Unmanned Aerial Systems Communications

Abstract

To provide unmanned aerial vehicle (UAV) connection monitoring and location report.SOLUTION: A systems and a method may provide unmanned aerial vehicle (UAV) connection monitoring and location report. The method is executed by at least one processor and comprises the steps of: receiving a location report indicating a location of the UAV from a location management (LM) server by an unmanned aerial system application enabler (UAE) server; receiving a connection loss report indicating a loss of connection with the UAV by the UAE server; receiving a connection resumption report indicating that the connection with the UAV has been re-established from a network resource management (NRM) server by the UAV server; and transmitting a location update request t from the UAE server to the LM server based on receiving the connection resumption report.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Patent Application No. 63 / 136,330, filed January 12, 2021, and U.S. Patent Application No. 17 / 477,979, filed September 17, 2021, the disclosures of which are incorporated herein by reference in their entireties.

[0002] Embodiments of the present disclosure relate to the operation of unmanned aerial systems, and more particularly to real-time UAV network connectivity monitoring and position reporting. [Background technology]

[0003] As a result of recent technological developments, unmanned aerial vehicles (UAVs) have become significantly easier to fly, and as a result, they are popular not only with professional UAV pilots and certain wealthy enthusiasts, but also with the general public. As a result, millions of UAVs are now sold annually, compared to the few thousand (if that many) model helicopters sold about 15 years ago. At the same time, the knowledge, proficiency, and involvement of the user community has, on average, declined. Summary of the Invention [Means for solving the problem]

[0004] According to an embodiment, a method for unmanned aerial vehicle (UAV) connectivity monitoring and position reporting is executed by at least one processor and includes the steps of: receiving, by an unmanned aerial system application enabler (UAE) server, a position report indicating the position of the UAV from a location management (LM) server; receiving, by the UAE server, a connection loss report indicating a loss of connectivity with the UAV; receiving, by the UAE server, a connection resumption report from a network resource management (NRM) server indicating that connectivity with the UAV has been re-established; and sending a position update request from the UAE server to the LM server based on receiving the connection resumption report.

[0005] According to an embodiment, a device for implementing an Unmanned Aerial System Application Enabler (UAE) server includes at least one processor and a memory including computer code, the computer code including: a first receiving code configured to cause the at least one processor to receive a position report indicating a position of an Unmanned Aerial Vehicle (UAV) from a Location Management (LM) server; a second receiving code configured to cause the at least one processor to receive a connection loss report indicating a loss of connection with the UAV; a third receiving code configured to cause the at least one processor to receive a connection resumption report from a Network Resource Management (NRM) server indicating that connection with the UAV has been re-established; and a transmitting code configured to cause the at least one processor to send a position update request to the LM server based on receiving the connection resumption report.

[0006] According to an embodiment, a non-transitory computer-readable medium stores computer code configured, when executed by at least one processor included in a device for unmanned aerial vehicle (UAV) connectivity monitoring and position reporting, to cause the at least one processor to: receive, by an unmanned aerial system application enabler (UAE) server, a position report indicating the position of the UAV from a location management (LM) server; receive, by the UAE server, a connection loss report indicating a loss of connectivity with the UAV; receive, by the UAE server, a connection resumption report from a network resource management (NRM) server indicating that connectivity with the UAV has been re-established; and, based on receiving the connection resumption report, send a position update request from the UAE server to the LM server.

[0007] Further features, nature and various advantages of the disclosed subject matter will become more apparent from the following detailed description and accompanying drawings. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram of an unmanned aerial system (UAS). [Figure 2] 1 is a schematic diagram of a UAS including UAS communication with at least one server. [Figure 3] 1 is a schematic diagram of a system including a UAS, according to one embodiment. [Figure 4] 1 is a schematic diagram of a system including a UAS, according to one embodiment. [Figure 5] FIG. 1 is a schematic diagram of an exemplary SEAL generic architecture for a UAS. [Figure 6] FIG. 1 is a schematic diagram of a high-level workflow for unmanned aerial vehicle (UAV) connectivity monitoring and position reporting, according to one embodiment. [Figure 7] FIG. 1 is a schematic diagram of a high-level workflow for unmanned aerial vehicle (UAV) connectivity monitoring and position reporting, according to one embodiment. [Figure 8] 1 is a schematic diagram of the computer code of a UAE server, according to one embodiment. [Figure 9] FIG. 1 is a schematic diagram of a computer system, according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Referring to FIG. 1 , an unmanned aerial system (UAS) 100 may include an unmanned aerial vehicle (UAV) 101 and a controller 102. The controller 102 may communicate control commands from the controller 102 to the UAV 101 using a data link 103. The controller 102 may include at least one communication circuit configured to provide communications via very high frequency (VHF), ultra high frequency (UHF), or other wireless technologies, such as analog or digital radio carriers, that constitute the data link 103. The controller 102 may control the power level of the engine 114 of the UAV 101 or control aspects of the UAV 101 via the data link 103. More abstract commands, such as pitch, yaw, and roll, similar to those of a helicopter or airplane, may also be used. Experienced pilots can operate some UAVs with their basic controls without relying on any sophisticated onboard processing of control signals within the UAV. UAVs were available in many forms, including helicopters and aircraft.

