WO2019028791A1 - Method for positioning unmanned aerial vehicle, and server - Google Patents

Method for positioning unmanned aerial vehicle, and server Download PDF

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Publication number
WO2019028791A1
WO2019028791A1 PCT/CN2017/096931 CN2017096931W WO2019028791A1 WO 2019028791 A1 WO2019028791 A1 WO 2019028791A1 CN 2017096931 W CN2017096931 W CN 2017096931W WO 2019028791 A1 WO2019028791 A1 WO 2019028791A1
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WIPO (PCT)
Prior art keywords
drone
electronic fence
parameter
location
flight
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PCT/CN2017/096931
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French (fr)
Chinese (zh)
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李刚
胡玉胜
施荣
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华为技术有限公司
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Priority to PCT/CN2017/096931 priority Critical patent/WO2019028791A1/en
Publication of WO2019028791A1 publication Critical patent/WO2019028791A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • This application relates to the field of drones. More specifically, it relates to a method and server for locating a drone.
  • UAV electronic fence refers to the softness of regional safety in order to prevent civilian unmanned aircraft from flying in or out of a specific area, drawing its regional boundaries in the corresponding electronic geographic range, and cooperating with the flight control system of the drone.
  • UAV electronic fence technology is an effective way to solve the black fly problem of drones. By implanting an electronic fence in the UAV flight control system, the unmanned person automatically recognizes the geographic location through a global positioning system (GPS), etc. Once the drone flies to the electronic fence boundary, an electronic fence is provided. The area will automatically land or return.
  • GPS global positioning system
  • the drone is based on the position information obtained by the drone's own GPS, combined with the electronic fence and flight strategy to control the drone.
  • the user may change the GPS module of the drone, tamper with the GPS information, and perform location fraud, which may easily cause a safety accident of the drone flight. Therefore, there is an urgent need for an authentication scheme for a highly secure drone.
  • the present application provides a method and a server for locating a drone, which can avoid the problem that the GPS module of the drone may be tampered and cause the drone to report the false position, and can also update the electronic fence information of the drone in real time. To improve the safety of drone flight.
  • a method for locating a drone comprising: receiving a local location parameter sent by a drone, the local location parameter indicating a local location of the drone; receiving a network device The network location parameter of the drone sent, the network location parameter is used to indicate the network location of the drone; and the current location of the drone is determined according to the local location parameter and the network location parameter.
  • the first aspect provides a method for locating a drone, and the drone cloud (server) not only acquires the location of the unmanned unmanned aircraft (not reported), but also acquires the location of the drone reported by the network device, and passes the unmanned The joint verification of the local location reported by the machine and the location reported by the network device to determine the current location of the drone.
  • the problem that the drone's GPS module may be tampered and the drone reports the false position is avoided. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
  • determining a current location of the UAV according to the local location parameter and the network location parameter including: the error between the local location parameter and the network location parameter is In the case of a preset threshold range, it is determined that the current location is the local location or the network location.
  • the method further includes: receiving an electronic fence update parameter sent by the drone; and transmitting the electronic fence information to the drone according to the electronic fence update parameter.
  • the server can update the data according to the electronic fence sent by the drone in real time, and send the electronic fence information to the drone. Real-time updates of drone electronic fence information can be achieved.
  • the electronic fence update parameter includes a parameter of the current location and an update radius.
  • the method further includes: determining flight state information corresponding to the current location; and allowing the drone if the flight state information corresponding to the current location is determined to be allowed to fly flight.
  • the server since the server has passed the joint verification of the location of the drone, the accuracy and legitimacy of the location reported by the drone is determined. Therefore, the server determines the flight state information corresponding to the current position of the drone, and performs corresponding flight control on the drone according to the flight state information corresponding to the current location.
  • the flight of the drone is authenticated. The quasi-determination of the flight authentication of the drone and the remote control of the drone are realized.
  • determining the flight state information corresponding to the current location includes: determining, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold The minimum value of the distance between the UAV and the electronic fence boundary.
  • the electronic fence information includes electronic fence level information.
  • a method for updating an electronic fence of a drone comprising: the drone transmitting an electronic fence update parameter to the server; the drone receiving the electronic fence information of the first area sent by the server, the first An area is obtained based on the electronic fence update parameters.
  • the second aspect provides a method for updating the electronic fence of the drone, and the drone can be connected to the server in real time, and the latest electronic fence information is directly obtained from the server, that is, the electronic fence information of the drone is updated.
  • the difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
  • the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
  • the method further includes: determining flight state information corresponding to a current location of the drone; and determining that the flight state information corresponding to the current location is allowed to fly, allowing The drone flies.
  • determining the flight state information corresponding to the current position of the UAV includes: determining flight state information corresponding to the current location according to the parameter of the current location and the heading threshold, where The heading threshold is a preset minimum value of the distance between the UAV and the electronic fence boundary, and the flight state information corresponding to the current position is obtained according to the information of the current position and the electronic fence information.
  • the method before the transmitting the first location parameter and the first flight radius of the drone to the server, the method further includes: acquiring the first location and the first a distance between the two locations; determining a first threshold between a second flight radius of the drone and the distance that is less than or equal to, the first threshold being a preset of the drone and the second region a minimum distance between the boundaries, the second region being based on the second location and the first The second flight radius is determined.
  • the electronic fence information includes electronic fence level information.
  • a method for updating an electronic fence of a drone comprising: receiving an electronic fence update parameter of a drone sent by the drone; and transmitting the electronic fence information of the first area to the drone The first area is obtained according to the electronic fence update parameter.
  • the method for authenticating the human-machine electronic fence is provided, and the server can connect with the drone in real time to update the electronic fence information of the drone.
  • the difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
  • the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
  • the method further includes: receiving a local location parameter sent by the UAV; receiving a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate The network location of the drone; if the error of the local location parameter and the network location parameter is within a preset threshold range, determining the current location as the local location or the network location.
  • the server not only acquires the location of the unmanned unmanned (unreported) drone, but also obtains the location of the drone reported by the network device, and the local location reported by the drone and the location reported by the network device. Joint verification to determine the current location of the drone. It avoids the problem that the drone's GPS module may be tampered with and caused the drone to report the false position. Thereby, the reliability of the location reported by the drone is effectively improved, thereby improving the quasi-determination reliability of the flight authentication of the drone.
  • the method further includes: determining flight state information corresponding to the current location, and allowing the drone if the flight state information corresponding to the current location is determined to be allowed to fly flight.
  • determining the flight state information corresponding to the current location includes: determining, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold The minimum value of the distance between the UAV and the electronic fence boundary.
  • the electronic fence information includes electronic fence level information.
  • a server being a drone cloud server, the server comprising: a processor, a memory, and a transceiver for supporting the server to perform a corresponding function in the foregoing method.
  • the processor, the memory and the transceiver are connected by communication, the memory stores instructions, the transceiver is configured to perform specific signal transceiving under the driving of the processor, and the processor is configured to invoke the instruction to implement any of the first aspect and the first aspect described above.
  • a fifth aspect provides a server, which is a drone cloud server, the server includes a processing module, a storage module, and a transceiver module, and is configured to support the server to perform the foregoing first aspect or any possible implementation manner of the first aspect.
  • the function of the unmanned aerial vehicle cloud, or the function of the server in any of the foregoing third aspect or any possible implementation manner of the third aspect the function may be implemented by hardware, or may be implemented by hardware, and the hardware or software includes a Or a plurality of modules corresponding to the above functions.
  • a device for updating an electronic fence of a drone for performing the method for updating an electronic fence of a drone according to the second aspect and various implementations, wherein the device comprises a transceiver unit and a processing unit, Transceiver unit Transmitting, to the server, a first location parameter of the drone and a first flight radius; the transceiver unit is further configured to receive the electronic fence information of the first area sent by the server, where the first area is based on the first location parameter and the The first flight radius is obtained.
  • an apparatus for updating an electronic fence of a drone comprising a processor, a memory and a transceiver for supporting the apparatus to perform a corresponding function of the above method.
  • the processor, the memory and the transceiver are connected by communication, the memory stores instructions, and the transceiver is configured to perform specific signal transceiving under the driving of the processor, the processor is configured to invoke the instruction to implement the second aspect and various implementations thereof How to update the drone electronic fence.
  • a computer readable storage medium for storing a computer program, the computer program comprising a method for performing the first aspect or any of the possible implementations of the first aspect, the third aspect described above Or an instruction of a method of any of the possible implementations of the third aspect.
  • a ninth aspect a computer readable storage medium for storing a computer program, the computer program comprising instructions for performing the method of any of the second aspect or the second aspect of the second aspect.
  • Figure 1 is a schematic diagram of China's airspace classification.
  • FIG. 2 is a schematic view of a conventional polygonal airport flight limited area.
  • Figure 3 is a schematic illustration of an adjusted circular airport flight limited area.
  • Figure 4 is a prior art electronic fence update process for a drone.
  • FIG. 5 is a schematic flowchart of a method for positioning a drone according to an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a method for positioning a drone according to another embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a method for updating an electronic fence of a drone according to still another embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a method for updating an electronic fence of a drone according to still another embodiment of the present application.
  • FIG. 9 is a schematic diagram of a method for updating an electronic fence of a drone according to an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a method for updating an electronic fence of a drone according to another embodiment of the present application.
  • FIG. 11 is a schematic flow chart of a method for updating an electronic of a drone according to still another embodiment of the present application.
  • Figure 12 is a schematic block diagram of a server in accordance with one embodiment of the present application.
  • FIG. 13 is a schematic block diagram of a server of another embodiment of the present application.
  • FIG. 14 is a schematic block diagram of an apparatus for updating an electronic fence of a drone according to an embodiment of the present application.
  • 15 is a schematic block diagram of an apparatus for updating an electronic fence of a drone according to another embodiment of the present application.
  • 16 is a schematic block diagram of a server of still another embodiment of the present application.
  • 17 is a schematic block diagram of a server of still another embodiment of the present application.
  • GSM global system of mobile communication
  • CDMA code division multiple access
  • WCDMA wideband code division multiple access
  • GPRS general packet radio service
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD LTE time division duplex
  • UMTS universal mobile telecommunication system
  • WiMAX global interconnected microwave access
  • WiMAX future fifth generation
  • 5G fifth generation
  • NR new radio
  • the terminal device in the embodiment of the present application may refer to a user equipment, an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, or User device.
  • the terminal device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), with wireless communication.
  • SIP session initiation protocol
  • WLL wireless local loop
  • PDA personal digital assistant
  • the network device in the embodiment of the present application may be a device for communicating with a terminal device, where the network device may be a global system of mobile communication (GSM) system or code division multiple access (CDMA).
  • GSM global system of mobile communication
  • CDMA code division multiple access
  • a base transceiver station (BTS) may also be a base station (nodeb, NB) in a wideband code division multiple access (WCDMA) system, or an evolved base station (evolutional) in an LTE system.
  • NB base station
  • WCDMA wideband code division multiple access
  • evolutional evolved base station
  • the nodeb, eNB or eNodeB may also be a wireless controller in a cloud radio access network (CRAN) scenario, or the network device may be a relay station, an access point, an in-vehicle device, a wearable device, and a future
  • CRAN cloud radio access network
  • the network device in the 5G network or the network device in the PLMN network in the future is not limited in this embodiment.
  • drone supervision is an important prerequisite for advancing the national 13th Five-Year UAV industrialization plan, and is a key step in realizing the development of UAV enterprise information and Internet+. It can greatly realize the orderly application of drones, improve the management efficiency of drone enterprises, reduce the waste of redundant resources invested by drones, reduce the loss of social property, enhance the competitiveness of China's drone industry, and reduce the international advanced One of the important measures of the horizontal gap.
  • UAV electronic fence refers to the softness of regional safety in order to prevent civilian unmanned aircraft from flying in or out of a specific area, drawing its regional boundaries in the corresponding electronic geographic range, and cooperating with the flight control system of the drone.
  • Hardware system By implanting an electronic fence in the drone flight control system, the unmanned person automatically recognizes the geographic location through GPS, etc. Once the drone flies to the electronic fence boundary, it will automatically land or return in the area with the electronic fence.
  • Figure 1 is a schematic diagram of China's airspace classification.
  • China's airspace classification standards and following the ICAO airspace classification recommendations, according to the Civil Aviation Administration's 122nd Order "Airspace Airspace Measures" and the 86th Order "Air Traffic Management Rules", as shown in Figure 1, China's airspace types mainly include:
  • Class A high-altitude airspace, above 6,600 meters (inclusive), is a high-altitude route.
  • Category B Airspace in the middle and low altitudes, airspace below 6600 meters.
  • Category D Airport Control Zone.
  • flight control zones are airspace areas that provide air traffic control services. They can be divided into high-altitude, medium-low-altitude control zones, route routes, airports, etc. in the vertical direction. It can be divided into multiple control zones or multiple sectors in the horizontal direction.
  • FIG. 2 is a schematic diagram of an airport limited flight area of a custom polygon of a company. It can be seen from Fig. 2 that the polygonal airport limited flight area includes a 120-meter flight-limited area, a 60-meter flight-limited area, a 30-meter flight-limited area, and a no-fly area, and the no-fly area includes the airport runway. Among them, 120 meters and 30 meters are the vertical height from the airport ground.
  • Figure 3 is a schematic illustration of an adjusted circular airport flight limited area.
  • the circular airport limited area includes a no-fly area and a fly-limited area, and the boundaries of each area have determined position coordinates.
  • the boundary electronic fence table of the restricted or no-fly zone is formed by the coordinates of the boundaries of the respective regions, and the boundary electronic fence table is composed of the coordinates of the boundaries of the different regions.
  • FIG 4 is a prior art electronic fence update process for a drone.
  • the drone is initially written into the electronic fence before leaving the factory, and the third-party device (ground device) is connected to the cloud server to detect whether there is a version upgrade (for example, an updated electronic fence table). If there is an update, the ground device is used.
  • Obtain the firmware upgrade package for the electronic fence upgrade the electronic fence through the ground device, and then send the upgraded electronic fence to the drone. Updating the electronic fence of the drone through the ground equipment requires the use of ground equipment as the medium, and also needs to match the development of various applications, which will bring a lot of work input and equipment cost, and the electronic fence will not be updated during the flight of the drone.
  • the drone obtains the position (P, x, y) of the current drone through its own GPS module, and calculates the electronic fence near the current position according to the electronic fence and flight strategy.
  • the drone controls the flight of the drone by determining whether the current position coordinate P(x, y) is entering or flying out of the electronic fence. and.
  • the drone is mainly based on the drone's own GPS, combined with electronic fence and flight strategy for flight control. Users can tamper with GPS information and change location fraud by changing the GPS external crack module.
  • the electronic fence firmware upgrade package is downloaded from the cloud server (unmanned cloud server) through a third-party device, and then the updated electronic fence is sent to the drone to update.
  • the electronic fence firmware upgrade package is easily tamper-proofed by users in third-party devices.
  • the user only needs to update the firmware upgrade package that cracks the electronic fence, and delete the electronic fence limit, which can cause the electronic fence to fail.
  • This upgrade method updates the electronic fence of the drone.
  • the drone cannot update the electronic fence in real time during the flight, and cannot respond to the electronic fence change in real time. These will cause flight safety accidents of drones.
  • the aircraft is controlled by the remote control equipped with the drone at the factory. If the remote control does not have the assistance of the drone application, the initial electronic fence can only be written once, which cannot meet the rapid change of the electronic fence.
  • the cloud server is not directly connected to the drone. Therefore, the cloud server mainly uses the auxiliary external device to perform the electronic fence prompting method of the drone, and obtains the location information of the drone in real time according to the location information of the drone.
  • the electronic fence information determines the flight status information corresponding to the current position of the drone (no flight or restricted flight restrictions, etc.). That is to determine whether the drone enters the electronic fence.
  • a prompt message is sent to the user equipment associated with the drone.
  • the forced control command is temporarily "unable" to the drone.
  • the location of the acquired drone may be inaccurate, and the location of the drone may be fraudulent.
  • the authentication of the electronic fence is completely determined by the cloud server, once between the cloud server and the drone The connection is broken due to a signal difference, etc., and the drone cannot be guaranteed to enter or fly out of the electronic fence area. And it is impossible to remotely control the drone. .
  • the embodiment of the present application provides a method for positioning a drone, improving the reliability and accuracy of the position reporting of the drone, and improving the safety of the drone flight.
  • FIG. 5 is a schematic flowchart of a method 100 for locating a drone according to an embodiment of the present application.
  • the method 100 may be performed by an unmanned cloud server (below).
  • unmanned cloud the drone cloud can be connected to the drone through the wireless network provided by the network device to realize real-time communication and data exchange, and the network device can obtain the real-time location information of the drone.
  • the method 100 includes:
  • the drone cloud receiving drone sends a local location parameter, where the local location parameter is used to indicate the local location of the drone.
  • the UAV cloud receives a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate a network location of the UAV.
  • the UAV cloud determines a current location of the UAV according to the local location parameter and the network location parameter.
  • the UAV cloud not only acquires the position of the unmanned aircraft that is unsent (reported), but also acquires the position of the drone reported by the network device, and passes the drone.
  • the problem that the drone's GPS module may be tampered and the drone reports the false position is avoided. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
  • the unmanned person reports the location information to the drone cloud, that is, the drone cloud acquires the report reported by the drone.
  • the local position parameter of the drone which is used to instruct the drone cloud to determine the position of the drone itself.
  • the drone can obtain its own position parameters, that is, the local position parameters, in real time through the GPS module carried by itself or the other system that can be used to measure the position in real time.
  • the drone provides cellular network access to the drone cloud through network equipment, and supports remote management of the drone.
  • the UAV cloud acquires the UAV network location parameter reported by the network device. Due to drones and nets The network devices have the ability to communicate with each other, and the network devices and the drone cloud are also capable of communication connections. Therefore, the network device can know the location information of the drone. That is, the drone cloud will obtain the network location parameters of the drone reported by the network device.
  • the UAV cloud can acquire the local location parameter and the network location parameter in real time, or can be acquired periodically, or the UAV cloud can be automatically acquired under the condition that the UAV needs to be acquired, for example, the UAV is in the downtown area.
  • the local location parameter and the network location parameter need to be acquired in real time, and in the unrestricted area such as the desert, the local location parameter may be obtained periodically or when the drone approaches the electronic fence boundary.
  • the network location parameter The embodiments of the present application are not limited herein.
  • the local location parameter and the network location parameter refer to location information of the drone at the same time or within a certain time period.
  • the local location parameter and the network location parameter may include a flight altitude parameter, a flight longitude and a latitude parameter, etc., and the local location parameter and the network location parameter may be a plane coordinate or a three-dimensional coordinate manner.
  • the embodiments of the present application are not limited herein.
  • the UAV cloud determines the current position legality of the UAV based on the acquired local location parameter and the network location parameter.
  • the current position refers to the real-time location of the drone, which can be the local location or the network location. The situation where the position reported by the drone is directly used as the location fraud of the current position of the drone is avoided. Improve the accuracy of the position of the drone.
  • determining a current location of the UAV according to the local location parameter and the network location parameter including:
  • the current location is determined to be the local location or the network location.
  • the UAV cloud acquires the local location parameter and the network location parameter, by comparing and calculating the two location parameters, an error value of the local location and the network location is obtained, and when the two locations are determined When the error value is within the preset threshold range, it is determined that the location reported by the drone is legal, that is, accurate.
  • the UAV cloud preferentially uses the local location reported by the drone as the current location of the drone.
