Method for path planning of an aerial terminal device and electronic device

Abstract

Embodiments of the present application disclose a path planning method of an aerial terminal device and an electronic device. The method comprises: obtaining a starting point and a destination of the aerial terminal device; obtaining a plurality of coordinate points in a three-dimensional space between the starting point and the destination according to the starting point and the destination; obtaining identification information of a network device corresponding to each coordinate point in the plurality of coordinate points; determining that a first network device corresponding to a first coordinate point is different from a second network device corresponding to a second coordinate point according to the identification information of the network device corresponding to each coordinate point in the plurality of coordinate points, and setting a distance between the first coordinate point and the second coordinate point as a second distance; and determining a shortest flight path of the aerial terminal device according to the plurality of coordinate points, the second distance and a path planning algorithm. Through the scheme, the distance cost of switching points between different network device coverage areas is increased, and the algorithm is guided to preferentially select a path with fewer switching times.

Description

Technical Field

[0001] This application relates to the field of low-altitude communication, and more specifically, to a path planning method and electronic equipment for an airborne terminal device. Background Technology

[0002] In low-altitude communication, to ensure that aerial terminal devices such as drones can transmit data via wireless signals during flight, network equipment such as base stations need to transmit signals into the air. Subsequently, when planning their routes, drones and other aerial terminal devices need to consider the communication quality of their signals at their aerial coordinates, such as the received signal strength indication (RSSI) and the signal-to-interference-plus-noise ratio (SINR).

[0003] During the path planning process for the airborne terminal equipment, a minimum communication quality threshold is set, and airborne coordinate points that meet the threshold are selected. Coordinate points that are too close to buildings are then filtered out to prevent collisions. The remaining coordinate points serve as candidate coordinate points for the airborne terminal equipment's path planning. Subsequently, among all candidate coordinate points that meet the wireless communication quality requirements, a shortest path is planned based on the specified takeoff and landing points and the principle of minimizing physical distance.

[0004] However, on the shortest path, the air terminal equipment may experience network equipment coverage area switching issues, which may lead to the air terminal equipment frequently switching the network equipment it communicates with, resulting in communication interruption and data transmission failure. Summary of the Invention

[0005] This application addresses some of the shortcomings mentioned in the background art by providing a path planning method and electronic device for airborne terminal equipment. This scheme considers network device handover factors in path planning. By increasing the distance cost between handover points in the coverage areas of different network devices and setting the distance between adjacent coordinate points to be greater than the actual physical distance, the algorithm is guided to prioritize paths with fewer handovers, thereby effectively reducing the handover frequency of airborne terminal equipment in low-altitude environments. This improves communication stability and continuity, and reduces the risk of communication interruptions and data transmission failures caused by frequent handovers.

[0006] In a first aspect, a path planning method for an airborne terminal device is provided. The method includes: obtaining the origin and destination of the airborne terminal device; obtaining multiple coordinate points in a three-dimensional space between the origin and destination based on the origin and destination, wherein the coordinate points are used to indicate candidate locations of the airborne terminal device, and each coordinate point includes adjacent first and second coordinate points, with a first distance between the first and second coordinate points; obtaining the identification information of a network device corresponding to each of the multiple coordinate points, wherein the airborne terminal device communicates with the corresponding network device at each coordinate point; determining, based on the identification information of the network device corresponding to each of the multiple coordinate points, that the first network device corresponding to the first coordinate point is different from the second network device corresponding to the second coordinate point, and setting the distance between the first and second coordinate points as a second distance, the second distance being greater than the first distance; and determining the shortest flight path of the airborne terminal device based on the multiple coordinate points, the second distance, and a path planning algorithm.

[0007] This scheme proactively increases the calculated distance between two points when adjacent coordinates are detected to belong to different network devices (such as different base stations), for example, by setting a second distance greater than the actual physical distance. This effectively introduces a handover penalty into the path planning algorithm, causing it to prioritize paths with fewer network device handovers when calculating the shortest path. This significantly reduces the handover frequency of in-flight terminal equipment, improving communication stability and continuity.

