Communication method, flight node, and program product

Abstract

Embodiments of the present disclosure relate to the technical field of communications, and provide a communication method, a flight node, and a program product, which can solve the technical problem in the related art that network communication of unmanned aerial vehicles is not flexible enough. The communication method is applied to a first flight node, the first flight node is one of a plurality of flight nodes that establish a wireless local area network connection. The method comprises: acquiring a power level of the first flight node; and on the basis of the power level of the first flight node, controlling the first flight node to communicate according to a target strategy, wherein the target strategy corresponds to the power level, and the target strategy is used for indicating communication content and / or a communication link of the first flight node.

Description

Communication methods, flight nodes and program products

[0001] This disclosure claims priority to Chinese patent application No. 202411635406.7, filed on November 15, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and in particular to a communication method, a flight node, and a program product. Background Technology

[0003] With the evolution of 5G and 6G technologies, the application scenarios for unmanned aerial vehicles (UAVs) are increasing. UAVs can be deployed at very low cost and with very fast deployment time in areas such as emergency communication services, goods delivery, and air quality / weather monitoring.

[0004] In order to achieve real-time communication during flight, the drone needs to maintain a network connection during flight, and both flight and maintaining a network connection consume the drone's power.

[0005] However, currently, when drones have low battery levels, simultaneously flying and maintaining a network connection may result in faster battery consumption and shorter usage time, meaning that the flexibility of drone network communication is poor. Summary of the Invention

[0006] This disclosure provides a communication method, a flight node, and a program product.

[0007] On the one hand, a communication method is provided, applied to a first flight node, which is one of multiple flight nodes establishing a wireless local area network connection. The method includes:

[0008] Obtain the battery level of the first flight node;

[0009] Based on the battery level of the first flight node, control the first flight node to communicate according to the target strategy; the target strategy corresponds to the battery level and is used to indicate the communication content and / or communication link of the first flight node.

[0010] On the other hand, a flight node is provided, which is one of multiple flight nodes that establish a wireless local area network connection. The flight node includes an acquisition module and a processing module.

[0011] The acquisition module is used to acquire the battery level of the first flight node;

[0012] The processing module is used to control the first flight node to communicate according to a target strategy based on the battery level of the first flight node; the target strategy corresponds to the battery level and is used to indicate the communication content and / or communication link of the first flight node.

[0013] On the other hand, another communication method is provided for the first target flight node, the method including:

[0014] Receive a request from the first flight node;

[0015] Based on the request, assist the first flight node in communicating with the network access node.

[0016] On the other hand, another type of flight node is provided, including a receiving module and a processing module;

[0017] The receiving module is used to receive requests from the first flight node;

[0018] The processing module is used to assist the first flight node in communicating with the network access node based on requests.

[0019] In another aspect, another flight node is provided, comprising: a memory and a processor; the memory and the processor being coupled; the memory being used to store a computer program; and the processor implementing the method described in any of the above embodiments when executing the computer program.

[0020] In another aspect, a computer-readable storage medium is provided, on which computer program instructions are stored, which, when executed by a processor, implement the method described in any of the above embodiments; the computer-readable medium includes a non-transitory computer-readable medium.

[0021] In another aspect, a computer program product is provided, the computer program product including computer program instructions that, when executed by a processor, implement the method described in any of the above embodiments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments of this disclosure will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 is a system architecture diagram of a communication system according to some embodiments of the present disclosure;

[0024] Figure 2 is a flowchart illustrating a communication method according to some embodiments of the present disclosure;

[0025] Figure 3 is a flowchart illustrating another communication method according to some embodiments of the present disclosure;

[0026] Figure 4 is a schematic diagram of the structure of a flight node according to some embodiments of the present disclosure;

[0027] Figure 5 is a schematic diagram of the structure of another flight node according to some embodiments of the present disclosure;

[0028] Figure 6 is a schematic diagram of the structure of another flight node according to some embodiments of the present disclosure. Detailed Implementation

[0029] The technical solutions of this disclosure will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0030] It should be noted that, in this disclosure, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0031] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0032] In the description of this disclosure, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "more than one" means two or more.

[0033] With the evolution of 5G and 6G technologies, drones are finding increasingly diverse applications. Drones can be deployed at very low cost and with very fast deployment times in areas such as emergency communication services, goods delivery, and air quality / weather monitoring.

[0034] In order to achieve real-time communication during flight, the drone needs to maintain a network connection during flight, and both flight and maintaining a network connection consume the drone's power.

[0035] However, currently, when drones have low battery levels, simultaneously flying and maintaining a network connection may result in faster battery consumption and shorter usage time, meaning that the flexibility of drone network communication is poor.

[0036] To address the aforementioned technical problems, this disclosure provides a communication method that controls a first flight node to communicate according to a target strategy. The target strategy corresponds to the battery level of the first flight node, thus ensuring that the first flight node communicates according to a communication strategy that matches its battery level. Consequently, the first flight node can flexibly adjust its communication strategy based on its battery level.

[0037] The communication method provided in this disclosure can be applied to systems with various communication standards. For example, the systems to which the communication method provided in this disclosure is applicable include, but are not limited to, long-term evolution (LTE) systems, various versions based on LTE evolution, 5G systems, future mobile communication networks (e.g., 6G mobile communication networks), or multiple converged communication systems. Furthermore, the communication method provided in this disclosure can also be applied to future-oriented communication systems.

[0038] For example, the above communication method can be applied to the communication system shown in FIG1. ​​As shown in FIG1, the communication system includes: a first flight node 101, a first target flight node 102, and a network access node 103.

[0039] For example, the first flight node 101 is used to obtain the power level of the first flight node 101; or to control the first flight node 101 to communicate according to a target strategy based on the power level of the first flight node 101, wherein the target strategy corresponds to the power level and the target strategy is used to indicate the communication content and / or communication link of the first flight node 101; or to access the network through the network access node 103.

[0040] The first target flight node 102 may have a communication link with the first flight node 101; it may be used to assist the first flight node 101 in accessing the network; or it may be used to access the network through the network access node 103.

[0041] Network access node 103 is used to provide network access services for the first flight node 101 and / or the first target flight node 102.

