generation speed, or it can be determined based on external needs for information acquisition, such as a base station or other communication node requiring the drone to periodically report data, or it can be determined based on pre-set triggering conditions for the drone, such as requiring the drone to transmit information when it captures or encounters a certain type of event. This embodiment of the invention does not limit the method for determining the information transmission requirement information.

[0037] In this embodiment, the flight trajectory planning information can be specifically understood as the information corresponding to the flight trajectory planned by the UAV for itself according to actual needs before taking flight. This information may include the latitude and longitude of the flight trajectory, flight speed, flight time, and flight altitude. This embodiment of the invention does not impose any limitations on this.

[0038] Specifically, when it is necessary to determine the communication base station switching scheme for a drone during a certain flight, the basic parameter information of the drone will be obtained first, and the corresponding flight trajectory planning information will be determined based on the planned flight path.

[0039] S102. Based on the pre-determined RSRP estimation information of the UAV, the UAV brand information, and the flight trajectory planning information, determine the RSRP estimation information of the flight trajectory.

[0040] In this embodiment, the RSRP estimation information of the UAV can be specifically understood as the RSRP value of the UAV receiving the reference signal at various locations within the area where the UAV may fly, or within the coverage area of ​​each base station that can provide communication services to the UAV, which is based on the measurement report (MR) reported by each mobile terminal and the possible flight altitude of the UAV.

[0041] In this embodiment, the flight trajectory RSRP estimation information can be specifically understood as the information on the RSRP values ​​that the UAV is expected to receive at various points on the flight trajectory when it flies along the flight trajectory.

[0042] Specifically, since the predetermined RSRP estimate information for the drone is based on theoretical considerations, it represents the RSRP values ​​that the drone may receive at various locations within the area at the designed drone flight altitude. However, since different drone brands have slightly different signal reception capabilities, the predetermined RSRP estimate information can be fine-tuned based on the drone brand information. The adjusted RSRP estimate information is then matched with the flight trajectory planning information to obtain the RSRP values ​​that the drone may receive on the flight trajectory, thus determining the flight trajectory RSRP estimate information.

[0043] S103. Based on the flight trajectory RSRP estimation information, storage parameter information, information transmission requirement information, and the pre-constructed flight condition handover comparison table, determine the communication base station handover scheme.

[0044] In this embodiment, the flight condition switching lookup table can be understood as an information integration table that is pre-determined based on the UAV's flight status, its need to send information to the outside world, and the communication capabilities that the base station can provide, in order to determine whether the UAV needs to perform a communication base station switching action during flight.

[0045] Specifically, based on the RSRP estimation information of the flight trajectory, the storage parameter information, and the information transmission requirement information, the flight situation of the UAV at each point can be determined when it flies along the flight trajectory. By comparing the flight situation at each point with the pre-built flight condition switching comparison table, it can be determined whether a communication base station switch is required at each point of the flight trajectory. Then, the information on the communication base station switch required on the entire flight trajectory can be integrated to determine the communication base station switch scheme for the UAV when it is flying that flight trajectory.

[0046] The technical solution of this embodiment obtains basic parameter information and flight trajectory planning information of the UAV; the basic parameter information includes at least UAV brand information, storage parameter information and information transmission requirement information; based on the pre-determined UAV RSRP estimation information, UAV brand information and flight trajectory planning information, the flight trajectory RSRP estimation information is determined; based on the flight trajectory RSRP estimation information, storage parameter information, information transmission requirement information and a pre-constructed flight condition switching lookup table, the communication base station switching scheme is determined. By adopting the above technical solution, after determining the flight trajectory planning information required for UAV flight, the RSRP estimation information of the UAV, which includes RSRP estimation information of all reachable points in the UAV flight area and takes into account the UAV's flight altitude, as well as the basic parameter information of the UAV, is used to estimate the RSRP values ​​of each point on the UAV's flight trajectory, thus obtaining the corresponding flight trajectory RSRP estimation information. Then, based on the UAV's own storage and information transmission capabilities, as well as the pre-built flight condition switching comparison table, it is determined whether the communication base station needs to be switched in areas that may affect the UAV's communication capabilities during flight. This improves the communication support capability for UAV accessing the network during flight, switches the UAV's communication base station at the lowest possible frequency, reduces the UAV's switching load, reduces the base station switching pressure, and lowers the difficulty for operators to provide support services for UAV flight.

