Communication method for unmanned aerial vehicle

Abstract

The present application relates to the field of unmanned aerial vehicle communications, and discloses a communication method for an unmanned aerial vehicle. The communication method for an unmanned aerial vehicle comprises: sending second information to a first target end, wherein the first target end includes a control end or a communication device end located around an unmanned aerial vehicle end, and the second information comprises related information for the unmanned aerial vehicle end to establish a communication connection with the control end when the unmanned aerial vehicle end and the control end are disconnected from communication; upon receipt of third information sent by the control end, stopping sending the second information, wherein the third information is generated when the control end successfully authenticates the identity of the unmanned aerial vehicle end on the basis of the second information; and establishing the communication connection with the control end.

Description

Communication method of unmanned aerial vehicle

[0001] Cross-reference to Related Applications

[0002] The present application is based on the Chinese patent application No. 2024110876400, filed on August 8, 2024, and claims priority to it, the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of unmanned aerial vehicle communication, in particular to a communication method of unmanned aerial vehicle. BACKGROUND

[0004] Unmanned aerial vehicles are widely used in people's daily work and life. In related technologies, the communication connection between the unmanned aerial vehicle and the control terminal is mainly established through multiple steps such as scanning, authentication, association and four handshakes. However, this process is relatively redundant, affecting the communication establishment rate; and any step in the multiple steps has weak signal or data error, which will cause the communication connection to fail, thereby affecting the user's experience. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a communication method of unmanned aerial vehicle, which can realize quick connection after the communication disconnection between the unmanned aerial vehicle and the control terminal, is applied to various scenes, and has a high connection success rate.

[0006] In a first aspect, the present application provides a communication method of unmanned aerial vehicle, applied to the unmanned aerial vehicle end; the method comprises:

[0007] sending second information to a first target end; the first target end includes a control terminal or a communication device end located around the unmanned aerial vehicle end, and the second information includes relevant information for establishing a communication connection between the unmanned aerial vehicle end and the control terminal in the case of communication disconnection between the unmanned aerial vehicle end and the control terminal;

[0008] stopping sending the second information in the case of receiving third information sent by the control terminal; the third information is generated after the control terminal passes the identity verification of the unmanned aerial vehicle end based on the second information;

[0009] establishing a communication connection with the control terminal.

[0010] According to the communication method of the unmanned aerial vehicle, the second information for establishing the communication connection is actively sent to the first target end by the unmanned aerial vehicle end, and after the second information is received by the control end and the identity verification of the unmanned aerial vehicle end is passed based on the second information, the third information for informing the successful communication connection is sent to the unmanned aerial vehicle end, so that normal data transmission and reception is performed, the quick connection after the communication disconnection between the unmanned aerial vehicle and the control end is realized, the method is applied to various scenes, and has a high connection success rate.

[0011] According to an embodiment of the present application, in the case of receiving the third information sent by the control end, before stopping sending the second information, the method further comprises:

[0012] In the case that the unmanned aerial vehicle end and the control end are disconnected, the first information sent by the first target end is received; the first information comprises information for representing position information of the control end;

[0013] Based on the first information, a target moving direction is determined;

[0014] Based on the target moving direction, the unmanned aerial vehicle end moves.

[0015] According to an embodiment of the present application, the determination of the target moving direction based on the first information comprises:

[0016] Among the position information included in the plurality of first information, the position information with the largest number of same position information is determined as target position information;

[0017] Based on the target position information, the target moving direction is determined;

[0018] And / or,

[0019] Based on the first information, a sending direction of the first information is determined;

[0020] Based on the sending direction, the target moving direction is determined.

[0021] According to an embodiment of the present application, the first information comprises at least one of ID information, speed and encryption algorithm of the control end.

[0022] According to an embodiment of the present application, the second information comprises at least one of identity information of the unmanned aerial vehicle end, identity information of the control end, data encrypted based on an encryption algorithm, position information of the unmanned aerial vehicle end and connection request information.

[0023] According to an embodiment of the present application, the sending of the second information to the first target end comprises:

[0024] in a case that it is predicted that the control terminal will be out of communication with the control terminal, sending the second information to the first target terminal;

[0025] and / or,

[0026] in a case that the unmanned aerial vehicle terminal is out of communication with the control terminal, sending the second information to the first target terminal based on a first target period.

[0027] In a second aspect, the present application provides a communication method of an unmanned aerial vehicle, applied to a control terminal; the method comprises:

[0028] receiving second information sent by a second target terminal; the second target terminal comprises the unmanned aerial vehicle terminal or a communication device terminal, and the second information comprises relevant information for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal in a case that the unmanned aerial vehicle terminal is out of communication with the control terminal;

[0029] performing identity authentication on the unmanned aerial vehicle terminal based on the second information;

[0030] in a case that the identity authentication is passed, sending third information to the unmanned aerial vehicle terminal; the third information is used for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal;

[0031] establishing a communication connection with the unmanned aerial vehicle terminal.

[0032] In a third aspect, the present application provides a communication method of an unmanned aerial vehicle, applied to a communication device terminal; the method comprises:

[0033] receiving second information sent by an unmanned aerial vehicle terminal; the second information comprises relevant information for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal in a case that the unmanned aerial vehicle terminal is out of communication with the control terminal;

[0034] forwarding the second information to the control terminal located in the periphery of the communication device terminal, for identity authentication on the unmanned aerial vehicle terminal by the control terminal based on the second information.

[0035] In a fourth aspect, the present application provides a communication device of an unmanned aerial vehicle, applied to an unmanned aerial vehicle terminal; the device comprises:

[0036] a first processing module, configured to send second information to a first target terminal; the first target terminal comprises a control terminal or a communication device terminal located in the periphery of the unmanned aerial vehicle terminal, and the second information comprises relevant information for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal in a case that the unmanned aerial vehicle terminal is out of communication with the control terminal;

[0037] The second processing module is configured to stop sending the second information if the third information is received from the control terminal; the third information is generated by the control terminal based on the identity verification of the unmanned aerial vehicle terminal passing based on the second information.