[0042] In some embodiments, the first flight node 101 or the first target flight node 102 may be a flight terminal with accessibility or a drone.

[0043] In some embodiments, network access node 103 may be a wireless network access node (or base station) or a satellite.

[0044] In some embodiments, the wireless network access node can be a ground base station or an airborne base station.

[0045] In some embodiments, the base station may be a base station in Long Term Evolution, Long Term Evolution Advanced (LTEA) or an evolved Node B (eNB or eNodeB), a base station device in a 5G network, or a base station in a future communication system, etc. The base station may include various macro base stations, micro base stations, femtocell base stations, wireless remote extensions, reconfigurable intelligent surfaces (RISs), routers, wireless fidelity (WIFI) devices, or various network-side devices such as primary cells and secondary cells.

[0046] It should be noted that Figure 1 is only an exemplary framework diagram, and the number of devices included in Figure 1 and the names of each device are not limited.

[0047] The application scenarios of the embodiments disclosed herein are not limited. The system architecture and business scenarios described in the embodiments of this disclosure are for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of this disclosure. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this disclosure are also applicable to similar technical problems.

[0048] The communication method provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0049] The communication method provided in this disclosure can be applied to the first flying node 101 in the communication system shown in FIG1. ​​FIG2 shows a schematic flowchart of a communication method, which includes the following steps S201-S202:

[0050] S201, Obtain the power of the first flight node.

[0051] In some embodiments, the first flying node can obtain its power level through a query operation.

[0052] S202. Based on the power level of the first flight node, control the first flight node to communicate according to the target strategy.

[0053] For example, the target strategy corresponds to the battery level; the target strategy is used to indicate the communication content and / or communication link of the first flight node.

[0054] Since the target strategy corresponds to the battery level of the first flight node, controlling the first flight node to communicate according to the target strategy ensures that the first flight node communicates using a communication strategy that matches its battery level. In this way, the first flight node can flexibly adjust its communication strategy based on its battery level.

[0055] Since the target strategy is used to instruct the communication content and / or communication link of the first flight node, controlling the first flight node to communicate according to the target strategy can enable the first flight node to communicate according to the communication content and / or communication link adapted to the power direction, thereby improving the communication flexibility of the first flight node.

[0056] For example, when the battery level of the first flight node is higher than the battery threshold, the first flight node can adopt the target strategy corresponding to the high battery level to carry out communication with higher energy consumption, so as to ensure the communication quality and reliability of the first flight node.

[0057] For example, when the battery level of the first flight node is lower than the battery threshold, the first flight node can adopt the target strategy corresponding to the low battery level to carry out communication with low power consumption, so as to ensure the endurance of the first flight node and ensure that the first flight node can reliably complete the flight mission.

[0058] In some embodiments, the first flight node is one of a plurality of flight nodes that establish a wireless local area network connection.

[0059] In some embodiments, multiple flying nodes can be paired and establish data channels or communication links via a wireless local area network.

[0060] In some embodiments, the communication link between multiple flight nodes can be a short-range communication means of one of the following: side link, wireless fidelity (Wi-Fi), or Bluetooth.

[0061] In some embodiments, the communication link includes at least one of the following:

[0062] The first link between the first flight node and each second flight node; the second flight node is a flight node other than the first flight node among multiple flight nodes;

[0063] The second link between the first flight node and the network access node.

[0064] The first link between the first flight node and each of the second flight nodes enables communication between the first flight node and each of the second flight nodes.

[0065] In some embodiments, the communication between the first flight node and each of the second flight nodes can be referred to as short-range communication or near-field communication.

[0066] The second link between the first flight node and the network access node enables the first flight node to access the network through the network access node.

[0067] In some embodiments, the communication between the first flight node and the network access node can be referred to as long-distance communication or remote communication.

[0068] In some embodiments, the network access node can be a wireless network access node (or base station) or a satellite.

[0069] In some embodiments, the wireless network access node can be a ground base station or an airborne base station.

[0070] In some embodiments, the battery level of the first flight node satisfies a first condition; the first condition is that the battery level of the first flight node is within a first range, or the battery level of the first flight node is less than or equal to a first battery threshold; based on the battery level of the first flight node, the first flight node is controlled to communicate according to a target strategy, including: communicating with a second flight node through a first link; and communicating with a network access node through a second link.

[0071] If the first flight node's battery level meets the first condition, it indicates that the first flight node has sufficient power and can directly connect to the network access node for communication. At this time, the first flight node communicates with the second flight node via the first link and with the network access node via the second link. This ensures communication between the first and second flight nodes, and that the first flight node can access the network through the network access node for communication. Furthermore, the direct communication between the first flight node and the network node guarantees the reliability of the first flight node's communication.

[0072] The first condition can be that the battery level of the first flying node is within the first range, or that the battery level of the first flying node is less than or equal to the first battery threshold. In this case, it means that the battery level of the first flying node is sufficient to support the first flying node to directly access the network through the network access node.

[0073] In some embodiments, the battery level of the first flight node satisfies a second condition; the second condition is that the battery level of the first flight node is within a second range, or the battery level of the first node is less than or equal to a second battery threshold; based on the battery level of the first flight node, the first flight node is controlled to communicate according to a target strategy, including: releasing a second link and releasing the first links corresponding to other second flight nodes besides the first target flight node; the first target flight node is used to provide network assistance services to the first flight node; and communicating with the first target flight node through the first link corresponding to the first target flight node.

[0074] The fact that the first flight node's battery level meets the second condition indicates that its battery level is already low. Since the network access node is farther from the first flight node than the distance between the first and second flight nodes, maintaining the link between the first flight node and the network access node consumes more power. Therefore, releasing the second link and disconnecting the link with the network access node can reduce power consumption. Furthermore, releasing the first links corresponding to the other second flight nodes besides the first target flight node allows the first flight node to maintain only the link with the first target flight node, further reducing its power consumption.

