Low altitude communication terminal coexistence interference avoidance method and system

Abstract

This application provides a method and system for avoiding interference during coexistence of low-altitude communication terminals. The method includes: dividing the low-altitude flight area into grids; collecting data information from each wireless module of the terminal and the spatial information of each grid after deployment in real time; storing the data information and grid spatial information together in a database; and sharing the information acquired by each terminal through a collaborative approach; collecting flight information generated by the terminals in real time; using a short-term prediction algorithm to predict flight trajectories within a preset time window based on the flight information; obtaining a set of statistics on the number of terminals entering the grids; calculating the interference judgment threshold for each grid in the set of statistics based on the data information; making frequency band decisions based on the interference judgment threshold and transmission mode; and recalculating the interference judgment threshold if the grid spatial information or set of statistics changes. This application uses mathematical quantification of the interference judgment threshold and combines it with the operating mode to formulate targeted frequency band selection strategies, ensuring the scientific validity and effectiveness of pre-coordination.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a method and system for avoiding interference during coexistence of low-altitude communication terminals. Background Technology

[0002] With the rapid development of the low-altitude economy, the demand for low-altitude communication continues to surge. The heterogeneous convergence architecture of "low-altitude private network + ground public network + supplementary network" has become the mainstream solution for low-altitude communication network deployment. That is, the ground relies on the operator's public network to achieve wide coverage, the air meets the exclusive communication needs by building a new private network, and other networks supplement the coverage in areas with limited coverage or signal gaps to balance construction costs and communication quality.

[0003] In related technologies, terminal devices need to flexibly switch between different subnets or perform redundant simultaneous transmission. They generally adopt a multi-wireless module hardware architecture, improving communication reliability and continuity through multi-network access capabilities. Currently, low-altitude private networks are limited by spectrum resources, only able to use industrial, scientific, and medical frequency bands or borrow public network frequency bands from terrestrial operators for deployment. Furthermore, different subnets belong to different owners and serve different target users. This not only leads to inherent mutual interference risks between subnets, but also, during subnet switching or redundant simultaneous transmission, the simultaneous or adjacent operation of multiple wireless modules on the same frequency can easily cause in-device coexistence (IDC) interference. For example, when two wireless modules operate on the same 3.3 GHz band with an antenna spacing of only 10 cm, if one transmits at a power of PTX dBm, the interference intensity to the other's reception can reach PTX–22.8 dBm, easily exceeding the normal reception sensitivity threshold; and the farther the terminal is from the base station, the more significant this coexistence interference becomes. Even if the module operates at a nearby frequency, interference can still severely impact communication performance due to limitations in out-of-band leakage suppression.

[0004] Existing solutions to coexistence interference generally fall into three categories: The first category involves real-time notification to the network side upon interference detection, with the network coordinating the interference. This approach is technically extremely difficult and has very poor compatibility in multi-subnet heterogeneous fusion scenarios. The second category involves the terminal itself using time-division multiplexing to avoid simultaneous operation, frequency-division multiplexing to change the operating frequency, or reducing transmission power after interference is detected. However, the interference coordination action is triggered after the interference occurs, resulting in significant lag and a high risk of communication interruption or performance degradation, making it impossible to guarantee the communication continuity required for low-altitude flight. The third category involves better electromagnetic compatibility design, increasing the isolation between modules, radio frequency components, and antennas. However, when multiple modules operate on the same or adjacent frequencies, the electromagnetic coupling effect between antennas is difficult to completely avoid through isolation design, resulting in limited interference suppression effectiveness.

[0005] Based on the above analysis of the development status of this technology field, the existing technologies lack a solution to divide and deploy low-altitude flight areas into three-dimensional grids, combine real-time flight data information and flight path prediction, and dynamically adjust the corresponding operating frequency band of the wireless module in advance to avoid co-channel or adjacent channel interference from the source. Summary of the Invention

[0006] The purpose of this invention is to provide a method and system for avoiding interference in the coexistence of low-altitude communication terminals, aiming to solve the above-mentioned problems in the prior art.