[0008] In conjunction with the first aspect, in a possible implementation of the first aspect, the path planning algorithm includes a path distance parameter, which is used to set a penalty distance between adjacent target points. Setting the distance between the first coordinate point and the second coordinate point as a second distance includes: setting the penalty distance value of the path distance parameter between the first coordinate point and the second coordinate point as the second distance.

[0009] This scheme clarifies the specific implementation mechanism for penalizing network device handovers. It involves modifying the parameters used in the path planning algorithm to calculate the distance between adjacent points—specifically, the path distance parameter. Therefore, when a base station handover occurs between two points, a larger penalty value, such as a second distance, is assigned to that path segment instead of the actual physical distance, such as a first distance. This ensures that the algorithm accurately reflects the additional overhead of the handover when calculating the total path cost, guiding path selection.

[0010] In conjunction with the first aspect, among the possible implementations of the first aspect, the path planning algorithm is as follows: algorithm.

[0011] This scheme leverages the efficiency and wide applicability of Algorithm A in the field of path search, effectively integrating the proposed switching penalty mechanism to optimize switching behavior while ensuring path planning efficiency.

[0012] In conjunction with the first aspect, in a possible implementation of the first aspect, obtaining multiple coordinate points in the three-dimensional space between the origin and the destination includes: obtaining multiple aerial coordinate positions in the three-dimensional space between the origin and the destination; and filtering out the multiple coordinate points from the multiple aerial coordinate positions based on the communication quality information of the multiple aerial coordinate positions.

[0013] This approach first obtains all possible aerial coordinates in the three-dimensional space between the origin and destination. Then, these points are filtered based on communication quality information to ensure that the candidate coordinates used for path planning can meet the basic communication requirements.

[0014] In conjunction with the first aspect, in a possible implementation of the first aspect, the communication quality parameter in the communication quality information of the multiple coordinate points is greater than or equal to a set threshold.

[0015] This scheme sets clear communication quality thresholds. Only air coordinates whose communication quality (such as signal strength RSSI and signal-to-noise ratio SINR) reaches or exceeds the threshold are included in the candidate path point set. This ensures that air terminal equipment can obtain a stable and reliable network connection at any selected path point, avoiding flight safety problems or mission failures caused by poor communication quality.

[0016] In conjunction with the first aspect, in a possible implementation of the first aspect, the communication quality information includes Received Signal Strength Indication (RSSI) and Signal-to-Interference-plus-Noise Ratio (SINR).

[0017] In a second aspect, an electronic device is provided. The electronic device includes one or more processors; one or more memories; the one or more memories storing one or more computer programs, the one or more computer programs including instructions that, when executed by the one or more processors, cause the method as described in the first aspect or any possible implementation of the first aspect to be performed.

[0018] Thirdly, a chip system is provided. The chip system includes: logic circuitry coupled to an input / output interface for transmitting data via the input / output interface to perform the method as described in the first aspect or any possible implementation thereof.

[0019] Fourthly, a computer-readable storage medium is provided. This computer-readable storage medium stores computer instructions that, when executed on a computer, cause the method as described in the first aspect or any possible implementation thereof to be performed.

[0020] Fifthly, a computer program product is provided. When the computer program product is run on a computer, it causes the computer to perform the method as described in the first aspect or any possible implementation thereof. Attached Figure Description

[0021] Figure 1 This illustration shows a schematic diagram of network device switching performed by an over-the-air terminal device according to an embodiment of this application; Figure 2 A schematic flowchart illustrating the path planning provided in an embodiment of this application is shown; Figure 3 This is a structural schematic diagram of a device provided in an embodiment of this application; Figure 4 This is a structural schematic diagram of a system on a chip (SoC) provided in an embodiment of this application. Detailed Implementation

[0022] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0023] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0024] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0025] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0026] First, the background technology involved in the embodiments of this application will be introduced.