[0075] Since the first target flight node provides network assistance services to the first flight node, and the first target flight node can normally access the network, the first flight node can communicate with the first target flight node through the first link corresponding to the first target flight node. This allows the first flight node to access the network or conduct network communication through the first target flight node, ensuring that the first flight node can achieve network communication. Furthermore, communication links exist between the first target flight node and other second flight nodes, enabling the first flight node to communicate with other second flight nodes through the first target flight node, ensuring communication between the first and second flight nodes and guaranteeing cooperation among multiple flight nodes.

[0076] If the battery level of the first flight node is in the second range, or if the battery level of the first node is less than or equal to the second battery threshold, it indicates that the battery level of the first flight node is low and power consumption needs to be reduced.

[0077] In some embodiments, the first condition and the second condition satisfy one of the following:

[0078] The minimum value of the first interval is greater than or equal to the maximum value of the second interval;

[0079] The minimum value in the first interval is greater than or equal to the second power threshold;

[0080] The first power threshold is greater than the maximum value of the second interval;

[0081] The first power threshold is greater than the second power threshold.

[0082] In some embodiments, the first flight node releases the second link and releases the first links corresponding to other second flight nodes besides the first target flight node; communicating with the first target flight node through the first link corresponding to the first target flight node can be referred to as the first flight node entering a power-saving mode or entering a first power-saving mode.

[0083] In some embodiments, the method further includes: acquiring information about a second flight node; and, based on the information about the second flight node, determining a first target flight node from the second flight nodes that meets preset conditions.

[0084] Since the first target flight node needs to complete its own communication or flight mission as well as provide network assistance services to the first flight node, the first target flight node needs to determine the first target flight node that meets the preset conditions from the second flight node in order to ensure that the first target flight node can reliably provide network assistance services to the first flight node, and also ensure that the first target flight node can ensure the realization of its own communication or flight mission.

[0085] In some embodiments, the information of the second flight node includes at least one of the following: the battery level of the second flight node, the distance between the second flight node and the first flight node, and the number of flight nodes that the second flight node has assisted.

[0086] The power level of the second flight node can be used to determine whether the second flight node has sufficient power to support network assistance services as well as its own communication and flight.

[0087] The distance between the second flight node and the first flight node is positively correlated with the energy consumption of communication between the first and second flight nodes; the greater the distance between the second flight node and the first flight node, the greater the power consumption of each of the two flight nodes when communicating with each other.

[0088] The number of flight nodes assisted by the second flight node is negatively correlated with the network assistance service capability of the second flight node; the more flight nodes the second flight node has assisted, the lower the network assistance service capability that the second flight node can provide to the first flight node.

[0089] In some embodiments, the preset conditions include at least one of the following: the distance between the second flight node and the first flight node is less than a distance threshold, the second flight node is closest to the first flight node, the battery level is greater than or equal to a target battery level threshold, the battery level is the highest, and the number of flight nodes that have been assisted is less than the number of flight nodes that can be assisted corresponding to the battery level of the second flight node.

[0090] The distance between the first flight node and the second flight node is less than the distance threshold, which can ensure that the energy consumption of the first flight node and the second flight node is low when they communicate with each other, thus improving the endurance of the first flight node and the second flight node.

[0091] If the battery level is greater than or equal to the target battery threshold, it means that the second flight node has sufficient battery power to provide the first flight node with network assistance services for the expected duration, and that the second flight node can reliably ensure its own flight and communication while providing network assistance services.

[0092] By having the second flight node with the highest battery power provide network assistance services to the first flight node, the resources of multiple flight nodes can be better balanced, and the reliability of multiple flight nodes working together to complete flight missions can be improved.

[0093] The number of assisted flying nodes of the second flying node is less than the number of flying nodes that can be assisted corresponding to the power of the second flying node, indicating that the network assistance service capability of the second flying node can meet the needs of the first flying node.

[0094] In some embodiments, the method further includes: receiving a first response from a first target flight node, the first response being sent by the first target flight node when the ratio between the battery level of the first target flight node and the battery level of the first flight node is less than or equal to a ratio threshold, the first response being used to instruct the first target flight node not to provide network assistance services to the first flight node.

[0095] In some embodiments, through the first response of the first target flight node, the first flight node can determine the identity information of the first target flight node; or determine that the first target flight node is capable of providing network assistance services to the first flight node; or determine that the first target flight node has prepared to provide network assistance services.

[0096] In some embodiments, after receiving a first response, the first flight node may release the first links corresponding to other second flight nodes besides the first target flight node; and communicate with the first target flight node through the first link corresponding to the first target flight node; thus, it can be ensured that the first flight node can accurately and reliably perform the disconnection operation of the first link.

[0097] In some embodiments, after determining the first target flight node, the first flight node can release the first links corresponding to other second flight nodes besides the first target flight node; and communicate with the first target flight node through the first link corresponding to the first target flight node; thus, it can be ensured that the first flight node can quickly disconnect the first link.

[0098] In some embodiments, the method further includes: obtaining updated information of a first target flight node; obtaining updated information of a second flight node and determining a new first target flight node based on the fact that the updated information of the first target flight node does not meet a preset condition; sending a first request to the new first target flight node, the first request being used to request network assistance services for the first flight node; and receiving a second response from the new first target flight node, the second response being used to instruct the new first target flight node to provide network assistance services for the first flight node.

[0099] If the updated information of the first target flight node does not meet the preset conditions, it indicates that the state of the first target flight node has changed and it no longer has the ability to provide network assistance services to the first flight node. In this case, the updated information of the second flight node can be obtained, and a new first target flight node can be determined based on the preset conditions. A first request is then sent to the new first target flight node. By receiving a second response, it is determined that the new first target flight node can provide network services to the first flight node. Thus, on the one hand, if the first target flight node is unable to provide network assistance services to the first flight node, it can stop providing services to the first flight node, ensuring the first target flight node's own communication and flight. On the other hand, if the first flight node cannot obtain network assistance services through the first target flight node, it can obtain network assistance services through the new first target flight node, ensuring the first flight node's network communication and improving the reliability of the first flight node obtaining network assistance services.

[0100] In some embodiments, the method further includes: broadcasting a second request; the second request being for requesting network assistance services to be provided for a first flight node; and receiving a third response from a first target flight node, the third response being for instructing the first target flight node to provide network assistance services to the first flight node.