[0007] According to a first aspect of the present invention, a method for avoiding coexistence interference of low-altitude communication terminals is provided, comprising: The low-altitude flight area is divided into grids for deployment. Data information from each wireless module of the terminal and the spatial information of each grid after deployment are collected in real time. The data information and grid spatial information are stored together in the information database and the information obtained by each terminal is shared in a collaborative manner. Real-time acquisition of flight information generated by the terminal; short-term prediction algorithm is used to predict the flight trajectory within a preset time window based on the flight information, and the set statistics of the terminal entering the grid are obtained. The interference judgment threshold is calculated based on the data information and the set statistics. Frequency band decision is made based on the interference judgment threshold and the transmission mode. If the grid spatial information or set statistics change, the interference judgment threshold is recalculated.

[0008] According to a second aspect of the present invention, a low-altitude communication terminal coexistence interference avoidance system is provided, comprising: The terminal platform and the control platform include a grid information intelligent collection module, a positioning and sensing module, a flight path prediction module, and a working frequency band decision module. The intelligent grid information acquisition module is used to collect data information from each wireless module of the terminal and grid spatial information after deployment in real time. The data information and grid spatial information are stored together in the information database and the information acquired by each terminal is shared in a collaborative manner. The positioning and sensing module is used to collect flight information generated by the terminal in real time. The route prediction module is used to predict the flight trajectory within a preset time window based on flight information using a short-term prediction algorithm, and to obtain a set of statistics of terminals entering the grid. The working frequency band decision module is used to calculate the interference judgment threshold value of the grid in the set statistics based on data information, and to make frequency band decisions based on the interference judgment threshold value and transmission mode. If the grid spatial information or set statistics change, the interference judgment threshold value is recalculated. The management and control platform is used to share information acquired by various terminals in a collaborative manner.

[0009] According to a third aspect of the present invention, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the low-altitude communication terminal coexistence interference avoidance method provided in the first aspect of the present disclosure.

[0010] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which an information transmission implementation program is stored, which, when executed by a processor, implements the steps of the low-altitude communication terminal coexistence interference avoidance method provided in the first aspect of the present disclosure.

[0011] The technical solution provided by this invention includes the following beneficial effects: It divides and deploys low-altitude flight areas into three-dimensional grids, enabling refined and structured storage of network deployment information, providing precise data support for interference pre-coordination; the terminal can both autonomously collect and improve network information and collaboratively share data from unfamiliar areas, balancing information accuracy and acquisition efficiency; it predicts future flight paths based on real-time flight data, and adjusts the working frequency band of the wireless module in advance by adjusting its working frequency band capability, thus avoiding interference at the source and solving the lag problem of existing technologies; it quantifies interference judgment thresholds mathematically and formulates targeted frequency band selection strategies based on different working modes, ensuring the scientific nature and effectiveness of interference pre-coordination.

[0012] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a low-altitude communication terminal coexistence interference avoidance method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a three-dimensional mesh in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the real-time dynamic updating of grid information according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the shared management and control platform formed according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the frequency band selection process according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the sorting and execution process according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a low-altitude communication terminal coexistence interference avoidance system according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the basic system architecture according to an embodiment of the present invention; Figure 9 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0016] Method Implementation Examples According to embodiments of the present invention, a method for avoiding coexistence interference of low-altitude communication terminals is provided. Figure 1 This is a flowchart of a low-altitude communication terminal coexistence interference avoidance method according to an embodiment of the present invention, such as... Figure 1 As shown, the low-altitude communication terminal coexistence interference avoidance method according to an embodiment of the present invention specifically includes: In step S110, the low-altitude flight area is divided into grids for deployment. Data information from each wireless module of the terminal and the spatial information of each grid after deployment are collected in real time. The data information and grid spatial information are stored together in the information database, and the information acquired by each terminal is shared in a collaborative manner. Specifically, this includes: The low-altitude flight area is deployed as a three-dimensional grid, and the terminal has the ability to locally store and dynamically update the three-dimensional grid network deployment information. Figure 2 This is a schematic diagram of a three-dimensional grid in an embodiment of the present invention. As shown in Figure 2, the low-altitude flight area is divided into continuously arranged small cubes. Figure 3 This is a schematic diagram illustrating the real-time dynamic updating of grid information according to an embodiment of the present invention, such as... Figure 3 As shown, this demonstrates the effect of information aggregation by the terminal when performing different flight missions.

