CN116131922B - Control link switching method, electronic equipment and system - Google Patents

Control link switching method, electronic equipment and system Download PDF

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Publication number
CN116131922B
CN116131922B CN202310129166.2A CN202310129166A CN116131922B CN 116131922 B CN116131922 B CN 116131922B CN 202310129166 A CN202310129166 A CN 202310129166A CN 116131922 B CN116131922 B CN 116131922B
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unmanned aerial
aerial vehicle
control link
parameter
link
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CN116131922A (en
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谢涵
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Guangzhou Aipu Road Network Technology Co Ltd
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Guangzhou Aipu Road Network Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/391—Modelling the propagation channel
    • H04B17/3913—Predictive models, e.g. based on neural network models
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The embodiment of the application provides a control link switching method, electronic equipment and a system, wherein the method comprises the following steps: receiving a link threshold parameter; acquiring working parameters of the unmanned aerial vehicle every preset time; acquiring a control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters; and sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system so that the unmanned aerial vehicle air driving system can switch the control link according to the control link state. By implementing the embodiment, the service providing system can provide stable and continuous flight decisions for the unmanned aerial vehicle in the unmanned aerial vehicle task execution process, so that the flight stability and safety of the unmanned aerial vehicle are enhanced.

Description

Control link switching method, electronic equipment and system
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a control link switching method, electronic equipment, a communication system, an unmanned aerial vehicle air driving system, a service providing system and an unmanned aerial vehicle system.
Background
Along with the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicle obtains extensive application in different fields, has greatly improved people production efficiency and quality of life. For unmanned aerial vehicles, ensuring service continuity in the unmanned aerial vehicle operation process is one of very important preconditions for guaranteeing unmanned aerial vehicle operation stability and security. The service continuity of unmanned aerial vehicle operation includes two aspects, namely the continuity of a communication link, when unmanned aerial vehicle needs to cross public land mobile network (Public Land Mobile Network, PLMN) to execute tasks, the service continuity of the communication link in the unmanned aerial vehicle operation process is ensured, the condition that abnormal interruption can not occur when the unmanned aerial vehicle performs data transmission is ensured, and the stability of data transmission in the flight process is enhanced; on the other hand, the service continuity of the control link is generally that decisions such as flight paths, attitude adjustment, DAA detection and avoidance of the unmanned aerial vehicle are intelligently controlled by an unmanned aerial vehicle system service provider (UAS Service Supplier, USS)/unmanned aerial vehicle system flow management (UAS Traffic Management, UTM) or controlled by professional operators, however, with the wide expansion of unmanned aerial vehicle services, tasks executed by the unmanned aerial vehicle are more and more diversified, but the service continuity technology of the control link is not mature enough, stability and safety of the unmanned aerial vehicle when executing the tasks cannot be guaranteed, and the efficiency of the unmanned aerial vehicle for executing the tasks is limited.
Disclosure of Invention
The embodiment of the application aims to provide a control link switching method, electronic equipment and a system, which can ensure the service continuity of a control link in the operation process of an unmanned aerial vehicle when the unmanned aerial vehicle executes a task of which the flight control link needs to be switched, ensure that the flight decision of the unmanned aerial vehicle is in a controllable range, enhance the stability and safety of flight and improve the efficiency of the unmanned aerial vehicle to execute the task.
In a first aspect, an embodiment of the present application provides a method for controlling link switching, including:
receiving a link threshold parameter;
acquiring working parameters of the unmanned aerial vehicle every preset time;
acquiring a control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
and sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system so that the unmanned aerial vehicle air driving system can switch the control link according to the control link state.
Further, the step of acquiring the control link state of the unmanned aerial vehicle according to the working parameter and the link threshold parameter includes:
when the unmanned aerial vehicle is used for executing a determined task, comparing the working parameter with the link threshold parameter to obtain a comparison result;
And acquiring the control link state according to the comparison result.
Further, the step of acquiring the control link state of the unmanned aerial vehicle according to the working parameter and the link threshold parameter includes:
comparing the operating parameter with the link threshold parameter when the drone is used to perform an uncertain task;
if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter;
and if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state.
Further, the step of obtaining the control link state according to the comparison result includes:
if the comparison result is that the working parameter is smaller than the link threshold parameter, judging that the control link state is about to exceed a control range;
and if the comparison result is that the working parameter is larger than the link threshold parameter, judging that the control link state is in a control range.
Further, the step of sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system includes:
And when the control link state is beyond the control range, sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system.