[0101] The first target flying node is determined by broadcasting a second request and receiving a third response from the first target flying node. In this way, the first flying node does not need to determine the first target flying node itself, thus saving its own power.

[0102] For example, suppose there are flight nodes 1, 2, and 3 flying in a group. The second condition includes a second power threshold of 30%, and the third condition includes a third power threshold of 10%. At the first flight moment, the power levels of the flight nodes are as shown in Table 1.

[0103] Table 1

[0104] At this point, no flying node satisfies the second condition, so no operation is performed.

[0105] The battery level of the flight node at the second flight moment is shown in Table 2:

[0106] Table 2

[0107] At this time, the power of flight node 1 meets the second condition. Flight node 1 can send a second request to flight node 2 and flight node 3; or broadcast the second request; or determine flight node 3 as the first target flight node and send a first request to flight node 3.

[0108] In some embodiments, the first target flying node may also send decision information corresponding to network assistance services to the control node, notifying the control node to relay communication between the first target flying node and the first flying node or to provide network assistance services to the first flying node. Thus, when the control node needs to send control information to the first flying node, it can send control information for the first flying node to the first target flying node, which will then forward it to the first flying node.

[0109] In some embodiments, the battery level of the first flying node satisfies a third condition; the third condition is that the battery level of the first flying node is within a third range, or the battery level of the first flying node is less than or equal to a third battery level threshold. The method further includes: sending a third request to a first target flying node, the third request being used to request the disconnection of the first link between the first flying node and the first target flying node; periodically broadcasting a beacon signal, the beacon signal being used by the first target flying node to measure the position of the first flying node, so that the first target flying node notifies the control node when the distance between the first flying node and the first target flying node exceeds a distance threshold.

[0110] If the power of the first flight node meets the third condition, it means that the power of the first flight node is insufficient to support the first flight node to access the network through the first target flight node. At this time, the first flight node sends a third request to the first target flight node to disconnect the communication link with the first target flight node and reduce the power consumption of the first flight node.

[0111] Since the beacon signal is used by the first target flying node to measure the position of the first flying node, so that the first target flying node notifies the control node when the distance between the first flying node and the first flying node exceeds the distance threshold, the first flying node periodically broadcasts the beacon signal. This allows the first target flying node to check whether its position exceeds the distance threshold and notify the control node if the distance exceeds the distance threshold. In this way, it can be ensured that the state of the first flying node is controllable or that it can be found when the first flying node leaves the queue, even when the first flying node is not conducting network communication.

[0112] In some embodiments, the first link is a data communication link (PC5sidelink), and the beacon signal is a side link synchronization signal (SLSS) signal; or, the first link is a WIFI or Bluetooth data communication link, and the beacon signal is a beacon frame.

[0113] For example, suppose there are flight nodes 1, 2, and 3 flying in a group. The third condition includes a third battery threshold, which is 10% at the third flight time. The battery levels of the flight nodes are shown in Table 3.

[0114] Table 3

[0115] At this time, the power of flight node 1 meets the third condition. If the flight nodes use PC5sidelink communication technology, flight node 1 requests to disconnect the PC5sidelink data communication link with flight node 3, but enables periodic beacon signals for flight node 1 to perform measurements.

[0116] For example, the beacon signal could be an SLSS signal. Since beacon signals have constant power and a long transmission period, they are power-efficient. Because there are no obstacles in the air, the distance between flying nodes is strongly correlated with the measured value of the beacon signal. Therefore, flying node 3 periodically measures the RSRP value of the SLSS signal, for example, with a threshold of -100 dBm. When the SLSS signal value is higher than this value, it proves that flying node 1 is still flying within a reasonable distance range. Assuming the measured SLSS signal value is -80 dBm, the distance between flying node 3 and flying node 1 is estimated to be approximately 500 meters based on this measurement. Flying node 3 further notifies the control center that flying node 3 is in a state of extreme power saving and cannot receive any commands, but is flying within a 500-meter radius of itself.

[0117] If the flight nodes use WIFI / Bluetooth communication technology, then flight node 1 requests to disconnect the WIFI / Bluetooth data communication link with flight node 3, but enables periodic beacon signals for flight node 1 to perform measurements.

[0118] For example, in the case of Wi-Fi / Bluetooth, flight node 3 measures the beacon frames emitted by flight node 1. The beacon signal represents the wireless resources occupied by the beacon frames. The total power RSSI of the bandwidth occupied by these wireless resources is measured. Since the beacon signal has constant power and a long transmission period, it saves power. Because there are no obstacles in the air, the distance between flight nodes is strongly correlated with the measured beacon signal value. Therefore, flight node 3 periodically measures the RSSI value of the beacon frames, for example, with a threshold of -100 dBm. When the RSSI signal value is higher than this value, it proves that flight node 1 is still flying within a reasonable distance range. Assuming the measured RSSI signal value is -80 dBm, the distance between flight node 3 and flight node 1 is estimated to be approximately 500 meters. Flight node 3 then further notifies the control center that flight node 3 cannot receive any commands, but is flying within a 500-meter radius of itself.

[0119] In some embodiments, one of the following conditions must be satisfied between the second and third conditions:

[0120] The minimum value of the second interval is greater than or equal to the maximum value of the third interval;

[0121] The minimum value in the second interval is greater than or equal to the third power threshold;

[0122] The second power threshold is greater than the maximum value of the third interval;

[0123] The second power threshold is greater than the third power threshold.

[0124] In some embodiments, the first flight node is a flight node assisting the third flight node, and the power of the first flight node meets a fourth condition; the fourth condition is that the power of the first flight node is in a fourth range or the power of the first flight node is lower than a fourth power threshold. The method further includes: sending a fourth request to a first target flight node, the fourth request being used to request the first target flight node to provide network assistance services to the third flight node; and receiving a fourth response, the fourth response being used to instruct the first target flight node to provide network assistance services to the third flight node.

[0125] If the first flight node is assisting the third flight node, and the first flight node's power level meets the fourth condition, it indicates that the first flight node's power level does not support the first flight node providing network assistance services to the third flight node. In this case, a fourth request is sent to the first target flight node to request the first target flight node to provide network services to the third flight node.