[0017] During flight operations, the terminal collects data in real time according to a preset grid granularity; The data collected includes the receiving sensitivity, out-of-band suppression capability, and free space transmission attenuation of the wireless module. Among them, the receiving sensitivity and free space transmission attenuation are fixed parameters of the module hardware, while the out-of-band suppression capability varies with the interference distance. It is a variable value that varies with the distance between the operating frequency bands of the two modules. Theoretically, the farther apart they are, the better the suppression and the less interference. This is the main data that needs to be updated in real time. The data collection includes operating frequency bands and signal strength as grid spatial information. There is a corresponding relationship between operating frequency bands and signal strength, which means that the data can describe the signal strength under a certain operating frequency band. The grid spatial information describes the low-altitude communication settings that are permissible in the environment.

[0018] Preferably, it can also collect the service cell measurement data, neighbor cell measurement data and cell search results of each wireless module in real time, extract key information such as grid code, network type and working bandwidth, where the network type includes public network, private network or supplementary network, generate the corresponding three-dimensional grid deployment information of the area and store it in the local information database; Preferably, during each flight operation, the terminal verifies, updates, or adds grid information of the area it passes through. Through the fusion of information from multiple flights, the three-dimensional network deployment information database of the operation area is continuously improved, realizing autonomous perception and iterative optimization of the network environment.

[0019] By interacting with various terminals through an additional management and control platform, information from the global information database is obtained to form a shared area; Obtain grid space information from other terminals in the shared area to supplement any missing information in the local database. Figure 4 This is a schematic diagram of the shared management and control platform formed according to an embodiment of the present invention, such as... Figure 4 As shown, this demonstrates the framework effect of coordinating various terminals through the control center.

[0020] After the terminal connects to the flight control platform via a communication link, it can selectively upload the locally stored 3D grid information to the control center and merge it with the regional network information uploaded by other terminals to form a global network deployment database. At the same time, the terminal can obtain the network deployment information of the current flight area and the predicted route coverage area from the control center, and quickly supplement the data of the area not covered in the local information database. For example, terminal 1 does not involve the spatial information of grid 3, but terminal 2 has relevant information that can be used by terminal 1 for reference. During flight operations, the terminal can synchronize the latest collected grid information with the control center in real time according to the network status. The control center then dynamically updates the global database and pushes it to other relevant terminals, realizing cross-terminal and cross-regional network deployment information sharing, which greatly improves the terminal's perception efficiency of unfamiliar regional network environments. By combining self-learning with a dual-path mode of sharing between the terminal and the network, the terminal can gradually improve network information in frequently used areas and quickly acquire network data in unfamiliar areas, significantly improving the efficiency and accuracy of network environment perception.

[0021] In step S120, flight information generated by the terminal is collected in real time, and a short-term prediction algorithm is used to predict the flight trajectory within a preset time window based on the flight information, obtaining a set of statistics on the terminal entering the grid, specifically including: Using an update frequency no lower than a preset frequency, in this embodiment of the invention, the preset frequency is 10Hz to ensure the real-time performance of the flight status. Flight data including current position (latitude and longitude, altitude), flight speed, and heading angle are collected, and a motion state-based Kalman filter algorithm is used as a short-term prediction algorithm. The flight trajectory within a preset time window T is predicted using a short-term prediction algorithm, resulting in a statistical set N of the terminals predicted to enter the grid. T The value of T depends on the wireless module network connection establishment time and can be dynamically adjusted according to the module characteristics. T=1s is preferred to ensure sufficient time for frequency band adjustment and to record the estimated time for the terminal to enter each grid.

[0022] This stage outputs a set of network N. T The estimated time for terminals to enter each grid provides target area information for subsequent frequency band decisions.