[0010] Recent advances in onboard electronics design have made it possible to offload certain tasks from a human operator to the UAV itself. Today, many UAVs include sensors 104 that indicate characteristics of the UAV 101, such as the attitude and acceleration of the UAV 101, to the UAV's onboard controller 105. The onboard controller 105 may be a computer system with a reduced or virtually non-existent user interface. The information obtained by the sensors 104, in addition to control inputs received from the controller 102 via the data link 103, allows the UAV 101 to remain stable unless explicit control inputs are received from the controller 102.

[0011] More recently, UAVs may include a receiver (106) configured to receive communications from one of several global navigation satellite systems (GNSS), such as the U.S.-operated Global Positioning System (GPS). Figure 1 shows a single satellite (108) providing a signal (107) for such communications to represent a GNSS. However, the receiver (106) of the UAV (101) may receive communications from a GNSS that includes three or more, typically four or more, line-of-sight satellites to triangulate the UAV's (101) position in space. The receiver (106), which may be a GNSS receiver, can determine the UAV's (101) spatial and temporal location with considerable accuracy. In some UAVs, the GNSS may be augmented by adding a sensor (such as an ultrasonic or LIDAR sensor) on the UAV's (101) vertical (Z) axis to enable soft landings (not depicted). According to some embodiments, the UAV (101) may be configured to perform functions such as "fly home" and "auto-land" based on GNSS capabilities, in which the UAV (101) flies to a location defined as its home location. Such functions may be performed by the UAV (101) based on a simple command (e.g., a single button push) from the controller (102), or upon loss of the data link (103) from the controller (102), or upon other timeout of a critical control input.

[0012] In another recent development, the UAV (101) may also include one or more cameras (109). In some cases, the UAV (101) may include a gimbal-mounted camera as one of the cameras (109), which can be used to record photos and videos of sufficient quality for UAV users, often at today's high-definition television resolution. In some cases, the UAV (101) may also include other cameras (110), often covering some or all axes of motion, and the UAV (101) may be configured to perform onboard signal processing based on signals from the cameras (110) for collision avoidance with both fixed and moving objects.

[0013] In some cases, the UAV (101) may include a "main" camera as one of the cameras (109), the camera signal of which may be transmitted in real time by a communications interface (e.g., communications circuitry) of the UAV (101) via a data link (111) to a human user and displayed on a display device (112) included in, attached to, or separate from the controller (102). The data link (111) may be the same as or different from the data link (103). Thus, a technique known as "first-person view" (FPV) may be used to successfully fly a UAV outside the line of sight of a human pilot.

[0014] Referring to Figure 2, the UAS (200) may include a UAV (201) and a controller (202). The UAV (201) and the controller (202) may be the same as or similar to the UAV (101) and the controller (102), respectively, shown in Figure 1. The UAS may exchange data traffic with a UAS Service Supplier (USS) (204) or a UAS Traffic Management (UTM). According to one embodiment, the UAS (200), potentially operated by a human pilot (203), may be configured to notify one or more USSs (204) in real time regarding the location of the UAV (201). Reporting may occur using the Internet (205). For all but the most exotic use cases involving tethered UAVs, this can mean that one or both of the UAV (201) and controller (202) of the UAS (200) may be configured to have a connection (206) to the Internet (205) via a wireless network such as network (207) (e.g., a 5G network), and that the USS (204) may also have a connection (208) to the Internet (205). While such a scenario may be envisioned herein, embodiments of the present disclosure are not limited thereto. Networks other than the Internet (205) may also be used. For example, conceivably, a closed wireless network that is not the Internet could be used to communicate between the UAS (200) and the USS (204). Closed wireless networks may be used for certain military UAVs. References below to the "Internet" will include such networks.

[0015] Many physical wireless network technologies may be deployed in applications where the connection 206 (e.g., wireless connection) and network 207 (e.g., wireless network) enable systems, such as the controller 202 of the UAS 200 or the UAV 201, to connect to the Internet 205. In outdoor applications, mobile networks, such as fifth-generation or "5G" networks, may be used. While the use of such 5G networks is assumed hereinafter, embodiments of the present disclosure are not limited thereto. Other physical network technologies may equally be utilized, including, for example, 3G, 3.5G, 4G, LTE mobile networks, infrastructure or ad-hoc mode wireless LANs, ZigBee, etc. In embodiments of the present disclosure, the mobile network carrying the Internet may provide bidirectional communication, such as between the UAS 200 and the USS 204. However, the quality of service in each direction may vary. According to embodiments of the present disclosure, the UAV (201), controller (202), and / or USS (204) may include a communications interface (e.g., including a transmitter and / or a receiver) and at least one processor having memory implementing one or more of the physical wireless network technologies to be configured to communicate over one or more of the network types of the present disclosure.