[0047] Example 2

[0048] Figure 2This is a flowchart of a UAV communication base station switching method provided in Embodiment 2 of the present invention. The technical solution of this embodiment further optimizes the above-mentioned optional technical solutions. When determining the RSRP estimation information of the flight trajectory, firstly, the RSRP correction value of the UAV brand is determined based on the UAV brand information. This correction value is used to correct the overall UAV RSRP estimation information. Based on the obtained corrected RSRP estimation information, the RSRP estimation information for each flight trajectory planning point in the flight trajectory is determined. Combining these values ​​yields flight trajectory RSRP estimation information that more accurately reflects the RSRP reception status at each trajectory point during UAV flight. Based on the flight trajectory RSRP estimation information and a preset RSRP threshold, areas where communication is affected due to low RSRP are identified during UAV flight. Simultaneously, the maximum allowable no-signal time for the UAV is determined based on the storage parameter information and information transmission requirement information in the basic parameter information. By combining the duration of the flight trajectory RSRP trough region, the communication base stations before and after the trough region, and the maximum no-signal time of the UAV, the flight status of the UAV on the entire flight trajectory can be determined. By comparing the flight status at each location in the flight trajectory with a pre-constructed flight condition switching comparison table, the corresponding communication base station switching result can be determined. Since the flight condition switching lookup table is determined based on the minimum conditions for ensuring normal communication of UAVs, when determining the communication base station switching results based on the flight condition switching lookup table, unnecessary communication base station switching can be better avoided. This allows the final communication base station switching scheme to switch communication base stations for UAVs at the lowest possible frequency, reducing the switching load on UAVs and the switching pressure on base stations. This improves the communication support capabilities for UAVs accessing the network during flight and reduces the difficulty for operators to provide support services for UAV flights.

[0049] like Figure 2 As shown in Embodiment 2 of the present invention, a method for switching communication base stations for unmanned aerial vehicles (UAVs) specifically includes the following steps:

[0050] S201. Obtain basic parameter information and flight trajectory planning information of the UAV.

[0051] The basic parameter information includes at least the drone brand information, storage parameter information, and information transmission requirement information.

[0052] S202. Determine the RSRP correction value of the drone based on the drone brand information, and correct the estimated RSRP information of the drone using the corrected RSRP value to determine the corrected RSRP information of the drone.

[0053] In this embodiment, the RSRP correction value for the drone can be specifically understood as a value determined based on the drone brand information, used to correct the deviation between the brand's drone's RSRP reception capability and the theoretical value.

[0054] Specifically, since the brand of the drone to be flown has the same impact on the RSRP reception capability of the drone at various locations, the RSRP correction value determined based on the drone brand information is a fixed value. After knowing the estimated RSRP of drones at all points within the entire area, the estimated RSRP of each point can be corrected based on the corrected RSRP value. The value obtained after correction for all points is determined as the corrected RSRP estimate, and thus the corrected RSRP estimate information for drones can be obtained based on the corrected RSRP estimates for all drones across the entire area.

[0055] Optionally, the correction method may be to sum or subtract the estimated RSRP value of the UAV at each point from the corrected RSRP value of the UAV. This embodiment of the invention does not impose any restrictions on this method.

[0056] It is understandable that considering the impact of different brands and materials on the RSRP received level, different drone brands, materials, and even antenna capabilities will all affect the RSRP received level of the drone. However, due to the limited data reported by current drone MR sampling, it is difficult to conduct extensive experimental interpolation across the entire domain to determine the RSRP correction value for each drone brand. In this embodiment of the invention, a specific scenario simulation test is used to statistically analyze relevant parameter information and complete the RSRP attenuation estimation of the drone terminal as an example to determine the corrected RSRP value for the drone:

[0057] Assuming that the drone brand that may participate in the drone communication base station handover method provided in this embodiment of the invention is... The brand was measured multiple times. The distance between the drone and the base station The measurement results include RSRP and other parameter information. Here, d represents the measurement interval, and the RSRP level value is denoted as... Where is the RSRP level vector obtained by U measurements of the i-th brand of drone at the j-th measurement point, then the RSRP value of any brand of drone at any point during the measurement phase can be expressed as:

[0058]

[0059] in, It represents the L2 norm.

[0060] Based on the above formula, the RSRP correction value for any drone brand can be expressed as:

[0061]

[0062] in, This represents the estimated RSRP of the i-th brand of drone at the j-th measurement point.

[0063] S203. Based on the latitude and longitude information in the flight trajectory planning information and the UAV corrected RSRP estimation information, determine the RSRP estimation information of the flight trajectory planning points corresponding to each latitude and longitude information.

