Method for controlling a drone, and drone for use in the method

Abstract

The present invention relates to a method for controlling a drone (100), wherein, in regular operation, the drone (100) receives, via a first, preferably real-time capable radio communication channel (201) functioning as a main communication channel, uplink data telegrams, preferably in the form of initialisation instructions and / or flight instructions, from a base station (200), and the base station (200) receives, via the first radio communication channel (201), downlink data telegrams, preferably in the form of status information, in particular operating data and / or coordinate data and / or image data and / or video data of the drone (100), from the drone (100). In order to increase resilience to interfering attacks, a second radio communication channel (202) is established, which functions as an emergency radio communication channel to the first radio communication channel (201), wherein the second radio communication channel is an LTN radio communication data channel.

Description

[0001] Method for controlling a drone and drone for use in the method

[0002] The present invention relates to a method for controlling a drone, in particular a drone used for government or military purposes. The invention further relates to such a drone for use in the aforementioned method.

[0003] Technological background

[0004] A drone is a UAV (Unmanned Aerial Vehicle) or a UNV (Unmanned Naval Vehicle). Drones are controlled via a radio communication channel, particularly one with real-time capability. Control information is transmitted in real time from the base station via the uplink to the drone, and video data and status data are transmitted from the drone to the base station via the downlink. The real-time capability of an operating system refers to its real-time capability to perform all pending tasks and functions in a given operating environment, always on time and without exception, under all operating conditions.

[0005] Drones, especially drones used for sovereign or military purposes, can be subjected to a wide variety of jamming attacks aimed at adversely affecting their operation. Active attacks against a drone's operation can take the form of jamming and spoofing, for example. Jamming involves the jammer attempting to disrupt radio communication by superimposing jamming signals, as a result of which the receiver can no longer extract the transmitted information from the radio signal. Spoofing involves the jammer deliberately attempting to inject false signals, e.g., false GNSS (Global Navigation Satellite System) signals, into the communication between the base station and the drone in order to disrupt the drone's GNSS-based navigation and divert the drone from its original mission.Current measures to increase the immunity of communication between a base station and the drone have proven insufficient.

[0006] Printed state of the art

[0007] KR 102018070201 A concerns a drone-based search system for disaster relief operations to locate people using LP-WAN communication between a transmitter carried by a person and a receiver housed in a drone.

[0008] DE 10 2005 048 269 A1 discloses a sensor network with a master module and a number of stationary sensors deployable in a terrain for monitoring and securing a terrain. The sensors communicate with each other and with a programming module, which has a GPS detector for detecting its own position and can be provided as a component of a self-navigating drone. According to an alternative embodiment, the position detection means can comprise a triangulation device that determines the position of the sensors using reference sensors. The reference sensors themselves are equipped with a navigation element. The master module and the sensors are deployed, for example, from a helicopter flying over the terrain. The sensors are networked wirelessly depending on the reception of a radio signal with the highest field strength.The drone is used to determine the position of the deployed sensors using its GPS detector and transmits the position to the detected sensor. The sensor network formed after setup communicates with a central unit, located, for example, in a helicopter. The master module can also include a triangulation device, which the master module can use to determine the position of the respective sensors. The object of the present invention.

[0009] The object of the present invention is to provide a method for controlling a drone and a drone with improved interference resistance.

[0010] Solution to the task

[0011] The problem is solved by the features of claims 1, 12 and 17. Expedient embodiments are claimed in the dependent claims.

[0012] According to the invention, a second radio communication channel is set up, which serves as an emergency communication channel or parallel radio communication channel to the first radio communication channel, wherein the data throughput of the second radio communication channel is lower than that of the first radio communication data channel. In particular, the second radio communication channel is not real-time capable. The availability of such a second radio communication channel enables the uplink and / or downlink communication to be switched to the second radio communication channel as a backup channel for communication between the drone and the base station in the event of a disruption or jamming attack.Since the second radio communication channel has a lower data throughput than the first radio communication channel, a more interference-robust radio communication technology can be used, which, compared to the first, particularly real-time capable radio communication channel, offers significantly increased resilience or resistance to targeted jamming attacks. Data can also be sent repeatedly. This makes it possible, if necessary, to carry out emergency data transmission via the second communication channel, which would no longer be possible if communication were interrupted on the first communication channel. This avoids a communication interruption between the drone and its base station, allowing the drone to land, return to its starting point, or complete its mission.According to an advantageous embodiment of the invention, the second radio communication channel is a so-called Low Power Wide Area Network radio communication channel (LP-WAN radio communication channel). An LP-WAN radio communication channel describes an energy-saving class of network protocols that are typically used to connect low-energy devices, such as long-life battery-operated local sensors, to a server. Preferably, an LP-WAN radio communication channel transmits in the license-free frequency range. An LP-WAN radio communication channel is inherently unsuitable for high data throughput, e.g., for real-time control. LP-WAN radio technology is unsuitable for regular operation of drone-base station communication due to the high latency and limited bandwidth. However, as an additional channel alongside a main communication channel, application advantages arise with regard to improved interference immunity.