[0027] As mentioned earlier, during path planning, among all candidate coordinate points that meet the wireless communication quality requirements, a shortest path is planned based on the specified takeoff and landing points and the principle of minimizing physical distance. For example, the path planning algorithm could be the A* algorithm. However, path planning algorithms only consider spatial physical distance when optimizing the route and do not consider handover factors in the network. Consequently, on the shortest path, the air-to-air terminal equipment may experience network coverage area switching issues, which could ultimately lead to the air-to-air terminal equipment frequently switching to the network equipment it communicates with, resulting in communication interruptions and data transmission failures.

[0028] Figure 1 This illustration shows a schematic diagram of an over-the-air terminal device performing network device switching according to an embodiment of this application. For example... Figure 1 As shown, assume that all coordinates on the straight path from the starting point to the ending point in the graph are within the path selection area of ​​the air terminal device and meet the wireless performance threshold. In other words, this path is planned as the shortest path by the path planning algorithm.

[0029] Subsequently, in the first segment of this path, the coordinate point is closer to network device 1 in physical distance, resulting in better wireless performance. Therefore, the air-to-ground terminal (ATN) will select network device 1 for communication in this segment. In the second segment, although the spatial coordinate point is still physically closer to network device 1, due to the influence of building A, the ATN disconnects from network device 1 and selects network device 2 with a line-of-sight (LOS) wireless link. Therefore, the ATN must perform a handover at this point to achieve better RSSI and SINR quality. In the third segment, the ATN regains the LOS wireless link with network device 1 and performs another handover to reselect network device 1. Similarly, for the remaining segments of the path, due to the influence of buildings B and C, there will be a total of four additional handovers. Frequent network device handovers will affect the communication quality of the ATN, leading to communication interruptions and data transmission failures.

[0030] To address the aforementioned problem of communication quality degradation caused by frequent switching of network devices, this application proposes a path planning method 200 for an over-the-air terminal device. Figure 2 A schematic flowchart of a path planning method 200 for an over-the-air terminal device provided in an embodiment of this application is shown. Figure 2 As shown, method 200 includes steps S210 to S250. In method 200, a network device handover penalty mechanism is introduced into the path planning. To increase the distance cost of handover points between different network device coverage areas, the distance between adjacent coordinate points is set to be greater than the actual physical distance. This guides the algorithm to select paths with fewer handovers, effectively reducing the handover frequency of airborne terminal equipment in low-altitude environments. Consequently, communication stability and continuity are improved, reducing the risk of communication interruptions and data transmission failures caused by frequent handovers.

[0031] Step S210: Obtain the origin and destination of the air terminal device.

[0032] Specifically, the origin can refer to the initial coordinates of the takeoff location of aerial terminal equipment such as drones, and the destination can refer to the coordinates of the target location that the aerial terminal equipment plans to reach. The origin and destination can be obtained through the Global Positioning System (GPS) or by inputting preset mission coordinates.

[0033] Step S220: Based on the starting point and the destination, obtain multiple coordinate points in the three-dimensional space between the starting point and the destination.

[0034] The coordinate point is used to indicate the candidate location of the air terminal device. The coordinate point includes an adjacent first coordinate point and a second coordinate point. The physical distance between the first coordinate point and the second coordinate point is the first distance.

[0035] Specifically, coordinate points in three-dimensional space can be generated through spatial mesh modeling, and the physical distance between adjacent coordinate points, such as the first distance, can be a mesh unit distance, for example, 1 meter. In the embodiments of this application, coordinate points in three-dimensional space can refer to a set of points with spatial location attributes within a low-altitude flight area, and these points constitute the search space for path planning.

[0036] Optionally, to address the problem of flight interruptions caused by traditional path planning not fully considering communication quality, a communication quality threshold determination can be introduced when selecting coordinate points in the embodiments of this application. Specifically, obtaining multiple coordinate points in the three-dimensional space between the origin and the destination includes: obtaining multiple aerial coordinate positions in the three-dimensional space between the origin and the destination; and selecting the multiple coordinate points from the multiple aerial coordinate positions based on the communication quality information of the multiple aerial coordinate positions. In the embodiments of this application, the communication quality information includes key indicators such as RSSI (Signal Strength Index) and SINR (Signal-to-Noise Ratio).

