CN116107342B - Unmanned aerial vehicle flight method based on 5GS - Google Patents
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Abstract
The invention discloses a 5 GS-based unmanned aerial vehicle flight method, which comprises the following steps: UTM sends preset target flight path information to unmanned plane; the unmanned aerial vehicle executes a flight task according to the target flight path information; acquiring network performance data of the unmanned aerial vehicle during the execution of a flight task, wherein the network performance data comprises first performance data, and the first performance data reflects service quality provided by a service base station accessed into the unmanned aerial vehicle; when the first performance data is smaller than or equal to a first threshold value, UTM controls the unmanned aerial vehicle to access a target base station adjacent to a service base station, and enables the unmanned aerial vehicle to bypass a cell served by the target base station. According to the invention, the unmanned aerial vehicle can continuously monitor the network signal quality on the flight path when the unmanned aerial vehicle executes the flight task, and when the service base station on the target flight path cannot provide sufficient network signal quality, the unmanned aerial vehicle is switched to the target base station adjacent to the service base station, so that the safety of the unmanned aerial vehicle when executing the flight task is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a 5 GS-based unmanned aerial vehicle flight method.
Background
Unmanned aerial vehicles ("unmanned aerial vehicles"), abbreviated as "UAVs," are unmanned aerial vehicles that are operated by radio remote control devices and self-contained programming devices, or are operated entirely or intermittently by onboard computers. Unmanned aerial vehicle divides according to the application and can divide into for military use and civilian two aspects, and wherein, in civilian aspect, unmanned aerial vehicle wide application is taken photo by plane, agriculture, plant protection, miniature self-timer, express delivery transportation, disaster rescue, observe wild animal, monitor infectious disease, survey, news report, electric power inspection, relief of disaster, film and television shooting, make romantic etc. field.
At present, the remote control and information transmission of the unmanned aerial vehicle in the traditional mode are limited by the range of the sight distance of the flying hand, and generally only a few kilometers; if the unmanned aerial vehicle is accessed by adopting a 3GPP network, the unmanned aerial vehicle is generally allowed to execute the flight task according to the set flight route by setting the flight route in advance, but the flight method needs to ensure that the unmanned aerial vehicle can be provided with enough high signal intensity on the flight route, otherwise, the unmanned aerial vehicle is easy to cause the safety problem when executing the flight task, and the signal quality on the preset flight route is often unstable, so that the unmanned aerial vehicle is easy to cause the safety hidden trouble when executing the flight according to the method.
Therefore, it is necessary to provide a 5 GS-based unmanned aerial vehicle flight method to solve the above problems.
Disclosure of Invention
The invention aims to provide a 5 GS-based unmanned aerial vehicle flight method, which can continuously monitor network signal quality on a flight path when an unmanned aerial vehicle executes a flight task, and can switch the unmanned aerial vehicle to a target base station adjacent to a service base station when the service base station on the target flight path cannot provide sufficient network signal quality, thereby being beneficial to improving the safety of the unmanned aerial vehicle when executing the flight task.
In order to achieve the above purpose, the invention provides a 5 GS-based unmanned aerial vehicle flight method, which comprises the following steps:
UTM sends preset target flight path information to unmanned plane;
the unmanned aerial vehicle executes a flight task according to the target flight path information;
acquiring network performance data during the execution of the flight task by the unmanned aerial vehicle, wherein the network performance data comprises first performance data reflecting the service quality provided by a service base station accessed to the unmanned aerial vehicle;
and when the first performance data is smaller than or equal to a first threshold value, UTM controls the unmanned aerial vehicle to access a target base station adjacent to the service base station, and enables the unmanned aerial vehicle to bypass a cell served by the target base station.
Optionally, before the "UTM sends the predetermined flight path information to the unmanned aerial vehicle", the method further includes:
determining a preset starting point and a preset end point of the unmanned aerial vehicle;
determining a plurality of predetermined flight paths stored in the UTM according to a predetermined starting point and the predetermined ending point, the predetermined flight paths including the predetermined starting point and the predetermined ending point;
and determining a target flight path in the preset flight path, and generating target flight path information, wherein the target flight path is one with the best network performance in the preset flight path.
Optionally, the predetermined flight path stored in the UTM is a path that the unmanned aerial vehicle has flown in advance;
when the unmanned aerial vehicle executes the preflight task along the preset flight path, the UTM acquires network performance information of each preset flight path.