[0016] 2, the connection 206 between the Internet 205 and the UAV 201 and / or controller 202 via a network 207 (e.g., a 5G network) may be bidirectional. When using Internet protocols such as Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), or Quick UDP Internet Connection (QUIC) for communication between the UAS 200 and the USS 204, the nature of such protocols may require a bidirectional link for those protocols to function.

[0017] 3-4, in one embodiment of the present disclosure, a system may be provided. The system may include a UAV (301) and a controller (302) that together constitute a UAS (300). The UAV (301) and the controller (302) may include any number of hardware components (e.g., a camera and a communication interface) and software components described with respect to the UAS (100) and the UAS (200) shown in FIGS. 1-2, and may be configured to perform the functions described with respect to the UAS (100) and the UAS (200). According to an embodiment, referring to FIG. 3, the UAV (301) may include a computer system (320) including at least one processor and a memory that stores computer code that, when executed by the at least one processor of the UAV (301), causes the UAV (301) to perform its functions. The computer system (320) may be implemented by any number of the components of the computer system (900) described below with reference to FIG. 9 and may exclude most of the user interface components shown in FIG. 9. The computer system (320) may be an embedded system or, advantageously (for space and weight reasons), may be part of or integrated into the UAV's (301) on-board flight control circuitry. The computer system (320) may have a mechanism for obtaining its position in three-dimensional space. For example, the computer system (320) may include a GPS antenna (323), which may be an example of such a mechanism, along with a GPS receiver. The computer system (320) may also include other mechanisms, such as a combination of a GPS and a (potentially more accurate) barometric altitude sensor, a triangulation mechanism for determining lateral position from ground-based navigation tools (such as an omnidirectional navigation system (VOR), cell phone towers, etc.), etc. The UAV (301) may also include a memory storage (324) accessible by the user (309) of the UAV (301). For example, as shown in FIG. 3, the memory storage (324) may be a microSD card.However, the memory storage (324) may also be another alterable semiconductor storage, such as an on-board NV-RAM within the UAV (301) that is accessible via a network plug from a computer or wireless LAN.

[0018] The controller (302) may also include a computer system including at least one processor and a memory storing computer code, which, when executed by the at least one processor of the controller (302), is configured to cause the controller (302) to perform its functions. The computer system of the controller (302) may be realized by any number of components of the computer system (900) described later below with reference to FIG. 9. Referring to FIG. 4, the controller (302) may include a memory storage (334) accessible by a user (309) of the controller (302). The memory storage (334) may have the same or similar configuration as the memory storage (324). According to an embodiment, one or both of the memory storage (324) and the memory storage (334) may be included in the UAS (300). The memory storage (324) and / or the memory storage (334) may have a size sufficient to store at least information regarding the airspace in which the UAV may operate.

[0019] The details of the protocol used to communicate between the UAS (300) (e.g., UAV (301) or controller (302)) and one or more servers (304) (e.g., USS) may depend on the services provided by the one or more servers (304).

[0020] More recently, aviation authorities, including the FAA, have implemented modern query interfaces that allow for automatic download of information about specific locations at a much finer granularity than states. These interfaces can be based on RESTful behavior. Representational State Transfer (REST) ​​is a technique that allows a client to query a server, identified by a Uniform Resource Indicator (URI), via standard HTTP methods (e.g., including GET, POST, PUT, PATCH, or DELETE), in a defined format. One such defined standard format is known as Java Object Notation (JSON).

[0021] 3 , the computer system (320) of the UAV (301) may include a communications interface including one or more communicators, such as a communicator (325) that may include, for example, a 5G antenna. The communicator (325) may be configured to send and receive data (e.g., information about the airspace) to and from the Internet (305) using the network (307). The communicator (325), or another communicator in the communications interface of the UAV (301), may be configured to send data (e.g., sensor data, video data, information about the airspace) to and receive data (e.g., command data) from the controller (302) via the wireless connection (310). The controller (302) may also have a communications interface with a communicator configured to send data (e.g., commands) to and receive data (e.g., sensor data, video data, information about the airspace) from the UAV (301) via the wireless connection (310). 4, the communicator (315) of the controller (302), or another communicator in the communication interface of the controller (302), may be configured to send and receive data (e.g., information about airspace) to and from the Internet (305) using the network (307). Each communicator of the present disclosure may include, for example, a transmitter and a receiver.