[0037] Optionally, to ensure communication reliability, a hard threshold for communication quality can be set in the embodiments of this application. Specifically, the communication quality parameters in the communication quality information of the multiple coordinate points are greater than or equal to a set threshold. For example, the RSSI threshold is set to -90dBm, and the SINR threshold is set to 10dB. Furthermore, based on Figure 1 All candidate points between the origin and destination are excluded, and points with RSSI < -90dBm or SINR < 10dB are also excluded, as are points that are not far enough from the building safety distance.

[0038] Step S230: Obtain the identification information of the network device corresponding to each of the multiple coordinate points.

[0039] The airborne terminal device communicates with the corresponding network device at each coordinate point. For example, in an embodiment of this application, the network device overlays a map to match the coordinate point location and obtains the ID of the serving base station.

[0040] Step S240: Based on the identification information of the network device corresponding to each of the multiple coordinate points, determine that the first network device corresponding to the first coordinate point is different from the second network device corresponding to the second coordinate point, and set the distance between the first coordinate point and the second coordinate point as the second distance, which is greater than the first distance.

[0041] For example, when different serving base station IDs are detected between adjacent coordinate points, the distance between the adjacent coordinate points is adjusted from the actual physical distance (e.g., 1 meter) to a penalty distance (e.g., 3 meters). It should be understood that in the embodiments of this application, the second distance serves as a handover penalty factor, and its value can be set to a distance greater than the physical distance according to the actual scenario.

[0042] Optionally, to implement a penalty mechanism in the path planning algorithm, in the embodiments of this application, the penalty distance can be embedded in the algorithm parameter system. Specifically, the path planning algorithm includes a path distance parameter, which is used to set the penalty distance between adjacent target points. Therefore, setting the distance between the first coordinate point and the second coordinate point as the second distance includes: setting the penalty distance value of the path distance parameter between the first coordinate point and the second coordinate point as the second distance. For example, in... In the algorithm, the gCost calculation function is modified as follows: if the base station IDs of adjacent coordinate points are the same, the gCost increment = 1; if they are different, the gCost increment = 1 + the value of the path distance parameter.

[0043] Step S250: Determine the shortest flight path for the airborne terminal device based on the multiple coordinate points, the second distance, and the path planning algorithm.

[0044] Specifically, an improved path planning algorithm is used to calculate the total cost of each path, and the path with the lowest cost and smoothest communication is selected as the optimal path.

[0045] Method 200 introduces a network device switching penalty mechanism. When adjacent coordinate points are detected communicating with different networks, the calculated distance between the two coordinate points is increased from the actual physical distance to a penalty distance. This enables the path planning algorithm to automatically avoid frequently switching paths, reducing the number of network device switching operations.

[0046] The following describes an embodiment corresponding to method 200. This embodiment specifically addresses... The algorithm has been improved to take network device switching as a factor in the optimal path selection.

[0047] Specifically, with Figure 1Taking the scenario shown as an example, assume that in a three-dimensional coordinate system in the air, the physical distance unit between adjacent coordinate points is set to 1. This unit 1 may represent 2 meters or 5 meters, depending on the granularity of path planning. Furthermore, to address the aforementioned technical problem, this application pre-defines an algorithm parameter called "Handover_Cost" during the path planning process, setting it to a value greater than 1, for example, 3. In other words, when an aerial terminal device such as a drone moves between two adjacent coordinate points, if a network device switch occurs, a penalty value of 2 is added to the physical standard distance of 1 between the two adjacent coordinate points. If the wireless performance indicators of two adjacent coordinate points meet the switching conditions and they communicate with two different network devices, then the distance between these two adjacent points is set to 3 (Handover_Cost), exceeding their physical distance of 1.