[0013] According to an advantageous embodiment of the invention, the second radio communication channel is a narrowband radio communication channel. The disadvantage of a narrowband radio communication channel is its relatively low bandwidth, which limits its ability to transmit large amounts of data. This can pose a problem for applications requiring high data throughput, such as streaming media or video data. However, as an additional channel alongside a main communication channel, there are application advantages in terms of improved interference immunity, since in the event of a breakdown of the main communication channel (in which case the receiver can no longer extract the information from the radio signal), certain data can still be transmitted via the additional channel, which can be used to maintain communication and / or successfully terminate the drone mission.In addition, the narrowband radio communication channel is less susceptible to interference because the transmission takes place in a narrower frequency band and the probability of a narrowband transmission being hit by a targeted interferer is lower.

[0014] According to an advantageous embodiment of the invention, telegram splitting and / or frequency hopping is used during the transmission of the uplink data telegrams and / or downlink data telegrams over the second radio communication channel. With telegram splitting, telegrams (data packets) are split into sub-data packets (hops) and sent by the transmitter (drone or base station) in a distributed manner over time. With frequency hopping, telegrams or sub-data packets are sent individually by the transmitter in a distributed manner over time and across different frequency channels. With telegram splitting and / or frequency hopping, low signal levels are sufficient in the second radio communication channel to maintain communication. This allows for significantly increased interference resistance compared to the first communication channel.

[0015] According to an advantageous embodiment of the invention, the second radio communication channel is an LTN (Low Throughput Network) radio communication channel. An LTN radio communication channel is... Preferably, the second radio communication channel can be an LTN radio communication channel according to ETSI TS 103 357 V1.1.1 (2018-06).

[0016] Preferably, the second radio communication channel is a radio communication channel in the 868 MHz range.

[0017] According to an advantageous embodiment of the invention, the first radio communication channel is a license-free communication channel. Preferably, the first radio communication channel is a PX4 communication channel. PX4 is an open-source project that provides firmware for operating flight controllers or autopilots. The firmware can be modified by the user, compiled independently, and transferred to selected hardware.

[0018] According to an advantageous embodiment of the invention, a decision routine for activating the second radio communication channel or for switching the radio communication to the second radio communication channel is executed by the control unit of the drone or by the control unit of the base station, preferably continuously or at defined time intervals, preferably at constant time intervals. Using the decision routine, the drone or the base station is able to detect a possible or probable threat from interference, in particular from an attempt at interference or manipulation, e.g., through jamming or spoofing. The decision routine is preferably software-based, for example, based on a suitable algorithm.

[0019] Preferably, to activate the second radio communication channel or to switch the radio communication to the second radio communication channel, a second radio module of the drone and / or a second radio module of the base station is switched from a sleep mode to a wake-up mode.

[0020] According to an advantageous embodiment of the invention, the decision routine can analyze the signal quality of a signal received in the first radio communication channel and / or the signal quality of a third-party signal. A third-party signal can be a GNSS (Global Navigation Satellite System) signal, e.g., based on GPS, Glonass, Galileo, Beidou / Compass. Such signals are used by the drone for navigation and targeting.

[0021] According to an advantageous embodiment of the invention, the following parameters can be regarded as signal quality: an extractability of the received signal or GNSS signal (401), and / or a plausibility of the received signal or GNSS signal (401), and / or a discontinuity (e.g. strong signal jumps) of the received signal or GNSS signal (401), and / or an SNR, in particular an exceeding of an SNR or an SNR condition, of the received signal or GNSS signal (401), and / or an RSSI, in particular an undershoot of an RSSI or an RSSI condition of the received signal or GNSS signal (401), and / or an absence or non-reception of the received signal or GNSS signal (401), and / or a match or a deviation from the control information.

[0022] According to an advantageous embodiment of the invention, if an interference is detected, in particular an attempt at interference or tampering, the drone that detects the interference can send a corresponding message to the base station, or the base station that detects the interference can send a corresponding message to the drone. The respective recipient of the message is then able to activate communication on the second radio communication channel or switch the radio communication from the first radio communication channel to the second radio communication channel.