[0038] The third processing module is configured to establish a communication connection with the control terminal.

[0039] According to the communication device of the unmanned aerial vehicle, the second information for establishing a communication connection is actively sent by the unmanned aerial vehicle terminal to the first target terminal, and the third information for indicating that the communication connection is successful is sent to the unmanned aerial vehicle terminal after the control terminal receives the second information and the identity verification of the unmanned aerial vehicle terminal passing based on the second information, so that normal data transmission and reception are performed, the quick connection after the communication disconnection between the unmanned aerial vehicle and the control terminal is realized, the device is applied to various scenes, and the connection success rate is high.

[0040] In a fifth aspect, the present application provides a communication device of an unmanned aerial vehicle, applied to a control terminal; the device comprises:

[0041] The fourth processing module is configured to receive second information sent by a second target terminal; the second target terminal comprises the unmanned aerial vehicle terminal or a communication device terminal, and the second information comprises relevant information for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal in the case of communication disconnection between the unmanned aerial vehicle terminal and the control terminal.

[0042] The fifth processing module is configured to perform identity verification on the unmanned aerial vehicle terminal based on the second information.

[0043] The sixth processing module is configured to send third information to the unmanned aerial vehicle terminal in the case of identity verification passing; the third information is used for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal.

[0044] The seventh processing module is configured to establish a communication connection with the unmanned aerial vehicle terminal.

[0045] In a sixth aspect, the present application provides a communication device of an unmanned aerial vehicle, applied to a communication device terminal; the device comprises:

[0046] The eighth processing module is configured to receive second information sent by an unmanned aerial vehicle terminal; the second information comprises relevant information for establishing a communication connection between the unmanned aerial vehicle terminal and the control terminal in the case of communication disconnection between the unmanned aerial vehicle terminal and the control terminal.

[0047] The ninth processing module is configured to forward the second information to the control terminal located around the communication device terminal, and the control terminal is used for performing identity verification on the unmanned aerial vehicle terminal based on the second information.

[0048] In a seventh aspect, the present application provides a UAV, which communicates based on the communication method of the UAV according to the first aspect, the second aspect or the third aspect.

[0049] In an eighth aspect, the present application provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the communication method of the UAV according to the first aspect, the second aspect or the third aspect.

[0050] In a ninth aspect, the present application provides a computer program product, which includes a computer program, and the computer program, when executed by a processor, implements the communication method of the UAV according to the first aspect, the second aspect or the third aspect.

[0051] The one or more technical solutions described above in the embodiments of the present application have at least one of the following technical effects:

[0052] By actively sending, by the UAV side, the second information for establishing the communication connection to the first target side, and sending, by the UAV side, the third information for informing the successful communication connection to the UAV side after the second information is received by the control side and the identity verification of the UAV side based on the second information is passed, normal data transmission and reception is performed, the quick connection after the communication disconnection between the UAV and the control side is realized, the application is applied to various scenarios, and the connection success rate is high.

[0053] Further, by providing the triggering sending mode of the plurality of second information, the second information can be quickly and sensitively sent for the quick reconnection between the UAV side and the control side in the case that various factors cause the disconnection between the UAV side and the controller side, the response rate is high, the communication connection rate is improved, and the application scenarios are wide, thereby helping to improve the user experience.

[0054] Further, by actively receiving, by the UAV side, the first information sent by the first target side in the case that the communication between the UAV side and the control side is disconnected, and predicting the target moving direction based on the first information to realize the following flight with the control side, the active following flight of the UAV side in various scenarios can be realized, the robustness is high, and the data transmission and reception efficiency is good.

[0055] Further, by providing the determination mode of the plurality of target moving directions, the actual situation can be flexibly selected, and the calculation accuracy is high.

[0056] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0057] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0058] Fig. 1 is one of flow diagrams of a communication method of a UAV according to an embodiment of the present application;

[0059] Fig. 2 is another of flow diagrams of a communication method of a UAV according to an embodiment of the present application;

[0060] Fig. 3 is a third of flow diagrams of a communication method of a UAV according to an embodiment of the present application;

[0061] Fig. 4 is a fourth of flow diagrams of a communication method of a UAV according to an embodiment of the present application;

[0062] Fig. 5 is a fifth of flow diagrams of a communication method of a UAV according to an embodiment of the present application;

[0063] Fig. 6 is one of structural diagrams of a communication apparatus of a UAV according to an embodiment of the present application;

[0064] Fig. 7 is another of structural diagrams of a communication apparatus of a UAV according to an embodiment of the present application;

[0065] Fig. 8 is a third of structural diagrams of a communication apparatus of a UAV according to an embodiment of the present application;

[0066] Fig. 9 is a structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0068] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a particular order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents a "or" relationship between the front and rear associated objects.

[0069] With reference to the accompanying drawings, the communication method of a UAV, the communication apparatus of a UAV, the electronic device and the readable storage medium provided by the embodiments of the present application will be described in detail below through specific embodiments and application scenarios.

[0070] The communication method of a UAV can be applied to a terminal, and can be executed by hardware or software in the terminal.

[0071] In each of the following embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal can include one or more other physical user interface devices such as physical keyboards, mice, and joysticks.

[0072] The communication method of a UAV provided by the embodiments of the present application can be executed by a UAV, or can be executed by a control terminal such as an electronic device or a functional module or functional entity in the electronic device capable of implementing the communication method of a UAV. The electronic device mentioned in the embodiments of the present application includes but is not limited to a mobile phone, a tablet computer, a computer, a camera, a wearable device, and a mobile vehicle-mounted device, etc. The communication method of a UAV can also be executed by a communication device terminal such as a location server, an LTE / NR base station, a WIFI device, and an RSU, etc.

[0073] It can be understood that in the process of data transmission and reception between the UAV terminal and the control terminal, information transmission and reception between multiple terminals such as the UAV terminal, the control terminal, and the communication device terminal can be involved.

[0074] The implementation of the communication method of a UAV of the present application will be described below with different execution subjects as examples.