  • the UAV cloud may determine the current location of the UAV based on the error between the local location parameter and the network location parameter, and may also be based on the local location parameter and the network location parameter. Other judging rules, for example, determining the current position of the drone based on the local position parameter and the deviation value of the network position parameter from a fixed reference position.
  • the embodiments of the present application are not limited herein.
  • the drone cloud will send a mandatory command to the drone.
  • the drone is required to perform hover/return/landing/no take-off.
  • the local location parameter is P(x, y)
  • the network location parameter is Q(x, y)
  • the preset threshold is T, when the formula (1) is satisfied.
  • the current position of the drone is considered to be the local location or the network location.
  • the method 100 further includes:
  • the UAV cloud determines flight status information corresponding to the current location.
  • the UAV cloud allows the drone to fly in a case where it is determined that the flight state information corresponding to the current location is allowed to fly.
  • the UAV cloud determines the flight status information corresponding to the current position of the drone, that is, the electronic fence status of the current position (allowing flight or prohibiting flight).
  • the flight status information of the drone at a certain location is obtained based on the electronic fence information of the drone and the position information of the drone, and is equivalent to the electronic fence information of a certain position.
  • the UAV cloud determines the electronic fence status (flight status information) of the current location based on the current location of the drone and the electronic fence information. According to the current state of the electronic fence, the corresponding flight control of the drone. That is, the flight of the drone is authenticated.
  • the electronic fence area includes a forbidden flight area, a report flight area, a restricted flight area, a differential flight area, and an unlimited flight area.
  • Flight conditions within the area of the electronic fence include allowing or prohibiting flight, or part of the space within the electronic fence area is allowed to fly (primarily for restricted flight and differential flight electronic fences).
  • the current position of the electronic fence flight state is allowed to fly, allowing the drone to continue to fly or take off according to the original flight strategy.
  • the drone will be required to perform hover/return/landing/no take-off. It is possible to remotely control the drone, for example, to remotely drive the drone.
  • the drone cloud When the drone cloud performs flight authentication on the drone, it is also necessary to judge whether the UAV flight needs to be authenticated in real time according to the flight strategy of the drone. For example, when a drone is flying in an unrestricted area such as a desert, the drone cloud does not need to be authenticated for the drone, but after the drone is about to fly out of the boundless electronic fence boundary, the drone cloud The flight of the drone can be authenticated in a periodic manner. In the electronic fence area where the drone is reporting the flight area, the restricted flight area, etc., the drone cloud can authenticate the flight of the drone in a periodic manner.
  • the drone cloud periodically obtains the latest electronic fence information from government agencies. Therefore, it can be considered that the electronic fence information on the drone cloud is up to date. Moreover, when the drone flies into the electronic fence, for example, when approaching the no-fly zone, the drone cloud sends an instruction to the drone to perform hover/return/landing/no take-off for remote control of the unmanned person. machine. At the same time, the illegal management of the drone will be sent to the government management agency.
  • the UAV cloud has determined the accuracy of the position reported by the drone through the joint verification of the position of the drone. Under the condition that the position of the drone is accurate, combined with the current position information of the drone and the electronic fence information to authenticate the flight of the drone, the reliability of the flight authentication and supervision of the drone can be improved, and the drone can be improved. Flight safety.
  • the UAV cloud determines the flight state information corresponding to the current location, including: determining, by the UAV cloud, the flight state information corresponding to the current location according to the parameter of the current location and the heading threshold, where The heading threshold is a preset minimum value of the distance between the UAV and the electronic fence boundary.
  • the position of the drone during the flight is changed in real time. Therefore, it is necessary to determine flight status information at different locations.
  • flight state information at different locations it is determined based on the parameters of the current location and the heading threshold. Since the drone is flying at a high speed, in practice, it is not possible to wait until the drone reaches the boundary of the electronic fence to make a judgment or issue a command, because the inertia of the drone, etc., is performed when the boundary of the electronic fence is reached. Flight authentication, even if a mandatory command is sent to the drone, the drone may fly into the no-fly zone.
  • the flight state information (electronic fence information) corresponding to the current position of the drone is determined based on the current position of the drone and the heading threshold.
  • the heading threshold is a preset minimum value of the distance between the UAV and the fence of the electronic fence.
  • the heading threshold is related to information such as the type of the drone.
  • the navigation threshold of a large drone is generally larger than the navigation threshold of a small drone.
  • the heading threshold is also related to different areas. For example, in a downtown area, the heading threshold may be smaller than the heading threshold in an inaccessible area such as the desert.
  • the parameter of the current position of the drone is P(x, y)
  • the delta is the heading threshold of the drone
  • the Current Level is the current obtained by combining the information of the type of the drone.
  • the state of the electronic fence of the position, the flight state information corresponding to the current position of the drone may be the state represented by the formula (2) or the formula (3):
  • Equation (2) indicates that the state of the electronic fence at the current position is the allowable flight (TURE)
  • Equation (3) indicates that the state of the electronic fence at the current position is the prohibited flight (FALSE).
  • the method 100 further includes:
  • the drone cloud receives the electronic fence update parameter of the drone.
  • the UAV cloud sends the electronic fence information to the drone according to the electronic fence update parameter.
  • the drone Due to abnormal conditions such as network links, in order to ensure security, the drone is also required to perform real-time flight authentication. Moreover, during the flight process, the flight area of the drone will change in real time. Therefore, when the drone is about to fly out of the area of the electronic fence stored by itself, or when the electronic fence information stored by itself is needed to be updated, Request to update the electronic fence information to the drone cloud. Therefore, the drone cloud acquires the electronic fence update parameter of the drone, and updates the electronic fence of the drone according to the electronic fence update parameter. Then, the updated electronic fence information is fed back to the drone, and the drone cloud can also authenticate the flight of the drone according to the updated electronic fence information. At the same time, the drone can also perform flight authentication according to the electronic fence information, thereby improving the reliability of flight authentication.
  • the electronic fence information is sent to the drone by the UAV cloud network in real time, which increases the difficulty of cracking the electronic fence information and improves the accuracy of the electronic fence information. It can also realize the real-time update of the electronic fence information during the flight of the drone, and respond to the changes of the electronic fence information in time.
  • the UAV cloud can authenticate the flight of the UAV through the electronic fence information, and the UAV can also perform flight authentication through the electronic fence information stored by itself.
  • the UAV cloud and the UAV can be used to perform flight authentication on the UAV according to the electronic fence information, thereby further improving the reliability of the UAV electronic fence authentication and improving the safety of the UAV flight.
  • the electronic fence update parameter includes a parameter and an update radius of the current location of the drone.
  • the electronic fence update parameter sent by the drone to the drone cloud may include a parameter of the current position of the drone and an update radius, for example, may be a parameter of the current position of the drone and a required update radius.
  • the drone cloud determines the area where the electronic fence needs to be updated. The electronic fence information of the area is then sent to the drone for the drone to perform flight authentication based on the updated electronic fence information.
  • the electronic fence update parameter may also include parameters of the flying height, flight longitude and latitude of the drone.
  • the embodiments of the present application are not limited herein.
  • the electronic fence information includes electronic fence level information.
  • the electronic fence information may include electronic fence level information. That is, the electronic fence is graded, classified, and time-sharing improved.
  • the same electronic fence information (electronic fence state) is divided into the same level, and one area may include one level of electronic fences, and may also include multiple levels of electronic fences.
  • the UAV and UAV cloud are two-way authenticated, the UAV and UAV cloud can obtain real-time flight status information of the UAV based on the electronic fence level information, thereby making two-way judgment. Improve the flexibility of the electronic fence application, and achieve sub-regional, time-domain, on-demand, dynamic supervision.
  • Table 1 is a hierarchical electronic fence level information table provided by an embodiment of the present application. As shown in Table 1, the electronic fence level information includes six levels, and each level has a corresponding electronic fence flight state and flight operation. . The drone or drone cloud can authenticate the flight of the drone during the flight or flight of the drone based on the electronic fence level information.
  • the corresponding flight operation is not limited to flight, and the flight state is forbidden to fly out, mainly referring to areas where desert, Gobi, etc. will not cause social loss, and micro and light drones are not required. Supervision. The medium and large drones were declared afterwards.
  • the corresponding flight operation is a differential flight, and the flight state is forbidden to fly out. It mainly means that the micro and light drones do not need real-time supervision, and the medium and large-sized drones need real-time supervision. It is mainly in areas such as forests and farmland below 120m.
  • the corresponding flight operation is to limit the flight, and the flight state is that some areas are prohibited from flying in, and all drones need real-time supervision.
  • the corresponding flight operation is for reporting flight, the flight status is forbidden to fly out, and all drones need real-time supervision. It mainly includes urban areas with populations, urban public areas and other airspaces that need to be applied for, and reports and monitors them in real time during flight.
  • the corresponding flight operation is forbidden to fly, the flight state is forbidden to fly in, and all drones need real-time supervision. It is mainly based on areas that are prohibited from flying according to national definitions, such as the Beijing Sixth Ring Road, military bases, missile launch areas, etc., as well as temporary control airspace, such as the G20 branch, the Belt and Road Initiative, and military exercises.
  • the corresponding flight operation is reserved and the flight status is forbidden to fly in. High-priority reserved areas in the area, all drones need to report drone information in real time for supervision.
  • the electronic fence can be classified according to different time and different regions. Moreover, only the six hierarchical levels are shown schematically in Table 1, and of course, in practice, they can be further divided into more detailed levels. The embodiments of the present application are not limited herein.
  • the airspaces that are classified by the electronic fence information are not isolated airspaces, but different hierarchical levels of all airspace regions.
  • Each electronic fence level airspace can be an independent three-dimensional space, or can be included in other levels of three-dimensional space.
  • the drone can fly only in a certain level of electronic fence airspace, or can fly in multiple electronic fenced airspace.
  • the embodiments of the present application are not limited herein.
  • the drone cloud and the drone can judge the drone according to the type of the drone. Whether it is possible to enter a higher or lower level electronic fence and determine whether it is necessary to supervise the flight of the drone in real time according to the requirements of different electronic fence levels. Improve the flexibility of the electronic fence application, and achieve sub-regional, time-domain, on-demand, dynamic supervision. Improve the efficiency of electronic flight supervision of drones.
  • FIG. 7 is a schematic flowchart of a method 200 for updating an electronic fence of a drone according to an embodiment of the present application.
  • the drone can pass through a network device.
  • the provided wireless network is connected to the UAV cloud for real-time communication and data exchange, and the network device can obtain real-time location information of the drone.
  • the method 200 includes:
  • S210 The drone sends the electronic fence update parameter of the drone to the drone cloud.
  • the drone cloud determines the electronic fence information of the first area according to the electronic fence update parameter of the drone, and sends the electronic fence information of the first area to the drone, the first area is according to the electronic fence Update the parameters obtained.
  • the drone receives the electronic fence information of the first area by the drone cloud.
  • the method for updating the electronic fence of the drone provided by the embodiment of the present application, the drone can connect and communicate with the cloud of the drone in real time, and directly obtain the latest electronic fence information from the cloud of the drone, that is, the electronic fence of the drone The information is updated.
  • the difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
  • the drone needs to update the electronic fence in real time during the preparation for take-off or flight. Therefore, the unmanned machine sends the electronic fence update parameter of the drone to the drone cloud, for example, Including the parameters of the position of the drone and the flight radius, the electronic fence information of the first area can be obtained, and the electronic fence information of the first area is sent to the drone. Real-time updates of electronic fence information can be achieved.
  • the electronic fence update parameter includes a first position parameter of the drone and a first flight radius
  • the drone cloud obtains electronic fence information of the first area according to the first position parameter and the first flight radius.
  • the first position parameter may include a flight height parameter of the drone, a parameter of the flight longitude and the latitude, and the like, which is not limited herein.
  • the method 200 further includes:
  • the drone determines flight state information corresponding to the current location of the drone.
  • the drone allows the drone to fly in a case where it is determined that the flight state information corresponding to the current location is allowed to fly.
  • the unattended machine obtains the current based on the current location information (real-time location) and the acquired electronic fence information.
  • the flight status information corresponding to the position that is, the electronic fence status of the current position.
  • the corresponding flight control of the drone That is, the flight of the drone is authenticated.
  • the current location should be within the range of the first zone.
  • the state of the electronic fence is prohibition of flight or flight.
  • the drone is allowed to continue to fly or take off according to the original flight strategy.
  • the drone will be required to perform hover/return/landing/no take-off.
  • the drone cloud will also monitor the flight of the drone in real time.
  • the drone cloud periodically obtains the latest electronic fence information from government agencies. Therefore, it can be considered that the electronic fence information on the drone cloud is up to date. and
  • the drone cloud sends instructions to the drone to perform hover/return/landing/no take-off. At the same time, the illegal management of the drone will be sent to the government management agency.
  • the UAV determines flight state information corresponding to the current location, including: determining, by the UAV, the current location according to the parameter of the current location and the heading threshold.
  • the heading threshold is a preset minimum value of a distance between the UAV and an electronic fence boundary.
  • flight status information electronic fence information
  • flight state information it is determined based on the parameters of the current location and the heading threshold. Since the drone is flying at a high speed, in practice, it is not possible to wait until the drone reaches the boundary of the electronic fence to make a judgment or issue a command, because of the inertia of the drone, etc., when the boundary of the electronic fence is reached. For flight authentication, even if a mandatory command is sent to the drone, the drone may fly into the no-fly zone.
  • the flight state information corresponding to the current position of the drone is determined based on the current position of the drone and the heading threshold.
  • the heading threshold is the minimum value of the preset distance between the UAV and the electronic fence boundary, which is equivalent to a buffer amount (advance amount).
  • the heading threshold is related to information such as the model of the drone.
  • the navigation threshold of a large drone is generally larger than the navigation threshold of a small drone.
  • the heading threshold is also related to different areas. For example, in a downtown area, the heading threshold may be smaller than the heading threshold in an inaccessible area such as the desert.
  • the method 200 further includes:
  • the unmanned person before the drone takes off, the unmanned person initially (first time) acquires the electronic fence information of an area, and therefore, the radius of the area of the electronic fence information initially obtained by the drone is less than or equal to the none.
  • the maximum round trip of the man-machine it is proved that no one is flying out of the initially obtained electronic fence area. That is, the maximum voyage area of the drone is larger than the area of the initially obtained electronic fence information. Therefore, electronic fence information for other areas to which the drones outside the area fly is required. That is, it is determined that the electronic fence information of the drone needs to be updated.
  • the method further includes:
  • the drone acquires a distance between the first location and the second location of the drone.
  • the UAV determines a first threshold value that is different from a distance between the second flight radius of the UAV and the distance, where the first threshold is a preset boundary between the UAV and the second area.
  • the minimum distance between the two areas, the electronic fence information of the second area is determined according to the second position and the second flight radius.
  • the radius of the area of the electronic fence information initially obtained before the drone is taken off is less than or equal to the maximum round trip of the drone
  • the electronic fence of the area that has been acquired before the drone is about to fly out
  • the electronic fence information (electronic fence information of the first area) of a new area again it is necessary to acquire the electronic fence information (electronic fence information of the first area) of a new area again. Therefore, according to the distance between the first position and the second position of the drone, the first position can be regarded as the current position of the drone, and the second position is when the electronic fence information of the second area is previously acquired. The location of the drone.
  • the second area is obtained based on the second position and the second flight radius, and the electronic fence information of the second area can be regarded as an area of the initially obtained electronic information. therefore.
  • a distance between the first location and the second location of the drone is determined, and in S209, determining a first threshold between a difference between the second flight radius and the distance is less than or equal to In the case that the drone is about to fly out of the second area, it is necessary to obtain the electronic fence information of the first area according to the first position of the drone and the first flight radius (update radius), first The area is the area where the drone is about to fly.
  • the first threshold is a preset minimum value of the distance between the UAV and the boundary of the second region.
  • FIG. 9 is a schematic diagram of a method for updating an electronic fence of a drone according to an embodiment of the present application.
  • I(x, y) is the parameter of the second position (the initial position of the drone)
  • R2 is the second flight radius (the initial electronic fence radius)
  • the second area (the initial obtained electronic fence information)
  • the area is determined by I(x, y) and R2
  • P(x, y) is the first position parameter (the parameter of the current position)
  • R1 is the first flight radius
  • the first area is P(x, y) and R1
  • S is the maximum round trip of the drone, and the maximum range of the flight of the drone is determined by I(x, y) and S, and the value of S is greater than R2.
  • the drone will first obtain the electronic fence information for the second area.
  • the difference between the distance between the first position P(x, y) point and the second position I(x, y) point and the second flight radius is less than or When it is equal to the first threshold D, that is, the drone is about to fly out of the second area, therefore, it is necessary to acquire the electronic fence information of the first area from the drone cloud.
  • the first area is the area where the drone is about to fly. After that, the drone can authenticate the flight of the drone based on the electronic fence information of the first area.
  • the electronic fence information can update the electronic fence information of the second area in real time.
  • the first threshold is preset, and the size of the first threshold may be different for different regions. For example, in a city center, the first threshold may be relatively small, and in a suburb, the first threshold may be It will be bigger.
  • the unmanned opportunity automatically acquires another one that is about to fly in.
  • the electronic fence information can be updated multiple times. The radius of each update can be the same or different.
  • the drone can periodically update the electronic fence information of the drone during the flight, and the size of the update cycle and the size of each updated area depend on the drone.
  • the storage capacity can be customized according to the manufacturer.
  • the electronic fence information of the drone may be updated after the start of other conditions.
  • the embodiment of the present application is not limited herein.
  • the electronic fence information includes electronic fence level information.
  • the electronic fence information includes electronic fence level information. That is, the electronic fence is graded, classified, and time-sharing improved.
  • the same electronic fence information (electronic fence state) is divided into the same level, and one area may include one level of electronic fences, and may also include multiple levels of electronic fences.
  • the UAV and UAV clouds are authenticated in both directions, the UAV and UAV clouds can be judged in both directions based on the electronic fence level.
  • Improve the flexibility of the electronic fence application and achieve sub-regional, time-domain, on-demand, dynamic supervision.
  • the level information of the body's electronic fence is similar to that in the method 100, and is not described here for brevity.
  • the drone can authenticate the flight of the drone through the electronic fence information while authenticating the drone through the electronic fence information.
  • the UAV and the UAV cloud can be used to perform flight authentication on the UAV according to the electronic fence information, thereby further improving the reliability of the UAV electronic fence authentication and improving the safety of the UAV flight. .
  • the drone can determine whether to take off based on the obtained electronic fence level information and the information of the drone itself (position information, model information, etc.). In the process of flying. It is possible to determine whether it is possible to fly into a higher or lower level electronic fence based on the information of the drone (for example, the type of the drone, the real-time position, etc.), and also to determine whether it is necessary to maintain a communication connection with the drone cloud in real time. For example, when flying in an area of the electronic fence level 0, in addition to communicating with the drone cloud when flying out of the area, the supervision of the drone cloud is not required when flying in the area. Allow drones to fly in areas that do not require networking.
  • the embodiment of the present application further provides a method 300 for updating an electronic fence of a drone
  • FIG. 10 is a schematic flowchart of a method 300 for updating an electronic fence of a drone according to an embodiment of the present application.
  • the drone can pass through a network device.
  • the provided wireless network is connected to the UAV cloud for real-time communication and data exchange, and the network device can obtain real-time location information of the drone.
  • the method 300 includes:
  • S310 The drone cloud receives the electronic fence update parameter of the drone sent by the drone.