[0064] Specifically, based on the flight trajectory planning information, the latitude and longitude information of each flight trajectory planning point that constitutes the flight trajectory can be known. The UAV corrected RSRP estimate value of the point corresponding to each latitude and longitude information in the UAV corrected RSRP estimate information can be determined as the flight trajectory planning point RSRP estimate information corresponding to each latitude and longitude information.

[0065] S204. Generate flight trajectory RSRP estimation information based on RSRP estimation information of each flight trajectory planning point.

[0066] Specifically, the RSRP estimation information of each flight trajectory planning point is generated by arranging the corresponding flight trajectory planning point in sequence according to its position and occurrence time in the flight trajectory.

[0067] S205. Based on the RSRP estimation information of the flight trajectory and the preset RSRP threshold, determine the RSRP trough region of the flight trajectory.

[0068] In this embodiment, the preset RSRP threshold can be understood as a threshold information that is preset according to the actual situation, indicating that the RSRP strength cannot meet the normal communication needs of the drone.

[0069] Specifically, the region formed by points whose RSRP values ​​are lower than the preset RSRP threshold in the flight trajectory RSRP estimation information is defined as the flight trajectory RSRP trough region.

[0070] S206. Determine the maximum no-signal time for the drone based on the stored parameter information and the information transmission requirement information.

[0071] In this embodiment, the maximum no-signal time for the drone can be understood as the maximum duration during which the drone does not need to maintain constant communication with a base station, based on its own onboard information storage device. It is understood that if the disconnection time between the drone and the communication base station exceeds the maximum no-signal time, the drone's own storage resources will be insufficient to support the complete storage of the information it needs to transmit, leading to communication abnormalities.

[0072] Specifically, based on the storage parameter information, the storage capacity of the UAV for the information to be transmitted to the outside world can be determined. Based on the information transmission demand information, the information generated by the UAV during flight and the frequency and speed at which the information to be transmitted to the outside world is generated based on external demand can be determined. By combining the two, it can be determined that when the UAV generates information at the speed or frequency corresponding to the information transmission demand information, the longest time that the UAV can allow to not communicate with the base station by relying solely on its own storage capacity can be determined. This longest time can be taken as the maximum no-signal time of the UAV.

[0073] Optionally, the maximum no-signal time for the drone can be determined based on stored parameter information and information transmission requirements, including:

[0074] Based on the storage parameter information, determine at least one of the following: the maximum storage space of the drone, the maximum storage occupancy ratio, and the initial occupancy space.

[0075] Determine the information generation speed of the drone based on the information transmission requirements;

[0076] The maximum no-signal time for the drone is determined based on the maximum storage space, the maximum storage occupancy rate, the initial occupancy space, and the information generation speed.

[0077] In this embodiment, the maximum storage space can be specifically understood as the maximum storage space that the drone can provide based on its own storage device. The maximum storage occupancy ratio can be specifically understood as the maximum proportion of the maximum storage space that can be occupied to ensure the normal operation of the drone; that is, exceeding the maximum storage occupancy ratio may affect the drone's working performance. The initial occupied space can be specifically understood as the storage space already occupied by the drone due to its own basic operational needs, before generating any information that needs to be sent out.

[0078] Specifically, depending on the actual needs, when determining the maximum no-signal time for a drone, one can rely solely on the maximum storage space in the storage parameters and the information generation speed in the information transmission requirements; alternatively, from a reliability perspective, the drone's storage space can be limited, while also considering the maximum storage space and maximum storage occupancy ratio in the storage parameters, as well as the information generation speed in the information transmission requirements; furthermore, one can also consider the possibility of suboptimal transmission rates, where the transmission rate does not exceed the information generation rate, by simultaneously considering the maximum storage space, maximum storage occupancy ratio, and initial occupancy in the storage parameters, the information generation speed in the information transmission requirements, and the actual information transmission rate that may change over time, to determine the maximum no-signal time for the drone.

[0079] For example, assume the maximum storage space is The maximum storage ratio is The initial space occupied is The information generation speed is The information transmission rate is The following sections discuss the maximum no-signal time for each of the aforementioned drone types. The calculation method is shown below:

[0080] 1) For only dependent and Sure Situation:

[0081]

[0082] 2) Regarding dependencies , and Sure Situation:

[0083]

[0084] 3) Targeting dependencies , , , and Confirmed cases:

[0085]

[0086] S207. Based on the duration of the RSRP trough region of the flight trajectory, the preceding and following communication base stations in the RSRP trough region of the flight trajectory, the maximum no-signal time of the UAV, and the pre-built flight condition switching comparison table, determine the communication base station switching result for each RSRP trough region of the flight trajectory.