[0022] In the 3rd Generation Partnership Project (3GPP) 5G wireless architecture, there may be a vertical service enabler architecture layer (SEAL) that provides procedures, information flows, and APIs to support vertical applications over the 3GPP system. To ensure efficient use and deployment of vertical applications over the 3GPP system, SEAL services may include, but are not limited to, group management, configuration management, location management, identity management, key management, and network resource management.

[0023] With reference to FIG. 5, an exemplary SEAL generic architecture for a UAS is described below.

[0024] The SEAL generic architecture may include, for example, a user equipment (UE) (511) (e.g., a UAS), a 3GPP network (509), a UAS application enabler (UAE) server (402), and a SEAL server (507). The UE (511) may include, for example, a UAE client (501) and a SEAL client (504). In an embodiment, the UAE client (501) and the SEAL client (506) may be external to the UE (511) and may not be included in the UE (511).

[0025] The UAS Application Enabler (UAE) layer provides UAE capabilities to the UAS application-specific layer. The UAE layer may include a UAE client (501) and a UAE server (503). The UAE client and UAE server communicate with each other over a 3GPP network using a reference point (502). The UAE client (501) can provide UAE client-side functionality and can support interaction with a SEAL client (504) over a reference point (510). The UAE server (503) can provide UAE server-side functionality and can support interaction with a SEAL server (507) over a reference point (508).

[0026] The SEAL client (504) can provide client-side functionality corresponding to a particular SEAL service, and the SEAL client (504) can support interactions with the UAE client (501), and can also support interactions between two UEs (511) with their corresponding SEAL client (504). The SEAL server (507) can provide server-side functionality corresponding to a particular SEAL service, and can support interactions with the UAE server (503), and can also support interactions with corresponding SEAL servers (507) in a distributed SEAL deployment.

[0027] The SEAL client (504) can communicate with the SEAL server (507) through the 3GPP network via the reference point (505). The reference point (505) can support both unicast and multicast delivery modes. The SEAL client (501) can provide service enabler layer support functionality to the UAE client (501) via the reference point (510). The UAE server (503) can communicate with the SEAL server (507) through the reference point (508). The SEAL server (507) can communicate with the underlying 3GPP core network system using the respective 3GPP interfaces (506) specified by the 3GPP network system.

[0028] Interactions related to vertical application layer support functions between a UAE client (501) and a vertical application layer (VAL) server may be provided via a reference point (502). The VAL server may be part of or comprised by a UAE server (503). Interactions between a SEAL client (504) and a corresponding SEAL server (507) may be provided via a reference point (505). The reference point (505) may be the reference point for a particular SEAL service (e.g., network resource management) and may be specified within a particular SEAL service functional model.

[0029] A Network Resource Management (NRM) server may be provided that communicates with a 3GPP Policy and Charging Rules Function (PCRF) via a reference point (506). The NRM server (NRM-S) may communicate with a 3GPP 5G Policy Control Function (PCF) via the reference point (506) to control unicast resources from the underlying 3GPP network (509). The NRM server may be part of, comprised by, implemented by, or included in a SEAL server (507), and the PCRF and PCF may be included in the 3GPP network (509). In an embodiment, a Location Management Server (LMS) may be part of, comprised by, implemented by, or included in the SEAL server (507).

[0030] The SEAL client 504 may include multiple functions, such as network resource management (NRM). The NRM client (NRM-C) may be deployed at the UE 511 to communicate with an NRM server for network resource or status detection and reporting, and may be part of, comprised by, implemented by, or included in the SEAL client 504. The location management client (LMC) may be deployed at the UE 511 to communicate with an LMS for UE location reporting and monitoring, and may be part of, comprised by, implemented by, or included in the SEAL client 504.

[0031] Communication between SEAL client 504 and SEAL server 507, for example, between NRM-C and NRM-S, or between LMC and LMS, may also occur between UAE server 503 and SEAL server 507. For example, if UAE server 503 wants to know the current network connection status, UAE server 503 can send a query to the NRM server included in SEAL server 507, and the NRM server can then communicate with the NRM client included in SEAL client 504 for reporting.

[0032] In an embodiment, a network-connected UAV, such as UAV101, UAV201, or UAV301 described above, may lose network communication at any stage of UAV operation. When communication is lost, neither the USS / UTM nor the 3GPP network can determine the location of the UAV. Therefore, it is important to be able to know network conditions in near real time to avoid service delays.

[0033] Thus, embodiments may relate to a real-time UAV connection monitoring and location reporting mechanism, which not only enables the UAE server to actively monitor UAV network connections, but can also provide other benefits such as accurate location reporting and network convergence monitoring.