[0126] The fourth response enables the first flight node to determine that the first target flight node can provide network assistance services to the third flight node, thus ensuring the reliability of the third flight node's network communication.

[0127] In some embodiments, the fourth request may include one of the following: the battery level of the third flight node, the communication policy of the third flight node, and the identity identifier of the third flight node.

[0128] By analyzing the battery level of the third flight node, the first target flight node can determine the communication strategy of the third flight node.

[0129] By identifying the third flight node, the first target flight node can provide network assistance services to the third flight node.

[0130] In some embodiments, the communication strategy of the third flight node is used to indicate whether the third flight node receives control information from the control node or whether the third flight node periodically transmits beacon signals.

[0131] In some embodiments, if the third flight node can receive control information from the control node, the first target flight node or the first flight node can send a notification message to the control node, so that the control node can send control information for the third flight node to the first target flight node when it needs to send control information to the third flight node.

[0132] For example, the battery level of the flight node at the fourth flight moment is shown in Table 4:

[0133] Table 4

[0134] At this time, since the battery level of flight node 3 is low, it may not be sufficient to provide network assistance services to flight node 1. One of the following solutions can be adopted:

[0135] Option 1: Assuming the preset conditions include maximum battery power, Flight Node 3 determines that Flight Node 2 will provide network assistance services to Flight Node 1, synchronizes Flight Node 3's status information with Flight Node 2, and notifies Flight Node 1 that it can currently only send beacon signals and that beacon signal measurements of Flight Node 1 are necessary. Furthermore, Flight Node 3's battery power meets the second condition. At this point, Flight Node 2 simultaneously handles communication between Flight Node 3 and Flight Node 1 and notifies the ground control center. Flight Node 2 and Flight Node 3 communicate via a local area link, exchanging status information. Flight Node 2 periodically measures the beacon signal value of Flight Node 1.

[0136] Option 2: Assuming the preset conditions include a first target power threshold, the number of times a flight node can assist is 1 when the power of the flight node is lower than the first target power threshold. Assuming the target power threshold is 50%, flight node 2 is responsible for the network assistance service of flight node 3.

[0137] Option 3: Assume the preset conditions may include a second target power threshold, which indicates the ratio of the power of the flight node providing network assistance services to the power of the flight node requesting network assistance services. Assume this threshold is 2, and the current actual ratio is 45 / 29 = 1.55. In this case, flight node 2 can choose not to provide assistance.

[0138] In some embodiments, the method further includes: controlling the first flight node to land at a target speed when the battery level of the first flight node meets a fifth condition; the fifth condition being that the battery level of the first flight node is in a fifth range or the battery level of the first flight node is below a fifth battery threshold; and periodically broadcasting a beacon signal.

[0139] If the power level of the first flight node meets the fifth condition, it means that the power level of the first flight node does not support the first flight node to continue flying or to continue the flight mission. At this time, the first flight node is controlled to land at the target speed to reduce the power consumption of the first flight node.

[0140] The location of the first flight node can be determined by the beacon signal, which facilitates the subsequent recovery of the first flight node.

[0141] In some embodiments, the method further includes: controlling the first flight node to return to home if the battery level of the first flight node meets a fifth condition; the fifth condition is that the battery level of the first flight node is in a fifth range or the battery level of the first flight node is lower than a fifth battery level threshold.

[0142] If the battery level of the first flight node meets the fifth condition, it means that the battery level of the first flight node does not support the first flight node to continue the flight mission. At this time, the first flight node is controlled to return to home to avoid unexpected situations caused by the first flight node being too low in battery.

[0143] In some embodiments, one of the following conditions must be satisfied between the third and fifth conditions:

[0144] The minimum value of the third interval is greater than or equal to the maximum value of the fifth interval;

[0145] The minimum value in the third interval is greater than or equal to the fifth power threshold;

[0146] The third power threshold is greater than the maximum value of the fifth interval;

[0147] The third power threshold is greater than the fifth power threshold.

[0148] For example, assume that the battery level of the flight node at the fifth flight moment is as shown in Table 5:

[0149] Table 5

[0150] At this point, Flight Node 1 makes an emergency landing. Alternatively, Flight Node 2 measures the beacon signal strength as -105 dBm, which translates to approximately 2 km. Flight Node 2 then alerts the command center that Flight Node 1 has fallen behind and is within 2 km of its current coordinates. Alternatively, Flight Node 1 assesses its distance from the origin or intermediate station and initiates a return-to-base operation. Before returning, it can send a notification to Flight Node 2, informing it of the return-to-base operation.

[0151] The communication method provided in this disclosure can be applied to the first target flying node 102 in the communication system shown in FIG1. ​​FIG3 shows a flowchart of another communication method, which includes the following steps S301-S302:

[0152] S301, Receive a request from the first flight node;

[0153] S302. Based on the request, assist the first flight node in communicating with the network access node.

[0154] In some embodiments, the first target flight node is one of a plurality of second flight nodes, and the request is used to request network assistance services for the first flight node; based on the request, assisting communication between the first flight node and the network access node includes:

[0155] Obtain information about the second flight node; determine the first target flight node as a flight node that meets preset conditions based on the information about the second flight node; send a third response to the first flight node, the third response being used to instruct the first target flight node to provide network assistance services to the first flight node.

[0156] In some embodiments, the information of the second flight node includes at least one of the following: the battery level of the second flight node, the distance between the second flight node and the first flight node, and the number of flight nodes that the second flight node has assisted.

[0157] In some embodiments, the preset conditions include at least one of the following: the distance between the second flight node and the first flight node is less than a distance threshold, the second flight node is closest to the first flight node, the battery level is greater than or equal to a target battery level threshold, the battery level is the highest, and the number of flight nodes that have been assisted is less than the number of flight nodes that can be assisted corresponding to the battery level of the second flight node.

[0158] In some embodiments, the method further includes: sending a fifth request to multiple flight nodes based on the fact that the updated information of the second flight node does not meet the preset conditions; the fifth request is used to request the second flight node to determine a new target flight node.

[0159] In some embodiments, the request is used to request the disconnection of the link between the first flight node and the first target flight node; based on the request, assisting the first flight node to communicate with the network access node includes: disconnecting the link between the first flight node and the first target flight node; and receiving a beacon signal broadcast by the first flight node.