[0075] As shown in FIG. 1, the communication method of a UAV is applied to a UAV terminal, and the communication method of a UAV includes steps 110, 120, and 130.

[0076] Step 110: sending second information to a first target terminal;

[0077] In this step, the UAV terminal can act as a station (STA).

[0078] The first target terminal can include a control terminal, or a communication device terminal located around the control terminal or the UAV terminal.

[0079] The control terminal can act as an access point (AP) of a wireless network, and the control terminal can be a fixed terminal or a mobile terminal such as a vehicle control terminal.

[0080] The communication device terminal can include but is not limited to a location server, an LTE / NR base station, a WIFI device, and an RSU, etc.

[0081] The second information includes relevant information for the UAV end to establish a communication connection with the control end in the case that the communication between the UAV end and the control end is disconnected.

[0082] The second information should at least include data encrypted based on an encryption algorithm.

[0083] In some embodiments, the second information can include at least one of identity information of the UAV end, identity information of the control end, data encrypted based on an encryption algorithm, location information of the UAV end, and connection request information.

[0084] In this embodiment, the identity information of the UAV end can include an ID and a MAC address of the UAV, etc.

[0085] The data encrypted based on an encryption algorithm can include data for informing the control end of the encryption method of the UAV and other relevant information.

[0086] The connection request information can be an authentication request.

[0087] In actual execution, the UAV end can periodically and / or triggeredly send the second information to the control end and the communication device end around it to attempt to establish a communication connection with the control end.

[0088] As shown in FIG. 2, in some embodiments, after the control end receives the second information, the second information can be parsed and authenticated, and in the case that the authentication of the UAV end is passed, third information for informing the UAV end to establish a communication connection is sent to the UAV end.

[0089] In the case that the authentication is not passed, the control end can not perform an operation.

[0090] Continuing to refer to FIG. 2, in some embodiments, after the communication device end receives the second information, the received second information can be forwarded to the surrounding control end by default for the control end to authenticate the UAV end.

[0091] In some embodiments, step 110 can include:

[0092] In the case that it is predicted that the communication with the control end will be disconnected, the second information is sent to the first target end.

[0093] In this embodiment, the first target end can include the control end or the communication device end.

[0094] In some embodiments, predicting that the communication with the control end will be disconnected can include:

[0095] In the case that the UAV end does not receive the control signal sent by the control end for more than a first time length, or the quality of the control signal received by the UAV end is poor, or the UAV determines based on the position information that it is about to enter an area with poor communication signal, it is determined that the communication with the control end will be disconnected.

[0096] In this embodiment, the first time length can be a relatively long time length based on user customization.

[0097] For example, in the case that the UAV end does not receive the control signal sent by the control end for a long time, it can be predicted that the communication with the control end will be disconnected or has been disconnected.

[0098] For another example, in the case that the values of the signal-to-noise ratio (SNR), signal-to-interference plus noise ratio (SINR), or wireless signal quality and block error rate (BLER) received by the UAV end do not reach the preset values, it can be approximately considered that the quality is poor, and in this case it can be determined that the communication with the control end will be disconnected.

[0099] The area with poor communication signal can be a tunnel, a culvert, or an underground parking lot, etc.

[0100] For example, in the case that the UAV is about to enter a tunnel, it is considered that the communication with the control end will be disconnected.

[0101] As shown in FIG. 2, in the case that the UAV end predicts that the communication with the control end will be disconnected, the second information can be actively triggered to be sent to the first target end.

[0102] In some embodiments, step 110 can include:

[0103] In the case that the communication between the UAV end and the control end is disconnected, the second information is sent to the first target end based on a first target period.

[0104] In this embodiment, the time length of the first target period can be based on user customization.

[0105] The UAV end can periodically and continuously send the second information to the control end or the communication device end.

[0106] In some embodiments, the second information can also be sent based on a preset condition.

[0107] For example, in the case that the environment where the communication device is located is a poor communication signal environment, or the signal of the control terminal is poor, after the communication device receives the second information sent by the UAV terminal, the communication device actively forwards the second information to one or more control terminals in the vicinity, so as to determine whether the communication connection between the UAV terminal and the control terminal is established by each control terminal.

[0108] In some embodiments, in the case that the communication device is located in an area with good communication quality, the operation can not be performed based on the received second information.

[0109] According to the communication method of the UAV provided in the embodiments of the present application, by providing a plurality of triggering sending modes of the second information, the second information can be quickly and sensitively sent in the case that a plurality of factors cause the disconnection between the UAV terminal and the controller terminal, so as to quickly reconnect the UAV terminal and the control terminal, has a high response rate, helps to improve the communication connection rate, and has a wide application scenario, thereby helping to improve the user experience.

[0110] Step 120, in the case that the third information sent by the control terminal is received, the sending of the second information is stopped; the third information is generated by the control terminal after the identity verification of the UAV terminal based on the second information is passed;

[0111] In this step, the third information is the confirmation information generated by the control terminal after the identity verification of the UAV terminal based on the second information is passed, for example, can be the confirmation information generated by the control terminal after successfully demodulating the data sent by the UAV terminal based on the encryption algorithm.

[0112] In some embodiments, the third information can include at least one of connection success information, identity information of the UAV terminal, identity information of the control terminal, and control information and data information.

[0113] In this embodiment, the connection success information can be authentication success, which is used to inform the UAV terminal that the communication connection is successful.

[0114] The control information is related information used to control the UAV.

[0115] The data information includes data related information transmitted after the UAV terminal and the control terminal establish a normal communication connection.

[0116] It can be understood that in the actual execution process, after the control terminal passes the identity verification of the UAV terminal, the control terminal can send the control information and the data information together when sending the confirmation information of the successful communication connection to the UAV terminal, so as to directly enter the normal data transmission process.

[0117] After the UAV terminal receives the third information sent by the control terminal, the sending of the second information is triggered to stop.

[0118] Step 130, a communication connection is established with the control terminal.

[0119] In this step, after the third information sent by the control terminal is received at the UAV terminal, a normal communication connection can be established with the control terminal to enter a normal data transceiving process.