In a second aspect, an embodiment of the present application provides another control link switching method, applied to an unmanned aerial vehicle air driving system, where the method includes:
receiving a control link state of the unmanned aerial vehicle sent by a communication system;
the control link state is sent to a service providing system of the current flight area of the unmanned aerial vehicle, so that the service providing system of the current flight area sends a control link switching request according to the control link state;
and receiving a control link switching request, and controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request.
Further, the step of controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request includes:
and responding to the control link switching request sent by the service providing system of the current flight area, and when the unmanned aerial vehicle is used for executing a determination task, sending information of a target service providing system of a next area corresponding to the determination task to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to perform control link switching.
Further, the step of controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request further includes:
when the unmanned aerial vehicle is used for executing an uncertain task, a predicted flight area of the unmanned aerial vehicle is obtained according to working parameters of the unmanned aerial vehicle, and the control link switching request is sent to the unmanned aerial vehicle through information of a target service providing system to which the predicted flight area belongs, so that the unmanned aerial vehicle can perform control link switching.
In a third aspect, an embodiment of the present application provides another control link switching method, applied to a service providing system, where the method includes:
receiving a control link state sent by an unmanned aerial vehicle air driving system, and monitoring the flight position of the unmanned aerial vehicle according to the control link state;
when the flight position of the unmanned aerial vehicle exceeds a preset distance, a control link switching request is sent to an unmanned aerial vehicle air driving system;
and responding to the control link switching request, and performing control link switching according to the control link switching request.
In a fourth aspect, the present application provides another control link switching method applied to an unmanned aerial vehicle system, where the unmanned aerial vehicle system includes: communication system, unmanned aerial vehicle air driving system, service providing system and unmanned aerial vehicle; the method comprises the following steps:
The communication system receives a link threshold parameter;
the communication system acquires working parameters of the unmanned aerial vehicle every preset time;
the communication system acquires the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
the communication system sends the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system;
the unmanned aerial vehicle air driving system sends the control link state to a service providing system of a current flight area of the unmanned aerial vehicle, so that the service providing system of the current flight area sends a control link switching request according to the control link state;
the service providing system of the current flight area of the unmanned aerial vehicle receives a control link state sent by an air driving system of the unmanned aerial vehicle, and monitors the flight position of the unmanned aerial vehicle according to the control link state;
when the flight position of the unmanned aerial vehicle exceeds a preset distance, a service providing system of the current flight area of the unmanned aerial vehicle sends a control link switching request to an unmanned aerial vehicle air driving system;
and the unmanned aerial vehicle air driving system receives and forwards the control link request sent by the service providing system of the current flight area to the unmanned aerial vehicle and the target service providing system so as to enable the unmanned aerial vehicle and the target service providing system to perform control link switching.
In a fifth aspect, an embodiment of the present application provides a communication system, where a first receiving module is configured to receive a link threshold parameter;
the working parameter acquisition module is used for acquiring working parameters of the unmanned aerial vehicle at intervals of preset time;
the analysis module is used for acquiring the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
and the first sending module is used for sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system so that the unmanned aerial vehicle air driving system can switch the control link according to the control link state.
In a sixth aspect, an embodiment of the present application provides an unmanned aerial vehicle air driving system, including:
the second receiving module is used for receiving the control link state of the unmanned aerial vehicle sent by the communication system;
the second sending module is used for sending the control link state to a service providing system of the current flight area of the unmanned aerial vehicle so that the service providing system of the current flight area sends a control link switching request according to the control link state;
the second receiving module is further configured to receive and forward the control link request sent by the service providing system of the current flight area to the unmanned aerial vehicle and the target service providing system, so that the unmanned aerial vehicle and the target service providing system perform control link switching.
In a seventh aspect, an embodiment of the present application provides a service providing system, including:
the third receiving module is used for receiving the control link state sent by the unmanned aerial vehicle air driving system;
the monitoring module is used for monitoring the flight position of the unmanned aerial vehicle according to the control link state;
and the third sending module is used for sending a control link switching request to the unmanned aerial vehicle air driving system when the flight position of the unmanned aerial vehicle exceeds a preset distance.
In an eighth aspect, an embodiment of the present application provides a unmanned aerial vehicle system, the unmanned aerial vehicle system including: a unmanned aerial vehicle, a communication system according to the fifth aspect, an unmanned aerial vehicle air driving system according to the sixth aspect, and a service providing system according to the seventh aspect.
In a ninth aspect, an electronic device provided by an embodiment of the present application includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspects when the computer program is executed.