[0160] In some embodiments, the request is used to request a first target flight node to provide network assistance services to a third flight node that assists the first flight node. Based on the request, assisting the first flight node to communicate with a network access node includes: sending a fourth response to the first target flight node, the fourth response being used to instruct the first target flight node to provide network assistance services to the third flight node.

[0161] In some embodiments, the method further includes:

[0162] Obtain the battery level of the first target flight node and the battery level of the first flight node;

[0163] If the ratio between the battery level of the first target flying node and the battery level of the first flying node is less than or equal to a ratio threshold, a first response is sent to the first flying node. The first response is used to instruct the first target flying node not to provide network assistance services to the first flying node.

[0164] It should be noted that the explanation of the embodiment of the communication method applied to the first flight node 101 in the communication system shown in Figure 1 can be referred to the explanation of the embodiment of the communication method of the first target flight node 102 in the communication system shown in Figure 1, and will not be repeated here.

[0165] The disclosed embodiments can divide the flight node into functional modules according to the above method embodiments. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one functional module. The integrated module can be implemented in hardware or software. It should be noted that the module division in this disclosed embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following description uses the example of dividing each functional module according to each function.

[0166] Figure 4 is a schematic diagram of a flying node provided in an embodiment of this disclosure. The flying node can execute the communication method provided in the above-described method embodiments. As shown in Figure 4, the flying node includes: an acquisition module 401 and a processing module 402.

[0167] The acquisition module 401 is used to acquire the power of the first flying node.

[0168] The processing module 402 is used to control the first flight node to communicate according to a target strategy based on the battery level of the first flight node; the target strategy corresponds to the battery level and is used to indicate the communication content and / or communication link of the first flight node.

[0169] In some embodiments, the communication link includes at least one of the following: a first link between a first flight node and each second flight node; the second flight node being a flight node other than the first flight node among a plurality of flight nodes; and a second link between the first flight node and a network access node.

[0170] In some embodiments, the battery level of the first flight node satisfies a first condition; the first condition is that the battery level of the first flight node is within a first range, or the battery level of the first flight node is less than or equal to a first battery level threshold.

[0171] The processing module 402 is also used to communicate with the second flight node via the first link.

[0172] The processing module 402 is also used to communicate with the network access node via the second link.

[0173] In some embodiments, the battery level of the first flight node satisfies a second condition; the second condition is that the battery level of the first flight node is within a second range, or the battery level of the first node is less than or equal to a second battery threshold.

[0174] Processing module 402 is also used to release the second link and release the first links corresponding to the other second flight nodes besides the first target flight node; the first target flight node is used to provide network assistance services for the first flight node;

[0175] The processing module 402 is also used to communicate with the first target flight node through the first link corresponding to the first target flight node.

[0176] In some embodiments, the acquisition module 401 is further configured to acquire information about the second flight node.

[0177] The processing module 402 is also used to determine, based on the information of the second flight node, a first target flight node that meets preset conditions from the second flight node.

[0178] In some embodiments, the information of the second flight node includes at least one of the following: the battery level of the second flight node, the distance between the second flight node and the first flight node, and the number of flight nodes assisted by the second flight node; the preset conditions include at least one of the following: the distance between the second flight node and the first flight node is less than a distance threshold, the second flight node is closest to the first flight node, the battery level is greater than or equal to a target battery level threshold, the second flight node has the highest battery level, and the number of flight nodes assisted is less than the number of flight nodes that can be assisted corresponding to the battery level of the second flight node.

[0179] In some embodiments, the flight node further includes a receiving module 403.

[0180] The receiving module 403 is used to receive a first response from the first target flight node. The first response is sent by the first target flight node when the ratio between the battery level of the first target flight node and the battery level of the first flight node is less than or equal to a ratio threshold. The first response is used to instruct the first target flight node not to provide network assistance services to the first flight node.

[0181] In some embodiments, the flight node further includes a sending module 404.

[0182] The acquisition module 401 is also used to acquire updated information about the first target flight node.

[0183] The acquisition module 401 is also used to acquire the updated information of the second flight node and determine a new first target flight node based on the preset conditions, since the updated information of the first target flight node does not meet the preset conditions.

[0184] The sending module 404 is used to send a first request to the new first target flight node. The first request is used to request network assistance services for the first flight node.

[0185] The receiving module 403 is also configured to receive a second response from the new first target flight node, the second response being used to instruct the new first target flight node to provide network assistance services to the first flight node.

[0186] In some embodiments, the sending module 404 is further configured to broadcast a second request; the second request is configured to request network assistance services for the first flying node.

[0187] The receiving module 403 is also configured to receive a third response from the first target flight node, the third response being used to instruct the first target flight node to provide network assistance services to the first flight node.

[0188] In some embodiments, the battery level of the first flight node satisfies a third condition; the third condition is that the battery level of the first flight node is within a third range, or the battery level of the first flight node is less than or equal to a third battery level threshold.

[0189] The sending module 404 is also used to send a third request to the first target flight node, the third request being used to request the disconnection of the first link between the first flight node and the first target flight node;

[0190] The transmitting module 404 is also used to periodically broadcast beacon signals, which are used by the first target flying node to measure the position of the first flying node, so that the first target flying node notifies the control node when the distance between the first flying node and the first target flying node exceeds a distance threshold.

[0191] In some embodiments, the first link is a PC5 sidelink data communication link, and the beacon signal is a sidelink synchronization SLSS signal; or, the first link is a WIFI or Bluetooth data communication link, and the beacon signal is a beacon frame.

[0192] In some embodiments, the first flight node is a flight node that assists the third flight node, and the power of the first flight node meets a fourth condition; the fourth condition is that the power of the first flight node is in a fourth range or the power of the first flight node is lower than a fourth power threshold.

[0193] The sending module 404 is also used to send a fourth request to the first target flying node, the fourth request being used to request the first target flying node to provide network assistance services to the third flying node.

[0194] The receiving module 403 is also used to receive a fourth response, which is used to instruct the first target flight node to provide network assistance services to the third flight node.