  • the UAV cloud sends the electronic fence information of the first area to the drone, and the first area is obtained according to an electronic fence update parameter.
  • the method for updating the electronic fence of the drone provided by the embodiment of the present application, the drone can be connected to the cloud of the drone in real time, and the latest electronic fence information is directly obtained from the cloud of the drone, that is, the electronic fence information of the drone is performed. Update.
  • the difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
  • the drone needs to update the electronic fence in real time during preparation for take-off or flight, and therefore, the unmanned person transmits the electronic fence update parameter of the drone to the drone cloud.
  • the drone cloud can update the parameters according to the electronic fence, obtain the electronic fence information of the first area, and send the electronic fence information of the first area to the drone.
  • the first area is obtained from the electronic fence update parameters. Real-time updates to the electronic fence information on the drone can be achieved.
  • the drone cloud will also monitor the flight of the drone in real time.
  • the drone cloud periodically obtains the latest electronic fence information from government agencies. Therefore, it can be considered that the electronic fence information on the drone cloud is up to date.
  • the drone cloud sends instructions to the drone to perform hover/return/landing/no-takeoff. At the same time, the illegal management of the drone will be sent to the government management agency.
  • the first position may be any position during the flight of the drone, or may be the position before the take-off of the drone, and the first position should not impose any restrictions on the embodiments of the present application.
  • the electronic fence update parameter includes a first position parameter of the drone and a first flight radius
  • the drone cloud obtains electronic fence information of the first area according to the first position parameter and the first flight radius.
  • the first position parameter may include a flight height parameter of the drone, a parameter of the flight longitude and the latitude, and the like, which is not limited herein.
  • the method 300 further includes:
  • the drone cloud receiving drone sends the local location parameter.
  • the UAV cloud receives a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate a network location of the UAV.
  • the UAV cloud determines that the current location of the UAV is the local location or the network location if the error of the local location parameter and the network location parameter is within a preset threshold range.
  • the unmanned person reports the location information to the drone cloud, that is, the drone cloud acquires the report reported by the drone.
  • the local position parameter of the drone which is used by the drone cloud to determine the position of the drone.
  • the drone can obtain its own position parameters, that is, the local position parameters, in real time through the GPS module carried by itself or the other system that can be used to measure the position in real time.
  • the drone cloud also obtains the location information of the drone reported by the network device. Since the drone is connected to the network device with a communication connection, the network device and the UAV cloud are also capable of communication connection. Therefore, the network device can know the location information of the drone. That is, the drone cloud will obtain the network location parameters of the drone reported by the network device.
  • the local location parameter and the network location parameter refer to location information of the drone at the same time or within a certain period of time.
  • the local location parameter and the network location parameter may include a flight altitude parameter, a flight longitude and a latitude parameter, etc., and the local location parameter and the network location parameter may be a plane coordinate or a three-dimensional coordinate manner.
  • the embodiments of the present application are not limited herein.
  • the UAV cloud obtains the error values of the local location and the network location by comparing the two position parameters, and determines that the error value of the two locations is within a preset threshold range.
  • the location reported by the drone is legal, that is, accurate. Therefore, it is determined that the current location of the drone is the local location or the network location.
  • the UAV cloud preferentially uses the local location reported by the drone as the current location of the drone.
  • the first location is the central location of the area reported by the drone that needs to acquire the electronic fence, and the time for reporting the first location may be before or after the time of reporting the local location and the network location.
  • the local location and the network location are respectively the location reported by the drone and the real-time location of the drone reported by the network device, and there is no necessary connection between the local location, the network location, and the first location.
  • the first position can be the same as the local location or the same as the network location.
  • the UAV cloud not only acquires the location of the UAV reported by the UAV, but also acquires the location of the UAV reported by the network device, and the location reported by the UAV.
  • the method 300 further includes:
  • the drone cloud determines flight status information corresponding to the current location.
  • the UAV cloud allows the UAV to fly in a case where it is determined that the flight state information corresponding to the current location is allowed to fly.
  • the method for authenticating the flight of the UAV based on the flight state information corresponding to the current location is similar to that in the method 100.
  • the method for authenticating the flight of the UAV based on the flight state information corresponding to the current location is similar to that in the method 100.
  • no further details are provided herein.
  • the UAV cloud has determined the accuracy of the position reported by the drone through the joint verification of the position of the drone.
  • the accuracy of the flight authentication and supervision of the drone can be improved, and the unmanned person can be improved.
  • the UAV cloud determines the flight state information corresponding to the current location, including: determining, by the UAV cloud, the flight state information corresponding to the current location according to the parameter of the current location and the heading threshold.
  • the heading threshold is a preset minimum value of a distance between the UAV and an electronic fence boundary.
  • the electronic fence information includes electronic fence level information.
  • the method 400 for updating the electronic fence of the drone provided by the embodiment of the present application is described in detail below with reference to FIG. As shown in FIG. 11, the method 400 includes:
  • the UAV starts up, and initiates a data link establishment process with the UAV cloud through the wireless network provided by the network device.
  • the drone cloud periodically obtains an update of the electronic fence from a government regulatory agency.
  • S403 The drone initiates an initial synchronization of the electronic fence to the drone cloud to obtain the latest electronic fence information. If the link establishment in S401 fails, the electronic fence stored locally by the drone is used.
  • step S404 the drone determines, according to the electronic fence information, whether an activation request needs to be sent to the drone cloud, and if not, directly takes off, and step S409 is performed. If necessary, step S405 is performed. For example, when the electronic fence information is flying in an area that allows flight or an inaccessible desert area, there is no need to send an activation request.
  • the drone sends a flight activation request to the drone cloud.
  • the drone cloud After receiving the flight activation request, the drone cloud records the location of the drone and queries the telecommunication operator for the network location of the drone. Telecom operators can control network equipment.
  • the UAV cloud performs flight authentication on the UAV. If the authentication is successful, the process proceeds to step S408. If the authentication fails, the drone is prohibited from taking off, and the drone illegal access alarm is sent to the government regulatory agency.
  • the drone cloud sends a flight activation notification to the drone.
  • the drone cloud sends a drone access notification to the government regulatory agency.
  • the drone cloud and the government management agency periodically update the drone cloud data.
  • the drone periodically reports real-time flight data to the drone cloud.
  • the drone cloud records the flight data reported by the drone, and periodically queries the telecommunication operator for the network location of the drone.
  • S415 The drone cloud performs flight authentication on the drone. If the authentication fails, the control command (hover/landing/return) is sent to the drone, and the drone illegal access alarm is sent to the government management agency.
  • the UAV accesses the UAV cloud through the cellular network in real time, and the network device assists the positioning, thereby avoiding the drone caused by tampering with the GPS module of the UAV Reported bit Make a fake.
  • the network equipment assists the unmanned aerial vehicle to perform unattended positioning, and combines the GPS position joint verification reported by the drone to improve the reliability of the UAV position reporting.
  • the electronic fence is updated with the drone cloud in real time (before flight, in flight), which increases the difficulty of cracking the electronic fence, and also satisfies the UAV's ability to respond to changes in the electronic fence in flight.
  • the embodiment of the present application provides a method for updating an electronic fence of a drone, which can be applied to an application of a drone that can be executed after remote authorization, and an enhanced check on the position of the drone to the drone.
  • Activation and activation for authorization can be used for inspection of auto-guided transport vehicles in the enterprise, outdoor remote operation robots, etc.
  • the embodiments of the present application are not limited herein.
  • the size of the serial numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be addressed by the present application.
  • the implementation of the embodiments imposes any limitations.
  • FIG. 12 is a schematic block diagram of a server in accordance with one embodiment of the present application.
  • the server can be a drone cloud server (unmanned cloud). It should be understood that the server embodiment and the method embodiment correspond to each other, and a similar description may refer to the method embodiment.
  • the server 500 shown in FIG. 12 may be used to execute the steps corresponding to the unmanned cloud execution in FIG. 5 and FIG.
  • the server 500 includes a processor 510, a memory 520 and a transceiver 530.
  • the processor 510, the memory 520 and the transceiver 530 are connected by communication, the memory 520 stores instructions, and the processor 510 is configured to execute instructions stored by the memory 520.
  • the transceiver 530 It is used to perform specific signal transceiving under the driving of the processor 510.
  • the transceiver is configured to receive a local location parameter sent by the drone, and the local location parameter is used to indicate the local location of the drone.
  • the transceiver is further configured to: receive a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate a network location of the UAV.
  • the processor is configured to determine a current location of the drone based on the local location parameter and the network location parameter.
  • the server provided by the embodiment of the present application not only acquires the location of the unmanned unmanned aircraft (not reported), but also obtains the location of the drone reported by the network device, and reports the local location and the network device reported by the drone. A joint check of the location to determine the current location of the drone. Compared with determining the current position of the drone only by the position reported by the drone, the problem that the drone's GPS module may be tampered and the drone reports the false position is avoided. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
  • the various components in server 500 communicate with each other via a communication connection, i.e., processor 510, memory 520, and transceiver 530, through internal connection paths, to communicate control and/or data signals.
  • a communication connection i.e., processor 510, memory 520, and transceiver 530
  • the foregoing method embodiments of the present application may be applied to a processor, or the processor may implement the steps of the foregoing method embodiments.
  • the processor may be an integrated circuit chip with signal processing capabilities.
  • each step of the foregoing method embodiments may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software.
  • the above processor may be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and an NP, a digital signal processor (DSP), an application specific integrated circuit (application).
  • CPU central processing unit
  • NP network processor
  • DSP digital signal processor
  • application application specific integrated circuit
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the steps of the method disclosed in connection with the present application may be directly embodied by a hardware decoding processor. Completed, or completed with a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.
  • the processor 510 is specifically configured to determine the current location if the error of the local location parameter and the network location parameter is within a preset threshold range. For the local location or the network location.
  • the transceiver 530 is further configured to: receive an electronic fence update parameter sent by the drone; and send the electronic fence information to the drone according to the electronic fence update parameter. .
  • the processor 510 is further configured to: determine flight state information corresponding to the current location; and allow the flight state information corresponding to the current location to allow flight, allow The drone flies.
  • the server provided in this embodiment determines the accuracy of the location reported by the drone since the joint verification of the position of the drone has been passed. Under the condition that the position of the drone is accurate, the electronic fence information can be used to authenticate the flight of the drone, which can improve the reliability of flight authentication and supervision of the drone and improve the safety of the drone flight.
  • the processor 510 is specifically configured to: determine, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold is a preset The minimum distance between the drone and the edge of the electronic fence.
  • the electronic fence update parameter includes a parameter of the current location of the drone and an update radius.
  • the electronic fence information includes electronic fence level information.
  • the processor 510 may be implemented by a processing module
  • the memory 520 may be implemented by a storage module
  • the transceiver 530 may be implemented by a transceiver module.
  • the server 600 may include a processing module 610 and storage. Module 620 and transceiver module 630.
  • the server 500 shown in FIG. 12 or the server 600 shown in FIG. 13 can implement the steps of the UAV cloud execution in FIG. 5, FIG. 6 and FIG. 11 described above. To avoid repetition, details are not described herein again.
  • the apparatus 700 for updating an electronic fence of a drone includes a transceiver unit 710 and a processing unit 720.
  • the transceiver 710 is configured to send an electronic fence update parameter of the drone to the drone cloud.
  • the transceiver unit 710 is further configured to: receive the electronic fence information of the first area sent by the drone cloud, where the first area is obtained according to the electronic fence update parameter.
  • the device for updating the electronic fence of the drone can be connected to the cloud of the drone in real time, and the latest electronic fence information can be directly obtained from the cloud of the drone, that is, the electronic fence information of the drone is updated.
  • the difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
  • the processing unit 720 is configured to determine flight state information corresponding to a current location of the drone; the processing unit 720 is further configured to: determine, in the determining the current location
  • the flight status information allows the drone to fly in the case of allowing flight.
  • the flight state information electronic fence information
  • the flight state information (electronic fence information) according to its current position (real time position), that is, the electronic fence state of the current position.
  • the corresponding drone Flight control it can change the accuracy of the electronic fence authentication when the drone is flying.
  • the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
  • the processing unit 720 is specifically configured to: determine, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold is a preset The minimum distance between the drone and the edge of the electronic fence.
  • the transceiver unit 710 before the transceiver unit 710 sends the first location parameter and the first flight radius of the drone to the drone cloud, the transceiver unit 710 is further configured to: Obtaining a distance between the first location and the second location of the drone; the processing unit 720 is further configured to: determine that the difference between the second flight radius of the drone and the distance is less than or equal to a threshold value, the first threshold being a preset minimum value of a distance between the UAV and a boundary of the second region, the second region being determined according to the second location and the second flight radius.
  • the electronic fence information includes electronic fence level information.
  • the apparatus 700 can be installed in the drone in the form of hardware or in the drone when the drone is shipped from the factory, integrated with the unmanned person, as part of the drone.
  • the apparatus 700 may further include a storage unit 730 for storing codes of the transceiver unit 710 and the processing unit 720 to implement the foregoing various functions.
  • the apparatus for updating the electronic fence of the drone shown in FIG. 14 can implement the steps performed by the drones in FIGS. 7, 8, and 11. To avoid repetition, details are not described herein again.
  • the transceiver unit may be implemented by a transceiver
  • the processing unit may be implemented by a processor
  • the storage unit may be implemented by a memory.
  • the apparatus 800 for updating the drone electronic fence may include a processing module 810, a storage module 820, and a transceiver module 830.
  • the various components in the device 800 that updates the drone electronic fence communicate with each other via a communication connection, i.e., between the processor 810, the memory 820, and the transceiver 830, through internal interconnect paths, and communicate control and/or data signals.
  • a communication connection i.e., between the processor 810, the memory 820, and the transceiver 830, through internal interconnect paths, and communicate control and/or data signals.
  • the foregoing method embodiments of the present application may be applied to a processor, or the processor may implement the steps of the foregoing method embodiments.
  • the processor may be an integrated circuit chip with signal processing capabilities.
  • each step of the foregoing method embodiments may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software.
  • the above processor may be a CPU, a network processor NP or a combination of a CPU and an NP, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or a transistor logic device, or a discrete hardware component.
  • the methods, steps, and logical block diagrams disclosed in this application can be implemented or executed.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the steps of the method disclosed in connection with the present application may be directly embodied by the execution of the hardware decoding processor or by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.
  • the server can be a drone cloud server (unmanned cloud). It should be understood that the server embodiment and the method embodiment correspond to each other, a similar description may refer to the method embodiment, and the server 900 shown in FIG. 16 may be used to execute the drone corresponding to FIG. 7, FIG. 8, FIG. 10 and FIG. The steps performed by the cloud.
  • the server 900 includes a processor 910, a memory 920 and a transceiver 930.
  • the processor 910, the memory 920 and the transceiver 930 are connected by communication, the memory 920 stores instructions, and the processor 910 is configured to execute instructions stored by the memory 920.
  • the transceiver 930 It is used to perform specific signal transceiving under the driving of the processor 910.
  • the transceiver 930 is configured to receive an electronic fence update parameter of the drone sent by the drone.
  • the transceiver 930 is further configured to: send the electronic fence information of the first area to the drone, and the first area is obtained according to the electronic fence update parameter.
  • the server provided in the embodiment of the present application can be connected to the cloud of the drone in real time to update the electronic fence information of the drone.
  • the difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
  • server 900 communicates with one another via a communication connection, i.e., processor 910, memory 920, and transceiver 530, through internal connection paths, to communicate control and/or data signals.
  • a communication connection i.e., processor 910, memory 920, and transceiver 530
  • the foregoing method embodiments of the present application may be applied to a processor, or the processor may implement the steps of the foregoing method embodiments.
  • the processor may be an integrated circuit chip with signal processing capabilities.
  • each step of the foregoing method embodiments may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software.
  • the above processor may be a CPU, a network processor NP or a combination of a CPU and an NP, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or a transistor logic device, or a discrete hardware component.
  • the methods, steps, and logical block diagrams disclosed in this application can be implemented or executed.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the steps of the method disclosed in connection with the present application may be directly embodied by the execution of the hardware decoding processor or by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.
  • the transceiver 930 is further configured to: receive a local location parameter of the drone sent by the drone; and receive the network of the drone sent by the network device.
  • Location parameter The processor 910 is further configured to: determine that the current location of the drone is the local location or the network if the parameter of the local device and the error of the local location parameter are within a preset threshold range position.
  • the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
  • the processor 910 is further configured to: determine flight state information corresponding to the current location; and allow the flight state information corresponding to the current location to allow flight, allow The drone flies.
  • the processor 910 is specifically configured to: determine, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold is a preset The minimum distance between the drone and the edge of the electronic fence.
  • the electronic fence information includes electronic fence level information.
  • the processor 910 may be implemented by a processing module
  • the memory 920 may be implemented by a storage module
  • the transceiver 930 may be implemented by a transceiver module.
  • the server 1100 may include a processing module 1110, and storage. Module 1120 and transceiver module 1130.
  • the server 900 shown in FIG. 16 or the server 1100 shown in FIG. 17 can implement the steps of the aforementioned UAV cloud execution in FIG. 7, FIG. 8, FIG. 10 and FIG. 11, and the details are not described herein again.
  • the embodiment of the present application further provides a computer readable medium for storing computer program code, the computer program comprising at least one of the foregoing FIG. 5, FIG. 6, FIG. 7, FIG. 8, FIG. 10 and FIG. Instructions to the method of the embodiments of the present application.
  • the readable medium can be a read-only memory (ROM) or a random access memory (Random access memory, RAM), this embodiment of the present application does not limit this.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product.
  • the technical solution of the present application which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including
  • the instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application.
  • the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

The present application provides a method for positioning an unmanned aerial vehicle, and a server. The method comprises: receiving a physical position parameter sent by an unmanned aerial vehicle, the physical position parameter being used to indicate the physical position of the unmanned aerial vehicle; receiving a network position parameter of the unmanned aerial vehicle sent by a network device, the network position parameter being used to indicate the network position of the unmanned aerial vehicle; and determining, according to the physical position parameter and the network position parameter, the current position of the unmanned aerial vehicle. The unmanned aerial vehicle positioning method and server provided in the present application not only acquire the position of the unmanned aerial vehicle sent by the unmanned aerial vehicle itself, but also acquire the position of the unmanned aerial vehicle reported by the network device, and determine the current position of the unmanned aerial vehicle according to the joint verification of the physical position and the network position. The invention avoids the problem that the GPS module of the unmanned aerial vehicle may have been tampered with, thereby the unmanned aerial vehicle reporting a false position. The invention effectively improves the reliability of the position reported by the unmanned aerial vehicle, thereby improving the reliability of flight authentication of the unmanned aerial vehicle and the security of the flight of the unmanned aerial vehicle.

Description

定位无人机的方法和服务器Method and server for locating a drone 技术领域Technical field
本申请涉及无人机领域。更为具体的，涉及一种定位无人机的方法和服务器。This application relates to the field of drones. More specifically, it relates to a method and server for locating a drone.