[0023] In step S130, the interference judgment threshold value of the grid in the ensemble statistics is calculated based on the data information. Frequency band decision is made based on the interference judgment threshold value and the transmission mode. If the grid spatial information or ensemble statistics change, the interference judgment threshold value is recalculated. Specifically, this includes: Based on the deployment information of the three-dimensional mesh network, the hardware parameters of the wireless module and the flight prediction results, the working frequency band of the wireless module is dynamically optimized by interference threshold calculation and multi-scenario rule matching. Obtain the set statistics of grids N T The network type, operating frequency band, bandwidth, signal strength of each grid, and the receiving sensitivity S of the wireless module are all considered. R Out-of-band inhibition S A The data includes the antenna spacing d and the maximum transmission power of each network. Among these, the data information corresponding to the wireless module is used for threshold calculation, the information in the grid space is used to assist in frequency band decision-making, and the remaining information is used to further understand the current situation. Formula 1 is used to calculate the interference judgment threshold H, which is used to determine whether the module's operating frequency band will generate significant coexistence interference. H = S R + (P MAX + P R - SA Formula 1 (+K); Among them, S R P represents the receiver sensitivity. MAX P represents the maximum transmit power of the jamming module. R S represents free-space transmission attenuation. A This represents the out-of-band suppression capability, and K represents the interference margin coefficient.

[0024] Table 1 provides a further description of the symbolic parameters in Formula 1: Table 1. Symbolic Parameter Definitions

[0025] Example calculation: Taking the 3.3G (3300MHz) operating frequency and the antenna spacing of 1m as an example, if SR = -85dBm, SA = -45dB, and K = 10dB, then the interference judgment threshold H is -71.8dBm. When the signal strength received by the module is less than -71.8dBm, it is determined that the frequency band will produce serious coexistence interference.

[0026] In the redundant simultaneous transmission mode where multiple wireless modules transmit at the same time, and multiple networks share the same frequency band in the mesh, if the received signal strength of a certain wireless module is less than the interference judgment threshold, it is determined that the corresponding operating frequency band of the module will cause significant interference to other modules. Therefore, the operating frequency band in the mesh is disabled in advance. If the received signal strength of multiple wireless modules is less than the interference judgment threshold, the operating frequency band in the network that matches the strongest received signal of the wireless module is retained, thereby adjusting the frequency band used by the wireless module to ensure optimal transmission quality. In multi-network switching mode where multiple wireless modules do not need to transmit simultaneously, and when the conditions for switching subnets are detected, such as the distance from the target subnet coverage boundary is ≤50m, the working frequency band of the network in the grid after switching is locked. Locking means reserving it for subsequent use and disabling the working frequency bands of the same or adjacent frequencies used in the current grid in advance to avoid interference and conflict during the switching process and ensure the smoothness of the switching.

[0027] The received signal strength generated by the wireless module is generated when the terminal actually enters the grid, while the grid spatial information describes the grid capabilities that can be provided in that area.

[0028] Figure 5 This is a schematic diagram of the frequency band selection process according to an embodiment of the present invention, as shown below. Figure 5 As shown, the process of making decisions based on the interference judgment threshold H and the transmission mode is demonstrated. In the case of multi-network switching mode where the same frequency switching conditions are not met or in the case of redundant transmission mode where there are no multiple networks on the same frequency band, there is no need to disable the frequency band, and all frequency bands can be used.

[0029] If the network environment changes suddenly during flight, such as sudden signal attenuation or new interference sources, the terminal will recalculate the threshold value H in real time and dynamically adjust the module's operating frequency band to ensure the real-time nature of interference pre-coordination. When positioning or route prediction fails, it will automatically switch to a strategy that combines real-time network measurement with instant frequency band adjustment.

[0030] The above technical solutions of the embodiments of the present invention will be illustrated with reference to the following accompanying drawings.

[0031] Figure 6 This is a schematic diagram of the organization and execution process according to an embodiment of the present invention, such as... Figure 6 The diagram illustrates the core process of low-altitude communication terminal coexistence interference avoidance, specifically including: (1) Initialization phase: After the terminal starts, it first loads the network deployment information of the current area from the local three-dimensional grid information database. If there is no relevant data or the data is expired, for example, more than 7 days, it sends an information request to the flight control center to obtain the network deployment information of the current area and the preset route coverage area and completes the initialization of the local database. (2) Grid information collection and update: During flight, the terminal collects network measurement data in real time through multiple wireless modules. The intelligent learning module generates or updates the network deployment information of the corresponding grid according to the three-dimensional grid division rules. At the same time, it uploads updated data to the control center as needed and obtains the latest global data simultaneously. (3) Route prediction: Real-time collection of terminal position, speed, and heading data, input into the route prediction module, and continuous output of the set of grids N that the terminal will enter within the future time T. T ; (4) Frequency band decision: The frequency band decision module calls the local three-dimensional mesh information database, calculates the threshold value H through wireless module data, and determines the frequency band based on the current working mode, i.e., redundant simultaneous transmission or multi-network switching, combined with N. T The network deployment information is used to determine the frequency band selection logic and identify the optimal operating frequency band for each module. (5) Interference pre-coordination: Based on the frequency band decision results, the terminal dynamically enables the optimal frequency band and disables the high interference frequency band, completing the advance adjustment of the working frequency band of the wireless module and avoiding coexistence interference from the source; (6) Cyclic optimization: Repeat (2) to (5) to achieve real-time cyclical operation including information collection, route prediction, frequency band decision-making and interference pre-coordination, so as to ensure that the terminal continuously avoids interference throughout the flight.