[0087] In this embodiment, the duration of the RSRP trough region of the flight trajectory can be specifically understood as the length of time that the continuous RSRP trough region of the flight trajectory lasts on the flight trajectory. The preceding communication base station can be specifically understood as the base station that provides services to the UAV before the flight trajectory enters the RSRP trough region. The following communication base station can be specifically understood as the base station that provides services to the UAV after the flight trajectory enters the RSRP trough region.

[0088] Specifically, based on the duration of the RSRP trough region of the flight trajectory and the preceding and following communication base stations in the RSRP trough region, the flight state of the UAV when it flies through the RSRP trough region can be determined. By combining this flight state with the UAV's maximum no-signal time, the flight communication state of the UAV when it flies through the RSRP trough region can be determined. By matching this flight communication state with a pre-built flight condition switching lookup table, it can be determined which communication base station adjustment method should correspond to this flight communication state, thus obtaining the communication base station switching result for a flight trajectory RSRP trough region.

[0089] Optional, pre-built flight condition switching lookup tables include at least one of the following:

[0090] If the front and rear communication base stations are the same, and the duration of the RSRP trough area of ​​the flight trajectory is less than the maximum no-signal time of the UAV, then the communication base station handover result will be determined as no handover.

[0091] If the front and rear communication base stations are different, and the duration of the RSRP trough area of ​​the flight trajectory is less than the maximum no-signal time of the drone, then the communication base station handover result is determined as a handover to a high-quality RSRP base station.

[0092] If the duration of the RSRP trough region of the flight trajectory is greater than or equal to the maximum no-signal time of the UAV, then the communication base station handover result is determined as a handover.

[0093] If the RSRP trough area of ​​the flight trajectory appears intermittently, and the non-flight trajectory RSRP trough area cannot support the complete transmission of information generated by the UAV, then the communication base station result will be determined as a handover.

[0094] Specifically, if the preceding and following communication base stations are the same, and the duration of the RSRP trough region of the flight path is less than the drone's maximum no-signal time, then it can be assumed that the communication base station providing services to the drone before and after passing through the RSRP trough region is the same, and the no-signal phase will not affect the drone's normal communication. In this case, it can be assumed that there is no need to switch the communication base station providing services to the drone, thereby reducing the number of base station switching. If the preceding and following communication base stations are different, and the duration of the RSRP trough region of the flight path is less than the drone's maximum no-signal time, then it can be assumed that the communication base station providing services to the drone before and after passing through the RSRP trough region is different, but the no-signal phase will not affect the drone's normal communication. It is only necessary to select a suitable communication base station to provide services to the drone after communication is restored. In this case, the drone can switch to a higher RSRP quality base station after passing through the trough region. To achieve better communication, if the duration of the RSRP trough region of the flight trajectory is greater than or equal to the drone's maximum no-signal time, it can be assumed that the drone's own storage capacity cannot support it flying through the RSRP trough region. In this case, it is necessary to switch the communication base station when flying through the RSRP trough region to ensure normal communication. If the RSRP trough region of the flight trajectory appears intermittently, and the non-flight trajectory RSRP trough region cannot support the complete transmission of information generated by the drone, it can be assumed that although the single duration of the flight trajectory RSRP trough region does not exceed the drone's maximum no-signal time, the duration of the non-flight trajectory RSRP trough region that allows the drone to communicate normally cannot support the complete transmission of information generated by the drone, which will still affect the drone's communication quality. In this case, it is necessary to switch the communication base station of the drone at an appropriate time to ensure normal communication.

[0095] S208. Generate a communication base station handover scheme based on the handover results of each communication base station.

[0096] Specifically, the switching results of each communication base station are combined to determine the communication base station switching scheme for the UAV throughout its flight path.

[0097] Optionally, before determining the UAV communication base station handover scheme, it is necessary to first estimate the RSRP reception of the UAV within the entire flyable area. Therefore, before obtaining the basic parameter information and flight trajectory planning information of the UAV, the following steps are also included:

[0098] Obtain RSRP measurement values ​​reported by each user terminal within the domain;

[0099] Based on the user terminal brand information of each user terminal and the corresponding RSRP correction value of each user terminal brand information, the RSRP measurement values ​​are integrated to determine the user terminal RSRP measurement information.