In the implementation process, the control link smooth switching method of the unmanned aerial vehicle is provided, through cooperation among a plurality of systems, the service providing system is guaranteed to provide stable and continuous flight decisions for the unmanned aerial vehicle in the unmanned aerial vehicle task execution process, the unmanned aerial vehicle flight stability and safety are enhanced, and the unmanned aerial vehicle task completion success rate is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a task executed by an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a flow chart of a control link switching method according to an embodiment of the present application;
fig. 3 is a communication schematic diagram of an unmanned aerial vehicle system according to an embodiment of the present application;
fig. 4 is another flow chart of a control link switching method according to an embodiment of the present application;
fig. 5 is another flow chart of a control link switching method according to an embodiment of the present application;
fig. 6 is another flow chart of a control link switching method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a communication system according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an unmanned aerial vehicle air driving system according to an embodiment of the present application;
Fig. 9 is a schematic structural diagram of a service providing system according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
A schematic diagram of a unmanned aerial vehicle performing tasks is shown in fig. 1, and the unmanned aerial vehicle system shown in fig. 1 includes: communication system, unmanned aerial vehicle sky driving system, service providing system, unmanned aerial vehicle.
The communication system is a communication network for communication, and the unmanned aerial vehicle air driving system (Uncrewed Aerial Systems, UAS) is a collective name of unmanned aerial vehicle and a communication station, a take-off recovery device, a transportation, storage and detection device of the unmanned aerial vehicle and the like matched with the unmanned aerial vehicle. The service providing system is used for providing decisions such as flight path/attitude adjustment/detection and avoidance (DAA) and the like for the unmanned aerial vehicle, and the service providing system can be USS or UTM. Preferably, the communication system of the embodiment of the present application is a 5G system.
The unmanned aerial vehicle performs a flight mission from point A to point B. When starting from the starting point A, a flight control link is provided by the USS/UTM#1, decisions such as flight path/attitude adjustment/DAA detection and avoidance of the unmanned aerial vehicle are controlled, a communication system provides necessary USS/UTM decision support for the unmanned aerial vehicle, and when the communication system detects that the flight control link needs to be switched in the flight process of the unmanned aerial vehicle, the flight control link of the unmanned aerial vehicle needs to be smoothly switched to the USS/UTM#2. In the prior art, no method for smooth switching of control links is provided, and therefore, the embodiment of the application provides a control link switching method, electronic equipment and a system, which can realize smooth switching of control links when an unmanned aerial vehicle flies across regions.
Example 1
Referring to fig. 2, an embodiment of the present application provides a control link switching method, which is applied to a communication system, and includes:
s101: receiving a link threshold parameter;
illustratively, the communication system provides the following functions: session management functions (Session Management Function, SMF), network data analysis functions (Network Data Application Function, NWDAF), gateway mobile positioning center (Gateway Mobile Location Centre, GLMC) radio access network (Radio Access Network, RAN), access and mobility management functions (Access and Mobility Management Function, AMF). Different functions may be integrated in the same or different network elements.
Referring to fig. 3, fig. 3 is a communication schematic of the unmanned aerial vehicle system; the communication stage specifically comprises the following steps:
stage 1: a PDU session establishment request phase. Specifically, before the unmanned aerial vehicle performs the task, in order to obtain the control of USS/UTM, the unmanned aerial vehicle initiates a PDU session establishment request, and the request message includes: unmanned plane identification, USS/UTM#1, information for authorization, etc.;
stage 2: USS/UTM#1 authorization phase. Specifically, the SMF initiates an unmanned aerial vehicle authorization request to an unmanned aerial system network function (Uncrewed Aerial Systems Network Function, UAS-NF); the UAS-NF initiates an authorization request to the USS/UTM#1; the USS/UTM #1 carries out an authorization process on the unmanned aerial vehicle, and responds an authorization result to the UAS-NF; UAS-NF forwards the authorization result to SMF;
stage 3: a PDU session establishment result notification stage; the SMF responds the authorization result to the unmanned aerial vehicle and indicates whether the USS/UTM#1 accepts the PDU session establishment request of the unmanned aerial vehicle;
stage 4: the PDU session stage is established between the unmanned aerial vehicle and the USS/UTM#1, specifically, when the USS/UTM#1 receives a PDU session establishment request of the unmanned aerial vehicle, the unmanned aerial vehicle establishes a PDU session with the USS/UTM#1, and the unmanned aerial vehicle successfully establishes connection with the USS/UTM#1;
stage 5: a control link state report request receiving stage; specifically, when the unmanned aerial vehicle executes a task, the USS/utm#1 sends a control link status report request to the UAS-NF, where the request message includes an unmanned aerial vehicle identifier, service area information, and link threshold parameters, such as a distance from a service boundary of the USS/utm#1 to be less than or equal to 10 meters, a signal strength SINR to be less than or equal to 10, and the UAS-NF authorizes the USS unmanned aerial vehicle system service provider/UTM unmanned aerial vehicle system service provider#1 to request and forward to the NWDAF.