[0032] In summary, to address the existing problems, this invention presents a method for avoiding interference in low-altitude communication terminals. It divides the low-altitude flight area into a three-dimensional grid, enabling refined and structured storage of network deployment information, providing precise data support for interference pre-coordination. The terminal can both autonomously collect and refine network information and collaboratively share data from unfamiliar areas, balancing accuracy and efficiency. The terminal can perform interference pre-modulation through autonomous learning and control sharing, and collaborative sharing reduces repetitive data collection workload and improves network information acquisition efficiency. By combining real-time flight data to predict future flight paths, the operating frequency of the wireless module can be adjusted in advance by modifying its operating frequency capabilities, thus avoiding interference at its source. This addresses the lag problem of existing technologies and the communication quality degradation caused by post-event remediation. This ensures communication continuity; by quantifying interference judgment thresholds mathematically and formulating targeted frequency band selection strategies based on different operating modes, it ensures the scientific and effective nature of interference pre-coordination. Compared to hardware isolation design, it can more thoroughly avoid co-channel and adjacent-channel interference without increasing hardware costs. When low-altitude spectrum resource allocation policies are updated or network deployments are adjusted, the system can quickly adapt to new spectrum usage scenarios by updating network deployment information and interference threshold parameters. It fully considers the characteristics of high-speed movement of low-altitude terminals and dynamic changes in the network environment, and adapts to the diverse needs of complex low-altitude converged communication scenarios through real-time information updates, dynamic flight path prediction, and frequency band adjustments. The overall solution relies on a modular architecture design, supporting the addition of new network types, adjustment of grid granularity, and updating of interference threshold parameters, and can adapt to future changes in spectrum resource allocation policies and the development of low-altitude communication technologies.

[0033] System Implementation Examples According to embodiments of the present invention, a low-altitude communication terminal coexistence interference avoidance system is provided. Figure 7 This is a schematic diagram of a low-altitude communication terminal coexistence interference avoidance system according to an embodiment of the present invention, as shown below. Figure 7 As shown, the low-altitude communication terminal coexistence interference avoidance system according to an embodiment of the present invention specifically includes: Terminal platform 70 and control platform 72, wherein terminal platform 70 includes a grid information intelligent acquisition module, a positioning and sensing module, a flight path prediction module and a working frequency band decision module; The intelligent grid information acquisition module is used to collect data information from each wireless module of the terminal and grid spatial information after deployment in real time. The data information and grid spatial information are stored together in the information database and the information acquired by each terminal is shared in a collaborative manner. The positioning and sensing module is used to collect flight information generated by the terminal in real time. The route prediction module is used to predict the flight trajectory within a preset time window based on flight information using a short-term prediction algorithm, and to obtain a set of statistics of terminals entering the grid. The working frequency band decision module is used to calculate the interference judgment threshold value of the grid in the set statistics based on data information, and to make frequency band decisions based on the interference judgment threshold value and transmission mode. If the grid spatial information or set statistics change, the interference judgment threshold value is recalculated. The management platform 72 is used to share information acquired by various terminals through collaborative means.

[0034] Figure 8 This is a schematic diagram of the basic system architecture of an embodiment of the present invention, as shown below. Figure 8 As shown, the basic system of the terminal side and the control side is demonstrated. The terminal side integrates a grid information storage module, a grid information intelligent collection module, a positioning and sensing module, a flight path prediction module, a working frequency band decision module, and multiple wireless modules. The wireless modules include various forms such as public network modules and private network modules. The control center module is responsible for the aggregation, sharing, and collaborative updating of network deployment information, forming an information acquisition system that combines terminal autonomous perception with complementary collaboration between the control and terminal. Figure 8 This is merely an architectural example; no strict limitations are imposed on the specific connection methods between modules.