背景技术Background technique
无人机作为新兴的科技产品，最近几年得到了快速发展，越来越多的轻小型无人机进入百姓生活。据统计，截止2016年底，我国民用级无人机数量超过了120万架，并且绝大多数处于没有限制的“黑飞”状态。这种黑飞对民航机场、军事设施、石油石化企业、核电站等重要场站设施带来了前所未有的空中威胁。近两年内全国各地机场频繁发生无人机“黑飞”干扰多班次民航客机正常起降的事件。As an emerging technology product, drones have developed rapidly in recent years, and more and more small and small drones have entered the lives of ordinary people. According to statistics, as of the end of 2016, the number of national-class UAVs exceeded 1.2 million, and most of them were in an unrestricted "black fly" state. This kind of black flying has brought unprecedented air threats to important airport facilities such as civil aviation airports, military facilities, petroleum and petrochemical enterprises, and nuclear power plants. In the past two years, there have been frequent occurrences of drone "black fly" in airports across the country that interfere with the normal take-off and landing of multi-shift passenger airliners.
无人机电子围栏，是指为防止民用无人驾驶航空器飞入或者飞出特定区域，在相应电子地理范围中画出其区域边界，并配合无人机的飞行控制***来保障区域安全的软硬件***。无人机电子围栏技术是解决无人机存在的黑飞问题的有效办法。通过在无人机飞行控制***中植入电子围栏后，无人机会通过全球定位***(global positioning system，GPS)等自动识别地理位置，一旦无人机飞行到电子围栏边界，在设有电子围栏的区域会自动降落或返航。UAV electronic fence refers to the softness of regional safety in order to prevent civilian unmanned aircraft from flying in or out of a specific area, drawing its regional boundaries in the corresponding electronic geographic range, and cooperating with the flight control system of the drone. Hardware system. UAV electronic fence technology is an effective way to solve the black fly problem of drones. By implanting an electronic fence in the UAV flight control system, the unmanned person automatically recognizes the geographic location through a global positioning system (GPS), etc. Once the drone flies to the electronic fence boundary, an electronic fence is provided. The area will automatically land or return.
目前，无人机在飞行过程中，是基于无人机自身的GPS获得的位置信息，结合电子围栏以及飞行策略对无人机进行控制。用户可能通过更改无人机的GPS模组，篡改GPS信息，进行位置造假，很容易造成无人机飞行的安全事故。因此，目前迫切需要一种安全性较高的无人机的鉴权方案。At present, during the flight, the drone is based on the position information obtained by the drone's own GPS, combined with the electronic fence and flight strategy to control the drone. The user may change the GPS module of the drone, tamper with the GPS information, and perform location fraud, which may easily cause a safety accident of the drone flight. Therefore, there is an urgent need for an authentication scheme for a highly secure drone.
发明内容Summary of the invention
本申请提供一种定位无人机的方法和服务器，可以避免了无人机的GPS模组可能被篡改而导致无人机上报虚假位置的问题，并且还可以实时更新无人机的电子围栏信息，提高无人机飞行的安全性。The present application provides a method and a server for locating a drone, which can avoid the problem that the GPS module of the drone may be tampered and cause the drone to report the false position, and can also update the electronic fence information of the drone in real time. To improve the safety of drone flight.
第一方面，提供了一种定位无人机的方法，该方法包括：接收无人机发送的本机位置参数，该本机位置参数用于指示该无人机的本机位置；接收网络设备发送的该的无人机的网络位置参数，该网络位置参数用于指示该无人机的网络位置；根据该本机位置参数和该网络位置参数，确定该无人机的当前位置。In a first aspect, a method for locating a drone is provided, the method comprising: receiving a local location parameter sent by a drone, the local location parameter indicating a local location of the drone; receiving a network device The network location parameter of the drone sent, the network location parameter is used to indicate the network location of the drone; and the current location of the drone is determined according to the local location parameter and the network location parameter.
第一方面提供的定位无人机的方法，无人机云(服务器)不仅获取无人发送(上报)的无人机自身的位置，还获取网络设备上报的无人机的位置，通过无人机上报的本机位置和网络设备上报的位置的联合校验，来确定无人机的当前位置。相比于只通过无人机上报的位置确定无人机的当前位置相比，避免了无人机的GPS模组可能被篡改而导致无人机上报虚假位置的问题。从而有效的提高了无人机上报的位置的可靠性，进而提高了无人机飞行的安全性。 The first aspect provides a method for locating a drone, and the drone cloud (server) not only acquires the location of the unmanned unmanned aircraft (not reported), but also acquires the location of the drone reported by the network device, and passes the unmanned The joint verification of the local location reported by the machine and the location reported by the network device to determine the current location of the drone. Compared with determining the current position of the drone only by the position reported by the drone, the problem that the drone's GPS module may be tampered and the drone reports the false position is avoided. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
在第一方面的一种可能的实现方式中，根据该本机位置参数和所网络位置参数，确定该无人机的当前位置，包括：在该本机位置参数和该网络位置参数的误差在预设的阈值范围内的情况下，确定该当前位置为该本机位置或该网络位置。In a possible implementation manner of the first aspect, determining a current location of the UAV according to the local location parameter and the network location parameter, including: the error between the local location parameter and the network location parameter is In the case of a preset threshold range, it is determined that the current location is the local location or the network location.
在第一方面的一种可能的实现方式中，该方法还包括：接收该无人机发送的电子围栏更新参数；根据该电子围栏更新参数，向该无人机发送电子围栏信息。该实现方式中，服务器可以实时的根据无人机发送的电子围栏更新数据，向无人机发送电子围栏信息。可以做到无人机电子围栏信息的实时更新。In a possible implementation manner of the first aspect, the method further includes: receiving an electronic fence update parameter sent by the drone; and transmitting the electronic fence information to the drone according to the electronic fence update parameter. In this implementation manner, the server can update the data according to the electronic fence sent by the drone in real time, and send the electronic fence information to the drone. Real-time updates of drone electronic fence information can be achieved.
在第一方面的一种可能的实现方式中，该电子围栏更新参数包括该当前位置的参数和更新半径。In a possible implementation manner of the first aspect, the electronic fence update parameter includes a parameter of the current location and an update radius.
在第一方面的一种可能的实现方式中，该方法还包括：确定该当前位置对应的飞行状态信息；在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。在该实现方式中，由于服务器已经通过对无人机的位置的联合校验，确定了无人机上报的位置的准确性和合法性。因此，服务器会确定该无人机的当前位置对应的飞行状态信息，根据当前位置对应的飞行状态信息对无人机进行相应的飞行控制。对无人机的飞行进行鉴权。实现了无人机飞行鉴权的准确定和远程控制无人机。In a possible implementation manner of the first aspect, the method further includes: determining flight state information corresponding to the current location; and allowing the drone if the flight state information corresponding to the current location is determined to be allowed to fly flight. In this implementation, since the server has passed the joint verification of the location of the drone, the accuracy and legitimacy of the location reported by the drone is determined. Therefore, the server determines the flight state information corresponding to the current position of the drone, and performs corresponding flight control on the drone according to the flight state information corresponding to the current location. The flight of the drone is authenticated. The quasi-determination of the flight authentication of the drone and the remote control of the drone are realized.
在第一方面的一种可能的实现方式中，确定该当前位置对应的飞行状态信息，包括：根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。In a possible implementation manner of the first aspect, determining the flight state information corresponding to the current location includes: determining, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold The minimum value of the distance between the UAV and the electronic fence boundary.
在第一方面的一种可能的实现方式中，该电子围栏信息包括电子围栏等级信息。In a possible implementation of the first aspect, the electronic fence information includes electronic fence level information.
第二方面，提供了一种更新无人机电子围栏的方法，该方法包括：无人机向服务器发送电子围栏更新参数；无人机接收该服务器发送的第一区域的电子围栏信息，该第一区域是根据该电子围栏更新参数得到的。In a second aspect, a method for updating an electronic fence of a drone is provided, the method comprising: the drone transmitting an electronic fence update parameter to the server; the drone receiving the electronic fence information of the first area sent by the server, the first An area is obtained based on the electronic fence update parameters.
第二方面提供的更新无人机电子围栏的方法，无人机可以实时与服务器连接，从服务器直接获取最新的电子围栏信息，即对无人机的电子围栏信息进行更新。增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，可以及时响应电子围栏信息的变化。The second aspect provides a method for updating the electronic fence of the drone, and the drone can be connected to the server in real time, and the latest electronic fence information is directly obtained from the server, that is, the electronic fence information of the drone is updated. The difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
在第二方面的一种可能的实现方式中，该电子围栏更新参数包括该无人机的第一位置参数和第一飞行半径。In a possible implementation manner of the second aspect, the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
在第二方面的一种可能的实现方式中，该方法还包括：确定该无人机的当前位置对应的飞行状态信息；在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。In a possible implementation manner of the second aspect, the method further includes: determining flight state information corresponding to a current location of the drone; and determining that the flight state information corresponding to the current location is allowed to fly, allowing The drone flies.
在第二方面的一种可能的实现方式中，确定该无人机的当前位置对应的飞行状态信息，包括：根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值，该当前位置对应的飞行状态信息是根据该当前位置的信息和电子围栏信息获得的。In a possible implementation manner of the second aspect, determining the flight state information corresponding to the current position of the UAV includes: determining flight state information corresponding to the current location according to the parameter of the current location and the heading threshold, where The heading threshold is a preset minimum value of the distance between the UAV and the electronic fence boundary, and the flight state information corresponding to the current position is obtained according to the information of the current position and the electronic fence information.
在第二方面的一种可能的实现方式中，在该向服务器发送无人机的第一位置参数和第一飞行半径前，该方法还包括：获取该第一位置和该无人机的第二位置之间的距离；确定该无人机的第二飞行半径与该距离之间的差值小于或者等于的第一阈值，该第一阈值为预设的该无人机与第二区域的边界之间距离的最小值，该第二区域是根据该第二位置和该第 二飞行半径确定。In a possible implementation manner of the second aspect, before the transmitting the first location parameter and the first flight radius of the drone to the server, the method further includes: acquiring the first location and the first a distance between the two locations; determining a first threshold between a second flight radius of the drone and the distance that is less than or equal to, the first threshold being a preset of the drone and the second region a minimum distance between the boundaries, the second region being based on the second location and the first The second flight radius is determined.
在第二方面的一种可能的实现方式中，其特征在于，该电子围栏信息包括电子围栏等级信息。In a possible implementation manner of the second aspect, the electronic fence information includes electronic fence level information.
第三方面，提供了一种更新无人机电子围栏的方法，该方法包括：接收无人机发送的无人机的电子围栏更新参数；将第一区域的电子围栏信息发送给该无人机，该第一区域是根据该电子围栏更新参数获得的。In a third aspect, a method for updating an electronic fence of a drone is provided, the method comprising: receiving an electronic fence update parameter of a drone sent by the drone; and transmitting the electronic fence information of the first area to the drone The first area is obtained according to the electronic fence update parameter.
第三方面提供的人机电子围栏鉴权的方法，服务器可以实时与无人机连接，对无人机的电子围栏信息进行更新。增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，可以及时响应电子围栏信息的变化。In the third aspect, the method for authenticating the human-machine electronic fence is provided, and the server can connect with the drone in real time to update the electronic fence information of the drone. The difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
在第三方面的一种可能的实现方式中，该电子围栏更新参数包括该无人机的第一位置参数和第一飞行半径。In a possible implementation manner of the third aspect, the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
在第三方面的一种可能的实现方式中，该方法还包括：接收无人机发送的本机位置参数；接收网络设备发送的该无人机的网络位置参数，该网络位置参数用于指示该无人机的网络位置；在该本机位置参数和该网络位置参数的误差在预设的阈值范围内的情况下，确定该当前位置为该本机位置或该网络位置。该实现方式中，服务器不仅获取无人发送(上报)的无人机自身的位置，还获取网络设备上报的无人机的位置，通过无人机上报的本机位置和网络设备上报的位置的联合校验，来确定无人机的当前位置。避免了无人机的GPS模组可能被篡改而导致无人机上报虚假位置的问题。从而有效的提高了无人机上报的位置的可靠性，进而提高对无人机飞行鉴权的准确定可靠性。In a possible implementation manner of the third aspect, the method further includes: receiving a local location parameter sent by the UAV; receiving a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate The network location of the drone; if the error of the local location parameter and the network location parameter is within a preset threshold range, determining the current location as the local location or the network location. In this implementation manner, the server not only acquires the location of the unmanned unmanned (unreported) drone, but also obtains the location of the drone reported by the network device, and the local location reported by the drone and the location reported by the network device. Joint verification to determine the current location of the drone. It avoids the problem that the drone's GPS module may be tampered with and caused the drone to report the false position. Thereby, the reliability of the location reported by the drone is effectively improved, thereby improving the quasi-determination reliability of the flight authentication of the drone.
在第三方面的一种可能的实现方式中，该方法还包括：确定该当前位置对应的飞行状态信息，在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。In a possible implementation manner of the third aspect, the method further includes: determining flight state information corresponding to the current location, and allowing the drone if the flight state information corresponding to the current location is determined to be allowed to fly flight.
在第三方面的一种可能的实现方式中，确定该当前位置对应的飞行状态信息，包括：根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。In a possible implementation manner of the third aspect, determining the flight state information corresponding to the current location includes: determining, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold The minimum value of the distance between the UAV and the electronic fence boundary.
在第三方面的一种可能的实现方式中，该电子围栏信息包括电子围栏等级信息。In a possible implementation of the third aspect, the electronic fence information includes electronic fence level information.
第四方面，提供了一种服务器，该服务器为无人机云服务器，该服务器包括：处理器、存储器和收发器，用于支持该服务器执行上述方法中相应的功能。处理器、存储器和收发器通过通信连接，存储器存储指令，收发器用于在处理器的驱动下执行具体的信号收发，该处理器用于调用该指令实现上述第一方面和第一方面中的任一方面及其各种实现方式中的定位无人机的方法，或者，上述第一方面和第三方面中的任一方面及其各种实现方式中的更新无人机电子围栏的方法In a fourth aspect, a server is provided, the server being a drone cloud server, the server comprising: a processor, a memory, and a transceiver for supporting the server to perform a corresponding function in the foregoing method. The processor, the memory and the transceiver are connected by communication, the memory stores instructions, the transceiver is configured to perform specific signal transceiving under the driving of the processor, and the processor is configured to invoke the instruction to implement any of the first aspect and the first aspect described above. Method for locating a drone in aspects and various implementations thereof, or method for updating a drone electronic fence in any of the above first and third aspects and various implementations thereof
第五方面，提供了一种服务器，该服务器为无人机云服务器，该服务器包括处理模块、存储模块和收发模块，用于支持服务器执行上述第一方面或第一方面的任意可能的实现方式中无人机云的功能，或者上述第三方面或第三方面的任意可能的实现方式中的服务器的功能，功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，硬件或软件包括一个或者多个与上述功能相对应的模块。A fifth aspect provides a server, which is a drone cloud server, the server includes a processing module, a storage module, and a transceiver module, and is configured to support the server to perform the foregoing first aspect or any possible implementation manner of the first aspect. The function of the unmanned aerial vehicle cloud, or the function of the server in any of the foregoing third aspect or any possible implementation manner of the third aspect, the function may be implemented by hardware, or may be implemented by hardware, and the hardware or software includes a Or a plurality of modules corresponding to the above functions.
第六方面，提供了一种更新无人机电子围栏的装置，用于执行上述第二方面及各种实现方式中的更新无人机电子围栏的方法，该装置包括收发单元和处理单元，该收发单元用 于向服务器发送无人机的第一位置参数和第一飞行半径；该收发单元还用于接收该服务器发送的第一区域的电子围栏信息，该第一区域是根据该第一位置参数和该第一飞行半径得到的。According to a sixth aspect, a device for updating an electronic fence of a drone is provided for performing the method for updating an electronic fence of a drone according to the second aspect and various implementations, wherein the device comprises a transceiver unit and a processing unit, Transceiver unit Transmitting, to the server, a first location parameter of the drone and a first flight radius; the transceiver unit is further configured to receive the electronic fence information of the first area sent by the server, where the first area is based on the first location parameter and the The first flight radius is obtained.
第七方面，提供了一种更新无人机电子围栏的装置，该装置包括处理器、存储器和收发器，用于支持该装置执行上述方法中相应的功能。处理器、存储器和收发器通过通信连接，存储器存储指令，收发器用于在处理器的驱动下执行具体的信号收发，该处理器用于调用该指令实现上述第二方面及其各种实现方式中的更新无人机电子围栏的方法。In a seventh aspect, an apparatus for updating an electronic fence of a drone is provided, the apparatus comprising a processor, a memory and a transceiver for supporting the apparatus to perform a corresponding function of the above method. The processor, the memory and the transceiver are connected by communication, the memory stores instructions, and the transceiver is configured to perform specific signal transceiving under the driving of the processor, the processor is configured to invoke the instruction to implement the second aspect and various implementations thereof How to update the drone electronic fence.
第八方面，提供了一种计算机可读存储介质，用于存储计算机程序，该计算机程序包括用于执行上述第一方面或第一方面的任一种可能的实现方式的方法、上述第三方面或第三方面的任一种可能的实现方式的方法的指令。In an eighth aspect, a computer readable storage medium is provided for storing a computer program, the computer program comprising a method for performing the first aspect or any of the possible implementations of the first aspect, the third aspect described above Or an instruction of a method of any of the possible implementations of the third aspect.
第九方面，提供了一种计算机可读存储介质，用于存储计算机程序，该计算机程序包括用于执行上述第二方面或第二方面的任一种可能的实现方式的方法的指令。A ninth aspect, a computer readable storage medium for storing a computer program, the computer program comprising instructions for performing the method of any of the second aspect or the second aspect of the second aspect.
附图说明DRAWINGS
图1是我国空域分类的示意图。Figure 1 is a schematic diagram of China's airspace classification.
图2是现有的多边形的机场限飞区域的示意图。2 is a schematic view of a conventional polygonal airport flight limited area.
图3是调整后的圆形的机场限飞区域的示意图。Figure 3 is a schematic illustration of an adjusted circular airport flight limited area.
图4是现有的无人机电子围栏更新过程。Figure 4 is a prior art electronic fence update process for a drone.
图5是本申请一个实施例的定位无人机的方法的示意性流程图。FIG. 5 is a schematic flowchart of a method for positioning a drone according to an embodiment of the present application.
图6是本申请另一个实施例的定位无人机的方法的示意性流程图。FIG. 6 is a schematic flowchart of a method for positioning a drone according to another embodiment of the present application.
图7是本申请又一个实施例的更新无人机电子围栏的方法的示意性流程图。FIG. 7 is a schematic flowchart of a method for updating an electronic fence of a drone according to still another embodiment of the present application.
图8是本申请又一个实施例的更新无人机电子围栏的方法的示意性流程图。FIG. 8 is a schematic flowchart of a method for updating an electronic fence of a drone according to still another embodiment of the present application.
图9是本申请实施例的一种更新无人机电子围栏的方法示意图。FIG. 9 is a schematic diagram of a method for updating an electronic fence of a drone according to an embodiment of the present application.
图10是本申请另一个实施例的更新无人机电子围栏的方法的示意性流程图。FIG. 10 is a schematic flowchart of a method for updating an electronic fence of a drone according to another embodiment of the present application.
图11是本申请又一个实施例的更新无人机电子的方法的示意性流程图。11 is a schematic flow chart of a method for updating an electronic of a drone according to still another embodiment of the present application.
图12是本申请一个实施例的服务器的示意性框图。Figure 12 is a schematic block diagram of a server in accordance with one embodiment of the present application.
图13是本申请另一个实施例的服务器的示意性框图。FIG. 13 is a schematic block diagram of a server of another embodiment of the present application.
图14是本申请一个实施例的更新无人机电子围栏的装置的示意性框图。14 is a schematic block diagram of an apparatus for updating an electronic fence of a drone according to an embodiment of the present application.