[0120] The specific implementation manner of the present application will be described below taking the control terminal as a car machine control terminal as an example.

[0121] It can be understood that in actual execution process, the car machine control terminal can be a high-speed mobile terminal.

[0122] Continuing to refer to FIG. 2, after the UAV terminal establishes a communication connection with the control terminal, normal data transceiving is performed.

[0123] The car machine control terminal is in a moving or stationary state, and the UAV terminal periodically sends the second information to the control terminal and the surrounding communication equipment terminal during the flight of the UAV; or, when the car machine control terminal is predicted to enter a tunnel or other situation that may be disconnected from the control terminal, the sending of the second information to the control terminal and the surrounding communication equipment terminal is triggered.

[0124] After the control terminal receives the second information, the second information is parsed and identity verified, and in the case that the identity verification of the UAV terminal is passed, the third information for informing the UAV terminal to establish a communication connection is sent to the UAV terminal.

[0125] After the third information sent by the control terminal is received at the UAV terminal, a normal communication connection can be established with the control terminal to perform normal data transceiving.

[0126] The inventor found in the research and development process that in the related art, when the UAV terminal establishes a communication connection with the control terminal, it often needs to go through multiple steps such as scanning, authentication, association, and four handshakes, and the process redundancy affects the communication establishment rate, and the communication establishment failure rate is high.

[0127] In the present application, the UAV terminal actively sends the second information for establishing a communication connection to the first target terminal for the surrounding control terminal to receive, after the control terminal receives the second information and the identity verification of the UAV terminal based on the second information is passed, the third information for informing the communication connection success is sent to the UAV terminal, so as to enter a normal data transceiving process, the steps are simple and fast, the connection efficiency is high and has high security; in addition, it also reduces the risk of communication connection failure caused by weak signal or data error to a certain extent, and realizes the rapid establishment of the communication connection between the UAV terminal and the control terminal.

[0128] According to the communication method of the unmanned aerial vehicle provided in the embodiment of the present application, the second information for establishing the communication connection is actively sent to the first target end by the unmanned aerial vehicle end, and the third information for informing the successful communication connection is sent to the unmanned aerial vehicle end after the second information is received by the control end and the identity verification of the unmanned aerial vehicle end is passed based on the second information, so that the normal data transmission and reception is performed, the quick connection after the communication disconnection between the unmanned aerial vehicle and the control end is realized, the method is applied to various scenes, and has a high connection success rate.

[0129] As shown in FIG. 3, in some embodiments, before step 120, the method can further include:

[0130] In the case that the communication between the unmanned aerial vehicle end and the control end is disconnected, receiving the first information sent by the first target end;

[0131] Based on the first information, determining the target moving direction;

[0132] Moving based on the target moving direction.

[0133] In this embodiment, the first target end can include the control end or the communication device end around the unmanned aerial vehicle end.

[0134] The first information can be directly sent to the unmanned aerial vehicle end by the control end, or can be sent to the communication device end by the control end and forwarded to the unmanned aerial vehicle end by the communication device end.

[0135] The first information is the control end related information.

[0136] The first information includes information for representing the position information of the control end, wherein the information for representing the position information of the control end can include the position information of the control end, or can be the position information of the communication device end.

[0137] In some embodiments, the first information can include at least one of the ID information, the speed and the encryption algorithm of the control end.

[0138] It should be noted that in the case that the control end and the unmanned aerial vehicle end have completed pairing in advance, the first information sent by the control end further includes the control end information containing the unmanned aerial vehicle end information.

[0139] In this embodiment, the ID information of the control end can include the BSSID and the SSID.

[0140] The target moving direction is the predicted self flight direction, and the target moving direction should be consistent with the moving direction of the control end or the position direction where the control end is located.

[0141] It should be noted that, in some embodiments, the manner in which the UAV end listens to the first information can be a manner of active listening, that is, the UAV end actively receives the first information sent by the first target end only when it is determined that the communication with the control end is disconnected.

[0142] In some embodiments, the UAV end actively receives the first information sent by the first target end only when it is determined that the communication with the control end is disconnected, which can include:

[0143] In a case where the UAV end does not receive the AP signal (such as a control signal) sent by the control end for more than a first time length, or the quality of the control signal sent by the control end received by the UAV end is poor (such as the values of SNR, SINR and BLER do not reach the expectation), the UAV end actively receives the first information sent by the first target end.

[0144] After the UAV receives the first information, the UAV can determine a target moving direction based on the first information, and fly based on the target moving direction during disconnection with the control end to realize following of the control end.

[0145] It should be noted that, the UAV end receiving the first information and moving based on the determined target moving direction can be synchronized with the UAV end sending the second message, so as to realize quick communication reconnection with the control end while following the control end.

[0146] The inventors have also found in the development process that the communication connection manner between the UAV and the control end in the related art is mainly used in a scenario where the position of the control end is fixed and unchanged, and cannot be well applied to a scenario where the control end moves, especially when the control end moves to an area where the communication signal is weak, the UAV end and the control end can be disconnected, and the UAV can lose the flight direction.

[0147] In the present application, the UAV end actively receives the first information sent by the first target end to predict the target moving direction based on the first information to realize following flight of the control end when the communication between the UAV end and the control end is disconnected, which can be applied to various scenarios such as fixed or moving control end and poor communication quality, and realizes that the UAV end can automatically predict the moving direction of the control end to realize flight following when the communication between the UAV end and the control end is disconnected, realizes automatic tracking of the vehicle, and has high robustness.

[0148] According to the communication method of the UAV provided in the embodiments of the present application, the UAV end actively receives the first information sent by the first target end to predict the target moving direction based on the first information to realize following flight of the control end when the communication between the UAV end and the control end is disconnected, which can realize active following flight of the UAV end in various scenarios, has high robustness and good data transmission efficiency.

[0149] The determination of the target moving direction is described as follows.

[0150] In some embodiments, the determination of the target moving direction based on the first information can include:

[0151] The position information with the largest number of identical position information among the position information included in the plurality of first information is determined as the target position information.

[0152] The target moving direction is determined based on the target position information.