[0034] As mentioned above, a UAV may lose communication with its connected network, such as 3GPP 5G, at any stage of UAV operation. When communication is lost, neither the USS / UTM nor the 3GPP network can determine the UAV's location. Therefore, it is important to be able to know the network status in near real time to avoid service delays.

[0035] Embodiments can use existing SEAL capabilities to provide a real-time UAV connectivity monitoring and position reporting workflow 600, which can provide the following additional capabilities: - Real-time monitoring of 3GPP network connectivity with UAVs - Reporting when communication with the UAV is lost -Providing last known location after loss of communication -Reporting 3GPP network coverage along the UAV's flight path

[0036] 6 , workflow 600 may include UAV 601, LMC 602, NRM-C / S 603, UAE server 604, and LMS 605. In an embodiment, UAV 601 may correspond to one or more of UAV 101, UAV 201, or UAV 301 described above. In an embodiment, UAE server 604 may correspond to UAE 503 described above. In an embodiment, NRM-C / S 603 may include one or more of NRM-C and NRM-S described above. In an embodiment, LMC 602 may correspond to LMC described above, and LMS 605 may correspond to LMS described above. In an embodiment, one or more of the NRM-C, NRM-S, NRM-C / S 603, LMC 602, and LMS 605 may be part of, be provided by, be implemented by, or be included in one or more of the SEAL client 504 and SEAL server (507).

[0037] In an embodiment, UAV 601 can establish a connection with a 3GPP network, and SEAL network resource management and location services are deployed for the connected UAV.

[0038] The UAE server 604 can achieve proactive network connection monitoring (step 611) by periodically pulling (step 612) 3GPP network signal reception quality reports from the NRM-C / S 603. In a simple request process, the NRM-S can send a network request to the NRM-C, and the report returned by the NRM-C may include a network status of either "unicast" or "multicast," which can be used to indicate the network signal quality.

[0039] The frequency of active pulling may be implementation independent, for example, higher frequency means higher power consumption, but may provide near real-time monitoring.

[0040] When the connection status is UP, the UAE server (604) can trigger a location update request to the LMS (605) (step 613). The LMS (605) can check whether the location management client (602) or the UAE server (604) is authorized to send a location report trigger. Depending on the information specified by the location report trigger, the LMS (605) initiates an on-demand location reporting procedure or an event-triggered location reporting procedure for the location of the LMC (602). In an embodiment, the LMS (605) sends a location request to the LMC (602) (step 614), and the LMC (602) sends a location response to the LMS (605) (step 615).

[0041] The UAE server (604) can send a location query for each service request. The UAE server (604) sends a location request to the LMS (605) (step 616). The LMS (605) can obtain the latest location of the requested UAV by triggering the on-demand location reporting procedure as described above. The LMS can then immediately send a location report containing the obtained latest location information of the UAV (601) (step 617).

[0042] If the NRM-S detects that there is a loss of communication based on the reception quality report from the NRM-C (step 618), the NRM-S can indicate to the UAE server (604) that the UAV 601 is unavailable, for example, by reporting the lost connection (step 619).

[0043] If the communication link is lost, the LMS (605) can still provide the last known location to the UAE server (604) (step 620). Step 620 may be the same as the workflow described above for location query.

[0044] If the NRM-S detects that communication has resumed (step 621), the NRM-S indicates to the UAE server (604) that the UAV 601 is now available, for example by reporting the connection resumed (step 622).

[0045] When the UAE server (604) receives the notification about the connection resumption, the UAE server (604) may again trigger a location update request to the LMS (605) (step 623). This location request and update process (steps 623-625) may be similar to steps 613-615 described above.

[0046] Thus, embodiments may relate to a method for providing a real-time UAV connection monitoring and location reporting mechanism, enabling a UAE server to actively monitor UAV network connections, while also providing other benefits such as accurate location reporting and network convergence monitoring.

[0047] 7 is a flowchart illustrating an example process 700 for unmanned aerial vehicle (UAV) connectivity monitoring and position reporting. FIG. 7 may be described with the aid of FIGS. 1-6. In embodiments, one or more blocks of process 700 may be combined in any order.

[0048] 7, process 700 may include receiving, by an Unmanned Aerial System Application Enabler (UAE) server, a position report indicating the position of the UAV from a Location Management (LM) server (block 702). In an embodiment, the UAE server may correspond to one or more of UAE server 503 and UAE server 604 described above. In an embodiment, the UAV may correspond to one or more of UAV101, UAV201, UAV301, or UAV601 described above. In an embodiment, the LM server may correspond to LMS 605 described above.

[0049] As further shown in FIG. 7, process 700 may include receiving, by the UAE server, a connection loss report indicating a loss of connection with the UAV (block 704).