[0023] According to an advantageous embodiment of the invention, in the event of detection of a disturbance, in particular an attempt at interference or manipulation, a controlled return of the drone can take place or the mission of the drone can be continued.

[0024] According to an advantageous embodiment of the invention, partially redundant information or uplink data telegrams or downlink data telegrams can be transmitted on the second radio communication channel compared to the normal operation of the first radio communication channel.

[0025] According to an advantageous embodiment of the invention, the following can be provided as partially redundant uplink data telegrams or downlink data telegrams:

[0026] Selection data (e.g. images extracted from video data) from the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel, and / or data with a reduced data volume or reduced information content compared to the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel, and / or

[0027] Data with reduced resolution compared to the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel, and / or

[0028] Data with a reduced data rate compared to the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel.

[0029] According to a further embodiment of the invention, which is also claimed as a co-extensive claim, the drone can be controlled or localized using signals from radio nodes of an IoT or supply network. In an IoT or supply network, data from sensor nodes, e.g., utility meters or actuator nodes, are regularly transmitted based on communication channels that are preferably not real-time capable. These signals can be used to check the signal quality (e.g., the plausibility of a received GNSS signal) as part of the decision-making routine. Alternatively or additionally, these signals can also be used to localize the drone or for navigation (landing, return, or target control) of the drone. The coordinates of the radio nodes of the IoT or supply network can be included here as already known data.

[0030] The radio nodes are preferably those that are energy-autonomous and active in the “field” using a long-life battery.

[0031] The radio nodes of the IoT or utility network are preferably base stations (e.g., data collectors or gateways) or nodes (e.g., utility meters) of a utility network that communicate with the base stations. These are already on-site and can therefore be used to control the drone, thus providing additional benefits. According to an advantageous embodiment of the invention, the signals of the radio nodes of the IoT or utility network can be based on the technology of the second radio communication channel according to claims 1 to 13.

[0032] According to an advantageous embodiment of the invention, the data or signals from radio nodes of the IoT or supply network can also be transmitted directly (i.e., without data collectors or gateways) to satellites as receiving stations. According to the invention, this direct data transmission from an IoT network within the coverage area to satellites can be utilized for the present method by incorporating these signals into the drone's position or coordinate determination. This allows for a very significant area coverage for the present invention.

[0033] Preferably, the signals from the radio nodes of the IoT or supply network are transmitted via satellites without adapting the radio protocol.

[0034] According to an advantageous embodiment of the invention, the (previously known) position of the respective radio node can be assigned by the drone or the base station of the drone, for example, based on a distance-dependent variable, preferably based on the amplitude of the signal received by the drone or the base station.

[0035] According to an advantageous embodiment of the invention, the drone can be localized, for example, via triangulation or trilateration on the basis of the radio signals received by several radio nodes of the IoT or supply network.

[0036] According to an advantageous embodiment of the invention, the drone can be localized, for example, via triangulation or trilateration based on the radio signals received from a plurality of radio nodes deployed in the field. The radio nodes are therefore not part of an existing IoT or supply network, but are deployed, i.e. positioned, in the field specifically for controlling the drone. According to an advantageous embodiment of the invention, the drone can be localized, preferably via triangulation or trilateration, using the second radio communication channel and radio signals from a plurality of radio nodes, the radio signals from the radio nodes being based on the technology of the second radio communication channel. The second radio module of the drone can receive the radio signals from the radio nodes, the drone orits control unit can locate the drone's position based on the received radio signals.

[0037] The measures described above enable the drone to detect spoofing because the position data received via spoofing is not plausible in the context of the plausibility check with the position data estimated using triangulation or trilateration.

[0038] The present invention further relates to a drone, in particular for carrying out the method according to one of the preceding claims, comprising at least one drive for moving the drone, a control unit, a battery, preferably a GNSS chip for receiving GNSS signals, preferably a camera system for recording image and / or video data, a first radio module for a first, preferably real-time capable radio communication channel, a second radio module for a second radio communication channel, wherein the data throughput of the second radio communication channel is lower than that of the first radio communication data channel, a preferably software-defined signal quality detection device, and a likewise preferably software-defined selection functionality,which, depending on the signal quality detection device, assigns the transmitting and / or receiving operation of the Dohne to the second radio module for transmitting and / or receiving data via the second radio communication channel. In particular, the second radio communication channel is not real-time capable.

[0039] According to an advantageous embodiment of the invention, the dialing functionality can be configured such that, in the event of a targeted interference event, a switchover from the first radio communication channel to the second radio communication channel is performed, or the second radio communication channel is activated. When activated, the first, real-time capable radio communication channel remains active and can resume receiving data or continue communication with the base station when the interference signal subsides.