Optionally, the network performance data further includes second performance data reflecting a quality of service of the drone by a neighboring base station adjacent to the serving base station;
and determining the adjacent base station with the second performance data being greater than or equal to a second threshold value as the target base station.
Optionally, if the second performance data is greater than or equal to the second threshold, the neighboring base station with the optimal second performance data is determined to be the target base station.
Optionally, the "acquiring network performance data during the unmanned aerial vehicle performing the flight mission" includes:
UTM initiates network performance request to NEF through AF;
the NEF authorizes and forwards the network performance request of the AF, and subscribes network performance request events to the NWDAF;
the NWDAF obtains the network performance data to NFs;
and the NWDAF makes a decision result according to the network performance data and returns the decision result to the UTM through AF.
Optionally, the "UTM controlling the drone to access the target base station adjacent to the serving base station" includes:
UTM initiates QoS request to PCF through AF according to the decision result;
the PCF updates the base station access strategy according to the QoS request so as to enable NFs to execute the base station access strategy;
the PCF responds the updated results back to UTM through AF.
Optionally, during the period that the unmanned aerial vehicle executes the flight task, the service base station issues measurement configuration to the unmanned aerial vehicle, wherein the measurement configuration is used for the unmanned aerial vehicle to measure signal intensity information of the service base station and cells corresponding to adjacent base stations adjacent to the service base station respectively;
the service base station acquires a measurement report from the unmanned aerial vehicle, wherein the measurement report comprises a measurement event type triggered according to the signal strength information;
and the service base station determines the target base station to be accessed according to the measurement report.
In order to achieve the above object, the present invention also discloses an electronic device comprising
A processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the unmanned aerial vehicle flight method as described above via execution of the executable instructions.
To achieve the above object, the present invention also discloses a computer-readable storage medium having a program stored thereon, characterized in that the program, when executed by a processor, implements the unmanned aerial vehicle flight method as described above.
The present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the unmanned aerial vehicle flight method as described above.
According to the unmanned aerial vehicle, a flight task can be executed according to target flight path information sent by the UTM, and network performance data of the unmanned aerial vehicle on a target flight path is obtained during the execution of the flight task, wherein the network performance data comprises first performance data, the first performance data reflects service quality provided by a service base station connected to the unmanned aerial vehicle for the unmanned aerial vehicle, when the first performance data is smaller than or equal to a first threshold value, the UTM controls the unmanned aerial vehicle to be connected to a target base station adjacent to the service base station, and the unmanned aerial vehicle bypasses a cell served by the target base station, so that the flight path is changed. According to the invention, the unmanned aerial vehicle can continuously monitor the network signal quality on the flight path when the unmanned aerial vehicle executes the flight task, and when the service base station on the target flight path cannot provide sufficient network signal quality, the unmanned aerial vehicle is switched to the target base station adjacent to the service base station, so that the safety of the unmanned aerial vehicle when executing the flight task is improved.
Drawings
Fig. 1 is a flow chart of the 5 GS-based unmanned aerial vehicle flight method of the present invention.
Fig. 2 is a signaling flow diagram of the 5 GS-based unmanned aerial vehicle flight method of the present invention.
Fig. 3 is a schematic illustration of a flight of a drone in a specific example of the invention.
Fig. 4 is a signaling flow diagram of a base station handoff in accordance with the present invention.
Fig. 5 is a schematic block diagram of an electronic device of an embodiment of the invention.
Detailed Description
In order to describe the technical content, the constructional features, the achieved objects and effects of the present invention in detail, the following description is made with reference to the embodiments in conjunction with the accompanying drawings.
For ease of understanding the present application, the relevant terms presented herein are explained as follows:
5GS:5G System
5GC:5G Core network
UTM Unmanned Traffic Management unmanned aircraft system traffic management
QoS: quality of Service quality of service
QoE: quality of Experience quality of experience
AF: application Function application function
NF: network Function
PCF: policy Control Function policy control function
NEF: network Exposure Function network capability opening function
NWDAF: network Data Application Function network data analysis function
Referring to fig. 1 and 3, the invention discloses a 5 GS-based unmanned aerial vehicle flight method, which comprises the following steps:
s1, the UTM sends preset target flight path information to the unmanned aerial vehicle.
S2, the unmanned aerial vehicle executes a flight task according to the target flight path information.
And S3, acquiring network performance data of the unmanned aerial vehicle during the execution of the flight task, wherein the network performance data comprises first performance data, and the first performance data reflects the service quality provided by a service base station accessed into the unmanned aerial vehicle.