[0050] 7, process 700 may include receiving, by the UAE server, a connection resume report from a network resource management (NRM) server indicating that the connection with the UAV has been re-established (block 704). In an embodiment, the NRM server may correspond to one or more of the NRM-S or NRM-C / S 603 described above.

[0051] As further shown in FIG. 7, process 700 may include sending a location update request from the UAE server to the LM server based on receiving the connection resume report (block 704).

[0052] In an embodiment, the location update request may cause the LM server to send a location request to an LM client corresponding to the UAV, which may correspond to the LMC 602 described above.

[0053] In an embodiment, the connection loss report may be received from an NRM server.

[0054] In an embodiment, the NRM server may send a connection loss report based on a reception quality report received by the NRM server from an NRM client associated with the UAV. In an embodiment, the NRM client may correspond to one or more of the NRM-C or NRM-C / S 603 described above.

[0055] In an embodiment, the location report may be received based on a location request sent from the UAE server to the LM server.

[0056] In an embodiment, the location request may be sent from the UAE server based on a network connection status report received by the UAE server from the NRM server.

[0057] In an embodiment, after receiving the connection loss report, the UAE server may further receive information indicating the last known location of the UAV from the LM server.

[0058] It will be appreciated that Figure 7 provides examples of implementations only and does not imply any limitations on how different embodiments may be implemented. Many modifications to the depicted environment may be made based on design and implementation requirements.

[0059] The system of the present disclosure may include at least one processor and a memory storing computer code. The computer code, when executed by the at least one processor, may cause the at least one processor to perform functions of embodiments of the present disclosure. For example, the UAV and UAV controller of the present disclosure may each include at least one processor and a memory storing computer code configured to cause the UAV and UAV controller to perform their respective functions. Furthermore, the servers of the present disclosure (e.g., the UAE server (604), the LMS (605), the NRM-S, etc.) may be implemented by the same or different at least one processor and / or the same or different memory storing computer code.

[0060] An example of computer code implementing the UAE server (604) is described below with reference to Figure 8. The computer code may include, for example, a first receiving code (802), a second receiving code (804), a third receiving code (806), and a determining code (808).

[0061] The first receiving code (802) may be configured to cause the UAE server (604) to receive a position report indicating a position of an unmanned aerial vehicle (UAV) from a location management (LM) server. In an embodiment, the UAV may correspond to one or more of UAV101, UAV201, UAV301, or UAV601 described above. In an embodiment, the LM server may correspond to the LMS 605 described above. In an embodiment, the LM server may correspond to the LMS 605 described above.

[0062] The second receiving code (804) may be configured to cause the UAE server (604) to receive a connection loss report indicating a loss of connection with the UAV.

[0063] A third receiving code (806) may be configured to cause the UAE server (604) to receive a connection resume report from a network resource management (NRM) server indicating that a connection with the UAV has been re-established. In an embodiment, the NRM server may correspond to one or more of the NRM-S or NRM-C / S 603 described above.

[0064] The sending code (808) may be configured to cause the UAE server (604) to send a location update request to the LM server based on receiving the connection resume report.

[0065] While exemplary code executed by the UAE server (604) is described above, it should be understood by those skilled in the art that each of the UAVs, UAVs, UAV controllers, and servers of the present disclosure may include and / or be implemented by computer code configured to cause the UAVs, UAV controllers, and servers to perform their respective functions, including the functions described in the present disclosure.

[0066] The techniques for unmanned aerial system communication described above can be implemented in both the controller and the UAV as computer software using computer-readable instructions and can be physically stored on one or more computer-readable media. For example, Figure 9 illustrates a computer system (900) suitable for implementing certain embodiments of the disclosed subject matter.

[0067] Computer software can be coded using any suitable machine code or computer language that can be assembled, compiled, linked, or subjected to similar mechanisms to create code containing instructions that can be executed by a computer central processing unit (CPU), graphics processing unit (GPU), etc., directly, or via interpretation, microcode execution, etc.

[0068] The instructions may be executed on various types of computers or components thereof, including, for example, personal computers, tablet computers, servers, smartphones, gaming devices, Internet of Things devices, and the like.

[0069] 9 for computer system (900) are exemplary in nature and are not intended to suggest any limitation on the scope of use or functionality of the computer software implementing embodiments of the present disclosure. The arrangement of components should not be interpreted as having any dependency or requirement regarding any one or combination of components illustrated in the exemplary embodiment of computer system (900).

[0070] The computer system (900) may include certain human interface input devices. Such human interface input devices may respond to input by one or more human users, for example, via tactile input (such as keystrokes, swipes, or data glove movements), audio input (such as voice or clapping), visual input (such as gestures), or olfactory input (not depicted). Human interface devices may also be used to capture certain media not necessarily directly associated with conscious human input, such as audio (such as voice, music, or ambient sounds), images (such as scanned images or photographic images obtained from a still camera), or video (such as two-dimensional video, three-dimensional video, including stereoscopic video).