S102: acquiring working parameters of the unmanned aerial vehicle every preset time;
illustratively, the communication process further includes stage 6: a position request stage; specifically, the NWDAF sends an unmanned aerial vehicle position request to a gateway mobile positioning center (Gateway Mobile Location Centre, GLMC), and the request message includes an unmanned aerial vehicle identifier and a time interval for periodically acquiring position information; stage 6: a location request; specifically, the NWDAF sends an unmanned aerial vehicle position request to the GMLC, and the request message includes an unmanned aerial vehicle identifier and a time interval for periodically acquiring position information; stage 7: detecting the position information of the unmanned aerial vehicle at fixed time; specifically, the GMLC periodically acquires the position information of the unmanned aerial vehicle through the supported current position service, and the unmanned aerial vehicle also comprises working parameters acquired by built-in sensing equipment in the message; wherein, the working parameters include: flight speed, direction, signal strength.
S103: acquiring a control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
the communication process also includes stage 8: periodically reporting the position information of the unmanned aerial vehicle; specifically, the GMLC periodically reports the unmanned aerial vehicle operating parameters to the NWDAF; stage 9: a control link state analysis stage; specifically, the NWDAF performs statistical analysis on the control link state of the unmanned aerial vehicle according to the acquired unmanned aerial vehicle related information.
S104: and sending the control link state of the unmanned aerial vehicle to the unmanned aerial vehicle air driving system so that the unmanned aerial vehicle air driving system can switch the control link according to the control link state.
The communication process further includes stage 10: a control link status reporting stage; specifically, the NWDAF informs the UAS-NF of the control link state statistical analysis/prediction results.
In the implementation process, the control link smooth switching method of the unmanned aerial vehicle is provided, so that a service providing system is guaranteed to provide stable and continuous flight decisions for the unmanned aerial vehicle in the unmanned aerial vehicle task execution process, the unmanned aerial vehicle flight stability and safety are enhanced, and the unmanned aerial vehicle task completion success rate is improved.
The tasks performed by the unmanned aerial vehicle are classified into a certain task, which refers to a task with an explicit destination, and an uncertain task, which refers to a task whose destination information is unknown before the task starts, such as emergency search and rescue, video tracking, and the like. Based on different task types, there are different control link state acquisition methods.
In one possible implementation, the control link state is: i.e. out of control range and in control range.
Referring to fig. 1, each service providing system has its corresponding control range. The impending exceeding of the control range refers to impending exceeding of the control range of the service providing system corresponding to the flight area in which the current unmanned aerial vehicle is located. In fig. 1, the impending out of control range refers to the impending out of control range of the service system USS/utm#1 by the unmanned aerial vehicle.
Based on the control chain state provided above, in one possible embodiment, S103 includes: when the unmanned aerial vehicle is used for executing a determined task, comparing the working parameter with the link threshold parameter to obtain a comparison result; and acquiring the control link state according to the comparison result.
Further, the step of acquiring the control link state according to the comparison result includes:
if the comparison result is that the working parameter is smaller than the link threshold parameter, judging that the control link state is about to exceed the control range;
and if the comparison result is that the working parameter is larger than the link threshold parameter, judging that the control link state is in the control range.
S103 further includes: when the unmanned aerial vehicle is used for executing an uncertain task, comparing the working parameter with a link threshold parameter; if the working parameter is greater than the link threshold parameter, updating a preset prediction model according to the link threshold parameter; and if the working parameter is smaller than the link threshold parameter, inputting the working parameter into a prediction model to obtain a control link state.
Illustratively, referring to FIG. 3, the communications process further includes stage 9; specifically, if the unmanned aerial vehicle executes a determination task, that is, USS/utm#2 information is known, the NWDAF performs statistical analysis on the working parameters of the unmanned aerial vehicle, and compares the working parameters with the threshold parameters in the stage 5; if the unmanned aerial vehicle executes an uncertainty task, namely destination information is unknown before the task starts, such as emergency search and rescue, video tracking and the like, the NWDAF predicts the plane running state of the unmanned aerial vehicle according to the collected working parameters of the unmanned aerial vehicle and judges whether the unmanned aerial vehicle flies out of the control range of the current control link.