图15是本申请另一个实施例的更新无人机电子围栏的装置的示意性框图。15 is a schematic block diagram of an apparatus for updating an electronic fence of a drone according to another embodiment of the present application.
图16是本申请又一个实施例的服务器的示意性框图。16 is a schematic block diagram of a server of still another embodiment of the present application.
图17是本申请又一个实施例的服务器的示意性框图。17 is a schematic block diagram of a server of still another embodiment of the present application.
具体实施方式Detailed ways
下面将结合附图，对本申请中的技术方案进行描述。The technical solutions in the present application will be described below with reference to the accompanying drawings.
本申请实施例的技术方案可以应用于各种通信***，例如：全球移动通讯(global system of mobile communication，GSM)***、码分多址(code division multiple access，CDMA)***、宽带码分多址(wideband code division multiple access，WCDMA)***、通用分组无线业务(general packet radio service，GPRS)、长期演进(long term evolution， LTE)***、LTE频分双工(frequency division duplex，FDD)***、LTE时分双工(time division duplex，TDD)、通用移动通信***(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信***、未来的第五代(5th generation，5G)***或新无线(new radio，NR)等。The technical solution of the embodiment of the present application can be applied to various communication systems, for example, a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, and a wideband code division multiple access. (wideband code division multiple access, WCDMA) system, general packet radio service (GPRS), long term evolution (long term evolution, LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), global interconnected microwave access (worldwide) Interoperability for microwave access, WiMAX) communication system, future fifth generation (5th generation, 5G) system or new radio (NR).
本申请实施例中的终端设备可以指用户设备、接入终端、用户单元、用户站、移动站、移动台、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置。终端设备还可以是蜂窝电话、无绳电话、会话启动协议(session initiation protocol，SIP)电话、无线本地环路(wireless local loop，WLL)站、个人数字处理(personal digital assistant，PDA)、具有无线通信功能的手持设备、计算设备或连接到无线调制解调器的其它处理设备、车载设备、可穿戴设备，未来5G网络中的终端设备或者未来演进的公用陆地移动通信网络(public land mobile network，PLMN)中的终端设备等，本申请实施例对此并不限定。The terminal device in the embodiment of the present application may refer to a user equipment, an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, or User device. The terminal device may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), with wireless communication. Functional handheld devices, computing devices or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, terminal devices in future 5G networks, or in future public land mobile networks (PLMNs) The terminal device and the like are not limited in this embodiment of the present application.
本申请实施例中的网络设备可以是用于与终端设备通信的设备，该网络设备可以是全球移动通讯(global system of mobile communication，GSM)***或码分多址(code division multiple access，CDMA)中的基站(base transceiver station，BTS)，也可以是宽带码分多址(wideband code division multiple access，WCDMA)***中的基站(nodeb，NB)，还可以是LTE***中的演进型基站(evolutional nodeb，eNB或eNodeB)，还可以是云无线接入网络(cloud radio access network，CRAN)场景下的无线控制器，或者该网络设备可以为中继站、接入点、车载设备、可穿戴设备以及未来5G网络中的网络设备或者未来演进的PLMN网络中的网络设备等，本申请实施例并不限定。The network device in the embodiment of the present application may be a device for communicating with a terminal device, where the network device may be a global system of mobile communication (GSM) system or code division multiple access (CDMA). A base transceiver station (BTS) may also be a base station (nodeb, NB) in a wideband code division multiple access (WCDMA) system, or an evolved base station (evolutional) in an LTE system. The nodeb, eNB or eNodeB) may also be a wireless controller in a cloud radio access network (CRAN) scenario, or the network device may be a relay station, an access point, an in-vehicle device, a wearable device, and a future The network device in the 5G network or the network device in the PLMN network in the future is not limited in this embodiment.
根据2010年国务院与***发布的《关于深化我国低空空域管理改革的意见》、2012年国务院发布的《民用航空工业中长期规划》，2016年“十三五”规划纲要(草案)正式公布。无人机作为新兴的科技产品，最近几年得到了快速发展，越来越多的轻小型无人机进入百姓生活。据统计，截止2016年底，我国民用级无人机数量超过了120万架，并且绝大多数处于黑飞状态。According to the "Opinions on Deepening China's Low-altitude Airspace Management Reform" issued by the State Council and the Central Military Commission in 2010, and the "Medium and Long-Term Plan for Civil Aviation Industry" issued by the State Council in 2012, the 2016 "13th Five-Year Plan" Outline (Draft) was officially announced. As an emerging technology product, drones have developed rapidly in recent years, and more and more small and small drones have entered the lives of ordinary people. According to statistics, as of the end of 2016, the number of national-class UAVs exceeded 1.2 million, and the vast majority were in a black fly state.
无人机的监管问题一直是近期讨论的焦点，因为无人机对民航机场、军事设施、石油石化企业、核电站等重要场站设施带来了前所未有的空中威胁！近两年内全国各地机场频繁发生无人机“黑飞”干扰多班次民航客机正常起降的事件，这种“黑飞”本身也给民航客机带来巨大的安全隐患！The supervision of drones has always been the focus of recent discussions, as drones have brought unprecedented air threats to important airport facilities such as civil aviation airports, military installations, oil and petrochemical companies, and nuclear power plants! In the past two years, there have been frequent occurrences of drone "black fly" in airports across the country that interfere with the normal take-off and landing of multi-shift passenger airliners. This "black fly" itself also brings huge security risks to passenger airliners!
无人机监管建设是推进国家“十三五”无人机产业化规划的重要前提，是实现无人机企业信息化发展、互联网+的关键步骤。可以大大实现无人机的有序化应用，提升无人机企业的管理效率，减少无人机投入的重复性资源浪费，降低社会财产损失，增强我国无人机行业竞争力，缩小与国际先进水平差距的重要举措之一。The construction of drone supervision is an important prerequisite for advancing the national 13th Five-Year UAV industrialization plan, and is a key step in realizing the development of UAV enterprise information and Internet+. It can greatly realize the orderly application of drones, improve the management efficiency of drone enterprises, reduce the waste of redundant resources invested by drones, reduce the loss of social property, enhance the competitiveness of China's drone industry, and reduce the international advanced One of the important measures of the horizontal gap.
民航局在2016年9月发布的《民用无人驾驶航空器***空中交通管理办法》第八条规定，民用无人驾驶航空器***应当能够按要求设置电子围栏。无人机电子围栏，是指为防止民用无人驾驶航空器飞入或者飞出特定区域，在相应电子地理范围中画出其区域边界，并配合无人机的飞行控制***来保障区域安全的软硬件***。通过在无人机飞行控制***中植入电子围栏后，无人机会通过GPS等自动识别地理位置，一旦无人机飞行到电子围栏边界，在设有电子围栏的区域会自动降落或返航。 Article 8 of the Civil Aviation Administration's "Air Traffic Management Measures for Civil Unmanned Aerial Vehicle Systems" promulgated in September 2016 stipulates that civil unmanned aerial vehicle systems should be able to set electronic fences as required. UAV electronic fence refers to the softness of regional safety in order to prevent civilian unmanned aircraft from flying in or out of a specific area, drawing its regional boundaries in the corresponding electronic geographic range, and cooperating with the flight control system of the drone. Hardware system. By implanting an electronic fence in the drone flight control system, the unmanned person automatically recognizes the geographic location through GPS, etc. Once the drone flies to the electronic fence boundary, it will automatically land or return in the area with the electronic fence.
目前还没有无人机电子围栏国家标准和国际标准，主要是各无人机制造厂家参考国家飞行管制空域和机场发布净空区域的电子围栏飞行策略，制作相应的电子围栏并写在无人机固件里面，与无人机飞行控制***进行耦合，通过固件升级方式更新。At present, there are no national standards and international standards for electronic fences for drones, mainly for the UAV manufacturers to refer to the national flight control airspace and the electronic fence flight strategy of the airport clearance area, to produce corresponding electronic fences and write them in the UAV firmware. Inside, it is coupled to the UAV flight control system and updated via firmware upgrade.
图1是我国空域分类的示意图。参考我国空域分类标准，遵循国际民航组织空域分类建议，根据民航总局122号令《民用航空使用空域办法》和86号令《空中交通管理规则》中规定，如图1所示，我国空域类型主要包括：Figure 1 is a schematic diagram of China's airspace classification. With reference to China's airspace classification standards, and following the ICAO airspace classification recommendations, according to the Civil Aviation Administration's 122nd Order "Airspace Airspace Measures" and the 86th Order "Air Traffic Management Rules", as shown in Figure 1, China's airspace types mainly include:
A类：高空管制空域，6600米(含)以上，属于高空航路。Class A: high-altitude airspace, above 6,600 meters (inclusive), is a high-altitude route.
B类：中低空管制空域，6600米以下的空域。Category B: Airspace in the middle and low altitudes, airspace below 6600 meters.
C类：进近管制空域。Category C: Approaching airspace.
D类：机场管制地带。Category D: Airport Control Zone.
除了上述的几类空域，还有一些特殊区域，例如，限制区(机场净空区等)，禁航区(政治中心如北京六环内、军事基地等)，危险区(供对空射击或者发射使用的空间)等，在航图上分别以醒目的R(Restrict)、P(Prohibit)、D(Danger)加以标注。In addition to the above-mentioned types of airspace, there are some special areas, such as restricted areas (airport clearance areas, etc.), prohibited areas (political centers such as Beijing Sixth Ring Road, military bases, etc.), and dangerous areas (for air shooting or launching) The space used, etc., is marked on the chart by striking R (Restrict), P (Prohibit), and D (Danger).
目前，我国一共划设21个飞行管制区，这些飞行管制区为提供空中交通管制服务的空域范围，在垂直方向可划分为高空、中低空管制区，航路航线、机场等。在水平方向可划分为多个管制区或多个扇区。At present, there are a total of 21 flight control zones in China. These flight control zones are airspace areas that provide air traffic control services. They can be divided into high-altitude, medium-low-altitude control zones, route routes, airports, etc. in the vertical direction. It can be divided into multiple control zones or multiple sectors in the horizontal direction.
2017年5月17日，民航局发布了《关于公布民用机场障碍物限制面保护范围的公告》。该公告整理并公布了大陆地区多个机场的限制面保护范围，规定“各类飞行活动应当遵守国家相关法律法规和民航规章，未经特殊批准不得进入机场的限制面保护范围”。On May 17, 2017, the Civil Aviation Administration issued the "Announcement on the Announcement of the Scope of Protection of Obstructions in Civil Airports". The announcement has compiled and published the scope of protection for multiple airports in the mainland, stipulating that “all types of flight activities shall comply with relevant national laws and regulations and civil aviation regulations, and shall not enter the restricted area of the airport without special approval”.
图2是现有某公司自定义的多边形的机场限飞区域的示意图。从图2中可以看出，多边形的机场限飞区域包括120米限飞区域、60米限飞区域、30米限飞区域和禁飞区域，禁飞区域包括机场的跑道。其中，120米和30米分别为距离机场地面的垂直高度。图3是调整后的圆形的机场限飞区域的示意图。该圆形的机场限飞区域包括禁飞区域和限飞区域，各区域的边界均有确定的位置坐标。通过各区域的边界的坐标构成限飞区或者禁飞区的边界电子围栏表，该边界电子围栏表由不同区域的边界的坐标构成。FIG. 2 is a schematic diagram of an airport limited flight area of a custom polygon of a company. It can be seen from Fig. 2 that the polygonal airport limited flight area includes a 120-meter flight-limited area, a 60-meter flight-limited area, a 30-meter flight-limited area, and a no-fly area, and the no-fly area includes the airport runway. Among them, 120 meters and 30 meters are the vertical height from the airport ground. Figure 3 is a schematic illustration of an adjusted circular airport flight limited area. The circular airport limited area includes a no-fly area and a fly-limited area, and the boundaries of each area have determined position coordinates. The boundary electronic fence table of the restricted or no-fly zone is formed by the coordinates of the boundaries of the respective regions, and the boundary electronic fence table is composed of the coordinates of the boundaries of the different regions.
图4是现有的无人机电子围栏更新过程。如图4所示，无人机出厂之前初始写入电子围栏，通过第三方设备(地面设备)连接云服务器检测是否有版本升级(例如，更新的电子围栏表)，如果有更新，通过地面设备获取电子围栏的固件升级包，通过地面设备升级电子围栏，然后将升级后的电子围栏发送给无人机。通过地面设备更新无人机的电子围栏，需要采用地面设备为介质，还需要匹配各种应用的开发，会带来大量的工作投入和设备成本，无人机飞行过程中不再更新电子围栏。Figure 4 is a prior art electronic fence update process for a drone. As shown in Figure 4, the drone is initially written into the electronic fence before leaving the factory, and the third-party device (ground device) is connected to the cloud server to detect whether there is a version upgrade (for example, an updated electronic fence table). If there is an update, the ground device is used. Obtain the firmware upgrade package for the electronic fence, upgrade the electronic fence through the ground device, and then send the upgraded electronic fence to the drone. Updating the electronic fence of the drone through the ground equipment requires the use of ground equipment as the medium, and also needs to match the development of various applications, which will bring a lot of work input and equipment cost, and the electronic fence will not be updated during the flight of the drone.
在无人机飞行的过程中，无人机通过自身的GPS模块得到当前无人机所在位置P(x,y)，同时根据电子围栏以及飞行策略计算当前位置附近电子围栏。无人机通过判断当前位置坐标P(x,y)是否正在进入或者飞出电子围栏来控制无人机的飞行。并且。无人机主要是基于无人机自己的GPS，结合电子围栏以及飞行策略进行飞行的控制。用户可以通过更改GPS外接破解模组，篡改GPS信息，进行位置造假。通过第三方设备从云端服务器(无人机云服务器)下载电子围栏固件升级包，然后将更新后的电子围栏发送给无人机的方式进行更新。电子围栏固件升级包容易被用户在第三方设备中进行篡改。用户只需要更新破解了电子围栏的固件升级包，删除电子围栏限制，就可以导致电子围栏失效。并且通过版 本升级的方式更新无人机的电子围栏，无人机在飞行过程中无法实时更新电子围栏，不能即时响应电子围栏变化。这些都会造成无人机的飞行安全事故。另外通过出厂时无人机配套的遥控器控制飞机，如果遥控器没有无人机应用程序的辅助，只能一次性写入初始电子围栏，不能满足电子围栏的快速变化。During the flight of the drone, the drone obtains the position (P, x, y) of the current drone through its own GPS module, and calculates the electronic fence near the current position according to the electronic fence and flight strategy. The drone controls the flight of the drone by determining whether the current position coordinate P(x, y) is entering or flying out of the electronic fence. and. The drone is mainly based on the drone's own GPS, combined with electronic fence and flight strategy for flight control. Users can tamper with GPS information and change location fraud by changing the GPS external crack module. The electronic fence firmware upgrade package is downloaded from the cloud server (unmanned cloud server) through a third-party device, and then the updated electronic fence is sent to the drone to update. The electronic fence firmware upgrade package is easily tamper-proofed by users in third-party devices. The user only needs to update the firmware upgrade package that cracks the electronic fence, and delete the electronic fence limit, which can cause the electronic fence to fail. And through the version This upgrade method updates the electronic fence of the drone. The drone cannot update the electronic fence in real time during the flight, and cannot respond to the electronic fence change in real time. These will cause flight safety accidents of drones. In addition, the aircraft is controlled by the remote control equipped with the drone at the factory. If the remote control does not have the assistance of the drone application, the initial electronic fence can only be written once, which cannot meet the rapid change of the electronic fence.
目前，云端服务器没有与无人机直接连接，因此，云端服务器主要通过辅助外接设备进行无人机的电子围栏提示的方法，通过实时获取无人机的位置信息，根据无人机的位置信息和电子围栏信息，确定无人机的当前位置对应的飞行状态信息(禁止飞行或者限制限制飞行等)。即判断无人机是否进入电子围栏。当无人机进入所述电子围栏时，向与无人机关联的用户设备发送提示信息。在向与无人机关联的用户设备发送提示信息后的预设时长内，当判断无人机还未驶离电子围栏时，暂时“无法”向该无人机发送强制控制指令。同时该方法还是存在获取的无人机的位置可能不准确，无人机的位置可能存在造假的可能，另外，由于电子围栏的鉴权完全由云端服务器决定，一旦云端服务器与无人机之间的连接因为信号差等原因断开，无法保证无人机进入或者飞出电子围栏区域。而且无法远程控制无人机。。At present, the cloud server is not directly connected to the drone. Therefore, the cloud server mainly uses the auxiliary external device to perform the electronic fence prompting method of the drone, and obtains the location information of the drone in real time according to the location information of the drone. The electronic fence information determines the flight status information corresponding to the current position of the drone (no flight or restricted flight restrictions, etc.). That is to determine whether the drone enters the electronic fence. When the drone enters the electronic fence, a prompt message is sent to the user equipment associated with the drone. During the preset duration after sending the prompt message to the user equipment associated with the drone, when it is determined that the drone has not left the electronic fence, the forced control command is temporarily "unable" to the drone. At the same time, the location of the acquired drone may be inaccurate, and the location of the drone may be fraudulent. In addition, since the authentication of the electronic fence is completely determined by the cloud server, once between the cloud server and the drone The connection is broken due to a signal difference, etc., and the drone cannot be guaranteed to enter or fly out of the electronic fence area. And it is impossible to remotely control the drone. .
基于上述问题，本申请实施例提供了一种定位无人机的方法，提高了无人机位置上报的可靠性和准确性，提高无人机飞行的安全性。Based on the above problem, the embodiment of the present application provides a method for positioning a drone, improving the reliability and accuracy of the position reporting of the drone, and improving the safety of the drone flight.
下面结合图5详细说明本申请提供的定位无人机的方法，图5是本申请一个实施例的定位无人机的方法100的示意性流程图，该方法100可以由无人云服务器(以下称为“无人机云”)执行，无人机云可以通过网络设备提供的无线网络与无人机连接，实现实时的通信和数据交换，网络设备可以获取无人机的实时位置信息。The method for locating a drone provided by the present application is described in detail below with reference to FIG. 5. FIG. 5 is a schematic flowchart of a method 100 for locating a drone according to an embodiment of the present application. The method 100 may be performed by an unmanned cloud server (below). Known as "unmanned cloud"), the drone cloud can be connected to the drone through the wireless network provided by the network device to realize real-time communication and data exchange, and the network device can obtain the real-time location information of the drone.
如图5所示，该方法100包括：As shown in FIG. 5, the method 100 includes:
S110，无人机云接收无人机发送本机位置参数，该本机位置参数用于指示该无人机的本机位置。S110: The drone cloud receiving drone sends a local location parameter, where the local location parameter is used to indicate the local location of the drone.
S120，该无人机云接收网络设备发送的该的无人机的网络位置参数，该网络位置参数用于指示该无人机的网络位置。S120. The UAV cloud receives a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate a network location of the UAV.
S130，该无人机云根据该本机位置参数和该网络位置参数，确定该无人机的当前位置。S130. The UAV cloud determines a current location of the UAV according to the local location parameter and the network location parameter.