[0040] According to an advantageous embodiment of the invention, the second radio module can be designed as a standalone assembly. It only needs to be wired to the drone's control system. This allows for easy retrofitting of drones. Corresponding radio modules are already available in large quantities for radio nodes of IoT or utility networks. A corresponding second radio module designed as an assembly can also be used for base stations.

[0041] Description of the invention based on exemplary embodiments

[0042] Exemplary embodiments of the present invention are explained in more detail below with reference to the drawing figures. For the sake of clarity, recurring or identical features are identified by a single reference numeral. They show:

[0043] Fig. 1 shows an exemplary communication structure using a drone according to the invention and a base station;

[0044] Fig. 2 is a highly simplified schematic representation of an example of a base station according to the invention;

[0045] Fig. 3 is a highly simplified schematic representation of an example of a drone according to the invention; Fig. 4 is a schematic representation of the possibilities of a decision routine of the control device of a drone based on the signal quality of a received third-party signal;

[0046] Fig. 5 is a highly simplified schematic representation of a telegram with reduced payload for a partially redundant uplink or downlink data telegram;

[0047] Fig. 6 is a highly simplified schematic representation of a communication setup in the event of detection of a jamming attack by a drone;

[0048] Fig. 7 shows an example downlink communication of a drone with its base station before and during a jamming attack;

[0049] Fig. 8 is a highly simplified schematic representation of the localization of a drone including several previously placed radio nodes;

[0050] Fig. 9 is a highly simplified schematic representation of the drone localization involving several radio nodes of an IoT or supply network; and

[0051] Fig. 10 is a highly simplified schematic representation of the localization of the drone, including several radio nodes of an IoT or supply network with satellite connection.

[0052] Reference numeral 200 denotes a base station that communicates with a drone 100 via a first radio communication channel 201. The first radio communication channel 201 is preferably a bidirectional radio communication channel, i.e., a channel that operates both uplink communication (the base station 200 sends messages that are received by the drone 100) and downlink communication (the drone 100 sends messages that are received by the base station 200). Alternatively, the second radio communication channel 201 can be a unidirectional radio communication channel that can operate only in the uplink or only in the downlink.

[0053] The first radio communication channel 201 is, in particular, a license-free communication channel, preferably a so-called PX4 communication channel. PX4 is an open-source project that provides firmware for operating flight controllers or autopilots. The firmware can be modified by users, compiled by themselves, and transferred to selected hardware. Conventional drones typically use such a communication channel.

[0054] The first communication channel 201 is real-time capable and therefore enables a permanently high data throughput in bidirectional operation. Status information, in particular operating data, coordinate data, image data, video data, etc., is transmitted from the drone 100 to the base station 200 via the first communication channel 201 in real time. In addition, initialization instructions, flight instructions, coordinate data for the target, etc., are transmitted from the base station 200 via the first communication channel 201. The transmission of data between the base station 200 and the drone 100 depends on the mission objective, as required.

[0055] For navigation of the drone 100, the drone can also receive an external signal, e.g., in the form of a GNSS (Global Navigation Satellite System) signal. For simplicity, only a single satellite 400 is shown in Fig. 1. In reality, however, the drone 100 receives GNSS signals 401 from multiple satellites 400 in orbit for precise coordinate calculation.

[0056] The base station 200 is preferably a portable base station that is operated by a user.

[0057] Reference numeral 300 in Fig. 1 shows, by way of example, a jammer which can, for example, be specifically positioned in the terrain near the drone 100 in order to disrupt communication between the base station 200 and the drone 100 via the first radio communication channel 201 with a jamming signal 301, with the aim of thwarting the mission of the drone 100. The jammer 300 can, for example, be a transmitter with which so-called jamming takes place, i.e. disruption of the radio communication by superimposed jamming signals, so that the receiver, i.e. the drone 100 or the base station 200, can no longer extract the information from the radio signal. The jammer 300 can also be one which carries out so-called spoofing, which involves the radiation of deliberately false information, for example false GNSS signals, in order to deliberately misdirect the mission of the drone 100.

[0058] In addition to the first radio communication channel 201, a second radio communication channel 202 is set up according to the invention, wherein the data throughput of the second radio communication channel 202 is lower than that of the first radio communication data channel 201. In particular, the second radio communication channel is not real-time capable. The second radio communication channel 202 serves as an emergency or parallel radio communication channel to the first radio communication channel 201 in the event that a disruption of the first radio communication channel 201 is occurring or at least imminent. Keeping the second radio communication channel 202 available thus enables, if necessary, an expansion of the uplink and / or downlink communication to the second radio communication channel 202 as a replacement channel for communication via the first radio communication channel 201.