[0100] Based on the user terminal's global RSRP measurement information, global RSRP estimation is performed to determine the user terminal's RSRP estimation information.

[0101] Based on the distribution information of base stations within the domain, the height of base station antennas, the flight altitude of UAVs, and the RSRP estimation information of user terminals, the RSRP estimation information of UAVs is determined.

[0102] In this embodiment, "domain" can be specifically understood as the area covered by the drone's flight. The user terminal (UE) can be specifically understood as a user communication device located within the domain that can communicate with the base station. It is understood that the UE can send a MR (Match Message) to the operator's base station every 480ms. The MR may include information such as RSRP (Received Signal-to-Interference-plus-Noise Ratio), noise level, interference power, UE received signal-to-interference-plus-noise ratio, packet loss rate of different QoS Class Identifiers (QCI), terminal transmit power margin, and UE brand.

[0103] In this embodiment, the RSRP correction value of the user terminal can be specifically understood as a value determined based on the user terminal brand information, used to correct the actual and theoretical deviations in the RSRP reception capability of the user terminal of that brand.

[0104] In this embodiment, the base station distribution information can be specifically understood as the location distribution information of base stations in the area that the UAV can cover.

[0105] Specifically, due to the limited number of drones and relatively high startup costs, acquiring RSRP by traversing the required flight coverage area using drones would be extremely labor-intensive and expensive. Therefore, the RSRP of drones within the drone's coverage area can be estimated based on the MRs reported by UEs to various operator base stations within the drone's flight coverage area. This can begin by acquiring the RSRP measurements from the MRs reported by UEs distributed throughout the domain. However, due to limitations in antenna performance and equipment design across different UE brands, even at the same latitude and longitude, the measurement results for different UEs may differ. Therefore, to achieve full-domain user terminal RSRP estimation, the acquired RSRP measurements must first be integrated.

[0106] Before integration, the RSRP deviation of different brands can be calculated and determined. This can be done by repeatedly reporting MR values ​​at a known RSRP location for each brand's UE, averaging the results, and using the difference between this average and the true value as the RSRP correction value for that brand's user terminal. Alternatively, a preset user service rate can be considered. Calculate the next 1- of the sample based on the mean and variance. The RSRP corresponding to the quantile is used as the MR sampling and reporting data at the corresponding location. The RSRP correction value for different brands of user terminals is determined by solving for the quantile. In summary, various methods can be used to solve for the RSRP correction value of user terminals in this embodiment of the invention. The only requirement is to obtain a user terminal RSRP correction value that can be adjusted according to the brand of the RSRP measurement values ​​reported by different user terminals. This embodiment of the invention does not limit the solution method.

[0107] Following the specific implementation described above, after obtaining the RSRP measurement values ​​reported by each UE, the user terminal RSRP correction value corresponding to each RSRP measurement value is determined based on the user terminal brand information of each UE. The RSRP measurement values ​​and their corresponding user terminal RSRP correction values ​​are then summed or subtracted to integrate the RSRP measurement values ​​and obtain the user terminal RSRP measurement information. It is understood that since the UE will not perfectly cover the entire UAV flight area, it is necessary to estimate the global RSRP based on the known user terminal RSRP measurement information. This estimation method can use the least squares method or the Mean Absolute Error (MAE) algorithm. This embodiment of the invention does not impose any restrictions on this, resulting in estimated user terminal RSRP information containing RSRP information for all points in the global area.

[0108] For example, suppose there are M base stations in the entire area, and the coordinates of the m-th base station are represented as follows: The search formula based on the least squares method is defined as follows:

[0109]

[0110] in, , , , and Since the parameter is unknown, it can be obtained by substituting the RSRP measurement information of the user terminal into the above formula. After solving the above parameter, the coordinates of each point in the domain can be substituted into the above formula to complete the global RSRP estimation and obtain the RSRP estimation information of the user terminal.

[0111] Understandably, since received power is inversely proportional to the distance to the base station, the above least squares search formula is designed as a superposition of negative second-order terms. Near each base station, the surface will have a peak and a valley. Therefore, when solving for the above unknown parameters, the optimal parameters can be determined according to the following formula:

[0112]

[0113] Where Q represents the number of RSRP measurement information entries from the user terminal. For the RSRP measurement information of the user terminal of the q-th UE, The RSRP estimation information of the user terminal obtained by estimating the q-th UE using the above formula can be used to solve for the unknown parameters. It is understood that the above solution method can also be performed using alternating iteration, convex optimization, gradient descent, etc., and the embodiments of the present invention do not limit this.