[0035] In summary, to address the existing problems, this invention, a low-altitude communication terminal coexistence interference avoidance system, divides the low-altitude flight area into a three-dimensional grid for deployment, enabling refined and structured storage of network deployment information and providing accurate data support for interference pre-coordination. The terminal can both autonomously collect and improve network information through flight and acquire data from unfamiliar areas through collaborative sharing, balancing information accuracy and acquisition efficiency. The terminal can complete interference pre-modulation through autonomous learning and control sharing, and collaborative sharing reduces the workload of repetitive data collection and improves network information acquisition efficiency. By combining real-time flight data to predict future flight paths, the system proactively adjusts the operating frequency of the wireless module by adjusting its operating frequency capability, thus avoiding interference at the source. This addresses the lag problem of existing technologies and the communication quality degradation caused by post-event remediation. This ensures communication continuity; by quantifying interference judgment thresholds mathematically and formulating targeted frequency band selection strategies based on different operating modes, it ensures the scientific and effective nature of interference pre-coordination. Compared to hardware isolation design, it can more thoroughly avoid co-channel and adjacent-channel interference without increasing hardware costs. When low-altitude spectrum resource allocation policies are updated or network deployments are adjusted, the system can quickly adapt to new spectrum usage scenarios by updating network deployment information and interference threshold parameters. It fully considers the characteristics of high-speed movement of low-altitude terminals and dynamic changes in the network environment, and adapts to the diverse needs of complex low-altitude converged communication scenarios through real-time information updates, dynamic flight path prediction, and frequency band adjustments. The overall solution relies on a modular architecture design, supporting the addition of new network types, adjustment of grid granularity, and updating of interference threshold parameters, and can adapt to future changes in spectrum resource allocation policies and the development of low-altitude communication technologies.

[0036] Electronic device examples Figure 9 This is a schematic diagram of an electronic device according to an embodiment of the present invention. The electronic device 900 may include at least one processor 910 and a memory 920. The processor 910 can execute instructions stored in the memory 920. The processor 910 is communicatively connected to the memory 920 via a data bus. In addition to the memory 920, the processor 910 can also be communicatively connected to an input device 930, an output device 940, and a communication device 950 via the data bus.

[0037] Processor 910 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems on chips (SOCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0038] The memory 920 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0039] In this embodiment of the present disclosure, the memory 920 stores executable instructions, and the processor 910 can read the executable instructions from the memory 920 and execute the instructions to implement all or part of the steps of the low-altitude communication terminal coexistence interference avoidance method in any of the exemplary embodiments described above.

[0040] Computer-readable storage medium embodiments In addition to the methods and systems described above, exemplary embodiments of this disclosure may also be a computer program product or a computer-readable storage medium storing the computer program product, the computer product including computer program instructions that can be executed by a processor to implement all or part of the steps described in any of the low-altitude communication terminal coexistence interference avoidance methods in the exemplary embodiments described above.

[0041] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. Programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages, and scripting languages ​​(e.g., Python). The program code can be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0042] Computer-readable storage media may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media include: static random access memory (SRAM) having one or more electrically connected wires; electrically erasable programmable read-only memory (EEPROM); erasable programmable read-only memory (EPROM); programmable read-only memory (PROM); read-only memory (ROM); magnetic storage; flash memory; magnetic disk or optical disk; or any suitable combination thereof.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for avoiding coexistence interference of low-altitude communication terminals, characterized in that, include: The low-altitude flight area is divided into grids for deployment. Data information from each wireless module of the terminal and the spatial information of each grid after deployment are collected in real time. The data information and the spatial information of the grid are stored together in the information database and the information obtained by each terminal is shared in a collaborative manner. The flight information generated by the terminal is collected in real time, and a short-term prediction algorithm is used to predict the flight trajectory within a preset time window based on the flight information, so as to obtain a set of statistics of the terminal entering the grid. Based on the data information, calculate the interference judgment threshold value of the grid in the set statistics, and make frequency band decisions based on the interference judgment threshold value and transmission mode. If the grid spatial information or the set statistics change, recalculate the interference judgment threshold value.