[0195] In some embodiments, the processing module 402 is further configured to control the first flight node to land at a target speed if the battery level of the first flight node meets a fifth condition; the fifth condition is that the battery level of the first flight node is in a fifth range or the battery level of the first flight node is lower than a fifth battery level threshold.

[0196] The transmitting module 404 is also used for periodically broadcasting beacon signals.

[0197] In some embodiments, the processing module 402 is further configured to control the first flight node to return to home if the battery level of the first flight node meets the fifth condition; the fifth condition is that the battery level of the first flight node is in the fifth range or the battery level of the first flight node is lower than the fifth battery level threshold.

[0198] Figure 5 is a schematic diagram of another flying node provided in an embodiment of this disclosure. The flying node can execute the communication method provided in the above-described method embodiments. As shown in Figure 5, the flying node includes a receiving module 501 and a processing module 502.

[0199] The receiving module 501 is used to receive requests from the first flying node.

[0200] Processing module 502 is used to assist the first flight node in communicating with the network access node based on a request.

[0201] In some embodiments, the first target flight node is one of a plurality of second flight nodes, and the request is used to request network assistance services for the first flight node.

[0202] In some embodiments, the flight node further includes an acquisition module 503, a determination module 504, and a sending module 505.

[0203] The acquisition module 503 is used to acquire information about the second flight node.

[0204] The determination module 504 is used to determine the first target flight node as a flight node that meets preset conditions based on the information of the second flight node.

[0205] The sending module 505 is used to send a third response to the first flight node, the third response being used to instruct the first target flight node to provide network assistance services to the first flight node.

[0206] In some embodiments, the information of the second flight node includes at least one of the following: the battery level of the second flight node, the distance between the second flight node and the first flight node, and the number of flight nodes assisted by the second flight node; the preset conditions include at least one of the following: the distance between the second flight node and the first flight node is less than a distance threshold, the second flight node is closest to the first flight node, the battery level is greater than or equal to a target battery level threshold, the second flight node has the highest battery level, and the number of flight nodes assisted is less than the number of flight nodes that can be assisted corresponding to the battery level of the second flight node.

[0207] In some embodiments, the sending module 505 is further configured to send a fifth request to multiple flight nodes based on the fact that the updated information of the second flight node does not meet the preset conditions; the fifth request is used to request the second flight node to determine a new target flight node.

[0208] In some embodiments, the request is used to request the disconnection of the link between the first flight node and the first target flight node.

[0209] The processing module 502 is also used to disconnect the link between the first flight node and the first target flight node.

[0210] The receiving module 501 is also used to receive the beacon signal broadcast by the first flight node.

[0211] In some embodiments, a request is made to request a third flight node to provide network assistance services for the assistance of the first flight node.

[0212] The sending module 505 is also used to send a fourth response to the first target flight node, the fourth response being used to instruct the first target flight node to provide network assistance services to the third flight node.

[0213] In some embodiments, the acquisition module 503 is further configured to acquire the battery level of the first target flight node and the battery level of the first flight node.

[0214] The sending module 505 is further configured to send a first response to the first flight node when the ratio between the battery level of the first target flight node and the battery level of the first flight node is less than or equal to a ratio threshold. The first response is used to instruct the first target flight node not to provide network assistance services to the first flight node.

[0215] In implementing the functions of the integrated modules described above in hardware, this disclosure provides another possible structure for the flight node involved in the above embodiments. As shown in FIG6, the flight node includes: a processor 602 and a bus 604. Optionally, the flight node may further include a memory 601; optionally, the flight node may further include a communication interface 603.

[0216] Processor 602 may implement or execute various exemplary logic blocks, modules, and circuits described in connection with embodiments of this disclosure. Processor 602 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in connection with embodiments of this disclosure. Processor 602 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0217] Communication interface 603 is used to connect to other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0218] The memory 601 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0219] In one possible implementation, the memory 601 can exist independently of the processor 602. The memory 601 can be connected to the processor 602 via a bus 604 and is used to store instructions or program code. When the processor 602 calls and executes the instructions or program code stored in the memory 601, it can implement the methods provided in the embodiments of this disclosure.

[0220] In another possible implementation, the memory 601 can also be integrated with the processor 602.

[0221] Bus 604 can be an extended industry standard architecture (EISA) bus, etc. Bus 604 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in Figure 6, but this does not mean that there is only one bus or one type of bus.

[0222] Some embodiments of this disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) storing computer program instructions that, when executed on a computer, cause the computer to perform the methods described in any of the above embodiments.

[0223] Exemplary examples show that the aforementioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this disclosure may represent one or more devices for storing information and / or other machine-readable storage media. The term "machine-readable storage media" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0224] This disclosure provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described in any of the above embodiments.

[0225] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A communication method, wherein, Applied to a first flight node, which is one of a plurality of flight nodes establishing a wireless local area network connection, the method includes: Obtain the battery level of the first flight node; Based on the battery level of the first flight node, the first flight node is controlled to communicate according to a target strategy; the target strategy corresponds to the battery level and is used to indicate the communication content and / or communication link of the first flight node.

2. The method of claim 1, wherein, The communication link includes at least one of the following: A first link between the first flight node and each second flight node; the second flight node is a flight node other than the first flight node among the plurality of flight nodes; The second link between the first flight node and the network access node.

3. The method of claim 2, wherein, The battery level of the first flight node meets a first condition; the first condition is that the battery level of the first flight node is within a first range, or the battery level of the first flight node is less than or equal to a first battery threshold. The step of controlling the first flight node to communicate according to the target strategy based on the battery level of the first flight node includes: Communicating with the second flight node via the first link; Communicate with the network access node via the second link.

4. The method of claim 2, wherein, The battery level of the first flight node meets the second condition; the second condition is that the battery level of the first flight node is within a second range, or the battery level of the first node is less than or equal to a second battery threshold. The step of controlling the first flight node to communicate according to the target strategy based on the battery level of the first flight node includes: Release the second link and release the first links corresponding to the other second flight nodes in the second flight nodes, excluding the first target flight node; The first target flight node is used to provide network assistance services to the first flight node; Communicate with the first target flight node through the first link corresponding to the first target flight node.