[0153] In this embodiment, the target position information is the predicted possible current position of the control end that the drone end should follow.

[0154] For example, the drone end can determine that the control end is more likely to be in a certain direction when the received position information in the area is more, and then determine the direction as the target moving direction, and the drone flies to the area.

[0155] In some embodiments, the determination of the target moving direction based on the first information can include:

[0156] The sending direction of the first information is determined based on the first information.

[0157] The target moving direction is determined based on the sending direction.

[0158] In this embodiment, the built-in algorithm of the drone can be used to analyze the received plurality of first information, determine the direction in which the control end is likely to be, and obtain the target moving direction.

[0159] For example, when it is determined based on the received plurality of first information that the first information is mainly sent along a certain same sending direction, the sending direction can be approximately determined as the moving direction of the control end, and then the target moving direction is determined.

[0160] Of course, in other embodiments, other implementable algorithms can also be used to confirm the target moving direction, which is not limited in the present application.

[0161] In some embodiments, the target moving direction can also be determined by combining two or more of the above determination methods.

[0162] According to the communication method of the drone provided in the embodiments of the present application, the determination of the target moving direction can be flexibly selected based on the actual situation, and the calculation accuracy is high.

[0163] In some embodiments, the method can further include:

[0164] In the case that the communication between the drone end and the control end is disconnected, the transmission of the target data to the control end is stopped.

[0165] In this embodiment, the target data can include image data collected by the UAV and other data.

[0166] In the case that the communication between the UAV and the control terminal is disconnected, the transmission of the target data to the control terminal is stopped, so as to solve the technical problem that invalid data transmission is still performed when the UAV and the control terminal are disconnected, and thus the transmission of data is not wasted by using extra power or energy.

[0167] Meanwhile, the UAV actively monitors the first information sent by the first target terminal to determine the moving direction of the target.

[0168] In addition, the UAV can also send second information to the first target terminal to attempt to re-establish the communication connection with the control terminal, and after receiving the third information sent by the control terminal, the transmission of the target data to the control terminal is re-performed.

[0169] In some embodiments, after step 110, the method can further include:

[0170] In the case that the third information is not received within the second time length, the transmission of the second information is stopped.

[0171] In this embodiment, the second time length can be customized by a user, such as being set as a relatively long time value, or can be predefined based on a protocol, or can be implemented based on the control terminal.

[0172] In the case that the third information is not received within the second time length, it can be considered that the connection fails, and thus the transmission of information is stopped to save the energy consumption of the UAV.

[0173] Embodiments of the present application also provide a communication method of a UAV.

[0174] The communication method of the UAV is applied to a control terminal.

[0175] As shown in FIG. 4, the communication method of the UAV includes steps 410, 420, 430 and 440.

[0176] Step 410: receiving second information sent by a second target terminal;

[0177] In this step, the second target terminal can include a communication device terminal around the UAV terminal or the control terminal.

[0178] The second information includes relevant information for establishing a communication connection between the UAV terminal and the control terminal in the case that the communication between the UAV terminal and the control terminal is disconnected.

[0179] In some embodiments, the second information can include at least one of identity information of the UAV terminal, identity information of the control terminal, data encrypted based on an encryption algorithm, location information of the UAV terminal, and connection request information.

[0180] For example, the second information can be directly sent by the UAV terminal to the control terminal, or the second information can be sent by the UAV terminal to the communication device terminal, and then forwarded to the surrounding control terminal after the second information is received by the communication device terminal.

[0181] Step 420, identity verification of the UAV terminal based on the second information;

[0182] In this step, after the control terminal receives the second information, identity verification of the UAV terminal based on the second information can be performed.

[0183] In some embodiments, step 420 can include demodulating the second information based on an encryption algorithm.

[0184] The encryption algorithm can be any implementable encryption algorithm, which is not limited in the present application.

[0185] Step 430, sending third information to the UAV terminal in the case of identity verification passing;

[0186] In this step, the third information is used for the UAV terminal to establish a communication connection with the control terminal.

[0187] Identity verification passing can include successfully demodulating the second information based on an encryption algorithm.

[0188] After the control terminal confirms the identity of the UAV terminal, the third information can be sent to the UAV terminal for confirmation.

[0189] In some embodiments, the third information can include at least one of connection success information, identity information of the UAV terminal, identity information of the control terminal, and control information and data information.

[0190] In some embodiments, in the case of identity verification not passing, the present process can be ended.

[0191] Step 440, establishing a communication connection with the UAV terminal.

[0192] In this step, after the UAV terminal receives the third information sent by the control terminal, it is considered that the connection with the control terminal is successful, and data transmission and reception can be performed.

[0193] In some embodiments, after the control terminal performs identity verification on the UAV terminal and passes, the control terminal can send control information and data information together while sending confirmation information of the communication connection success to the UAV terminal, so as to directly enter a normal data transmission process.

[0194] According to the communication method of the unmanned aerial vehicle provided in the embodiments of the present application, the second information for establishing the communication connection is actively sent to the first target end by the unmanned aerial vehicle end, and the third information for informing the successful communication connection is sent to the unmanned aerial vehicle end after the second information is received by the control end and the identity verification of the unmanned aerial vehicle end is passed based on the second information, so that the normal data transmission and reception is performed, the quick connection after the communication disconnection between the unmanned aerial vehicle and the control end is realized, the method is applied to various scenes, and has a high connection success rate.

[0195] In some embodiments, the method can further include sending the first information to the second target end.

[0196] In this embodiment, the first information includes information for representing the position information of the control end, and the first information is used for the unmanned aerial vehicle end to determine the target moving direction.

[0197] In some embodiments, the first information can include at least one of the ID information, the speed and the encryption algorithm of the control end.

[0198] The second target end can be the unmanned aerial vehicle end, or can also be the control end or the communication device end around the unmanned aerial vehicle end.

[0199] In some embodiments, sending the first information to the second target end can be periodic and / or triggered to send the first information to the second target end.

[0200] In the case that the unmanned aerial vehicle end communicates normally with the control end, the unmanned aerial vehicle end can not receive the first information.