[0048] Ultimately, in this way, The algorithm considers switching factors when calculating the optimal path, and the final result represents a trade-off between the shortest physical distance path and the path with the fewest switching times. The detailed process is described below. A schematic diagram of the algorithm flow provided in this application is shown below.

[0049]

[0050] First, corresponding to steps S210 to S230, wireless data is labeled for each coordinate point in the 3D space, including the base station ID, RSSI (Radio Signal Strength Index), and SINR (Signal-to-Noise Ratio). During the path planning algorithm, this labeled data is extracted from the coordinate point for evaluation and calculation. Furthermore, coordinate points with low wireless performance indicators and those near buildings are excluded from path planning.

[0051] Specifically, the radio metrics dataset in the above algorithm contains radio signal information for three-dimensional spatial coordinates, such as RSSI, SINR, and the BaseStationID primarily served by that location. As shown in lines 1-2 of the algorithm, the algorithm input includes 3D building maps, the UAV starting point, and the UAV ending point. The algorithm outputs the optimal path, which is the best flight path considering both physical distance and base station handover costs. The 3D building maps are used to determine whether the coordinates maintain a safe distance from buildings to prevent collisions. The UAV starting point is the initial position for path planning, and the UAV ending point is the final position for path planning.

[0052] Next, the physical distance unit between adjacent coordinate points is set to 1 (where unit 1 may represent 2 meters or 5 meters, depending on the granularity of path planning). As shown in line 3 of the algorithm, Handover_Cost = 3 is set, which defines the cost of a base station handover. This value of 3 is much greater than the physical distance cost of 1 between adjacent coordinate points.

[0053] Then, define a Node structure, which includes coordinates, the actual cumulative cost from the starting point to the current node (gCost), the total estimated cost (fCost, which is gCost + hCost), the heuristic estimated cost from the current node to the end point (hCost), and a pointer to the parent node (parent).

[0054] Then, corresponding to step S210, as shown in lines 4-7 of the algorithm above, based on the created Node structure, nodes representing the start point (StartPoint) and end point (EndPoint) are created, and their coordinates are initialized. The initial values ​​of gCost, hCost, and fCost for the start and end points are usually 0 or set according to the specific implementation. Next, two lists are created: an open list and a closed list. Then, the start point node is added to the open list.

[0055] After that, with The algorithm's flow is similar, using a main loop to find the optimal path. The loop condition is that the loop continues as long as OpenList is not empty.

[0056] In the algorithm described above, line 9 selects the node with the smallest fCost value from OpenList as current_node, which is the node most likely to be on the optimal path. Line 10 shows that if the coordinates of current_node equal the coordinates of the destination, the optimal path has been found, and the algorithm ends; the complete path can be obtained by backtracking the parent pointer. Line 11 shows that current_node is removed from OpenList and added to CloseList, indicating that the node has been evaluated. Line 12 shows that neighboring nodes are traversed, checking all adjacent coordinates (neighbors) around current_node. Lines 13-15 then check if a neighbor has been evaluated. If a neighboring node is already in CloseList (already evaluated), it is skipped, and the algorithm continues to check the next one.

[0057] As shown in lines 16-23 of the algorithm above, neighbor wireless information is obtained by extracting the RSSI_n, SINR_n, and BaseStationID_n (i.e., the base station ID corresponding to the neighbor point) of the neighbor's coordinates from the wireless index dataset. Furthermore, the current node's base station information is obtained by extracting the BaseStationID_c (i.e., the base station ID corresponding to the current point) of the current node's coordinates from the wireless index dataset. Next, a wireless quality check is performed. If the neighbor point's RSSI_n and SINR_n do not meet the minimum threshold required for UAV communication (i.e., poor signal quality), the neighbor point is skipped (not feasible). Additionally, a safe distance check is required; if a neighbor point is too close to any building, i.e., not maintaining a safe distance and posing a collision risk, the neighbor point is skipped (not feasible).