[0059] According to Fig. 2, the base station 200 comprises a first radio module 204 with a first antenna 207 for communication via the first radio communication channel 201. The base station 200 further has a control unit 203, which includes control elements 212 connected to the control unit 203 for manually controlling the drone 100 at the base station 200. In addition, the base station 200 can comprise a display 209 configured to display image or video data and / or to output operating data of the drone 100 and / or the base station 200. As an alternative to the simplified representation in Fig. 2, the display 209 can also be configured separately, e.g., as VR glasses.

[0060] The base station 200 further comprises a power source 210, e.g., a battery, and a control panel 211. Alternatively, the control panel 211 can also be housed in the display 209 as a touchscreen. To enable communication via the second radio communication channel 202, the base station 200 comprises a second radio module 205 with an associated second antenna 208. The second radio module 205 can, for example, be installed as a standalone assembly 214 in the base station 200.

[0061] The second radio communication channel 202 is preferably an LP-WAN (Low Power Wide Area Network) radio communication channel. Preferably, the second radio communication channel 202 is a narrowband radio communication channel. In particular, the transmission of uplink data telegrams and / or downlink data telegrams via the second radio communication channel 202 can be carried out using telegram splitting and / or frequency hopping. With telegram splitting, data telegrams (data packets) are divided into sub-data packets (hops) and sent sequentially. Telegram splitting provides increased resistance to interference, since the information can be extracted more easily by the receiver in the event of interference than if the data packets were transmitted as such. With frequency hopping, the sub-data packets (hops) are sent sequentially via different frequency channels.This also increases the interference resistance of the transmission compared to the transmission of a complete data telegram.

[0062] The second radio communication channel 202 is preferably an LTN radio communication channel (Low Throughput Network radio communication channel), preferably an LTN radio communication channel according to ETSI TS 103 357 V1.1.1 (2018-06). This is a radio communication method used for sensor nodes in municipal utility networks. For example, the respective module 112, 214 of the drone 100 or the base station 200 can correspond to a corresponding module of such a radio communication system.

[0063] Preferably, the second radio communication channel 202 is a radio communication channel in the 868 MHz range.

[0064] Reference numeral 206 denotes a selection functionality that communicates with the control unit 203 of the base station 200 and enables communication with the drone 100 to be controlled or conducted via the second radio communication channel 202. For this purpose, for example, the communication can be switched from the first radio communication channel 201 to the second radio communication channel 202. However, it is also conceivable that the selection functionality 206 activates the second radio module 205, thus additionally activating the second radio communication channel 202 in addition to the first radio communication channel 201, so that communication from the base station 200 to the drone 100 could also take place via the first radio communication channel 201.

[0065] In the standalone module 214 of the second radio module 205, the second antenna 208 is integrated into the module 214, so that it is only necessary to network the module 214 with the dial-up functionality 206 or the control unit 203. Alternatively, the dial-up functionality 206 can also be included as a software-defined functionality in the firmware of the control unit 203.

[0066] Fig. 3 shows an example of a drone 100 according to the invention. The drone 100 comprises a plurality of drives 108 provided with rotors 109, which are coupled to a central control unit 101. Furthermore, the drone 100 has a first radio module 102 with a first antenna 106 for communication via the first radio communication channel 201. In addition, the drone 100 has a second radio module 103 with a second antenna 107 for the second radio communication channel 202. The second radio module 103 can also be designed as a separate assembly 112, analogous to the second radio module 205 of the base station 200. The assembly 112 also includes the second antenna 107 and an energy source, e.g., in the form of a battery 105 or a rechargeable battery. The drone 100 also has a memory 115 and a battery 116 (main battery), from which the control unit 101, the sensors and drives 108 obtain their energy.In addition, a camera system 111 for generating image data and / or video data is provided on the drone 100.

[0067] Furthermore, various sensors are provided, such as a GNSS chip 114, a magnetic compass 123, and an acceleration sensor 117 (or an inertial measuring unit). The control unit 101 includes (as functionality) a signal quality detection device 110, with which the signal quality of the signals received in the uplink of the first radio communication channel 201 and / or of external signals (in particular GNSS signals) can be detected and fed for evaluation by the control unit 101.

[0068] The drone 100 also includes a dial-up functionality 104, which enables the second radio module 103 to be dialed in the event of a malfunction, so that uplink and / or downlink communication can take place via the second radio communication channel 202. The dial-up functionality 104 can be designed in a functionally similar manner to the dial-up functionality 206 of the base station 200.