And S4, when the first performance data is smaller than or equal to a first threshold value, the UTM controls the unmanned aerial vehicle to access a target base station adjacent to the service base station, and enables the unmanned aerial vehicle to bypass a cell served by the target base station.
According to the unmanned aerial vehicle, a flight task can be executed according to target flight path information sent by the UTM, and network performance data of the unmanned aerial vehicle on a target flight path is obtained during the execution of the flight task, wherein the network performance data comprises first performance data, the first performance data reflects service quality provided by a service base station connected to the unmanned aerial vehicle for the unmanned aerial vehicle, when the first performance data is smaller than or equal to a first threshold value, the UTM controls the unmanned aerial vehicle to be connected to a target base station adjacent to the service base station, and the unmanned aerial vehicle bypasses a cell served by the target base station, so that the flight path is changed. According to the invention, the unmanned aerial vehicle can continuously monitor the network signal quality on the flight path when the unmanned aerial vehicle executes the flight task, and when the service base station on the target flight path cannot provide sufficient network signal quality, the unmanned aerial vehicle is switched to the target base station adjacent to the service base station, so that the safety of the unmanned aerial vehicle when executing the flight task is improved.
As shown in fig. 3, the dashed line represents the target flight path, the solid line is the actual flight path, when the unmanned aerial vehicle flies into the cell of the RAN1, the first performance data is less than or equal to the first threshold value, and the unmanned aerial vehicle accesses the target base station RAN5 and bypasses the cell served by the target base station RAN 5.
It may be appreciated that the first performance data may be formed based on a fusion of a plurality of parameters reflecting the quality of service of the base station, and the parameters reflecting the quality of service of the base station may include a transmission rate, a latency, etc., and the larger the value of the formed first performance data parameter, the better the network performance is reflected; the first threshold value can be set by actual demands, and the unmanned aerial vehicle can be kept in a safe flight state.
Specifically, before "UTM transmits predetermined flight path information to the unmanned aerial vehicle", it further includes:
determining a preset starting point and a preset end point of the unmanned aerial vehicle;
determining a plurality of predetermined flight paths stored in the UTM according to the predetermined start point and the predetermined end point, the predetermined flight paths including the predetermined start point and the predetermined end point;
and determining a target flight path in the preset flight path, and generating target flight path information, wherein the target flight path is one with the best network performance in the preset flight path.
The method has the advantages that one optimal network performance is screened out from a plurality of preset flight paths before the unmanned aerial vehicle executes the flight task, and the selected target flight path is used as the path of the unmanned aerial vehicle executing the flight task, so that the flight safety of the unmanned aerial vehicle is improved, and the risk increase of safety problems caused by the selection of the preset flight path with poor network performance is avoided.
Further, the preset flight path stored in the UTM is a path which is flown by the unmanned aerial vehicle in advance;
when the unmanned aerial vehicle executes the pre-flight task along the preset flight path, the UTM acquires network performance information of each preset flight path.
Specifically, a plurality of predetermined flight paths may be planned in advance according to a predetermined starting point and a predetermined ending point, and the starting point and the ending point of the predetermined flight paths are also the predetermined starting point and the predetermined ending point, the unmanned aerial vehicle may perform a preflight task along the predetermined flight paths, and during the execution of the preflight task, the unmanned aerial vehicle collects base station information on the predetermined flight paths and corresponding base station service quality parameters, wherein the collected base stations may include a serving base station and neighboring base stations adjacent to the serving base station, thereby forming network performance information of each predetermined flight path.
In some embodiments, the network performance data further includes second performance data reflecting a quality of service to the drone by a neighboring base station adjacent to the serving base station;
and determining the neighboring base station with the second performance data being greater than or equal to a second threshold value as a target base station.
It can be appreciated that the second performance data may be formed based on a fusion of a plurality of parameters reflecting the quality of service of the base station, and the parameters reflecting the quality of service of the base station may include a transmission rate, a latency, etc., and the larger the value of the formed second performance data parameter, the better the network performance is reflected; the second threshold value can be set by actual requirements, and only the unmanned aerial vehicle can be kept in a safe flight state. In addition, the second threshold may be the same as the first threshold, or may be lower than the first threshold, i.e. it is considered that the unmanned aerial vehicle is still in the cell of the serving base station, but the first performance data does not meet the requirement of the first threshold, but has a distance difference from the cell of the target base station, so that the situation can be adapted to that the second threshold is lower than the first threshold, so that the unmanned aerial vehicle can access the target base station and fly to the cell of the target base station.