[0114] Understandably, to reduce the impact of MR error transmissions on the accuracy of the user terminal's RSRP estimation information, the UE can transmit only the difference between its RSRP and the theoretical value when transmitting it to the base station. At the base station, the theoretical received RSRP value of the UE is calculated based on the following RSRP theoretical calculation formula to reduce the decrease in the accuracy of the user terminal's RSRP estimation information caused by transmission errors. Here, it is assumed that the base station uses omnidirectional antennas, and the transmitted signal spreads uniformly in a spherical shape. The base station's transmit power is taken as... The path loss from the base station to the UE is The MR sampling point UE at a distance L from the base station is in The theoretical formula for calculating the RSRP received at time t is as follows:

[0115]

[0116] Where c is the speed of light.

[0117] Following the specific implementation described above, since the MR reports are usually submitted by mobile phone users, and the location of such users is often 0-5m above the ground, while the flight altitude of drones is generally tens of meters or even hundreds of meters, the RSRP values ​​received even at the same latitude and longitude will be different due to the different altitudes. Therefore, after clarifying the RSRP estimation information of the user terminal, the distribution of base stations in the drone's flight area, the antenna height of the base stations, and the flight altitude that the drone may be at when it is flying will also be considered. Based on the RSRP estimation information of the user terminal, the RSRP estimation information of the drone at the flight altitude will be determined.

[0118] For example, assuming the base station's antennas are all omnidirectional, uniformly transmitting signals in all directions at all times, and the drone's latitude and longitude are... The drone's flight altitude is At this location, the estimated RSRP information for the user terminal is: The optimal base station antenna height is The coordinates of the base station are Therefore, for this latitude and longitude, the estimated RSRP information of the UAV can be expressed as:

[0119]

[0120] Understandably, before determining the UAV communication base station handover scheme, the RSRP estimation information of the UAV at multiple flight altitudes can be predetermined. This allows for the adaptive acquisition and adjustment of the UAV RSRP estimation information when the flight trajectory planning information includes changes in flight altitude, resulting in accurate flight trajectory RSRP estimation information and improving the adaptability and accuracy of the communication base station handover scheme.

[0121] In this embodiment, when determining the RSRP estimation information for the flight trajectory, the first step is to determine the RSRP correction value of the drone brand based on the drone brand information. This correction value is then used to correct the overall RSRP estimation information for the drone. Based on the obtained corrected RSRP estimation information, the RSRP estimation information for each flight trajectory planning point is determined. Combining these values ​​yields a more accurate reflection of the RSRP reception at each trajectory point during the drone's flight. Based on the flight trajectory RSRP estimation information and a preset RSRP threshold, areas where low RSRP affects communication during drone flight are identified. Simultaneously, the maximum allowable signal-free time for the drone is determined based on the storage parameters and information transmission requirements in the basic parameter information. By combining the duration of the RSRP trough region, the communication base stations before and after the trough region, and the maximum signal-free time of the drone, the flight status of the drone on the entire flight trajectory can be determined. Comparing the flight status at each location on the flight trajectory with a pre-built flight condition switching table determines the corresponding communication base station switching result. Since the flight condition switching lookup table is determined based on the minimum conditions for ensuring normal communication of UAVs, when determining the communication base station switching results based on the flight condition switching lookup table, unnecessary communication base station switching can be better avoided. This allows the final communication base station switching scheme to switch communication base stations for UAVs at the lowest possible frequency, reducing the switching load on UAVs and the switching pressure on base stations. This improves the communication support capabilities for UAVs accessing the network during flight and reduces the difficulty for operators to provide support services for UAV flights.

[0122] Example 3

[0123] Figure 3 This is a schematic diagram of the structure of a UAV communication base station switching device provided in Embodiment 3 of the present invention, as shown below. Figure 3 As shown, the UAV communication base station switching device includes a basic information acquisition module 31, an estimated information determination module 32, and a switching scheme determination module 33.

[0124] The basic information acquisition module 31 is used to acquire the basic parameter information and flight trajectory planning information of the UAV. The basic parameter information includes at least the UAV brand information, storage parameter information and information transmission requirement information. The estimation information determination module 32 is used to determine the flight trajectory RSRP estimation information based on the pre-determined UAV RSRP estimation information, UAV brand information and flight trajectory planning information. The handover scheme determination module 33 is used to determine the communication base station handover scheme based on the flight trajectory RSRP estimation information, storage parameter information, information transmission requirement information and a pre-constructed flight condition handover comparison table.