本申请实施例提供的定位无人机电子的方法，无人机云不仅获取无人发送(上报)的无人机自身的位置，还获取网络设备上报的无人机的位置，通过无人机上报的本机位置和网络设备上报的位置的联合校验，来确定无人机的当前位置。相比于只通过无人机上报的位置确定无人机的当前位置相比，避免了无人机的GPS模组可能被篡改而导致无人机上报虚假位置的问题。从而有效的提高了无人机上报的位置的可靠性，进而提高了无人机飞行的安全性。The method for locating the electronic machine of the drone provided by the embodiment of the present application, the UAV cloud not only acquires the position of the unmanned aircraft that is unsent (reported), but also acquires the position of the drone reported by the network device, and passes the drone. The joint verification of the reported local location and the location reported by the network device to determine the current location of the drone. Compared with determining the current position of the drone only by the position reported by the drone, the problem that the drone's GPS module may be tampered and the drone reports the false position is avoided. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
具体而言，在S110中，在无人机飞行过程中或者无人机准备起飞前，无人机会向无人机云上报自己的位置信息，即无人机云会获取无人机上报的该无人机的本机位置参数，该本机位置参数用于指示无人机云确定无人机自身的位置。无人机可以通过自身携带的GPS模组、或者无人机装配的其他可以实时测量位置的***实时获取自己的位置的参数，即本机位置参数。无人机通过网络设备提供蜂窝网络接入到无人机云上，支持无人机远程管理。Specifically, in S110, during the flight of the drone or before the drone is ready to take off, the unmanned person reports the location information to the drone cloud, that is, the drone cloud acquires the report reported by the drone. The local position parameter of the drone, which is used to instruct the drone cloud to determine the position of the drone itself. The drone can obtain its own position parameters, that is, the local position parameters, in real time through the GPS module carried by itself or the other system that can be used to measure the position in real time. The drone provides cellular network access to the drone cloud through network equipment, and supports remote management of the drone.
在S120中，无人机云会获取网络设备上报的无人机网络位置参数。由于无人机与网 络设备之间是具备通信连接的能力的，而网络设备与无人机云之间也是具备通信连接的能力的。因此，网络设备可以获知无人机的位置信息。即无人机云会获取网络设备上报的无人机的网络位置参数。In S120, the UAV cloud acquires the UAV network location parameter reported by the network device. Due to drones and nets The network devices have the ability to communicate with each other, and the network devices and the drone cloud are also capable of communication connections. Therefore, the network device can know the location information of the drone. That is, the drone cloud will obtain the network location parameters of the drone reported by the network device.
应理解，无人机云可以实时获取该本机位置参数和该网络位置参数，也可以按照周期性获取，或者无人机云可以在需要获取条件下自动获取，例如，无人机在闹市区飞行时，需要实时获取该本机位置参数和该网络位置参数，而在沙漠等无限制的区域就可以是按照周期性或者在无人机快到电子围栏边界的时候获取该本机位置参数和该网络位置参数。本申请实施例在此不作限制。It should be understood that the UAV cloud can acquire the local location parameter and the network location parameter in real time, or can be acquired periodically, or the UAV cloud can be automatically acquired under the condition that the UAV needs to be acquired, for example, the UAV is in the downtown area. In flight, the local location parameter and the network location parameter need to be acquired in real time, and in the unrestricted area such as the desert, the local location parameter may be obtained periodically or when the drone approaches the electronic fence boundary. The network location parameter. The embodiments of the present application are not limited herein.
还应理解，该本机位置参数和该网络位置参数是指无人机同一时刻或者在某个相同的时间段内的位置信息。该本机位置参数和该网络位置参数可以包括飞行高度参数、飞行经度和纬度的参数等，该本机位置参数和该网络位置参数可以是平面坐标或者三维坐标的方式等。本申请实施例在此不作限制。It should also be understood that the local location parameter and the network location parameter refer to location information of the drone at the same time or within a certain time period. The local location parameter and the network location parameter may include a flight altitude parameter, a flight longitude and a latitude parameter, etc., and the local location parameter and the network location parameter may be a plane coordinate or a three-dimensional coordinate manner. The embodiments of the present application are not limited herein.
在S130中，无人机云会根据获取的该本机位置参数和该网络位置参数，来确定该无人机的当前位置合法性。当前位置是指无人机的实时位置，可以是本机位置或是网络位置。避免了直接利用无人机上报的位置作为无人机的当前位置可能造成的位置造假的情况。提高了无人机位置定位的准确性。In S130, the UAV cloud determines the current position legality of the UAV based on the acquired local location parameter and the network location parameter. The current position refers to the real-time location of the drone, which can be the local location or the network location. The situation where the position reported by the drone is directly used as the location fraud of the current position of the drone is avoided. Improve the accuracy of the position of the drone.
可选的，作为一个实施例，在S120中，根据该本机位置参数和该网络位置参数，确定该无人机的当前位置，包括：Optionally, as an embodiment, in S120, determining a current location of the UAV according to the local location parameter and the network location parameter, including:
在该本机位置参数和该网络位置参数的误差在预设的阈值范围内的情况下，确定该当前位置为该本机位置或者网络位置。In the case where the error of the local location parameter and the network location parameter is within a preset threshold range, the current location is determined to be the local location or the network location.
具体而言，在无人机云获取了该本机位置参数和该网络位置参数后，通过对比计算两个位置参数，会获得该本机位置和该网络位置的误差值，当确定两个位置的误差值在预设的阈值范围内时，便确定该无人机上报的位置是合法的，即是准确的。可选的，无人机云会优先将无人机上报的本机位置作为无人机的当前位置。Specifically, after the UAV cloud acquires the local location parameter and the network location parameter, by comparing and calculating the two location parameters, an error value of the local location and the network location is obtained, and when the two locations are determined When the error value is within the preset threshold range, it is determined that the location reported by the drone is legal, that is, accurate. Optionally, the UAV cloud preferentially uses the local location reported by the drone as the current location of the drone.
应理解，无人机云根据该本机位置参数和该网络位置参数之间的误差，来确定该无人机的当前位置之外，还可以根据该本机位置参数和该网络位置参数之间其他判断规则，例如，根据该本机位置参数和该网络位置参数相对于某一个固定的参考位置的偏差值来确定该无人机的当前位置。本申请实施例在此不作限制。It should be understood that the UAV cloud may determine the current location of the UAV based on the error between the local location parameter and the network location parameter, and may also be based on the local location parameter and the network location parameter. Other judging rules, for example, determining the current position of the drone based on the local position parameter and the deviation value of the network position parameter from a fixed reference position. The embodiments of the present application are not limited herein.
还应理解，如果该本机位置参数和该网络位置参数之间的误差在大于该阈值，证明无人机上报的位置可能为虚假位置，因此，无人机云会向无人机发送强制指令，要求无人机执行悬停/返航/降落/禁止起飞等。本申请实施例在此不作限制。It should also be understood that if the error between the local location parameter and the network location parameter is greater than the threshold, it is proved that the location reported by the drone may be a false location, so the drone cloud will send a mandatory command to the drone. , the drone is required to perform hover/return/landing/no take-off. The embodiments of the present application are not limited herein.
可选的，作为一个实施例，假设该本机位置参数为P(x,y)，该网络位置参数为Q(x,y),该预设的阈值为T，当满足公式(1)的条件下，认为该无人机的当前位置为该本机位置或该网络位置。Optionally, as an embodiment, it is assumed that the local location parameter is P(x, y), the network location parameter is Q(x, y), and the preset threshold is T, when the formula (1) is satisfied. Under the condition, the current position of the drone is considered to be the local location or the network location.
|P(x,y)-Q(x,y)|≤T        (1)|P(x,y)-Q(x,y)|≤T (1)
应理解，除了利用公式(1)进行判断之外，还可以利用其他公式进行判断。本申请实施例在此不作限制。It should be understood that in addition to the judgment using the formula (1), other formulas may be used for the judgment. The embodiments of the present application are not limited herein.
可选的，作为一个实施例，如图6所示，该方法100还包括：Optionally, as an embodiment, as shown in FIG. 6, the method 100 further includes:
S140，该无人机云确定该当前位置对应的飞行状态信息。 S140. The UAV cloud determines flight status information corresponding to the current location.
S150，该无人机云在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。S150. The UAV cloud allows the drone to fly in a case where it is determined that the flight state information corresponding to the current location is allowed to fly.
具体而言，由于无人机云已经通过对无人机的位置的联合校验，确定了无人机上报的位置的准确性和合法性。因此，无人机云会确定该无人机的当前位置对应的飞行状态信息，即当前位置的电子围栏状态(允许飞行或者禁止飞行)。无人机的在某一位置的飞行状态信息是根据无人机的电子围栏信息和无人机的位置信息获得的，相当于某一位置的电子围栏信息。无人机云根据无人机的当前位置和电子围栏信息，确定当前位置的电子围栏状态(飞行状态信息)。根据当前位置的电子围栏状态，对无人机进行相应的飞行控制。即对无人机的飞行进行鉴权。例如，该电子围栏区域包括禁止飞行区域、报告飞行区域、限制飞行区域、区别飞行区域和不限飞行区域等。该电子围栏区域内的飞行状态包括允许飞行或者禁止飞行，或者电子围栏区域内部分空间为允许飞行(主要针对限制飞行和区别飞行电子围栏)。在当前位置的电子围栏飞行状态为允许飞行情况下，允许该无人机继续按照原有的飞行策略进行飞行或者起飞。在当前位置的电子围栏飞行状态为禁止飞行时，结合无人机的信息，会要求无人机执行悬停/返航/降落/禁止起飞等。可以实现远程控制无人机，例如，可以实现远程驱离无人机。Specifically, since the UAV cloud has passed the joint verification of the position of the UAV, the accuracy and legitimacy of the location reported by the UAV is determined. Therefore, the UAV cloud determines the flight status information corresponding to the current position of the drone, that is, the electronic fence status of the current position (allowing flight or prohibiting flight). The flight status information of the drone at a certain location is obtained based on the electronic fence information of the drone and the position information of the drone, and is equivalent to the electronic fence information of a certain position. The UAV cloud determines the electronic fence status (flight status information) of the current location based on the current location of the drone and the electronic fence information. According to the current state of the electronic fence, the corresponding flight control of the drone. That is, the flight of the drone is authenticated. For example, the electronic fence area includes a forbidden flight area, a report flight area, a restricted flight area, a differential flight area, and an unlimited flight area. Flight conditions within the area of the electronic fence include allowing or prohibiting flight, or part of the space within the electronic fence area is allowed to fly (primarily for restricted flight and differential flight electronic fences). In the current position of the electronic fence flight state is allowed to fly, allowing the drone to continue to fly or take off according to the original flight strategy. When the flight status of the electronic fence in the current position is forbidden to fly, combined with the information of the drone, the drone will be required to perform hover/return/landing/no take-off. It is possible to remotely control the drone, for example, to remotely drive the drone.
在无人机云对无人机进行飞行鉴权时，还需要根据无人机本次的飞行策略去判断是否需要实时的进行对无人机飞行的鉴权。例如，当无人机在沙漠等无限制的区域飞行时，无人机云无需对无人机进行飞行鉴权，但无人机即将飞出无限制飞行电子围栏边界后，无人机云就可以按照周期性的方式对无人机的飞行进行鉴权。在无人机在报告飞行区域、限制飞行区域等的电子围栏区域内，无人机云可以按照周期性的方式对无人机的飞行进行鉴权。When the drone cloud performs flight authentication on the drone, it is also necessary to judge whether the UAV flight needs to be authenticated in real time according to the flight strategy of the drone. For example, when a drone is flying in an unrestricted area such as a desert, the drone cloud does not need to be authenticated for the drone, but after the drone is about to fly out of the boundless electronic fence boundary, the drone cloud The flight of the drone can be authenticated in a periodic manner. In the electronic fence area where the drone is reporting the flight area, the restricted flight area, etc., the drone cloud can authenticate the flight of the drone in a periodic manner.
应理解，无人机云会周期性从政府管理机构获取最新的电子围栏信息。因此，可以认为无人机云上的电子围栏信息时最新的。并且，在无人机飞入电子围栏的时，例如，接近禁飞区时，无人机云向无人机发送执行悬停/返航/降落/禁止起飞的指令，用于远程控制该无人机。同时也会向政府管理机构发送无人机非法接入告警。It should be understood that the drone cloud periodically obtains the latest electronic fence information from government agencies. Therefore, it can be considered that the electronic fence information on the drone cloud is up to date. Moreover, when the drone flies into the electronic fence, for example, when approaching the no-fly zone, the drone cloud sends an instruction to the drone to perform hover/return/landing/no take-off for remote control of the unmanned person. machine. At the same time, the illegal management of the drone will be sent to the government management agency.
本申请实施例提供的定位无人机电子的方法，无人机云已经通过对无人机的位置的联合校验，确定了无人机上报的位置的准确性。在无人机位置准确的条件下结合无人机的当前位置信息和电子围栏信息对无人机的飞行进行鉴权，可以提高对无人机飞行鉴权和监管的可靠性，提高无人机飞行的安全性。The method for locating the electronic of the drone provided by the embodiment of the present application, the UAV cloud has determined the accuracy of the position reported by the drone through the joint verification of the position of the drone. Under the condition that the position of the drone is accurate, combined with the current position information of the drone and the electronic fence information to authenticate the flight of the drone, the reliability of the flight authentication and supervision of the drone can be improved, and the drone can be improved. Flight safety.
可选的，在S140中，该无人机云确定该当前位置对应的飞行状态信息，包括：无人机云根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。Optionally, in S140, the UAV cloud determines the flight state information corresponding to the current location, including: determining, by the UAV cloud, the flight state information corresponding to the current location according to the parameter of the current location and the heading threshold, where The heading threshold is a preset minimum value of the distance between the UAV and the electronic fence boundary.
具体而言，无人机在飞行的过程中，其位置是实时变化的。因此，需要确定不同位置的飞行状态信息。在确定不同位置的飞行状态信息时，是根据该当前位置的参数和航向阈值来确定的。由于无人机是高速飞行的，因此，在实际中，不能等到无人机到了电子围栏边界的时候才去做判断或者发出指令，由于无人机的惯性等，在到了电子围栏边界时才进行飞行鉴权，即使向无人机发送强制指令，无人机也可能飞入到禁飞区内。因此，在实际中，是根据无人机的当前位置和航向阈值来判断无人机的当前位置对应的飞行状态信息(电子围栏信息)。该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值，相 当于一个缓冲量(提前量)。在判断无人机的当前位置对应的飞行状态信息时，需要结合航向阈值来判断。这样可以更加合理和可靠的对无人机的飞行进行鉴权，提高了无人机飞行鉴权的可靠性，进一步提升了无人机飞行的安全性。Specifically, the position of the drone during the flight is changed in real time. Therefore, it is necessary to determine flight status information at different locations. When determining flight state information at different locations, it is determined based on the parameters of the current location and the heading threshold. Since the drone is flying at a high speed, in practice, it is not possible to wait until the drone reaches the boundary of the electronic fence to make a judgment or issue a command, because the inertia of the drone, etc., is performed when the boundary of the electronic fence is reached. Flight authentication, even if a mandatory command is sent to the drone, the drone may fly into the no-fly zone. Therefore, in practice, the flight state information (electronic fence information) corresponding to the current position of the drone is determined based on the current position of the drone and the heading threshold. The heading threshold is a preset minimum value of the distance between the UAV and the fence of the electronic fence. When in a buffer amount (advance amount). When judging the flight state information corresponding to the current position of the drone, it is necessary to judge by combining the heading threshold. In this way, the flight of the drone can be authenticated more reasonably and reliably, the reliability of the flight authentication of the drone is improved, and the safety of the flight of the drone is further improved.
应理解，该航向阈值与无人机的类型等信息有关，例如，大型无人机的航行阈值一般大于小型无人机的航行阈值。该航向阈值也与不同区域有关，例如，在闹市区，该航向阈值可能就会小于在沙漠等人迹罕至的区域的航向阈值。It should be understood that the heading threshold is related to information such as the type of the drone. For example, the navigation threshold of a large drone is generally larger than the navigation threshold of a small drone. The heading threshold is also related to different areas. For example, in a downtown area, the heading threshold may be smaller than the heading threshold in an inaccessible area such as the desert.
可选的，作为一个实施例，假设无人机的当前位置的参数为P(x,y)，delta是该无人机的航向阈值，Current Level为结合无人机的类型等信息获得的当前位置的电子围栏状态，则无人机当前位置对应的飞行状态信息可以式(2)或式(3)表示的状态：Optionally, as an embodiment, it is assumed that the parameter of the current position of the drone is P(x, y), the delta is the heading threshold of the drone, and the Current Level is the current obtained by combining the information of the type of the drone. The state of the electronic fence of the position, the flight state information corresponding to the current position of the drone may be the state represented by the formula (2) or the formula (3):
(Current Leve(P(x,y)+delta)＝TURE    (2)(Current Leve(P(x,y)+delta)=TURE (2)
(Current Leve(P(x,y)+delta)＝FALSE    (3)(Current Leve(P(x,y)+delta)=FALSE (3)
式(2)表示当前位置的电子围栏状态为允许飞行(TURE)，式(3)表示当前位置的电子围栏状态为禁止飞行(FALSE)。Equation (2) indicates that the state of the electronic fence at the current position is the allowable flight (TURE), and Equation (3) indicates that the state of the electronic fence at the current position is the prohibited flight (FALSE).
应理解，除了利用式(2)和式(3)之外，还可以利用其他公式进行判断。本申请实施例在此不作限制。It should be understood that in addition to using equations (2) and (3), other formulas may be used for judgment. The embodiments of the present application are not limited herein.
可选的，作为一个实施例，该方法100还包括：Optionally, as an embodiment, the method 100 further includes:
S160，该无人机云接收该无人机的电子围栏更新参数。S160. The drone cloud receives the electronic fence update parameter of the drone.
S170，该无人机云根据该电子围栏更新参数，向无人机发送电子围栏信息。S170. The UAV cloud sends the electronic fence information to the drone according to the electronic fence update parameter.
由于存在网络链路等异常情况，为了保证安全性，也要求无人机进行实时的飞行鉴权。而且，无人机在飞行的过程中，其飞行区域会实时的变化，因此，当无人机在快要飞出自身存储的电子围栏的区域时，或者自身存储的电子围栏信息需要更新时，会向无人机云请求更新电子围栏信息。因此，无人机云获取无人机的电子围栏更新参数，根据该电子围栏更新参数，对该无人机的电子围栏进行更新。然后将更新后的电子围栏信息反馈给无人机，无人机云也可以根据该更新后的电子围栏信息，对无人机的飞行进行鉴权。同时，可以使得无人机也可以根据该电子围栏信息进行飞行鉴权，提高了飞行鉴权的可靠性。并且，电子围栏信息是由无人机云联网实时发送给无人机的，增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，及时响应电子围栏信息的变化。Due to abnormal conditions such as network links, in order to ensure security, the drone is also required to perform real-time flight authentication. Moreover, during the flight process, the flight area of the drone will change in real time. Therefore, when the drone is about to fly out of the area of the electronic fence stored by itself, or when the electronic fence information stored by itself is needed to be updated, Request to update the electronic fence information to the drone cloud. Therefore, the drone cloud acquires the electronic fence update parameter of the drone, and updates the electronic fence of the drone according to the electronic fence update parameter. Then, the updated electronic fence information is fed back to the drone, and the drone cloud can also authenticate the flight of the drone according to the updated electronic fence information. At the same time, the drone can also perform flight authentication according to the electronic fence information, thereby improving the reliability of flight authentication. Moreover, the electronic fence information is sent to the drone by the UAV cloud network in real time, which increases the difficulty of cracking the electronic fence information and improves the accuracy of the electronic fence information. It can also realize the real-time update of the electronic fence information during the flight of the drone, and respond to the changes of the electronic fence information in time.