Further, if the second performance data is greater than or equal to the second threshold, determining that the neighboring base station with the optimal second performance data is the target base station. By determining the adjacent base station with the optimal second performance data as the target base station, the flight safety of the unmanned aerial vehicle can be improved to the greatest extent, and the unmanned aerial vehicle can be connected to the optimal base station.
Referring to fig. 2, in some embodiments, "obtaining network performance data during the performance of a flight mission by a drone" includes:
UTM initiates network performance request to NEF through AF;
the NEF authorizes and forwards the network performance request of the AF, and subscribes the network performance request event to the NWDAF;
NWDAF obtains network performance data to NFs;
the NWDAF makes a decision result according to the network performance data and returns the decision result to the UTM through AF.
Specifically, the unmanned aerial vehicle accesses the base station to communicate with the UTM through the 5GS network, so the UTM can realize the request for the network performance data through the network element in the 5G network, and the NWDAF can make a decision result according to the network performance data, namely, can determine whether to execute the base station switching action and determine the base station to be accessed.
Referring to fig. 2, further, "UTM controlling the drone to access a target base station adjacent to a serving base station" includes:
UTM initiates QoS request to PCF through AF according to decision result;
the PCF updates the base station access strategy according to the QoS request so as to enable NFs to execute the base station access strategy;
the PCF responds the updated results back to UTM through AF.
It can be understood that the UTM informs the PCF of the need to perform the base station switching action through the QoS request, and the PCF updates the base station access policy according to the QoS request, so that the NFs performs the base station access policy, and further completes the base station switching, and the PCF responds the update result back to the UTM.
Referring to fig. 4, in some embodiments, during a period when the unmanned aerial vehicle performs a flight task, the serving base station issues a measurement configuration to the unmanned aerial vehicle, where the measurement configuration is used for the unmanned aerial vehicle to measure signal strength information of each cell corresponding to the serving base station and a neighboring base station adjacent to the serving base station;
the service base station acquires a measurement report from the unmanned aerial vehicle, wherein the measurement report comprises a measurement event type triggered according to signal strength information;
and the service base station determines a target base station to be accessed according to the measurement report.
It can be understood that after the unmanned aerial vehicle accesses the service base station, the service base station issues measurement configuration to the unmanned aerial vehicle through an RRC link, where the measurement configuration includes a measurement object and measurement content; the measurement object includes a serving base station and a neighboring base station, and the measurement content corresponds to signal strength information, where the signal strength information may include RSRP (Reference Signal Receiving Power, reference signal received power), RSRQ (Reference Signal Receiving Quality, reference signal received quality), SINR (Signal to Interference plus Noise Ratio ), or may be the same as the network performance data.
Measurement events that may exist within a measurement report can be seen in the following table:
the serving cell refers to a cell corresponding to a serving base station, and the neighbor cell refers to a cell corresponding to a neighbor base station. After the service base station acquires the measurement report, a corresponding execution action can be made according to the measurement report, for example, when the type of the measurement event in the measurement report is an A1 event, the service base station can keep the access with the unmanned aerial vehicle; and when the measured event type is A2+A3 event, the target base station to be accessed can be determined, and the service base station accessed by the unmanned aerial vehicle is switched to the target base station in the adjacent base station.
For specific decision criteria for measuring events, see the following table:
wherein Ms represents the measurement result of the serving cell;
mn represents the measurement result of the neighbor cell;
TimeToTrig represents the duration of time that the event entry condition is continuously met, i.e., the time delay; off represents the bias of the measurement, step size 0.5db;
hys represents the amplitude hysteresis of the measurement result, the step size is 0.5db;
ofs represents the frequency offset of the serving cell;
ofn represents the frequency offset of the neighbor cell;
ocs represents serving cell specific offset CIO;
ocn represents the cell specific offset CIO of the neighbor cell within the system;
thresh is the threshold value for the corresponding event configuration.
The type of event triggered can be determined according to the table.
The parameters and values of the measurement event are shown as follows:
the Range corresponds to the Value of the signal strength information reported in the measurement report, and the Value corresponds to the true Value. Taking RSRP as an example, the Value range of NR is-156 to-31 dBm, and when the reported RSRP is 50, the actual Value is 50-156= -106dBm.
Referring to fig. 5, the embodiment of the invention also discloses an electronic device, which includes:
a processor 40;
a memory 50 having stored therein executable instructions of the processor 40;
wherein the processor 40 is configured to perform the unmanned aerial vehicle flight method as described above via execution of the executable instructions.