That is, if the boundary between the unmanned aerial vehicle and the service providing system corresponding to the current area where the unmanned aerial vehicle is located is smaller than the preset distance, or the signal strength of the unmanned aerial vehicle is smaller than the preset strength, the service providing system corresponding to the current flight area of the unmanned aerial vehicle may send a control link switching request.
In one possible implementation, S104 includes: and when the control link state is beyond the control range, sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system.
Illustratively, the communications process also includes stage 11; specifically, USS/UTM switching request sending stage; specifically, when the statistical analysis result indicates that the current state of the unmanned aerial vehicle is smaller than a set threshold or the prediction result indicates that the unmanned aerial vehicle is about to fly out of the control range of the USS/UTM#1, the USS/UTM#1 sends a control link switching request to the UAS-NF unmanned aerial system network function.
Example 2
Referring to fig. 4, an embodiment of the present application provides a control link switching method, which is applied to an unmanned aerial vehicle air driving system, and the method includes:
s401: receiving a control link state of the unmanned aerial vehicle sent by a communication system;
s402: the control link state is sent to a service providing system of the current flight area of the unmanned aerial vehicle, so that the service providing system of the current flight area sends a control link switching request according to the control link state;
Illustratively, in stage 10, the NWDAF also informs the UAS-NF of the control link state statistical analysis/prediction results; the UAS-NF forwards the statistical analysis/prediction results to USS/UTM#1.
S403: and receiving a control link switching request, and controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request.
In stage 11 of the communication process, the UAS-NF informs the unmanned aerial vehicle of USS/UTM handover information.
In one possible implementation, S403 includes: and responding to a control link switching request sent by a service providing system of the current flight area, and when the unmanned aerial vehicle is used for executing a determination task, sending information of a target service providing system of a next area corresponding to the determination task to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to perform control link switching.
When the unmanned aerial vehicle is used for executing an uncertain task, a predicted flight area of the unmanned aerial vehicle is obtained according to working parameters of the unmanned aerial vehicle, and a control link switching request is sent to a target service providing system and the unmanned aerial vehicle which belong to the predicted flight area, so that the target service providing system and the unmanned aerial vehicle which belong to the predicted flight area perform control link switching.
Illustratively, referring to FIG. 3, the communication process further includes stage 12: and informing the USS/UTM to perform a control link switching stage. Specifically, the UAS-NF informs the unmanned aerial vehicle of USS/UTM switching information, and for deterministic tasks, the UAS-NF sends USS/UTM#2 information to the unmanned aerial vehicle; for an uncertainty task, the UAS-NF needs to select USS/UTM#2 according to the current position of the unmanned aerial vehicle and the position of the unmanned aerial vehicle in the future, and send information of the USS/UTM#2 to the unmanned aerial vehicle.
Example 3
Referring to fig. 5, an embodiment of the present application provides a method for switching control links, which is applied to a service providing system, and includes:
s501: receiving a control link state sent by an unmanned aerial vehicle air driving system, and monitoring the flight position of the unmanned aerial vehicle according to the control link state;
the communication process also includes stage 13: informing USS/UTM to perform a control link switching stage; specifically, UAS-NF informs USS/UTM#2 of unmanned aerial vehicle information;
s502: and when the flight position of the unmanned aerial vehicle exceeds a preset distance, sending a control link switching request to an unmanned aerial vehicle air driving system.
Illustratively, in the communication pass-through stage 11, when the statistical analysis result indicates that the current state of the unmanned aerial vehicle is smaller than the set threshold or the prediction result indicates that the unmanned aerial vehicle is about to fly out of the service range of the USS/utm#1, the USS/utm#1 sends a control link switching request to the UAS-NF.
The method further comprises the steps of: and responding to the control link switching request, and performing control link switching according to the control link switching request.
Illustratively, the communication process further includes stage 14: establishing a PDU session stage between the unmanned aerial vehicle and the USS/UTM#2; specifically, when the unmanned aerial vehicle enters the service range of USS/UTM#2, the unmanned aerial vehicle establishes a PDU session with USS/UTM#2, and at this time, the flight control link of the unmanned aerial vehicle is taken over by USS/UTM#2; stage 15: the unmanned plane releases PDU session with USS and UTM#1; the drone releases the PDU session with USS/utm#1.