[0201] In the case that the unmanned aerial vehicle end communicates with the control end or the communication effect is poor, the unmanned aerial vehicle end can actively receive the first information, so as to calculate the target moving direction and realize the flight following.

[0202] The sending mode of the first information is described below.

[0203] In some embodiments, sending the first information to the second target end can include:

[0204] In the case that it is predicted that the communication with the unmanned aerial vehicle end will be disconnected, the first information is sent to the second target end.

[0205] In this embodiment, predicting that the communication with the unmanned aerial vehicle end will be disconnected can include: in the case that it is determined that the communication signal will be poor in the area to be entered based on the position information, it is determined that the communication with the unmanned aerial vehicle end will be disconnected.

[0206] For example, in the case that the controller end is about to enter a tunnel or an underground parking lot, it is considered that the communication with the control end will be disconnected, and then the sending of the first information is triggered.

[0207] In some embodiments, sending the first information to the second target end can comprise:

[0208] sending the first information to the second target end based on the second target period.

[0209] In this embodiment, the length of the second target period can be based on user customization.

[0210] The control end can periodically continue to send the first information to the UAV end or the communication device end.

[0211] In some embodiments, a preset condition can also be set, so that the communication device end in an area with poor communication signals can actively send the received first information to the UAV end after receiving the first information (such as AP information containing UAV end information).

[0212] According to the communication method of the UAV provided in the embodiments of the present application, by providing multiple trigger sending modes of the first information, the first information can be quickly and sensitively sent for the UAV end to follow the flight in the case that the UAV end and the controller end are disconnected due to multiple factors, which has a wide application scenario, solves the problem of the flight trajectory of the UAV when the UAV and the controller are disconnected, improves the stability of the UAV operation, and thus improves the user experience.

[0213] The embodiments of the present application also provide a communication method of a UAV.

[0214] The communication method of the UAV is applied to a communication device end.

[0215] As shown in FIG. 5, the communication method of the UAV comprises steps 510 and 520.

[0216] Step 510: receiving second information sent by a UAV end.

[0217] In this step, the second information comprises relevant information for establishing a communication connection between the UAV end and the control end in the case that the communication between the UAV end and the control end is disconnected.

[0218] Step 520: forwarding the second information to a control end located in the periphery of the communication device end, for the control end to perform identity authentication on the UAV end based on the second information.

[0219] In this step, the communication device end can forward the second information to the periphery control end after receiving the second information.

[0220] In some embodiments, a preset condition can also be set, so that the communication device end in an area with poor communication signals can actively send the received second information to the nearby control end after receiving the second information.

[0221] For example, the communication device at the periphery of the tunnel or in a poor signal area can receive the second information sent by the UAV by default and then send the second information.

[0222] According to the communication method of the UAV provided in the embodiments of the present application, the UAV actively sends the second information for establishing a communication connection to the first target end, and the third information for informing the successful communication connection is sent to the UAV after the control end receives the second information and the identity verification of the UAV is passed based on the second information, so that normal data transmission and reception is performed, the quick connection after the communication disconnection between the UAV and the control end is realized, the method is applied to various scenarios, and has a high connection success rate.

[0223] In some embodiments, the communication method of the UAV can further include:

[0224] receiving the first information sent by the control end;

[0225] forwarding the first information to the UAV end.

[0226] In the embodiment, the first information is used for the UAV end to determine the target moving direction in the case of communication disconnection with the control end.

[0227] In some embodiments, the preset condition can also be set, so that the communication device end located in the area with poor communication signal can actively send the received first information to the UAV end after receiving the first information.

[0228] In some embodiments, the working frequency band, the modulation and coding mode, the location information, and the access criteria of the communication device end can be sent to the UAV end by the control end.

[0229] The communication method of the UAV provided in the embodiments of the present application can be executed by the communication device of the UAV. In the embodiments of the present application, the communication method of the UAV is executed by the communication device of the UAV as an example to illustrate the communication device of the UAV provided in the embodiments of the present application.

[0230] The embodiments of the present application further provide a communication device of a UAV.

[0231] As shown in FIG. 6, the communication device of the UAV is applied to the UAV end, and the device includes a first processing module 610, a second processing module 620, and a third processing module 630.

[0232] The first processing module 610 is configured to send the second information to the first target end. The first target end includes the control end or the communication device end located at the periphery of the UAV end, and the second information includes the related information for the UAV end to establish a communication connection with the control end in the case of communication disconnection between the UAV end and the control end.

[0233] The second processing module 620 is configured to stop sending the second information in a case where the third information sent by the control terminal is received; the third information is generated by the control terminal based on the identity verification of the unmanned aerial vehicle terminal passing.

[0234] The third processing module 630 is configured to establish a communication connection with the control terminal.

[0235] According to the communication device of the unmanned aerial vehicle provided in the embodiments of the present application, the unmanned aerial vehicle terminal actively sends the second information for establishing the communication connection to the first target terminal, and the third information for indicating the success of the communication connection is sent to the unmanned aerial vehicle terminal after the control terminal receives the second information and the identity verification of the unmanned aerial vehicle terminal passes based on the second information, so that the normal data transmission and reception are performed, the quick connection after the communication disconnection between the unmanned aerial vehicle and the control terminal is realized, the device is applied to various scenes, and has a high connection success rate.

[0236] In some embodiments, the device can further include a tenth processing module configured to:

[0237] Before stopping sending the second information in a case where the third information sent by the control terminal is received, the first information sent by the first target terminal is received in a case where the communication between the unmanned aerial vehicle terminal and the control terminal is disconnected; the first information includes information for representing the position information of the control terminal;

[0238] The target moving direction is determined based on the first information.

[0239] The target moving direction is determined based on the first information.

[0240] In some embodiments, the tenth processing module can be further configured to:

[0241] The position information with the largest number of same position information in the position information included in the plurality of first information is determined as the target position information.

[0242] The target moving direction is determined based on the target position information.

[0243] In some embodiments, the tenth processing module can be further configured to:

[0244] The sending direction of the first information is determined based on the first information.