2. The method according to claim 1, characterized in that, The specific steps of dividing and deploying the low-altitude flight area into a grid include: deploying the low-altitude flight area as a three-dimensional grid.

3. The method according to claim 1, characterized in that, The data information of each wireless module of the real-time acquisition terminal and the spatial information of each grid after deployment specifically include: The data collected includes the receiving sensitivity, out-of-band rejection capability, and free space transmission attenuation of the wireless module. The receiving sensitivity and free space transmission attenuation are fixed parameters of the module hardware, and the out-of-band rejection capability varies with the interference spacing. The data collected includes the operating frequency band and signal strength as the grid spatial information.

4. The method according to claim 1, characterized in that, The sharing of information acquired by each terminal through a collaborative approach specifically includes: By interacting with various terminals through an additional management and control platform, information from the global information database is obtained to form a shared area; Obtain grid space information from other terminals in the shared area to supplement any missing information in the local database.

5. The method according to claim 1, characterized in that, The real-time collection of flight information generated by the terminal, and the use of a short-term prediction algorithm to predict the flight trajectory within a preset time window based on the flight information, to obtain a set of statistics on the terminal entering the grid, specifically includes: Flight data including current position, flight speed, and heading angle are collected using an update frequency of not less than a preset frequency, and a motion state-based Kalman filter algorithm is used as the short-term prediction algorithm. The short-term prediction algorithm predicts the flight trajectory within a preset time window T, resulting in a statistical set N of the current terminal's predicted entry into the grid. T It also records the estimated time for the terminal to enter each grid.

6. The method according to claim 3, characterized in that, The calculation of the interference judgment threshold value of the grid in the set statistics based on the data information specifically includes: Calculate the interference judgment threshold H using Formula 1: H = S R + (P MAX + P R - S A Formula 1 (+K); Among them, S R P represents the receiving sensitivity. MAX P represents the maximum transmit power of the jamming module. R S represents the free space transmission attenuation. A The value represents the out-of-band suppression capability, and K represents the interference margin coefficient.

7. The method according to claim 1, characterized in that, The frequency band decision based on the interference judgment threshold and transmission mode specifically includes: In the redundant simultaneous transmission mode where multiple wireless modules transmit at the same time, and multiple networks share the same frequency band in the grid, if the received signal strength of a certain wireless module is less than the interference judgment threshold, the working frequency band in the grid is disabled in advance. If the received signal strength of multiple wireless modules is less than the interference judgment threshold, the working frequency band in the network that matches the strongest received signal of the wireless module is retained. In multi-network switching mode where multiple wireless modules do not need to transmit simultaneously, and when the conditions for switching subnets are detected, the working frequency band of the network in the grid after the switch is locked, and the working frequency band of the same or adjacent frequency used in the current grid is disabled in advance.

8. A low-altitude communication terminal coexistence interference avoidance system, characterized in that, The method for avoiding coexistence interference of low-altitude communication terminals according to any one of claims 1 to 7 includes: The terminal platform and the control platform, wherein the terminal platform includes a grid information intelligent acquisition module, a positioning and sensing module, a flight path prediction module and a working frequency band decision module; The intelligent grid information acquisition module is used to collect data information from each wireless module of the terminal and grid spatial information after deployment in real time, store the data information and grid spatial information together in the information database, and share the information acquired by each terminal in a collaborative manner. The positioning and sensing module is used to collect flight information generated by the terminal in real time; The route prediction module is used to predict the flight trajectory within a future preset time window based on the flight information using a short-term prediction algorithm, and to obtain a set of statistics of terminals entering the grid. The working frequency band decision module is used to calculate the interference judgment threshold value of the grid in the set statistics based on the data information, make frequency band decisions based on the interference judgment threshold value and the transmission mode, and recalculate the interference judgment threshold value if the grid spatial information or the set statistics change. The management and control platform is used to share information acquired by various terminals in a collaborative manner.

9. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the low-altitude communication terminal coexistence interference avoidance method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an information transmission implementation program, which, when executed by a processor, implements the steps of the low-altitude communication terminal coexistence interference avoidance method as described in any one of claims 1 to 7.

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