[0069] With regard to the activation or selection of the second radio communication channel 202 by the drone 100, the control unit 101 of the drone 100 must perform a decision routine 122 based on the signal quality of the uplink reception signal and / or the third signal, e.g., a GNSS signal. The signal quality to be detected can be the following parameters: plausibility of the signal, SNR of the signal, RSSI of the signal, absence or non-reception of a signal, the signal continuity of a signal sequence, and / or the extractability of information from a received signal. The aforementioned parameters can be used in isolation, in part, or in full when executing the decision routine 122. Depending on the result of the decision routine 122 of the control unit 101 of the drone 100, according to Fig.4, communication is maintained on the first radio communication channel 201 or the second radio communication channel 202 is activated for further communication. If the second radio communication channel 202 is selected, the drone 100 can be guided back to the starting coordinates based on the communication via the second radio communication channel 202, or the mission of the drone 100 can be continued based on the radio communication via the second radio communication channel 202.

[0070] The detection of the signal quality by the signal quality detection device 110 of the drone 100 can relate both to the uplink reception signal of the base station 200 and to a third-party signal, in particular a GNSS signal 401 of the respective satellite 400. In a corresponding manner, the base station 200 could also select the second radio communication channel 202.

[0071] Fig. 5 shows an example of a variant of the present invention in which partially redundant data is transmitted via the second radio communication channel 202. For example, a telegram 118 (data packet) with a certain payload is normally sent in real time via the first radio communication channel 201. In the event of an interference attack, in order to send partially redundant information via the second radio communication channel 202, the information is converted into a telegram (data packet) with a reduced payload 121. A telegram 121 with a reduced payload is, for example, an image file that has been extracted from a video file (payload). The video file to be transmitted in real time by the drone 100 via the first radio communication channel 201, for example, during normal operation, can no longer be transmitted due to the interference and is therefore transmitted as an extracted image file via the second radio communication channel.This means that base station 200 still receives data from drone 100, and the connection between drone 100 and base station 200 can be maintained. The reduced payload can, for example, be video data with lower resolution, localization data or positioning data with less sharpness, or operational data with less information content. This preferably involves partially redundant uplink data telegrams or downlink data telegrams, i.e., data in which only a portion of the data intended for normal operation is transmitted.

[0072] The above-described communication via the second radio communication channel 202 can take place in the downlink from drone 100 to base station 200 or vice versa. The subject matter of the invention also encompasses only unidirectional communication in the uplink or downlink via the second radio communication channel 202.

[0073] If the drone 100 detects a jamming attack, the drone 100 activates its second radio module 103, which then switches, for example, from a sleep mode to a wakeup mode. Subsequently, the drone 100 sends a message 113 in the downlink via the second radio module 103 to the base station 200, as shown in Fig. 6, so that the base station knows that a transmission in emergency mode will take place via the second radio communication channel 202.

[0074] The base station 200 then also activates its second radio module 205, for example, the second radio module 205 switching from sleep mode to wakeup mode. The base station 200 then sends a response 213 to the drone 100 via the second radio module 205 of the base station 200. Communication can then take place between the drone 100 and its base station 200 in the downlink or in the uplink and downlink via the second radio modules 103 and 205 of the drone 100 or base station 200. The process can also take place in the opposite direction.

[0075] Fig. 7 shows a change in data transmission from the drone 100 to the base station 200 in the event of an interference signal 301. Before the arrival of the interference signal 301, communication takes place via the first radio communication channel 201, in which telegrams 118 are transmitted sequentially. When the second radio communication channel 202 is activated in the manner described above, the telegrams (data packets) 118 or telegrams (data packets) 121 with a reduced payload are split into individual partial data packets 119 (also called "hops") and sent sequentially via different frequency channels. In this case, telegram splitting and the frequency hopping method can achieve significantly better interference resistance of the communication compared to the first radio communication channel 201.Data packets 118 that can no longer pass through due to the interference signal 301 can still reach the base station 200 as the receiver or the drone 100 as the receiver via the second radio communication channel 202. Data can also be sent repeatedly.

[0076] Fig. 8 shows the possibility of locating the drone 100 using signals from radio nodes positioned in the surrounding area that transmit signals using the same radio communication technology as the second radio modules 103 and 205 of the drone 100 and the base station 200, respectively. For example, there are three radio nodes 215, 216, and 219 in the vicinity of the drone 100. The drone 100 receives signals 217, 218, and 220 from each of the radio nodes 215, 216, and 219. The coordinates of the position of the radio nodes 215, 216, and 219 are known. In this case, the respective position of the respective radio node 215, 216, and 219 can be assigned based on a distance-dependent variable of the signal 217, 218, and 220 received by the drone 100. For example, this could be the amplitude of the signal received by drone 100.Due to the resulting assignment of the respective positions of the radio nodes 215, 216, 219, the position of the drone 100 can be determined, and in this way, the plausibility of a received GNSS signal 401 can be checked. In the event of a spooring attack, a false GNSS signal can thus be detected. A spooring attack can be detected, and the relevant interference signals can be eliminated. Communication between the drone 100 and the base station 200 can continue on the first radio communication channel 201.