5. The method of claim 4, wherein, The method further includes: Obtain information about the second flight node; Based on the information from the second flight node, the first target flight node that meets the preset conditions is determined from the second flight node.

6. The method according to claim 5, wherein, The information of the second flight node includes at least one of the following: the battery level of the second flight node, the distance between the second flight node and the first flight node, and the number of flight nodes that the second flight node has assisted; The preset conditions include at least one of the following: the distance between the second flight node and the first flight node is less than a distance threshold, the second flight node is closest to the first flight node, the battery level is greater than or equal to the target battery level threshold, the battery level is the highest, and the number of flight nodes that have been assisted is less than the number of flight nodes that can be assisted corresponding to the battery level of the second flight node.

7. The method of claim 6, wherein, The method further includes: A first response is received from the first target flight node, which is sent by the first target flight node when the ratio between the battery level of the first target flight node and the battery level of the first flight node is less than or equal to a ratio threshold. The first response is used to instruct the first target flight node not to provide network assistance services to the first flight node.

8. The method of claim 6, wherein, The method further includes: Obtain the updated information of the first target flight node; If the updated information of the first target flight node does not meet the preset conditions, the updated information of the second flight node is obtained and a new first target flight node is determined based on the preset conditions. Send a first request to the new first target flight node, the first request being used to request network assistance services for the first flight node; Receive a second response from the new first target flight node, the second response being used to instruct the new first target flight node to provide network assistance services to the first flight node.

9. The method of claim 2, wherein, The method further includes: Broadcast a second request; the second request is used to request network assistance services for the first flight node; Receive a third response from the first target flight node, the third response being used to instruct the first target flight node to provide network assistance services to the first flight node.

10. The method of claim 2, wherein, The battery level of the first flight node satisfies a third condition; the third condition is that the battery level of the first flight node is within a third range, or the battery level of the first flight node is less than or equal to a third battery threshold. The method further includes: Send a third request to the first target flight node, the third request being used to request the disconnection of the first link between the first flight node and the first target flight node; A beacon signal is periodically broadcast, which is used by the first target flight node to measure the position of the first flight node, so that the first target flight node notifies the control node when the distance between the first flight node and the first target flight node exceeds a distance threshold.

11. The method of claim 10, wherein, The first link is a PC5 sidelink data communication link, and the beacon signal is a sidelink synchronization SLSS signal; or, The first link is a WIFI or Bluetooth data communication link, and the beacon signal is a beacon frame.

12. The method of claim 2, wherein, The first flight node is a flight node assisting the third flight node, and the battery level of the first flight node meets a fourth condition; the fourth condition is that the battery level of the first flight node is within a fourth range or the battery level of the first flight node is lower than a fourth battery threshold. The method further includes: A fourth request is sent to the first target flight node, the fourth request being used to request the first target flight node to provide network assistance services to the third flight node; A fourth response is received, which instructs the first target flight node to provide network assistance services to the third flight node.

13. The method of claim 2, wherein, The method further includes: If the battery level of the first flight node meets the fifth condition, control the first flight node to land at the target speed; the fifth condition is that the battery level of the first flight node is in the fifth range or the battery level of the first flight node is lower than the fifth battery threshold. Periodically broadcast beacon signals.

14. The method of claim 2, wherein, The method further includes: If the battery level of the first flight node meets the fifth condition, the first flight node is controlled to return to its home position; the fifth condition is that the battery level of the first flight node is in the fifth range or the battery level of the first flight node is lower than the fifth battery threshold.

15. A communication method, wherein, Applied to the first target flight node, the method includes: Receive a request from the first flight node; Based on the request, assist the first flight node in communicating with the network access node.

16. The method of claim 15, wherein, The first target flight node is one of a plurality of second flight nodes, and the request is used to request network assistance services for the first flight node; the step of assisting communication between the first flight node and the network access node based on the request includes: Obtain information about the second flight node; Based on the information from the second flight node, the first target flight node is determined to be a flight node that meets the preset conditions; A third response is sent to the first flight node, the third response being used to instruct the first target flight node to provide network assistance services to the first flight node.

17. The method of claim 16, wherein, The information of the second flight node includes at least one of the following: the battery level of the second flight node, the distance between the second flight node and the first flight node, and the number of flight nodes that the second flight node has assisted; The preset conditions include at least one of the following: the distance between the second flight node and the first flight node is less than a distance threshold, the second flight node is closest to the first flight node, the battery level is greater than or equal to the target battery level threshold, the battery level is the highest, and the number of flight nodes that have been assisted is less than the number of flight nodes that can be assisted corresponding to the battery level of the second flight node.

18. The method of claim 16, wherein, The method further includes: If the updated information of the second flight node does not meet the preset conditions, a fifth request is sent to the plurality of flight nodes; the fifth request is used to request the second flight node to determine a new target flight node.

19. The method of claim 15, wherein, The request is used to request the disconnection of the link between the first flight node and the first target flight node; the step of assisting the first flight node to communicate with the network access node based on the request includes: Disconnect the link between the first flight node and the first target flight node; Receive the beacon signal broadcast by the first flight node.

20. The method of claim 15, wherein, The request is used to request the first target flight node to provide network assistance services to a third flight node assisted by the first flight node. The step of assisting the first flight node in communicating with a network access node based on the request includes: A fourth response is sent to the first target flight node, the fourth response being used to instruct the first target flight node to provide network assistance services to the third flight node.

21. The method of claim 15, wherein, The method further includes: Obtain the battery level of the first target flight node and the battery level of the first flight node; If the ratio between the battery level of the first target flight node and the battery level of the first flight node is less than or equal to a ratio threshold, a first response is sent to the first flight node. The first response is used to instruct the first target flight node not to provide network assistance services to the first flight node.

22. A flight node, wherein, include: Memory and processor; Memory and processor are coupled; a memory for storing instructions executable by the processor; the processor executes the instructions to perform the method of any one of claims 1-14, or to perform the method of any one of claims 15-21.

23. A computer program product, wherein, the computer program product comprises computer program instructions that, when executed by a processor, implement the method of any one of claims 1-14, or implement the method of any one of claims 15-21.

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