Example 4
Referring to fig. 6, an embodiment of the present application provides a control link switching method, which is applied to an unmanned aerial vehicle system, where the unmanned aerial vehicle system includes: communication system, unmanned aerial vehicle air driving system, service providing system and unmanned aerial vehicle; the method comprises the following steps:
s601: the communication system receives the link threshold parameter;
s602: the communication system acquires working parameters of the unmanned aerial vehicle every preset time;
s603: the communication system acquires the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
s604: the communication system sends the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system;
s605: the unmanned aerial vehicle air driving system sends the control link state to a service providing system of the current flight area of the unmanned aerial vehicle, so that the service providing system of the current flight area sends a control link switching request according to the control link state;
s606: the service providing system of the current flight area of the unmanned aerial vehicle receives a control link state sent by the unmanned aerial vehicle air driving system, and monitors the flight position of the unmanned aerial vehicle according to the control link state;
s607: when the flight position of the unmanned aerial vehicle exceeds a preset distance, a service providing system of the current flight area of the unmanned aerial vehicle sends a control link switching request to an unmanned aerial vehicle air driving system;
S608: the unmanned aerial vehicle air driving system receives and forwards a control link request sent by the service providing system of the current flight area to the unmanned aerial vehicle and the target service providing system, so that the unmanned aerial vehicle and the target service providing system can perform control link switching.
The implementation manner of the above steps is the same as that of embodiment 1, embodiment 2 and embodiment 3, and will not be repeated here.
Example 5
Referring to fig. 7, an embodiment of the present application provides a communication system including:
a first receiving module 71, configured to receive a link threshold parameter;
the working parameter obtaining module 72 is configured to obtain working parameters of the unmanned aerial vehicle at intervals of a preset time;
an analysis module 73, configured to obtain a control link state of the unmanned aerial vehicle according to the working parameter and the link threshold parameter;
the first sending module 74 is configured to send the control link state of the unmanned aerial vehicle to the unmanned aerial vehicle air driving system, so that the unmanned aerial vehicle air driving system performs control link switching according to the control link state.
The first receiving module 71 and the operating parameter acquiring module are composed of SMF, GLMC, RAN, AMF, NWDAF in the communication network.
The analysis module consists of NWDAF.
In a possible implementation manner, the analysis module 73 is further configured to compare the working parameter and the link threshold parameter to obtain a comparison result when the unmanned aerial vehicle is used to perform the determination task;
And acquiring the control link state according to the comparison result.
In one possible implementation, the analysis module 73 is further configured to compare the operating parameter to a link threshold parameter when the drone is being used to perform an uncertain task;
if the working parameter is greater than the link threshold parameter, updating a preset prediction model according to the link threshold parameter;
and if the working parameter is smaller than the link threshold parameter, inputting the working parameter into a prediction model to obtain a control link state.
In a possible implementation manner, the analysis module 73 is further configured to determine that the control link status is about to exceed the control range if the comparison result is that the operation parameter is less than the link threshold parameter;
and if the comparison result is that the working parameter is larger than the link threshold parameter, judging that the control link state is in the control range.
In one possible implementation, the first sending module 74 is further configured to send the control link status of the drone to the drone air drive system when the control link status is out of control range.
The communication system is also used to perform a method as an embodiment of the method.
Example 6
Referring to fig. 8, an embodiment of the present application provides an unmanned aerial vehicle air driving system, including:
a second receiving module 81, configured to receive a control link state of the unmanned aerial vehicle sent by the communication system;
A second sending module 82, configured to send the control link state to a service providing system in a current flight area of the unmanned aerial vehicle, so that the service providing system in the current flight area sends a control link switching request according to the control link state;
the second receiving module 81 is further configured to receive a control link switching request, and control the unmanned aerial vehicle to perform control link switching according to the control link switching request.
The second sending module 82 is further configured to respond to a control link switching request sent by the service providing system of the current flight area; when the unmanned aerial vehicle is used for executing the determining task, information of a target service providing system to which a next area corresponding to the determining task belongs is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs control link switching;
when the unmanned aerial vehicle is used for executing the determining task, the control link switching request is sent to the service providing system and the unmanned aerial vehicle which belong to the next area corresponding to the determining task, so that the service providing system and the unmanned aerial vehicle which belong to the next area corresponding to the determining task perform control link switching.
The unmanned aerial vehicle air drive system is also used to perform methods as in the method embodiments.
Example 7
Referring to fig. 9, an embodiment of the present application provides a service providing system including:
A third receiving module 91, configured to receive a control link state sent by an air driving system of the unmanned aerial vehicle;
the monitoring module 92 is configured to monitor a flight position of the unmanned aerial vehicle according to the control link state;
and a third sending module 93, configured to send a control link switching request to the unmanned aerial vehicle air driving system when the flight position of the unmanned aerial vehicle exceeds the preset distance.