[0058] Then, corresponding to step S240, if the base station ID (BaseStationID_n) of the neighboring node is different from the base station ID (BaseStationID_c) of the current node, it means that a base station handover will occur when the drone flies from current_node to neighbor_position. In this case, the cumulative cost of the neighboring node is neighbor_gCost = current_node.gCost + Handover_Cost (i.e., 3). If the base station ID (BaseStationID_n) of the neighboring node is the same as the base station ID (BaseStationID_c) of the current node, it means that no handover will occur when the drone flies this distance. In this case, the cumulative cost of the neighboring node is neighbor_gCost = current_node.gCost + 1 (representing the physical distance cost between adjacent points).

[0059] Then, corresponding to step S250, the distance from the neighbor node coordinates to the destination coordinates is calculated. As shown in line 30 of the algorithm, the neighbor's fCost is calculated as: neighbor_fCost = neighbor_hCost + neighbor_gCost.

[0060] In summary, this application's embodiments add a parameter to the traditional path planning algorithm that considers network device switching during flight of aerial terminal devices such as drones. If a network device switch occurs while moving between adjacent coordinate points, a certain distance is added as a penalty distance. The final optimal path planning result output by this improved path planning algorithm represents a trade-off between the shortest physical distance path and the path with the fewest switching times.

[0061] Compared to the prior art, which only considers physical distance and ignores the communication quality degradation caused by network device handover, the embodiments of this application can simultaneously consider both the distance and the impact of base station handover, planning a path that is both short in distance and requires fewer handovers.

[0062] This application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the technical solutions described in the above embodiments. Its implementation principle and technical effects are similar to those of the related embodiments described above, and will not be repeated here.

[0063] This application provides a readable storage medium containing instructions that, when executed by an electronic device, cause the electronic device to perform the technical solution described in the above embodiments. The implementation principle and technical effects are similar and will not be repeated here.

[0064] This application provides a chip for executing instructions. When the chip is running, it executes the technical solutions described in the above embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0065] The hardware module of this application is described below, which can be used to implement the aforementioned method 200.

[0066] Now for reference Figure 3 The diagram shows a block diagram of a device 300 according to one embodiment of this application. Device 300 may include one or more processors 301 coupled to a controller hub 303. In at least one embodiment, the controller hub 303 communicates with the processor 301 via a multi-branch bus such as a front side bus (FSB), a point-to-point interface such as a quickpath interconnect (QPI), or a similar connection 310. The processor 301 executes instructions controlling general-type data processing operations. In one embodiment, the controller hub 303 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0067] Device 300 may also include a coprocessor 302 and a memory 304 coupled to a controller hub 303. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, with memory 304 and coprocessor 302 directly coupled to processor 301 and controller hub 303, which resides on a single chip with the IOH. Memory 304 may be, for example, dynamic random access memory (DRAM), phase change memory (PCM), or a combination of both. In one embodiment, coprocessor 302 is a dedicated processor, such as, for example, a high-throughput MIC processor (many integrated core, MIC), a network or communication processor, a compression engine, a graphics processor, a general-purpose computing on GPU (GPGPU), or an embedded processor, etc. Optional properties of coprocessor 302 are indicated by dashed lines. Figure 3 middle.

[0068] As a computer-readable storage medium, memory 304 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. For example, memory 304 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device such as one or more hard-disk drives (HDD(s)), one or more compact disc (CD) drives, and / or one or more digital versatile disc (DVD) drives.

[0069] In one embodiment, device 300 may further include a network interface controller (NIC) 306. NIC 306 may include a transceiver for providing a radio interface to device 300, thereby enabling communication with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, NIC 306 may be integrated with other components of device 300. NIC 306 can implement the functionality of the communication unit in the above embodiments.

[0070] Device 300 may further include input / output (I / O) device 305. I / O 305 may include: a user interface designed to enable a user to interact with device 300; a peripheral component interface designed to enable peripheral components to also interact with device 300; and / or sensors designed to determine environmental conditions and / or location information related to device 300.