[0245] The target moving direction is determined based on the sending direction.

[0246] In some embodiments, the first processing module 610 can be further configured to:

[0247] The second information is sent to the first target terminal in a case where it is predicted that the communication with the control terminal will be disconnected.

[0248] In some embodiments, the first processing module 610 can be further configured to:

[0249] In the case that the communication between the UAV and the control terminal is disconnected, the second information is sent to the first target terminal based on the first target period.

[0250] The application further provides a communication device of a UAV.

[0251] As shown in FIG. 7, the communication device of the UAV is applied to a control terminal, and the device comprises a fourth processing module 710, a fifth processing module 720, a sixth processing module 730 and a seventh processing module 740.

[0252] The fourth processing module 710 is configured to receive second information sent by a second target terminal; the second target terminal comprises a UAV terminal or a communication device terminal, and the second information comprises relevant information for establishing a communication connection between the UAV terminal and the control terminal in the case that the communication between the UAV terminal and the control terminal is disconnected.

[0253] The fifth processing module 720 is configured to perform identity verification on the UAV terminal based on the second information.

[0254] The sixth processing module 730 is configured to send third information to the UAV terminal in the case that the identity verification is passed; the third information is used for establishing a communication connection between the UAV terminal and the control terminal.

[0255] The seventh processing module 740 is configured to establish a communication connection with the UAV terminal.

[0256] According to the communication device of the UAV provided by the application, the UAV terminal actively sends second information for establishing a communication connection to a first target terminal, and the control terminal receives the second information and performs identity verification on the UAV terminal based on the second information, and then sends third information to the UAV terminal to inform the UAV terminal of the success of the communication connection, so that normal data transmission and reception are performed, the UAV and the control terminal are quickly connected after the communication is disconnected, the device is applied to various scenarios, and has a high connection success rate.

[0257] In some embodiments, the device can further comprise an eleventh module configured to:

[0258] send first information to the second target terminal; the first information comprises information for representing position information of the control terminal, and the first information is used for the UAV terminal to determine a target moving direction.

[0259] In some embodiments, the eleventh module can be further configured to:

[0260] In the case that it is predicted that the communication with the UAV terminal will be disconnected, the first information is sent to the second target terminal.

[0261] In some embodiments, the eleventh module can be further configured to:

[0262] The first information is sent to the second target end based on the second target period.

[0263] The application further provides a communication device of a UAV.

[0264] As shown in FIG. 8, the communication device of the UAV is applied to a communication equipment, and the device comprises an eighth processing module 810 and a ninth processing module 810.

[0265] The eighth processing module 810 is configured to receive second information sent by the UAV end; the second information comprises relevant information for establishing a communication connection between the UAV end and the control end in the case that the communication between the UAV end and the control end is disconnected.

[0266] The ninth processing module 810 is configured to forward the second information to the control end located in the periphery of the communication equipment, so as to enable the control end to perform identity authentication on the UAV end based on the second information.

[0267] According to the communication device of the UAV provided by the application, the UAV end actively sends the second information for establishing a communication connection to the first target end, and the control end receives the second information and performs identity authentication on the UAV end based on the second information, and then sends the third information for informing the UAV end of the successful communication connection, so that normal data transmission is performed, the quick connection after the communication between the UAV and the control end is disconnected is realized, the device is applied to various scenes, and has a high connection success rate.

[0268] In some embodiments, the device can further comprise a twelfth module configured to:

[0269] receive the first information sent by the control end;

[0270] forward the first information to the UAV end; the first information is used for the UAV end to determine a target moving direction in the case that the communication with the control end is disconnected.

[0271] The communication device of the unmanned aerial vehicle in the embodiments of the present applicationapplicationbe the unmanned aerial vehicle, can also be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic deviceapplicationbe a terminal, or other devices other than the terminal. For example, the electronic deviceapplicationbe a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), and can also be a communication device, and can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, and the embodiments of the present application do not make specific limitations.

[0272] The communication device of the unmanned aerial vehicle in the embodiments of the present applicationapplicationbe a device with an operating system. The operating systemapplicationbe an Android operating system, can be an IOS operating system, or can be other possible operating systems, and the embodiments of the present application do not make specific limitations.

[0273] The communication device of the unmanned aerial vehicle provided in the embodiments of the present applicationapplicationimplement various processes implemented by the method embodiments of FIGS. 1 to 5, and thus details are not repeated here.

[0274] In some embodiments, the embodiments of the present application further provide an unmanned aerial vehicle.

[0275] In this embodiment, the unmanned aerial vehicleapplicationcommunicate based on the communication method of the unmanned aerial vehicle as described in any of the above embodiments.

[0276] According to the unmanned aerial vehicle provided in the embodiments of the present application, the unmanned aerial vehicleapplicationactively send second information for establishing a communication connection to a first target end, andapplicationsend third information for informing that the communication connection is successful to the unmanned aerial vehicle after the control end receives the second information and the identity verification of the unmanned aerial vehicle is passed based on the second information, so as to perform normal data transmission and reception, realize fast connection after the unmanned aerial vehicle and the control end are disconnected, and be applied to various scenarios, and has a high connection success rate.

[0277] In some embodiments, as shown in FIG. 9, the electronic device 900 includes a processor 901, a memory 902, and a computer program stored in the memory 902 and executable on the processor 901, which, when executed by the processor 901, implements each process of the above-mentioned communication method of the UAV and achieves the same technical effects. To avoid repetition, details are not described herein.

[0278] It should be noted that the electronic device in the embodiments of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device, such as a vehicle terminal.

[0279] The embodiments of the present application also provide a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements each process of the above-mentioned communication method of the UAV and achieves the same technical effects. To avoid repetition, details are not described herein.

[0280] The processor is the processor in the electronic device described in the above-mentioned embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0281] The embodiments of the present application also provide a computer program product including a computer program, which, when executed by a processor, implements the above-mentioned communication method of the UAV.