[0125] The technical solution of this invention, after determining the flight trajectory planning information required for UAV flight, estimates the RSRP values ​​of each point on the UAV flight trajectory based on the UAV RSRP estimation information, which includes RSRP estimation information of all reachable points within the UAV flight area and takes into account the UAV's flight altitude, as well as the UAV's basic parameter information. This yields the corresponding flight trajectory RSRP estimation information. Then, based on the UAV's own storage and information transmission capabilities, and a pre-built flight condition switching lookup table, it determines whether the communication base station needs to be switched in areas that may affect the UAV's communication capabilities during flight. This improves the communication support capability for UAV accessing the network during flight, switches the UAV's communication base station at the lowest possible frequency, reduces the UAV's switching load, reduces the base station switching pressure, and lowers the difficulty for operators to provide support services for UAV flight.

[0126] Optionally, the estimation information determination module 32 is specifically used for:

[0127] The corrected RSRP value of the drone is determined based on the drone brand information, and the estimated RSRP information of the drone is corrected based on the corrected RSRP value to determine the corrected RSRP information of the drone.

[0128] Based on the latitude and longitude information in the flight trajectory planning information and the UAV corrected RSRP estimation information, determine the RSRP estimation information of the flight trajectory planning points corresponding to each latitude and longitude information;

[0129] The flight trajectory RSRP estimation information is generated based on the RSRP estimation information of each flight trajectory planning point.

[0130] Optionally, the switching scheme determination module 33 is specifically used for:

[0131] Based on the RSRP estimation information of the flight trajectory and the preset RSRP threshold, the RSRP trough region of the flight trajectory is determined;

[0132] The maximum no-signal time for the drone is determined based on the stored parameter information and the information transmission requirement information.

[0133] Based on the duration of the RSRP trough region of the flight trajectory, the preceding and following communication base stations in the RSRP trough region of the flight trajectory, the maximum no-signal time of the UAV, and a pre-built flight condition handover comparison table, the communication base station handover result for each RSRP trough region of the flight trajectory is determined.

[0134] A communication base station handover plan is generated based on the handover results of each communication base station.

[0135] Optionally, the maximum no-signal time for the drone can be determined based on stored parameter information and information transmission requirements, including:

[0136] Based on the storage parameter information, determine at least one of the following: the maximum storage space of the drone, the maximum storage occupancy ratio, and the initial occupancy space.

[0137] Determine the information generation speed of the drone based on the information transmission requirements;

[0138] The maximum no-signal time for the drone is determined based on the maximum storage space, the maximum storage occupancy rate, the initial occupancy space, and the information generation speed.

[0139] Optional, pre-built flight condition switching lookup tables include at least one of the following:

[0140] If the front and rear communication base stations are the same, and the duration of the RSRP trough area of ​​the flight trajectory is less than the maximum no-signal time of the UAV, then the communication base station handover result will be determined as no handover.

[0141] If the front and rear communication base stations are different, and the duration of the RSRP trough area of ​​the flight trajectory is less than the maximum no-signal time of the drone, then the communication base station handover result is determined as a handover to a high-quality RSRP base station.

[0142] If the duration of the RSRP trough region of the flight trajectory is greater than or equal to the maximum no-signal time of the UAV, then the communication base station handover result is determined as a handover.

[0143] If the RSRP trough area of ​​the flight trajectory appears intermittently, and the non-flight trajectory RSRP trough area cannot support the complete transmission of information generated by the UAV, then the communication base station result will be determined as a handover.

[0144] Optionally, the UAV communication base station switching device also includes: an estimation information pre-determination module, specifically used for:

[0145] Before acquiring the basic parameter information and flight trajectory planning information of the UAV, the RSRP measurement values ​​reported by each user terminal within the domain are obtained; based on the user terminal brand information of each user terminal and the corresponding RSRP correction value of each user terminal brand information, the RSRP measurement values ​​are integrated to determine the user terminal RSRP measurement information; based on the user terminal's global RSRP measurement information, global RSRP estimation is performed to determine the user terminal RSRP estimation information; based on the base station distribution information within the domain, base station antenna height, UAV flight altitude, and user terminal RSRP estimation information, the UAV RSRP estimation information is determined.