[0071] It is worth noting that, Figure 3 This is merely an example. That is, although... Figure 3 The diagram shows that device 300 includes multiple devices such as processor 301, controller hub 303, and memory 304. However, in actual applications, devices using the methods of this application may include only a portion of the devices in device 300. For example, it may include only processor 301 and NIC 306. Figure 3 The properties of the optional devices are shown in dashed lines. According to some embodiments of this application, the memory 304, which is a computer-readable storage medium, stores instructions that, when executed on a computer, cause the device 300 to perform the methods according to the above embodiments. Specific details can be found in the methods of the above embodiments, and will not be repeated here.

[0072] Now for reference Figure 4 The diagram shown is a block diagram of a system-on-chip (SoC) 400 according to an embodiment of this application. Figure 4 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 4 In this SoC 400, the following are included: an interconnect unit 450 coupled to an application processor 410; a system proxy unit 480; a bus controller unit 490; an integrated memory controller unit 440; a group or one or more coprocessors 420, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 430; and a direct memory access (DMA) unit 460. In one embodiment, the coprocessor 420 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0073] The static random-access memory (SRAM) unit 430 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 400 to perform the attention training method according to the above embodiments, as detailed in the methods described above, which will not be repeated here.

[0074] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0075] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0076] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0077] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, including but not limited to floppy disks, optical disks, CD-ROMs, compact disc read-only memory (CD-ROMs), magneto-optical disks, read-only memory (ROM), random-access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, machine-readable media includes any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0078] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the accompanying drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0079] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0080] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0081] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A path planning method for an airborne terminal device, characterized in that, include: Obtain the origin and destination of the air terminal device; Based on the origin and the destination, multiple coordinate points in a three-dimensional space between the origin and the destination are obtained, wherein the coordinate points are used to indicate the candidate location of the air terminal device, and the coordinate points include adjacent first coordinate points and second coordinate points, and the physical distance between the first coordinate point and the second coordinate point is a first distance; Obtain the identification information of the network device corresponding to each of the plurality of coordinate points, wherein the air terminal device communicates with the corresponding network device at the location of each coordinate point; Based on the identification information of the network device corresponding to each of the plurality of coordinate points, it is determined that the first network device corresponding to the first coordinate point is different from the second network device corresponding to the second coordinate point, and the distance between the first coordinate point and the second coordinate point is set as the second distance, which is greater than the first distance; Based on the multiple coordinate points, the second distance, and the path planning algorithm, the shortest flight path of the air terminal device is determined.

2. The method according to claim 1, characterized in that, The path planning algorithm includes a path distance parameter, which is used to set the penalty distance between adjacent destination points. Setting the distance between the first coordinate point and the second coordinate point as the second distance includes: Set the penalty distance value of the path distance parameter between the first coordinate point and the second coordinate point to the second distance.

3. The method according to claim 1 or 2, characterized in that, The path planning algorithm is as follows: algorithm.

4. The method according to claim 1 or 2, characterized in that, Obtaining multiple coordinate points in three-dimensional space between the starting point and the destination includes: Obtain multiple aerial coordinate positions in three-dimensional space between the starting point and the destination; Based on the communication quality information of the multiple aerial coordinate locations, the multiple coordinate points are selected from the multiple aerial coordinate locations.

5. The method according to claim 4, characterized in that, The communication quality parameters in the communication quality information of the multiple coordinate points are greater than or equal to a set threshold.

6. The method according to claim 5, characterized in that, The communication quality information includes Received Signal Strength Indication (RSSI) and Signal-to-Interference-plus-Noise Ratio (SINR).

7. An electronic device, characterized in that, It includes one or more processors; one or more memories; said one or more memories storing one or more computer programs, said one or more computer programs including instructions that, when executed by said one or more processors, cause the method as described in any one of claims 1 to 6 to be performed.

8. A chip system, characterized in that, include: A logic circuit for coupling with an input / output interface, through which data is transmitted to perform the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a computer, cause the method as described in any one of claims 1 to 6 to be performed.

10. A computer program product, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the method as described in any one of claims 1 to 6.

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