The service providing system is also used for executing the method as the method embodiment.
Example 8
The embodiment of the application provides an unmanned aerial vehicle system, which comprises: unmanned aerial vehicle and communication system as in example 5, unmanned aerial vehicle air drive system of example 6, service providing system of example 7.
The drone system is also used to perform methods as embodiments of the methods.
The application further provides an electronic device, please refer to fig. 10, and fig. 10 is a block diagram of an electronic device according to an embodiment of the application. The electronic device may include a processor 101, a communication interface 102, a memory 103, and at least one communication bus 104. Wherein the communication bus 104 is used to enable direct connection communication of these components. The communication interface 102 of the electronic device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 101 may be an integrated circuit chip with signal processing capabilities.
The processor 101 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 101 may be any conventional processor or the like.
The Memory 103 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 103 has stored therein computer readable instructions which, when executed by the processor 101, can cause the electronic device to perform the steps involved in the above-described method embodiments.
Optionally, the electronic device may further include a storage controller, an input-output unit.
The memory 103, the memory controller, the processor 101, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the elements may be electrically coupled to each other via one or more communication buses 104. The processor 101 is configured to execute executable modules stored in the memory 103, such as software functional modules or computer programs included in the electronic device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 10 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 10, or have a different configuration than shown in fig. 10. The components shown in fig. 10 may be implemented in hardware, software, or a combination thereof.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments of the present application are only examples, and are not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

Claims (14)

1. A method of controlling link switching, applied to a communication system, the method comprising:
receiving a link threshold parameter;
acquiring working parameters of the unmanned aerial vehicle every preset time;
acquiring a control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
the control link state of the unmanned aerial vehicle is sent to an unmanned aerial vehicle air driving system, so that the unmanned aerial vehicle air driving system performs control link switching according to the control link state;
the step of obtaining the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters comprises the following steps:
comparing the operating parameter with the link threshold parameter when the drone is used to perform an uncertain task;
if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter;
and if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state.
2. The method for switching control links according to claim 1, wherein the step of acquiring the control link state of the unmanned aerial vehicle according to the operation parameter and the link threshold parameter includes:
When the unmanned aerial vehicle is used for executing a determined task, comparing the working parameter with the link threshold parameter to obtain a comparison result;
and acquiring the control link state according to the comparison result.
3. The control link switching method according to claim 2, wherein the step of acquiring the control link state according to the comparison result includes:
if the comparison result is that the working parameter is smaller than the link threshold parameter, judging that the control link state is about to exceed a control range;
and if the comparison result is that the working parameter is larger than the link threshold parameter, judging that the control link state is in a control range.
4. The method of claim 1, wherein the step of transmitting the control link status of the drone to a drone air handling system includes:
and when the control link state is beyond the control range, sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system.
5. A method of controlling link switching for an unmanned aerial vehicle air drive system, the method comprising:
Receiving a control link state of the unmanned aerial vehicle sent by a communication system;
the control link state is sent to a service providing system of a current flight area of the unmanned aerial vehicle, so that the service providing system of the current flight area sends a control link switching request to an air driving system of the unmanned aerial vehicle according to the control link state;
receiving a control link switching request, and controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request;
when the unmanned aerial vehicle is used for executing an uncertain task, the communication system compares the working parameter with the link threshold parameter; if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter; if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state;
wherein the link threshold parameter is received by the communication system; the working parameters of the unmanned aerial vehicle are acquired by the communication system at intervals of preset time.
6. The method according to claim 5, wherein the step of controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request comprises:
And responding to the control link switching request sent by the service providing system of the current flight area, and when the unmanned aerial vehicle is used for executing a determination task, sending information of a target service providing system of a next area corresponding to the determination task to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to perform control link switching.
7. The method for switching control links according to claim 6, wherein the step of controlling the unmanned aerial vehicle to perform control link switching according to the control link switching request further comprises:
when the unmanned aerial vehicle is used for executing an uncertain task, a predicted flight area of the unmanned aerial vehicle is obtained according to working parameters of the unmanned aerial vehicle, and the control link switching request is sent to the unmanned aerial vehicle through information of a target service providing system to which the predicted flight area belongs, so that the unmanned aerial vehicle can perform control link switching.