[0146] The UAV communication base station switching device provided in this embodiment of the invention can execute the UAV communication base station switching method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0147] Example 4

[0148] Figure 4 This is a schematic diagram of a drone communication base station switching device according to Embodiment 4 of the present invention. The drone communication base station switching device 40 can represent various forms of digital computers, such as laptops, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframes, communication base stations, and other suitable computers. The drone communication base station switching device 40 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0149] like Figure 4 As shown, the UAV communication base station switching device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 and a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded from the storage unit 48 into the RAM 43. The RAM 43 can also store various programs and data required for the operation of the UAV communication base station switching device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0150] Multiple components in the UAV communication base station switching device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, optical disk, etc.; and a communication unit 49, such as a network card, modem, wireless transceiver, etc. The communication unit 49 allows the UAV communication base station switching device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0151] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as the drone communication base station handover method.

[0152] In some embodiments, the UAV communication base station handover method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the UAV communication base station handover device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the UAV communication base station handover method described above can be performed. Alternatively, in other embodiments, processor 41 can be configured to perform the UAV communication base station handover method by any other suitable means (e.g., by means of firmware).

[0153] Optionally, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the UAV communication base station switching method provided in any embodiment of the present invention.

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0157] To provide user interaction, the systems and techniques described herein can be implemented on a drone communication base station switching device, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the drone communication base station switching device. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0159] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for switching communication base stations for unmanned aerial vehicles (UAVs), characterized in that, The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. 2.The method of claim 1, wherein, The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. 3.The method of claim 1, wherein, The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. 4.The method of claim 3, wherein, The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV brand information and the flight trajectory planning information; and determining a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information and a pre-constructed flight condition switching table. The application relates to a communication base station switching method for unmanned aerial vehicles (UAVs), which comprises the following steps: acquiring basic parameter information and flight trajectory planning information of the UAV; the basic parameter information at least comprises UAV brand information, storage parameter information and information transmission demand information; determining flight trajectory reference signal receiving power (RSRP) estimation information according to predetermined UAV RSRP estimation information, the UAV ​ ​ 5.The method of claim 3, wherein, ​ ​ If the former communication base station is different from the latter communication base station, and the duration of the flight trajectory RSRP valley region is less than the maximum signal-free time of the UAV, the communication base station switching result is determined as switching to the RSRP high-quality base station; If the duration of the flight trajectory RSRP valley region is greater than or equal to the maximum signal-free time of the UAV, the communication base station switching result is determined as switching. If the flight trajectory RSRP valley region appears intermittently, and the non-flight trajectory RSRP valley region cannot support the complete transmission of the information generated by the UAV, the communication base station result is determined as switching.

6. The UAV communication base station handover method of any one of claims 1-5, wherein, Before the basic parameter information and the flight trajectory planning information of the UAV are acquired, the method further comprises: Acquiring RSRP measurement values reported by each user terminal in the domain; Integrating each RSRP measurement value according to user terminal brand information of each user terminal and user terminal RSRP correction values corresponding to each user terminal brand information, to determine user terminal RSRP measurement information; Performing global RSRP estimation according to the global user terminal RSRP measurement information, to determine user terminal RSRP estimation information; Determining UAV RSRP estimation information according to base station distribution information in the domain, base station antenna height, UAV flight height, and the user terminal RSRP estimation information.

7. A UAV communication base station switching apparatus, characterized by, Comprise: A basic information acquisition module, configured to acquire basic parameter information and flight trajectory planning information of a UAV; The basic parameter information at least comprises UAV brand information, storage parameter information, and information transmission demand information; An estimation information determination module, configured to determine flight trajectory RSRP estimation information according to pre-determined UAV RSRP estimation information, the UAV brand information, and the flight trajectory planning information; A switching scheme determination module, configured to determine a communication base station switching scheme according to the flight trajectory RSRP estimation information, the storage parameter information, the information transmission demand information, and a pre-constructed flight condition switching reference table.

8. A UAV communication base station handover apparatus, comprising: Comprise: At least one processor; And a memory in communication connection with the at least one processor; Wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the UAV communication base station switching method in any one of claims 1-6.

9. A storage medium containing computer-executable instructions, wherein: The computer executable instructions, when executed by a computer processor, are used to execute the UAV communication base station switching method in any one of claims 1-6.

10. A computer program product, characterised in that, Comprise a computer program, which, when executed by a processor, implements the UAV communication base station switching method in any one of claims 1-6.

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