[0077] The radio nodes 215, 216, 219 can be those that are specifically positioned for the operation of the drone 100 or a plurality of similar drones in the field. For example, this can be achieved by dropping such radio nodes at specific locations in the field and storing the coordinates of the drop position. Alternatively, multiple radio nodes 215, 216, 219 of an existing IoT or supply network 221 can be used. Fig. 9 shows a highly simplified representation of a supply network 221 for a consumable, such as water. The radio nodes 215, 216, and 219 regularly transmit consumption data, e.g., the accumulated water consumption, to data collectors 222, which can, for example, be mobile and collect the data from the radio nodes 215, 216, 219 along their route depending on the reception range. Corresponding data collectors 222 can also be permanently installed.The method according to the invention thus utilizes an existing communications infrastructure to improve the resilience of the drone 100 against jamming attacks. Regarding the determination of the position or coordinates of the drone 100, reference can be made to the description sections relating to Fig. 8.

[0078] Fig. 10 shows a further embodiment of the method according to the invention for locating a drone 100 with the aid of an alternative IoT or supply network 221. The special feature of this IoT or supply network 221 is that the radio nodes 215, 216, and 219 transmit the data from the operation of the IoT or supply network 221 directly to satellites in orbit. In Fig. 10, for example, only a single satellite 400 is shown. The relevant data from the radio nodes 215, 216, and 219 are transmitted from the relevant satellite 400 via a downlink transmission 403 to a satellite ground receiving station 402 and from there forwarded, for example, to a control center (not shown in Fig. 10). With the IoT or supply network 221 shown in Fig. 10, a particularly large-area coverage can be used for the present method.

[0079] The present invention makes it possible to significantly increase the resilience of a drone to interference compared to previous measures. The invention therefore represents a very special contribution to the relevant field of the state of the art. REFERENCE SYMBOL LIST

[0080] 100 drones

[0081] 101 Control unit

[0082] 102 first radio module

[0083] 103 second radio module

[0084] 104 Dialing functionality

[0085] 105 Battery second radio module

[0086] 106 first antenna

[0087] 107 second antenna

[0088] 108 Drive

[0089] 109 Rotor

[0090] 110 Signal quality detection device

[0091] 111 Camera system

[0092] 112 assembly

[0093] 113 Message of a fault situation

[0094] 114 GNSS chip

[0095] 115 storage

[0096] 116 battery

[0097] 117 Accelerometer

[0098] 118 Telegram (data packet)

[0099] 119 partial data package

[0100] 120 frequency hopping

[0101] 121 Telegram (data packet) with reduced payload

[0102] 122 Decision routine

[0103] 123 Magnetic Compass

[0104] 200 base station drone

[0105] 201 first radio communication channel

[0106] 202 second radio communication channel

[0107] 203 Control unit

[0108] 204 first radio module

[0109] 205 second radio module

[0110] 206 Dialing functionality

[0111] 207 first antenna

[0112] 208 second antenna

[0113] 209 Display

[0114] 210 Energy source

[0115] 211 Control panel

[0116] 212 Control element for manual control

[0117] 213 Response to message of a disturbance situation

[0118] 214 assembly

[0119] 215 first radio node

[0120] 216 second radio node

[0121] 217 Signal of the first radio node

[0122] 218 Signal of the second radio node 219 third radio node

[0123] 220 Signal of the third radio node

[0124] 221 IoT or supply network

[0125] 222 data collectors

[0126] 300 jammers

[0127] 301 Interference signal

[0128] 400 Satellite 401 GNSS signal

[0129] 402 satellite ground receiving station

Claims

PA TE N TA NCL RÜ CHE 1. A method for controlling a drone (100), wherein the drone (100) receives uplink data telegrams, preferably in the form of initialization and / or flight instructions, from a base station (200) via a first radio communication channel (201) serving as the main communication channel and preferably having real-time capability, during normal operation, and the base station (200) receives downlink data telegrams, preferably in the form of status information, in particular operating data and / or coordinate data and / or image data and / or video data of the drone (100), from the drone (100) via the first radio communication channel (201), characterized in that a second radio communication channel (202) is set up which serves as an emergency radio communication channel to the first radio communication channel (201), wherein the data throughput of the second radio communication channel is lower than that of the first radio communication data channel.