[0071] The input human interface devices may include one or more of a keyboard (901), a mouse (902), a trackpad (903), a touchscreen (910), a joystick (905), a microphone (906), a scanner (907), and a camera (908) (only one of each is depicted).

[0072] The computer system (900) may also include certain human interface output devices. Such human interface output devices may stimulate one or more of the human user's senses, for example, through tactile output, sound, light, and smell / taste. Such human interface output devices may include haptic output devices (e.g., haptic feedback via a touchscreen (910), data gloves, or joystick (905)), although haptic feedback devices that do not function as input devices may also exist. For example, such devices may include audio output devices (such as speakers (909), headphones (not depicted)), visual output devices (such as screens (910), including CRT screens, LCD screens, plasma screens, and OLED screens, each with or without touchscreen input capabilities and each with or without haptic feedback capabilities, some of which may be capable of outputting two-dimensional visual output or three-dimensional or higher-dimensional output via means such as stereographic output, virtual reality glasses (not depicted), holographic displays, and smoke tanks (not depicted)), and printers (not depicted).

[0073] The computer system (900) may also include human-accessible storage devices and their associated media, such as optical media including CD / DVD ROM / RW (920) with CD / DVD or similar media (921), thumb drives (922), removable hard drives or solid state drives (923), legacy magnetic media (not depicted) such as tape and floppy disks, and specialized ROM / ASIC / PLD-based devices (not depicted) such as security dongles.

[0074] Those skilled in the art should also understand that the term "computer-readable medium" as used in connection with the presently disclosed subject matter does not encompass transmission media, carrier waves, or other transitory signals.

[0075] The computer system (900) may also include interfaces to one or more communication networks. The networks may be, for example, wireless, wired, or optical. The networks may further be local, wide-area, metropolitan, vehicular, industrial, real-time, delay-tolerant, etc. Examples of networks include local area networks such as Ethernet and wireless LAN; cellular networks including GSM, 3G, 4G, 5G, LTE, etc.; wired or wireless wide-area digital TV networks including cable TV, satellite TV, and terrestrial broadcast TV; and vehicular and industrial networks including CAN Bus. Certain networks typically require an external network interface adapter attached to a particular general-purpose data port (e.g., a USB port on the computer system (900)) or peripheral bus (949), while other networks are typically integrated into the core of the computer system (900) by attaching to a system bus (e.g., an Ethernet interface to a PC computer system or a cellular network interface to a smartphone computer system), as described below. Using any of these networks, the computer system (900) can communicate with other entities. Such communications may be one-way receive only (e.g., broadcast TV), one-way transmit only (e.g., CANbus to a particular CANbus device), or two-way with other computer systems using, for example, local or wide-area digital networks. Such communications may include communications to a cloud computing environment (955). Specific protocols and protocol stacks may be used with each of the networks and network interfaces described above.

[0076] The aforementioned human interface devices, human accessible storage devices, and network interfaces (954) may be attached to the core (940) of the computer system (900).

[0077] The core (940) may include one or more central processing units (CPUs) (941), graphics processing units (GPUs) (942), specialized programmable processing units in the form of field programmable gate arrays (FPGAs) (943), task-specific hardware accelerators (944), etc. These devices may be connected via a system bus (948), along with read-only memory (ROM) (945), random access memory (RAM) (946), and internal mass storage such as a non-user-accessible hard drive or SSD. In some computer systems, the system bus (948) may be accessible in the form of one or more physical plugs to allow expansion with additional CPUs, GPUs, etc. Peripheral devices may be attached directly to the core's system bus (948) or via a peripheral bus (949). Architectures for peripheral buses include PCI, USB, etc. A graphics adapter (950) may also be included in the core (940).

[0078] The CPU (941), GPU (942), FPGA (943), and accelerator (944) can execute specific instructions that, in combination, can constitute the aforementioned computer code. That computer code can be stored in ROM (945) or RAM (946). Persistent data can be stored, for example, in internal mass storage (947), while temporary data can also be stored in RAM (946). Rapid storage and retrieval from any of the memory devices can be enabled using cache memory, which can be closely associated with one or more of the CPU (941), GPU (942), mass storage (947), ROM (945), RAM (946), etc.

[0079] The computer-readable medium can have computer code thereon for performing various computer-implemented operations. The medium and computer code may be those specially designed and constructed for the purposes of the present disclosure, or they may be of the kind well known and available to those skilled in the computer software arts.