The embodiment of the invention also discloses a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and the program is executed by a processor to realize the unmanned aerial vehicle flight method based on 5 GS.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the 5 GS-based unmanned aerial vehicle flight method as described above.
It should be appreciated that in embodiments of the present Application, the processor may be a central processing module (CentralProcessing Unit, CPU), which may also be other general purpose processors, digital signal processors (DigitalSignal Processor, DSP), application specific integrated circuits (Application SpecificIntegratedCircuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Those skilled in the art will appreciate that the processes implementing all or part of the methods of the above embodiments may be implemented by hardware associated with computer program instructions, and the program may be stored in a computer readable storage medium, where the program when executed may include processes of embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random access memory (Random AccessMemory, RAM), or the like.
The foregoing disclosure is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (9)
1. A 5 GS-based unmanned aerial vehicle flight method, comprising:
UTM sends preset target flight path information to unmanned plane;
the unmanned aerial vehicle executes a flight task according to the target flight path information;
acquiring network performance data during the execution of the flight task by the unmanned aerial vehicle, wherein the network performance data comprises first performance data reflecting the service quality provided by a service base station accessed to the unmanned aerial vehicle;
when the first performance data is smaller than or equal to a first threshold value, UTM controls the unmanned aerial vehicle to access a target base station adjacent to the service base station, and enables the unmanned aerial vehicle to bypass a cell served by the target base station;
the network performance data further includes second performance data reflecting quality of service to the drone by a neighboring base station adjacent to the serving base station;
determining the neighboring base station whose second performance data is greater than or equal to a second threshold as the target base station;
the second threshold is lower than the first threshold.
2. The unmanned aerial vehicle flight method of claim 1, wherein before the UTM transmits predetermined flight path information to the unmanned aerial vehicle, further comprising:
determining a preset starting point and a preset end point of the unmanned aerial vehicle;
determining a plurality of predetermined flight paths stored in the UTM according to a predetermined starting point and the predetermined ending point, the predetermined flight paths including the predetermined starting point and the predetermined ending point;
and determining a target flight path in the preset flight path, and generating target flight path information, wherein the target flight path is one with the best network performance in the preset flight path.
3. The unmanned aerial vehicle flight method of claim 2, wherein,
the preset flight path stored in the UTM is a path which is flown by the unmanned aerial vehicle in advance;
when the unmanned aerial vehicle executes the preflight task along the preset flight path, the UTM acquires network performance information of each preset flight path.
4. The unmanned aerial vehicle flight method of claim 1, wherein,
and if the second performance data is more than or equal to the second threshold, determining that the adjacent base station with the optimal second performance data is the target base station.
5. The unmanned aerial vehicle flight method of claim 1, wherein,
the "obtaining network performance data during the unmanned aerial vehicle performing the flight mission" includes:
UTM initiates network performance request to NEF through AF;
the NEF authorizes and forwards the network performance request of the AF, and subscribes network performance request events to the NWDAF;
the NWDAF obtains the network performance data to NFs;
and the NWDAF makes a decision result according to the network performance data and returns the decision result to the UTM through AF.
6. The unmanned aerial vehicle flight method of claim 5, wherein,
the "UTM controlling the unmanned aerial vehicle to access the target base station adjacent to the serving base station" includes:
UTM initiates QoS request to PCF through AF according to the decision result;
the PCF updates the base station access strategy according to the QoS request so as to enable NFs to execute the base station access strategy;
the PCF responds the updated results back to UTM through AF.
7. The unmanned aerial vehicle flight method of claim 1, wherein,
during the flight task execution of the unmanned aerial vehicle, the service base station issues measurement configuration to the unmanned aerial vehicle, wherein the measurement configuration is used for measuring signal intensity information of the service base station and cells corresponding to adjacent base stations adjacent to the service base station by the unmanned aerial vehicle;
the service base station acquires a measurement report from the unmanned aerial vehicle, wherein the measurement report comprises a measurement event type triggered according to the signal strength information;
and the service base station determines the target base station to be accessed according to the measurement report.
8. An electronic device, comprising
A processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the unmanned aerial vehicle flight method of any of claims 1 to 7 via execution of the executable instructions.
9. A computer-readable storage medium, on which a program is stored, characterized in that the program, when executed by a processor, implements the unmanned aerial vehicle flight method according to any one of claims 1 to 7.
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