[0282] The processor is the processor in the electronic device described in the above-mentioned embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0283] The embodiments of the present application also provide a chip including a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement each process of the above-mentioned communication method of the UAV and achieve the same technical effects. To avoid repetition, details are not described herein.

[0284] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0285] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Additionally, it should be noted that the terms "one embodiment", "some embodiments", "certain embodiments", "certain examples", or "some examples" as used in the present document are intended to refer to one or more embodiments or examples that do not necessarily have to cover all embodiments or examples of the present application. In other words, use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0286] Those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, or network equipment, etc.) execute the method described in each embodiment of the present application.

[0287] The embodiments of the present application are described above in conjunction with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms without departing from the purpose of the present application and the scope protected by the claims under the inspiration of the present application, which all belong to the protection of the present application.

[0288] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any suitable manner in any one or more embodiments or examples.

[0289] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A communication method of a drone, the method comprising: The method is applied to a UAV terminal, and comprises the following steps: sending second information to a first target terminal; the first target terminal comprises a control terminal or a communication device terminal located around the UAV terminal, and the second information comprises relevant information for establishing a communication connection between the UAV terminal and the control terminal in the case that the communication between the UAV terminal and the control terminal is disconnected; stopping sending the second information in the case that third information sent by the control terminal is received; the third information is generated by the control terminal after passing the identity verification of the UAV terminal based on the second information; establishing a communication connection with the control terminal. 2.The method of claim 1, wherein, Before the step of stopping sending the second information in the case that the third information sent by the control terminal is received, the method further comprises the following steps: receiving first information sent by the first target terminal in the case that the communication between the UAV terminal and the control terminal is disconnected; the first information comprises information for representing position information of the control terminal; determining a target moving direction based on the first information; moving based on the target moving direction. 3.The method of claim 2, wherein, The step of determining a target moving direction based on the first information comprises the following steps: determining target position information from position information included in a plurality of the first information, the target position information being position information with the largest number of identical position information; determining the target moving direction based on the target position information; and / or, determining a sending direction of the first information based on the first information; determining the target moving direction based on the sending direction. 4.The communication method of claim 2, wherein, The first information comprises at least one of ID information, a speed and an encryption algorithm of the control terminal.

5. The method of claim 1-4, wherein, The second information comprises at least one of identity information of the UAV terminal, identity information of the control terminal, data encrypted based on an encryption algorithm, position information of the UAV terminal and connection request information.

6. The method of claim 1-5, wherein, The step of sending second information to a first target terminal comprises the following steps: sending the second information to the first target terminal in the case that it is predicted that the communication with the control terminal will be disconnected; and / or, sending the second information to the first target terminal based on a first target period in the case that the communication between the UAV terminal and the control terminal is disconnected. 7.A communication method of a UAV, the method comprising: The method is applied to a control terminal, and comprises the following steps: receiving second information sent by a second target terminal; the second target terminal comprises a UAV terminal or a communication device terminal, and the second information comprises relevant information for establishing a communication connection between the UAV terminal and the control terminal in the case that the communication between the UAV terminal and the control terminal is disconnected; performing identity verification on the UAV terminal based on the second information; sending third information to the UAV terminal in the case that the identity verification is passed; the third information is used for establishing a communication connection between the UAV terminal and the control terminal; establishing a communication connection with the UAV terminal. 8.The method of claim 7, wherein, The method further comprises the following steps: sending first information to the second target terminal; the first information comprises information for representing position information of the control terminal, and the first information is used for determining a target moving direction by the UAV terminal. 9.The method of claim 8, wherein, The step of sending first information to the second target terminal comprises the following steps: In a case that it is predicted that the communication with the UAV side will be disconnected, the first information is sent to the second target side; and / or, The first information is sent to the second target side based on a second target period. 10.A communication method of a UAV, the method comprising: The method is applied to a communication device side; the method comprises: receiving second information sent by a UAV side; the second information comprises relevant information for establishing a communication connection between the UAV side and a control side in a case that the communication between the UAV side and the control side is disconnected; forwarding the second information to the control side located in the periphery of the communication device side, for identity authentication of the UAV side by the control side based on the second information. 11.The method of claim 10, wherein, Further comprising: receiving first information sent by the control side; forwarding the first information to the UAV side; the first information is used for determining a target moving direction in a case that the communication between the UAV side and the control side is disconnected.

12. A communication device of a UAV, characterized in that, The device is applied to a UAV side; the device comprises: a first processing module, configured to send second information to a first target side; the first target side comprises a control side or a communication device side located in the periphery of the UAV side, and the second information comprises relevant information for establishing a communication connection between the UAV side and the control side in a case that the communication between the UAV side and the control side is disconnected; a second processing module, configured to stop sending the second information in a case that third information sent by the control side is received; the third information is generated after identity authentication of the UAV side by the control side based on the second information is passed; a third processing module, configured to establish a communication connection with the control side.

13. A communication device of a UAV, characterized in that, The device is applied to a control side; the device comprises: a fourth processing module, configured to receive second information sent by a second target side; the second target side comprises the UAV side or a communication device side, and the second information comprises relevant information for establishing a communication connection between the UAV side and the control side in a case that the communication between the UAV side and the control side is disconnected; a fifth processing module, configured to perform identity authentication of the UAV side based on the second information; a sixth processing module, configured to send third information to the UAV side in a case that the identity authentication is passed; the third information is used for establishing a communication connection between the UAV side and the control side; a seventh processing module, configured to establish a communication connection with the UAV side.

14. A communication device of a UAV, characterized in that, The device is applied to a communication device side; the device comprises: an eighth processing module, configured to receive second information sent by a UAV side; the second information comprises relevant information for establishing a communication connection between the UAV side and a control side in a case that the communication between the UAV side and the control side is disconnected; a ninth processing module, configured to forward the second information to the control side located in the periphery of the communication device side, for identity authentication of the UAV side by the control side based on the second information.

15. A drone, comprising: The UAV communicates based on the communication method of the UAV according to any one of claims 1-11.

16. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the communication method of the UAV according to any one of claims 1-11.

17. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the communication method of the UAV according to any one of claims 1-11.

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