2. The method according to claim 1, characterized in that the second radio communication channel (202) is an LP-WAN radio communication channel.

3. The method according to claim 1 or 2, characterized in that the second radio communication channel (202) is a narrowband radio communication channel.

4. Method according to at least one of the preceding claims, characterized in that telegram splitting and / or a frequency hopping method is used for the transmission of the uplink data telegrams and / or the downlink data telegrams via the second radio communication channel (202).

5. Method according to at least one of the preceding claims, characterized in that the second radio communication channel (202) is an LTN radio communication channel, preferably an LTN radio communication channel according to ETSI TS 103 357 V1.1.1 (2018-06).

6. Method according to at least one of the preceding claims, characterized in that the first radio communication channel (201) is a license-free communication channel, preferably a PX4 communication channel.

7. Method according to at least one of the preceding claims, characterized in that a decision routine for activating the second radio communication channel (202) or switching the radio communication to the second radio communication channel (202) is carried out by the control unit (101) of the drone (100) or by the control unit (203) of the base station (200).

8. The method according to claim 7, characterized in that the decision routine analyzes: a signal quality of a signal received in the first radio communication channel (201), and / or a signal quality of a third signal, in particular a GNSS signal (401).

9. Method according to claim 8, characterized in that the signal quality is determined on the basis of the following parameters: Extractability of the information from the received signal or GNSS signal (401), and / or Plausibility of the received signal or GNSS signal (401), and / or Continuity or discontinuity of the received signal or GNSS signal (401), and / or SNR of the received signal or GNSS signal (401), and / or an RSSI of the received signal or GNSS signal (401), and / or Absence or non-reception of the received signal or GNSS signal (401), and / or Localization value or a deviation from a localization value of the received signal or GNSS signal (401), and / or Agreement or deviation from the control information.

10. Method according to at least one of the preceding claims, characterized in that partially redundant information is transmitted on the second radio communication channel (202) in comparison to the normal operation of the first radio communication channel (201). 11 . Method according to claim 10, characterized in that the partially redundant uplink data telegrams or downlink data telegrams are provided: Selection data from the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel (201), and / or Data with a reduced amount of data or information compared to the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel (201), and / or Data with reduced resolution compared to the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel (201), and / or Data with a reduced data rate compared to the data of the uplink data telegrams or downlink data telegrams of the first radio communication channel (201).

12. A method for controlling a drone (100), wherein the drone (100) receives uplink data telegrams, preferably in the form of initialization and / or flight instructions, from a base station (200) via a first radio communication channel (201) serving as the main communication channel and preferably having real-time capability, during normal operation, and the base station (200) receives downlink data telegrams, preferably in the form of status information, in particular operating data and / or coordinate data and / or image data and / or video data of the drone (100) from the drone (100) via the first radio communication channel (201), in particular according to at least one of the preceding claims, characterized in that a control or localization of the drone (100) takes place using signals from a plurality of radio nodes (215, 216, 219), preferably those of an IoT or supply network (221).

13. The method according to claim 12, characterized in that the signals of the radio nodes (215, 216, 219) of the IoT or supply network (221) are based on the technology of the second radio communication channel (202) according to claims 1 to 12.

14. The method according to claim 12 or 13, characterized in that the signals of the radio nodes (215, 216, 219) of the IoT or supply network (221) are sent from the radio nodes (215, 216, 219) directly to satellites (401).

15. Method according to claims 12 to 14, characterized in that the position of the respective radio node (215, 216, 219) is assigned on the basis of a distance-dependent variable of the signal received by the drone (100) or the base station (200).

16. Method according to claims 12 to 15, characterized in that a localization of the drone (100) is carried out via triangulation or trilateration on the basis of the radio signals of the IoT or supply network (221) received by several radio nodes.

17. Drone (100), in particular for carrying out the method according to one of the preceding claims, comprising at least one drive (108) for moving the drone (100), a control unit (10), a battery (116), preferably a GNSS chip (114) for receiving GNSS signals, preferably a camera system (111) for recording image and / or video data, a first radio module (102) for a first, preferably real-time capable radio communication channel (201), a second radio module (103) for a second radio communication channel (202), wherein the data throughput of the second radio communication channel is lower than that of the first radio communication data channel, a signal quality detection device (110), and a selection functionality (104) which, depending on the signal quality detection device, assigns the transmission and / or reception operation of the drone (100) to the second radio module (103) for transmission and / or reception of data via the second radio communication channel (202).

18. Drone (1009) according to claim 17, characterized in that the second radio module (103) is designed as an assembly (112).

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