应理解，在本申请的实施例中，无人机云通过电子围栏信息对无人机的飞行进行鉴权的同时，无人机也可以同时通过自身存储的电子围栏信息进行飞行鉴权。这样，可以实现无人机云与无人机同时根据电子围栏信息对无人机进行飞行鉴权，进一步提高了无人机电子围栏鉴权的可靠性，提高了无人机飞行的安全性。It should be understood that, in the embodiment of the present application, the UAV cloud can authenticate the flight of the UAV through the electronic fence information, and the UAV can also perform flight authentication through the electronic fence information stored by itself. In this way, the UAV cloud and the UAV can be used to perform flight authentication on the UAV according to the electronic fence information, thereby further improving the reliability of the UAV electronic fence authentication and improving the safety of the UAV flight.
可选的，作为一个实施例，该电子围栏更新参数包括该无人机当前位置的参数和更新半径。具体而言，无人机向无人机云发送的电子围栏更新参数可以包括无人机的当前位置的参数和更新半径，例如，可以是无人机的当前位置的参数和需要的更新半径。无人机云根据该位置信息和更新半径，会确定需要更新电子围栏的区域。然后将该区域的电子围栏信息发送给该无人机，用于无人机根据该更新后的电子围栏信息进行飞行鉴权。Optionally, as an embodiment, the electronic fence update parameter includes a parameter and an update radius of the current location of the drone. Specifically, the electronic fence update parameter sent by the drone to the drone cloud may include a parameter of the current position of the drone and an update radius, for example, may be a parameter of the current position of the drone and a required update radius. Based on the location information and the update radius, the drone cloud determines the area where the electronic fence needs to be updated. The electronic fence information of the area is then sent to the drone for the drone to perform flight authentication based on the updated electronic fence information.
应理解，该电子围栏更新参数还可以包括无人机的飞行高度、飞行经度和纬度的参数 等，本申请实施例在此不作限制。It should be understood that the electronic fence update parameter may also include parameters of the flying height, flight longitude and latitude of the drone. The embodiments of the present application are not limited herein.
可选的，作为一个实施例，该电子围栏信息包括电子围栏等级信息。Optionally, as an embodiment, the electronic fence information includes electronic fence level information.
具体而言，在本申请的各个实施例中，该电子围栏信息可以包括电子围栏等级信息。即对电子围栏进行了分级、分类和分时的改进。将相同的电子围栏信息(电子围栏状态)划分为同一个等级，某一个区域可以包括一个等级的电子围栏，也可以包括多个等级的电子围栏。在无人机和无人机云进行双向鉴权时，无人机和无人机云可以根据电子围栏等级信息进行获得无人机实时飞行状态信息，从而进行双向判断。提升了电子围栏应用的灵活性，做到分区域、分时域、按需、动态的监管。In particular, in various embodiments of the present application, the electronic fence information may include electronic fence level information. That is, the electronic fence is graded, classified, and time-sharing improved. The same electronic fence information (electronic fence state) is divided into the same level, and one area may include one level of electronic fences, and may also include multiple levels of electronic fences. When the UAV and UAV cloud are two-way authenticated, the UAV and UAV cloud can obtain real-time flight status information of the UAV based on the electronic fence level information, thereby making two-way judgment. Improve the flexibility of the electronic fence application, and achieve sub-regional, time-domain, on-demand, dynamic supervision.
表1是本申请实施例提供的一种分级后的电子围栏等级信息表，如表1所示，该电子围栏等级信息包括六个等级，每个等级都有对应的电子围栏飞行状态和飞行操作。无人机或者无人机云可以根据该电子围栏等级信息，在无人机准备飞行或者飞行过程中对无人机的飞行进行鉴权。Table 1 is a hierarchical electronic fence level information table provided by an embodiment of the present application. As shown in Table 1, the electronic fence level information includes six levels, and each level has a corresponding electronic fence flight state and flight operation. . The drone or drone cloud can authenticate the flight of the drone during the flight or flight of the drone based on the electronic fence level information.
表1 电子围栏等级信息表Table 1 Electronic fence level information table
Figure PCTCN2017096931-appb-000001
Figure PCTCN2017096931-appb-000001
在表1中，对于等级0，对应的飞行操作为不限飞行，飞行状态为禁止飞出，主要是指在是沙漠、戈壁等不会造成社会损失的区域，微型、轻型无人机不需要监管。中大型无人机事后申报。对于等级1，对应的飞行操作为区别飞行，飞行状态为禁止飞出，主要是指微型、轻型无人机不需要实时监管，中大型无人机需要实时监管。主要是120m以下森林、农田等区域。对于等级2，对应的飞行操作为限制飞行，飞行状态为部分区域禁止飞入，所有无人机都需要实时监管。根据各行政区域的飞行规则飞行，主要包括机场净空区、各政府机关等区域。对于等级3，对应的飞行操作为报告飞行，飞行状态为禁止飞出，所有无人机都需要实时监管。主要包括有人口聚集的城镇、城市公共区域等需要申请的空域，并在飞行中实时报告和监控。对于等级4，对应的飞行操作为禁止飞行，飞行状态为禁止飞入，所有无人机都需要实时监管。主要是依据国家定义禁止飞行的区域，比如北京六环内、军事基地、导弹发射区等，以及临时管制空域，比如G20分会、一带一路大会、军事演习等。对于等级5，对应的飞行操作为保留，飞行状态为禁止飞入。该区域高优先级保留区域，所有无人机都需要实时上报无人机信息进行监管。In Table 1, for level 0, the corresponding flight operation is not limited to flight, and the flight state is forbidden to fly out, mainly referring to areas where desert, Gobi, etc. will not cause social loss, and micro and light drones are not required. Supervision. The medium and large drones were declared afterwards. For level 1, the corresponding flight operation is a differential flight, and the flight state is forbidden to fly out. It mainly means that the micro and light drones do not need real-time supervision, and the medium and large-sized drones need real-time supervision. It is mainly in areas such as forests and farmland below 120m. For level 2, the corresponding flight operation is to limit the flight, and the flight state is that some areas are prohibited from flying in, and all drones need real-time supervision. Flying according to the flight rules of each administrative region, mainly including airport clearance areas, various government agencies and other areas. For level 3, the corresponding flight operation is for reporting flight, the flight status is forbidden to fly out, and all drones need real-time supervision. It mainly includes urban areas with populations, urban public areas and other airspaces that need to be applied for, and reports and monitors them in real time during flight. For level 4, the corresponding flight operation is forbidden to fly, the flight state is forbidden to fly in, and all drones need real-time supervision. It is mainly based on areas that are prohibited from flying according to national definitions, such as the Beijing Sixth Ring Road, military bases, missile launch areas, etc., as well as temporary control airspace, such as the G20 branch, the Belt and Road Initiative, and military exercises. For level 5, the corresponding flight operation is reserved and the flight status is forbidden to fly in. High-priority reserved areas in the area, all drones need to report drone information in real time for supervision.
应理解，除了表1所示的电子围栏的分级的方法外，还可以按照不同的时间、不同的区域对电子围栏进行分级。并且，表1中只是示意性的示出了6种分级级别，当然在实际中还可以分成更多更详细的级别。本申请实施例在此不作限制。It should be understood that in addition to the method of grading the electronic fence shown in Table 1, the electronic fence can be classified according to different time and different regions. Moreover, only the six hierarchical levels are shown schematically in Table 1, and of course, in practice, they can be further divided into more detailed levels. The embodiments of the present application are not limited herein.
应理解，在本申请实施例中，对电子围栏信息进行分级后的空域并不是各自孤立的空域，而是对所有空域区域的不同分级。每个电子围栏等级空域可以是独立的立体空间，也可以包含在其他等级的立体空间中内，无人机可以只在某一等级的电子围栏空域飞行，也可以在多个电子围栏空域飞行，本申请实施例在此不作限制。It should be understood that, in the embodiment of the present application, the airspaces that are classified by the electronic fence information are not isolated airspaces, but different hierarchical levels of all airspace regions. Each electronic fence level airspace can be an independent three-dimensional space, or can be included in other levels of three-dimensional space. The drone can fly only in a certain level of electronic fence airspace, or can fly in multiple electronic fenced airspace. The embodiments of the present application are not limited herein.
对电子围栏信息进行分级后，无人机云和无人机可以根据无人机的类型，判断无人机 是否可以进入更高或者更低级别的电子围栏内，并根据不同电子围栏级别的要求，判断是否需要实时监管无人机的飞行。提升了电子围栏应用的灵活性，做到分区域、分时域、按需、动态的监管。提高无人机电子飞行监管的效率。After classifying the electronic fence information, the drone cloud and the drone can judge the drone according to the type of the drone. Whether it is possible to enter a higher or lower level electronic fence and determine whether it is necessary to supervise the flight of the drone in real time according to the requirements of different electronic fence levels. Improve the flexibility of the electronic fence application, and achieve sub-regional, time-domain, on-demand, dynamic supervision. Improve the efficiency of electronic flight supervision of drones.
本申请实施例还提供了一种更新无人机电子围栏的方法200，图7是本申请一个实施例的更新无人机电子围栏的方法200的示意性流程图，无人机可以通过网络设备提供的无线网络与无人机云连接，实现实时的通信和数据交换，网络设备可以获取无人机的实时位置信息。The embodiment of the present application further provides a method 200 for updating an electronic fence of a drone. FIG. 7 is a schematic flowchart of a method 200 for updating an electronic fence of a drone according to an embodiment of the present application. The drone can pass through a network device. The provided wireless network is connected to the UAV cloud for real-time communication and data exchange, and the network device can obtain real-time location information of the drone.
如图7所示，该方法200包括：As shown in FIG. 7, the method 200 includes:
S210，无人机向无人机云发送该无人机的电子围栏更新参数。S210: The drone sends the electronic fence update parameter of the drone to the drone cloud.
S220，无人机云根据该无人机的电子围栏更新参数，确定第一区域的电子围栏信息，并将第一区域的电子围栏信息发送给无人机，该第一区域是根据该电子围栏更新参数得到的。S220, the drone cloud determines the electronic fence information of the first area according to the electronic fence update parameter of the drone, and sends the electronic fence information of the first area to the drone, the first area is according to the electronic fence Update the parameters obtained.
S230，无人机接收该无人机云发送该第一区域的电子围栏信息。S230. The drone receives the electronic fence information of the first area by the drone cloud.
本申请实施例提供的更新无人机电子围栏的方法，无人机可以实时与无人机云连接和通信，从无人机云直接获取最新的电子围栏信息，即对无人机的电子围栏信息进行更新。增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，可以及时响应电子围栏信息的变化。The method for updating the electronic fence of the drone provided by the embodiment of the present application, the drone can connect and communicate with the cloud of the drone in real time, and directly obtain the latest electronic fence information from the cloud of the drone, that is, the electronic fence of the drone The information is updated. The difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
具体而言，在S210中，无人机在准备起飞或者飞行的过程中，需要实时的更新电子围栏，因此，无人机会向无人机云发送无人机的电子围栏更新参数，例如，可以包括无人机的位置的参数和飞行半径，可以获得第一区域的电子围栏信息，并将该第一区域的电子围栏信息发送给无人机。可以实现电子围栏信息的实时更新。Specifically, in S210, the drone needs to update the electronic fence in real time during the preparation for take-off or flight. Therefore, the unmanned machine sends the electronic fence update parameter of the drone to the drone cloud, for example, Including the parameters of the position of the drone and the flight radius, the electronic fence information of the first area can be obtained, and the electronic fence information of the first area is sent to the drone. Real-time updates of electronic fence information can be achieved.
可选的，作为一个实施例。该电子围栏更新参数包括该无人机的第一位置参数和第一飞行半径，无人机云根据该第一位置参数和第一飞行半径，获得第一区域的电子围栏信息。应理解，该第一位置参数可以包括无人机的飞行高度参数、飞行经度和纬度的参数等，本申请实施例在此不作限制。Optionally, as an embodiment. The electronic fence update parameter includes a first position parameter of the drone and a first flight radius, and the drone cloud obtains electronic fence information of the first area according to the first position parameter and the first flight radius. It should be understood that the first position parameter may include a flight height parameter of the drone, a parameter of the flight longitude and the latitude, and the like, which is not limited herein.
可选的，作为一个实施例，如图8所示，该方法200还包括：Optionally, as an embodiment, as shown in FIG. 8, the method 200 further includes:
S240，无人机确定该无人机的当前位置对应的飞行状态信息。S240. The drone determines flight state information corresponding to the current location of the drone.
S250，该无人机在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。S250. The drone allows the drone to fly in a case where it is determined that the flight state information corresponding to the current location is allowed to fly.
具体而言，由于无人机已经从无人机云获取了最新的第一区域的电子围栏信息，因此，无人机会根据自身当前位置信息(实时位置)和获取的电子围栏信息，得到该当前位置对应的飞行状态信息，即当前位置的电子围栏状态。根据当前位置的电子围栏状态，对无人机进行相应的飞行控制。即对无人机的飞行进行鉴权。该当前位置应该在该第一区域的范围内。例如，该电子围栏状态为禁止飞行或者允许飞行等。在当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机继续按照原有的飞行策略进行飞行或者起飞。在当前位置对应的飞行状态信息为禁止飞行时，结合无人机的信息，会要求无人机执行悬停/返航/降落/禁止起飞等。Specifically, since the drone has acquired the latest electronic fence information of the first area from the drone cloud, the unattended machine obtains the current based on the current location information (real-time location) and the acquired electronic fence information. The flight status information corresponding to the position, that is, the electronic fence status of the current position. According to the current state of the electronic fence, the corresponding flight control of the drone. That is, the flight of the drone is authenticated. The current location should be within the range of the first zone. For example, the state of the electronic fence is prohibition of flight or flight. In the case that the flight state information corresponding to the current position is allowed to fly, the drone is allowed to continue to fly or take off according to the original flight strategy. When the flight status information corresponding to the current position is forbidden to fly, combined with the information of the drone, the drone will be required to perform hover/return/landing/no take-off.
应理解，无人机云也会同时实时的监控无人机的飞行。无人机云会周期性从政府管理机构获取最新的电子围栏信息。因此，可以认为无人机云上的电子围栏信息时最新的。并 且，在无人机飞入电子围栏的时，例如，无人机飞入禁飞区时，无人机云向无人机发送执行悬停/返航/降落/禁止起飞等指令。同时也会向政府管理机构发送无人机非法接入告警。It should be understood that the drone cloud will also monitor the flight of the drone in real time. The drone cloud periodically obtains the latest electronic fence information from government agencies. Therefore, it can be considered that the electronic fence information on the drone cloud is up to date. and Moreover, when the drone flies into the electronic fence, for example, when the drone enters the no-fly zone, the drone cloud sends instructions to the drone to perform hover/return/landing/no take-off. At the same time, the illegal management of the drone will be sent to the government management agency.
可选的，作为一个实施例，可选的，在S240中，该无人机确定该当前位置对应的飞行状态信息，包括：无人机根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。Optionally, as an embodiment, optionally, in S240, the UAV determines flight state information corresponding to the current location, including: determining, by the UAV, the current location according to the parameter of the current location and the heading threshold. Corresponding flight state information, wherein the heading threshold is a preset minimum value of a distance between the UAV and an electronic fence boundary.
具体而言。无人机在飞行的过程中，其位置是实时变化的。因此，需要确定不同位置的飞行状态信息(电子围栏信息)。在确定不同位置的飞行状态信息时，是根据该当前位置的参数和航向阈值来确定的。由于无人机是高速飞行的，因此，在实际中，不能等到无人机到了电子围栏的边界的时候才去做判断或者发出指令，由于无人机的惯性等，在到了电子围栏边界时才进行飞行鉴权，即使向无人机发送强制指令，无人机也可能飞入到禁飞区内。因此，在实际中，是根据无人机的当前位置和航向阈值来判断无人机的当前位置对应的飞行状态信息。该航向阈值为预设的该无人机与电子围栏边界之间距离的最小的值，相当于一个缓冲量(提前量)。在判断无人机的当前位置的电子围栏信息时，需要结合航向阈值来判断。这样可以更加合理和可靠的对无人机的飞行进行鉴权，提高了无人机飞行鉴权的可靠性，进一步提升了无人机飞行的安全性。in particular. During the flight of the drone, its position changes in real time. Therefore, it is necessary to determine flight status information (electronic fence information) at different locations. When determining flight state information at different locations, it is determined based on the parameters of the current location and the heading threshold. Since the drone is flying at a high speed, in practice, it is not possible to wait until the drone reaches the boundary of the electronic fence to make a judgment or issue a command, because of the inertia of the drone, etc., when the boundary of the electronic fence is reached. For flight authentication, even if a mandatory command is sent to the drone, the drone may fly into the no-fly zone. Therefore, in practice, the flight state information corresponding to the current position of the drone is determined based on the current position of the drone and the heading threshold. The heading threshold is the minimum value of the preset distance between the UAV and the electronic fence boundary, which is equivalent to a buffer amount (advance amount). When judging the electronic fence information of the current position of the drone, it is necessary to judge by combining the heading threshold. In this way, the flight of the drone can be authenticated more reasonably and reliably, the reliability of the flight authentication of the drone is improved, and the safety of the flight of the drone is further improved.
应理解，该航向阈值与无人机的型号等信息有关，例如，大型无人机的航行阈值一般大于小型无人机的航行阈值。该航向阈值也与不同区域有关，例如，在闹市区，该航向阈值可能就会小于在沙漠等人迹罕至的区域的航向阈值。It should be understood that the heading threshold is related to information such as the model of the drone. For example, the navigation threshold of a large drone is generally larger than the navigation threshold of a small drone. The heading threshold is also related to different areas. For example, in a downtown area, the heading threshold may be smaller than the heading threshold in an inaccessible area such as the desert.
可选的，作为一个实施例，在S210之前，该方法200还包括：Optionally, as an embodiment, before S210, the method 200 further includes:
S206，判断该无人机初始获得的电子围栏信息的区域的半径和该无人机的最大往返航程的大小关系。S206. Determine a relationship between a radius of an area of the electronic fence information initially obtained by the drone and a maximum round trip range of the drone.
S207，在该无人机初始获得的电子围栏信息的区域的半径小于或者等于该无人机的最大往返航程的情况下，确定需要更新该无人机的电子围栏信息。S207. When the radius of the area of the electronic fence information initially obtained by the drone is less than or equal to the maximum round trip of the drone, determine that the electronic fence information of the drone needs to be updated.
具体而言，在无人机起飞前，无人机会初始(第一次)获取一个区域的电子围栏信息，因此，在该无人机初始获得的电子围栏信息的区域的半径小于或者等于该无人机的最大往返航程的情况下，证明无人机会飞出该初始获得的电子围栏区域。即无人机的最大航程区域大于该初始获得的电子围栏信息的区域。因此，需要该区域外的无人机飞到的其他区域的电子围栏信息。即确定需要更新该无人机的电子围栏信息。Specifically, before the drone takes off, the unmanned person initially (first time) acquires the electronic fence information of an area, and therefore, the radius of the area of the electronic fence information initially obtained by the drone is less than or equal to the none. In the case of the maximum round trip of the man-machine, it is proved that no one is flying out of the initially obtained electronic fence area. That is, the maximum voyage area of the drone is larger than the area of the initially obtained electronic fence information. Therefore, electronic fence information for other areas to which the drones outside the area fly is required. That is, it is determined that the electronic fence information of the drone needs to be updated.