8. A method of controlling link switching, applied to a service providing system, the method comprising:
receiving a control link state sent by an unmanned aerial vehicle air driving system, and monitoring the flight position of the unmanned aerial vehicle according to the control link state;
When the flight position of the unmanned aerial vehicle exceeds a preset distance, a control link switching request is sent to an unmanned aerial vehicle air driving system;
when the unmanned aerial vehicle is used for executing an uncertain task, the communication system compares the working parameter with the link threshold parameter; if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter; if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state;
wherein the link threshold parameter is received by the communication system; the working parameters of the unmanned aerial vehicle are acquired by the communication system at intervals of preset time.
9. A control link switching method, characterized in that it is applied to an unmanned aerial vehicle system, said unmanned aerial vehicle system comprising: communication system, unmanned aerial vehicle air driving system, service providing system and unmanned aerial vehicle; the method comprises the following steps:
the communication system receives a link threshold parameter;
the communication system acquires working parameters of the unmanned aerial vehicle every preset time;
the communication system acquires the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
The communication system sends the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system;
the unmanned aerial vehicle air driving system sends the control link state to a service providing system of a current flight area of the unmanned aerial vehicle, so that the service providing system of the current flight area sends a control link switching request according to the control link state;
the service providing system of the current flight area of the unmanned aerial vehicle receives a control link state sent by an air driving system of the unmanned aerial vehicle, and monitors the flight position of the unmanned aerial vehicle according to the control link state;
when the flight position of the unmanned aerial vehicle exceeds a preset distance, a service providing system of the current flight area of the unmanned aerial vehicle sends a control link switching request to an unmanned aerial vehicle air driving system;
the unmanned aerial vehicle aerial driving system receives and forwards the control link request sent by the service providing system of the current flight area to the unmanned aerial vehicle and the target service providing system so as to enable the unmanned aerial vehicle and the target service providing system to perform control link switching;
the step of obtaining the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters comprises the following steps:
Comparing the operating parameter with the link threshold parameter when the drone is used to perform an uncertain task;
if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter;
and if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state.
10. A communication system, comprising:
the first receiving module is used for receiving the link threshold value parameter;
the working parameter acquisition module is used for acquiring working parameters of the unmanned aerial vehicle at intervals of preset time;
the analysis module is used for acquiring the control link state of the unmanned aerial vehicle according to the working parameters and the link threshold parameters;
the first sending module is used for sending the control link state of the unmanned aerial vehicle to an unmanned aerial vehicle air driving system so that the unmanned aerial vehicle air driving system can switch the control link according to the control link state;
the analysis module is also used for comparing the working parameters with link threshold parameters when the unmanned aerial vehicle is used for executing an uncertain task;
if the working parameter is greater than the link threshold parameter, updating a preset prediction model according to the link threshold parameter;
And if the working parameter is smaller than the link threshold parameter, inputting the working parameter into a prediction model to obtain a control link state.
11. An unmanned aerial vehicle air driving system, comprising:
the second receiving module is used for receiving the control link state of the unmanned aerial vehicle sent by the communication system;
the second sending module is used for sending the control link state to a service providing system of the current flight area of the unmanned aerial vehicle so that the service providing system of the current flight area sends a control link switching request according to the control link state;
the second receiving module is further configured to receive a control link switching request, and control the unmanned aerial vehicle to perform control link switching according to the control link switching request;
when the unmanned aerial vehicle is used for executing an uncertain task, the communication system compares the working parameter with the link threshold parameter; if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter; if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state;
wherein the link threshold parameter is received by the communication system; the working parameters of the unmanned aerial vehicle are acquired by the communication system at intervals of preset time.
12. A service providing system, comprising:
the third receiving module is used for receiving the control link state sent by the unmanned aerial vehicle air driving system;
the monitoring module is used for monitoring the flight position of the unmanned aerial vehicle according to the control link state;
the third sending module is used for sending a control link switching request to an unmanned aerial vehicle air driving system when the flight position of the unmanned aerial vehicle exceeds a preset distance;
when the unmanned aerial vehicle is used for executing an uncertain task, the communication system compares the working parameter with the link threshold parameter; if the working parameter is larger than the link threshold parameter, updating a preset prediction model according to the link threshold parameter; if the working parameter is smaller than the link threshold parameter, inputting the working parameter into the prediction model to obtain the control link state;
wherein the link threshold parameter is received by the communication system; the working parameters of the unmanned aerial vehicle are acquired by the communication system at intervals of preset time.
13. A drone system, the drone system comprising: a drone and a communication system as claimed in claim 10, a drone air drive system as claimed in claim 11, a service providing system as claimed in claim 12.
14. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1-9 when the computer program is executed.
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