[0080] By way of example, and not limitation, a computer system (900) having the architecture, and specifically the core (940), can achieve functionality as a result of a processor (including a CPU, GPU, FPGA, accelerator, etc.) executing software embodied in one or more tangible computer-readable media. Such computer-readable media can be the user-accessible mass storage introduced above, as well as media associated with specific storage devices of the core (940) that are non-transitory in nature, such as the core's internal mass storage (947) or ROM (945). Software implementing various embodiments of the present disclosure can be stored in such devices and executed by the core (940). The computer-readable media can include one or more memory devices or chips, depending on particular needs. The software can cause the core (940), and specifically the processor (including a CPU, GPU, FPGA, etc.) therein, to perform specific processes or specific portions of specific processes described herein, including defining data structures stored in RAM (946) and modifying such data structures according to software-defined processes. Additionally or alternatively, a computer system may realize functionality as a result of logic hardwired or otherwise embodied in circuitry (e.g., accelerator (944)) that can operate in place of or together with software to perform particular processes or portions of particular processes described herein. Where appropriate, references to software may encompass logic, and vice versa. Where appropriate, references to computer-readable media may encompass circuitry (such as an integrated circuit (IC)) that stores software for execution, circuitry that embodies logic for execution, or both. The present disclosure encompasses any suitable combination of hardware and software.

[0081] While this disclosure describes several non-limiting exemplary embodiments, there are alterations, substitutions, and various substitute equivalents that fall within the scope of this disclosure. It will thus be appreciated that those skilled in the art will be able to devise numerous systems and methods that, although not explicitly shown or described herein, embody the principles of the present disclosure and are therefore within its spirit and scope. [Explanation of symbols]

[0082] 100 Unmanned Aerial Systems (UAS) 101 Unmanned Aerial Vehicle (UAV) 102 Controller 103 Data Link 104 Sensors 105 Onboard Controller 106 Receiver 107 Signal 108 satellite 109 Camera 110 Camera 111 Data Link 112 Display Devices 114 Engine 200 UAS 201 UAV 202 Controller 203 Human Pilot 204 UAS Service Supplier (USS) 205 Internet 206 Connection 207 Network 208 Connection 300 UAS 301 UAV 302 Controller 304 Server 305 Internet 307 Network 309 users 310 Wireless Connection 320 Computer Systems 323 GPS antenna 324 Memory Storage 325 Communication Device 334 Memory Storage 501 UAE clients 502 Reference point 503 UAE Server 504 SEAL Client 505 Reference point 506 3GPP interface 507 SEAL Server 508 Reference point 509 3GPP network 510 Reference point 511 User Equipment (UE) 600 Workflows 601 UAV 602 LMC 603 NRM-C / S 604 UAE server 605 LMS 700 processes 802 First Received Code 804 Second Received Code 806 Third Receive Code 808 sending code 900 Computer Systems 901 Keyboard 902 Mouse 903 Trackpad 905 Joystick 906 Microphone 907 Scanner 908 Camera 909 Speaker 910 Touchscreen 920 CD / DVD ROM / RW 921 CD / DVD or similar media 922 thumb drive 923 Removable Hard Drive or Solid State Drive 940 cores 941 Central Processing Unit (CPU) 942 Graphics Processing Unit (GPU) 943 Field Programmable Gate Area (FPGA) 944 Hardware Accelerator 945 Read-Only Memory (ROM) 946 Random Access Memory (RAM) 947 Internal mass storage 948 System Bus 949 Peripheral Bus 950 graphics adapter 954 network interface 955 Cloud Computing Environment

Claims

1. A method for unmanned aerial vehicle (UAV) connectivity monitoring and position reporting executed by at least one processor, comprising: receiving a location report from a first server based on a connection of the UAV with a wireless network, the location report indicating a location of the UAV; receiving a connection loss report indicating a loss of connection of the UAV with the wireless network; receiving a connection resumption report indicating that the connection of the UAV with the wireless network has been re-established; sending a location update request to the first server based on receiving the connection resumption report; A method comprising:

2. The method described in claim 1, wherein the location update request causes the first server to send a location request to a location management (LM) client corresponding to the UAV.

3. The method of claim 1, wherein the connection loss report is received from a second server.

4. The method described in claim 3, wherein the at least one processor receives the connection loss report from the second server, and the second server sends the connection loss report based on a reception quality report received by the second server from a network resource management (NRM) client associated with the UAV.

5. The method of claim 1, wherein the location report is received based on a location request sent from the at least one processor to the first server.

6. The method of claim 5, wherein the location request is sent from the at least one processor based on a network connection status report received by the at least one processor.

7. The method of claim 1, further comprising a step of receiving information indicating the last known position of the UAV from the first server after receiving the connection loss report.

8. An apparatus configured to perform a method according to any one of claims 1 to 7.

9. A program for causing at least one processor to execute the method according to any one of claims 1 to 7.

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