应理解，在该无人机初始获得的电子围栏信息的区域的半径大于该无人机的最大往返航程的情况下，则无人机仅需开机初始更新一次电子围栏信息。之后不需要进行电子围栏的更新。It should be understood that in the case where the radius of the area of the electronic fence information initially obtained by the drone is greater than the maximum round trip of the drone, the drone only needs to be turned on to initially update the electronic fence information once. There is no need to update the electronic fence afterwards.
可选的，作为一个实施例，在S207后，该方法还包括：Optionally, as an embodiment, after S207, the method further includes:
S208，无人机获取该第一位置和该无人机的第二位置之间的距离。S208. The drone acquires a distance between the first location and the second location of the drone.
S209，该无人机确定该无人机的第二飞行半径与该距离之间的差值小于或者等于的第一阈值，该第一阈值为预设的该无人机与第二区域的边界之间距离的最小值，该第二区域的电子围栏信息是根据该第二位置和该第二飞行半径确定。S209. The UAV determines a first threshold value that is different from a distance between the second flight radius of the UAV and the distance, where the first threshold is a preset boundary between the UAV and the second area. The minimum distance between the two areas, the electronic fence information of the second area is determined according to the second position and the second flight radius.
具体而言，在该无人机起飞前初始获得的电子围栏信息的区域的半径小于或者等于该无人机的最大往返航程的情况下，就需要更新该无人机的电子围栏信息。在无人机飞行的过程中，其位置是实时变化的，因此，在无人机快要飞出之前已经获取的区域的电子围栏 信息(第二区域的电子围栏信息)前，需要再次获取一个新的区域的电子围栏信息(第一区域的电子围栏信息)。因此，需要根据该无人机的第一位置和第二位置之间的距离，该第一位置可以认为是无人机的当前位置，该第二位置是之前获取第二区域的电子围栏信息时无人机所在的位置。第二区域是根据该第二位置和第二飞行半径获得的，第二区域的电子围栏信息可以看作是初始获得的电子信息的区域。因此。S208中，首先需要确定该第一位置和该无人机的第二位置之间的距离，在S209中，在确定该第二飞行半径与该距离之间的差值小于或者等于的第一阈值的情况下，证明无人机已经快要飞出该第二区域了，因此，需要根据无人机的第一位置和第一飞行半径(更新半径)，获取第一区域的电子围栏信息，第一区域为无人机即将飞入的区域。该第一阈值为预设的该无人机与第二区域的边界之间距离的最小值。Specifically, in the case where the radius of the area of the electronic fence information initially obtained before the drone is taken off is less than or equal to the maximum round trip of the drone, it is necessary to update the electronic fence information of the drone. During the flight of the drone, its position changes in real time, so the electronic fence of the area that has been acquired before the drone is about to fly out Before the information (electronic fence information of the second area), it is necessary to acquire the electronic fence information (electronic fence information of the first area) of a new area again. Therefore, according to the distance between the first position and the second position of the drone, the first position can be regarded as the current position of the drone, and the second position is when the electronic fence information of the second area is previously acquired. The location of the drone. The second area is obtained based on the second position and the second flight radius, and the electronic fence information of the second area can be regarded as an area of the initially obtained electronic information. therefore. In S208, first, a distance between the first location and the second location of the drone is determined, and in S209, determining a first threshold between a difference between the second flight radius and the distance is less than or equal to In the case that the drone is about to fly out of the second area, it is necessary to obtain the electronic fence information of the first area according to the first position of the drone and the first flight radius (update radius), first The area is the area where the drone is about to fly. The first threshold is a preset minimum value of the distance between the UAV and the boundary of the second region.
下面结合图9来说明，图9是本申请实施例提供的一种更新无人机电子围栏的方法示意图。在图9中，I(x,y)为第二位置的参数(无人机的初始位置)，R2为第二飞行半径(初始电子围栏半径)，第二区域(初始获得的电子围栏信息的区域)由I(x,y)和R2确定，P(x,y)为第一位置参数(当前位置的参数)，R1为第一飞行半径，第一区域由P(x,y)和R1确定，S是无人机的最大往返航程，无人机飞行的最大航程区域由I(x,y)和S确定，S的值大于R2。无人机首先会获得第二区域的电子围栏信息。在无人机飞行到第一位置时，当第一位置P(x,y)点与第二位置I(x,y)点的之间的距离与第二飞行半径之间的差值小于或者等于第一阈值D时，即无人机即将飞出该第二区域，因此，需要向无人机云获取第一区域的电子围栏信息。第一区域为无人机即将飞入的区域。之后，无人机便可以根据该第一区域的电子围栏信息，对无人机的飞行进行鉴权。当第一位置与第二位置的之间的距离与第二飞行半径之间的差值大于第一阈值D时，证明无人机没有飞出该第二区域，因此，不用在获取另外一个区域的电子围栏信息，但是，可以实时更新该第二区域的电子围栏信息。9 is a schematic diagram of a method for updating an electronic fence of a drone according to an embodiment of the present application. In Fig. 9, I(x, y) is the parameter of the second position (the initial position of the drone), R2 is the second flight radius (the initial electronic fence radius), and the second area (the initial obtained electronic fence information) The area is determined by I(x, y) and R2, P(x, y) is the first position parameter (the parameter of the current position), R1 is the first flight radius, and the first area is P(x, y) and R1 It is determined that S is the maximum round trip of the drone, and the maximum range of the flight of the drone is determined by I(x, y) and S, and the value of S is greater than R2. The drone will first obtain the electronic fence information for the second area. When the drone flies to the first position, the difference between the distance between the first position P(x, y) point and the second position I(x, y) point and the second flight radius is less than or When it is equal to the first threshold D, that is, the drone is about to fly out of the second area, therefore, it is necessary to acquire the electronic fence information of the first area from the drone cloud. The first area is the area where the drone is about to fly. After that, the drone can authenticate the flight of the drone based on the electronic fence information of the first area. When the difference between the distance between the first position and the second position and the second flight radius is greater than the first threshold D, it is proved that the drone does not fly out of the second area, and therefore, it is not necessary to acquire another area. The electronic fence information, however, can update the electronic fence information of the second area in real time.
应理解，该第一阈值为预先设置的，对于不同的区域，该第一阈值的大小可能不同，例如，在城市中心，该第一阈值可能会比较小，而在郊区，该第一阈值可能会比较大。对于无人机以后的飞行过程中，可以通过对无人机飞行控制***的设置，在无人机要飞出之前获取的电子围栏信息的区域时，无人机会自动获取即将飞入的另一个区域的电子围栏信息。可以对电子围栏信息的进行多次更新。每次更新的半径可以相同，也可以不同。本申请实施例在此不作限制。It should be understood that the first threshold is preset, and the size of the first threshold may be different for different regions. For example, in a city center, the first threshold may be relatively small, and in a suburb, the first threshold may be It will be bigger. For the future flight of the drone, through the setting of the flight control system of the drone, when the UAV acquires the area of the electronic fence information before the UAV is to fly out, the unmanned opportunity automatically acquires another one that is about to fly in. Electronic fence information for the area. The electronic fence information can be updated multiple times. The radius of each update can be the same or different. The embodiments of the present application are not limited herein.
还应理解，除了上述的更新方法外，该无人机还可以在飞行过程中周期性更新该无人机的电子围栏信息，更新周期的大小和每次更新的区域的大小取决于无人机的存储能力，可以依据厂家自定义。或者也可以是满足其他条件开始后开始更新该无人机的电子围栏信息，本申请实施例在此不作限制。It should also be understood that in addition to the above updating method, the drone can periodically update the electronic fence information of the drone during the flight, and the size of the update cycle and the size of each updated area depend on the drone. The storage capacity can be customized according to the manufacturer. Alternatively, the electronic fence information of the drone may be updated after the start of other conditions. The embodiment of the present application is not limited herein.
可选的，作为一个实施例，该电子围栏信息包括电子围栏等级信息。Optionally, as an embodiment, the electronic fence information includes electronic fence level information.
具体而言，在本申请的各个实施例中，该电子围栏信息包括电子围栏等级信息。即对电子围栏进行了分级、分类和分时的改进。将相同的电子围栏信息(电子围栏状态)划分为同一个等级，某一个区域可以包括一个等级的电子围栏，也可以包括多个等级的电子围栏。在无人机和无人机云进行双向鉴权时，无人机和无人机云可以根据电子围栏等级进行双向判断。提升了电子围栏应用的灵活性，做到分区域、分时域、按需、动态的监管。具 体的电子围栏的等级信息与方法100中的类似，为了简洁，在此不在赘述。In particular, in various embodiments of the present application, the electronic fence information includes electronic fence level information. That is, the electronic fence is graded, classified, and time-sharing improved. The same electronic fence information (electronic fence state) is divided into the same level, and one area may include one level of electronic fences, and may also include multiple levels of electronic fences. When the UAV and UAV clouds are authenticated in both directions, the UAV and UAV clouds can be judged in both directions based on the electronic fence level. Improve the flexibility of the electronic fence application, and achieve sub-regional, time-domain, on-demand, dynamic supervision. With The level information of the body's electronic fence is similar to that in the method 100, and is not described here for brevity.
还应理解，在本申请的各个实施例中，无人机通过电子围栏信息在对无人机进行鉴权的同时，无人机云也可以通过电子围栏信息对无人机的飞行进行鉴权，这样，可以实现无人机与无人机云同时根据电子围栏信息对无人机进行飞行鉴权，进一步提高了无人机电子围栏鉴权的可靠性，提高了无人机飞行的安全性。It should also be understood that in various embodiments of the present application, the drone can authenticate the flight of the drone through the electronic fence information while authenticating the drone through the electronic fence information. In this way, the UAV and the UAV cloud can be used to perform flight authentication on the UAV according to the electronic fence information, thereby further improving the reliability of the UAV electronic fence authentication and improving the safety of the UAV flight. .
还应理解，无人机在开机后，可以根据获得的电子围栏等级信息、结合无人机自身的信息(位置信息、机型信息等)，来判断是否起飞。在飞行的过程中。可以根据无人机的信息(例如，无人机的类型、实时位置等)判断是否可以飞入更高或者更低等级电子围栏，并且还可以判断是否需要实时与无人机云保持通信连接，例如，在电子围栏等级0的区域进行飞行时，除了在即将飞出该区域时需要和无人机云进行通信，在该区域内飞行时，不需要无人机云的监管。允许无人机在不需要联网的区域也可以飞行。It should also be understood that after the power is turned on, the drone can determine whether to take off based on the obtained electronic fence level information and the information of the drone itself (position information, model information, etc.). In the process of flying. It is possible to determine whether it is possible to fly into a higher or lower level electronic fence based on the information of the drone (for example, the type of the drone, the real-time position, etc.), and also to determine whether it is necessary to maintain a communication connection with the drone cloud in real time. For example, when flying in an area of the electronic fence level 0, in addition to communicating with the drone cloud when flying out of the area, the supervision of the drone cloud is not required when flying in the area. Allow drones to fly in areas that do not require networking.
本申请实施例还提供了一种更新无人机电子围栏的方法300，图10是本申请一个实施例的更新无人机电子围栏的方法300的示意性流程图，无人机可以通过网络设备提供的无线网络与无人机云连接，实现实时的通信和数据交换，网络设备可以获取无人机的实时位置信息。The embodiment of the present application further provides a method 300 for updating an electronic fence of a drone, and FIG. 10 is a schematic flowchart of a method 300 for updating an electronic fence of a drone according to an embodiment of the present application. The drone can pass through a network device. The provided wireless network is connected to the UAV cloud for real-time communication and data exchange, and the network device can obtain real-time location information of the drone.
如图10所示，该方法300包括：As shown in FIG. 10, the method 300 includes:
S310，无人机云接收无人机发送的无人机的电子围栏更新参数。S310: The drone cloud receives the electronic fence update parameter of the drone sent by the drone.
S320，该无人机云将第一区域的电子围栏信息发送给该无人机，该第一区域是根据电子围栏更新参数获得的。S320. The UAV cloud sends the electronic fence information of the first area to the drone, and the first area is obtained according to an electronic fence update parameter.
本申请实施例提供的更新无人机电子围栏的方法，无人机可以实时与无人机云连接，从无人机云直接获取最新的电子围栏信息，即对无人机的电子围栏信息进行更新。增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，可以及时响应电子围栏信息的变化。The method for updating the electronic fence of the drone provided by the embodiment of the present application, the drone can be connected to the cloud of the drone in real time, and the latest electronic fence information is directly obtained from the cloud of the drone, that is, the electronic fence information of the drone is performed. Update. The difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
具体而言，在S310中，无人机在准备起飞或者飞行的过程中，需要实时的更新电子围栏，因此，无人机会向无人机云发送无人机的电子围栏更新参数。例如，位置参数和飞行半径。在S320中，无人机云根据该电子围栏更新参数，可以获得第一区域的电子围栏信息，并将第一区域的电子围栏信息发送给无人机。该第一区域是根据电子围栏更新参数获得的。可以实现无人机上的电子围栏信息的实时更新。Specifically, in S310, the drone needs to update the electronic fence in real time during preparation for take-off or flight, and therefore, the unmanned person transmits the electronic fence update parameter of the drone to the drone cloud. For example, location parameters and flight radius. In S320, the drone cloud can update the parameters according to the electronic fence, obtain the electronic fence information of the first area, and send the electronic fence information of the first area to the drone. The first area is obtained from the electronic fence update parameters. Real-time updates to the electronic fence information on the drone can be achieved.
应理解，无人机云也会同时实时的监控无人机的飞行。无人机云会周期性从政府管理机构获取最新的电子围栏信息。因此，可以认为无人机云上的电子围栏信息时最新的。并且，在无人机飞入电子围栏的时，例如，无人机飞入禁飞区时，无人机云向无人机发送执行悬停/返航/降落/禁止起飞等指令。同时也会向政府管理机构发送无人机非法接入告警。It should be understood that the drone cloud will also monitor the flight of the drone in real time. The drone cloud periodically obtains the latest electronic fence information from government agencies. Therefore, it can be considered that the electronic fence information on the drone cloud is up to date. Moreover, when the drone flies into the electronic fence, for example, when the drone flies into the no-fly zone, the drone cloud sends instructions to the drone to perform hover/return/landing/no-takeoff. At the same time, the illegal management of the drone will be sent to the government management agency.
应理解，该第一位置可以是无人机飞行过程中的任何位置，或者也可以是无人机起飞前的位置，第一位置不应该对本申请实施例产生任何限制。It should be understood that the first position may be any position during the flight of the drone, or may be the position before the take-off of the drone, and the first position should not impose any restrictions on the embodiments of the present application.
可选的，作为一个实施例。该电子围栏更新参数包括该无人机的第一位置参数和第一飞行半径，无人机云根据该第一位置参数和第一飞行半径，获得第一区域的电子围栏信息。应理解，该第一位置参数可以包括无人机的飞行高度参数、飞行经度和纬度的参数等，本申请实施例在此不作限制。Optionally, as an embodiment. The electronic fence update parameter includes a first position parameter of the drone and a first flight radius, and the drone cloud obtains electronic fence information of the first area according to the first position parameter and the first flight radius. It should be understood that the first position parameter may include a flight height parameter of the drone, a parameter of the flight longitude and the latitude, and the like, which is not limited herein.
可选的，作为一个实施例，该方法300还包括： Optionally, as an embodiment, the method 300 further includes:
S330，无人机云接收无人机发送本机位置参数。S330, the drone cloud receiving drone sends the local location parameter.
S340，该无人机云接收网络设备发送的该的无人机的网络位置参数，该网络位置参数用于指示该无人机的网络位置。S340. The UAV cloud receives a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate a network location of the UAV.
S350，该无人机云在该本机位置参数和该网络位置参数的误差在预设的阈值范围内的情况下，确定该无人机的当前位置为该本机位置或该网络位置。S350. The UAV cloud determines that the current location of the UAV is the local location or the network location if the error of the local location parameter and the network location parameter is within a preset threshold range.
具体而言，在S330中，无人机在飞行过程中或者无人机准备起飞前，无人机会向无人机云上报自己的位置信息，即无人机云会获取无人机上报的该无人机的本机位置参数，该本机位置参数用于无人机云确定无人机的位置。无人机可以通过自身携带的GPS模组、或者无人机装配的其他可以实时测量位置的***实时获取自己的位置的参数，即本机位置参数。在S340中，无人机云也会获取网络设备上报的无人机的位置信息。由于无人机与网络设备之间是具备通信连接的能力的，而网络设备与无人机云之间也是具备通信连接的能力的。因此，网络设备可以获知无人机的位置信息。即无人机云会获取网络设备上报的无人机的网络位置参数。Specifically, in S330, when the drone is in flight or before the drone is ready to take off, the unmanned person reports the location information to the drone cloud, that is, the drone cloud acquires the report reported by the drone. The local position parameter of the drone, which is used by the drone cloud to determine the position of the drone. The drone can obtain its own position parameters, that is, the local position parameters, in real time through the GPS module carried by itself or the other system that can be used to measure the position in real time. In S340, the drone cloud also obtains the location information of the drone reported by the network device. Since the drone is connected to the network device with a communication connection, the network device and the UAV cloud are also capable of communication connection. Therefore, the network device can know the location information of the drone. That is, the drone cloud will obtain the network location parameters of the drone reported by the network device.
应理解，该本机位置参数和该网络位置参数是指无人机同一时刻或者在某个相同的时间段内的位置信息。该本机位置参数和该网络位置参数可以包括飞行高度参数、飞行经度和纬度的参数等，该本机位置参数和该网络位置参数可以是平面坐标或者三维坐标的方式等。本申请实施例在此不作限制。It should be understood that the local location parameter and the network location parameter refer to location information of the drone at the same time or within a certain period of time. The local location parameter and the network location parameter may include a flight altitude parameter, a flight longitude and a latitude parameter, etc., and the local location parameter and the network location parameter may be a plane coordinate or a three-dimensional coordinate manner. The embodiments of the present application are not limited herein.
在S350中，无人机云通过对比计算两个位置参数，会获得该本机位置和该网络位置的误差值，当确定两个位置的误差值在预设的阈值范围内时，便确定该无人机上报的位置是合法的，即是准确的。因此，会确定该无人机的当前位置为该本机位置或该网络位置。可选的，无人机云会优先将无人机上报的本机位置作为无人机的当前位置。In S350, the UAV cloud obtains the error values of the local location and the network location by comparing the two position parameters, and determines that the error value of the two locations is within a preset threshold range. The location reported by the drone is legal, that is, accurate. Therefore, it is determined that the current location of the drone is the local location or the network location. Optionally, the UAV cloud preferentially uses the local location reported by the drone as the current location of the drone.
应理解，该第一位置为无人机上报的需要获取电子围栏的区域的中心位置，上报第一位置的时间可以在上报本机位置和网络位置的时间之前或者之后。本机位置和网络位置分别为无人机上报的位置和网络设备上报的无人机的实时位置，本机位置、网络位置和第一位置之间没有必然的联系。第一位置可以和本机位置相同，也可以和网络位置相同。It should be understood that the first location is the central location of the area reported by the drone that needs to acquire the electronic fence, and the time for reporting the first location may be before or after the time of reporting the local location and the network location. The local location and the network location are respectively the location reported by the drone and the real-time location of the drone reported by the network device, and there is no necessary connection between the local location, the network location, and the first location. The first position can be the same as the local location or the same as the network location.
本申请实施例提供的更新无人机电子围栏的方法，无人机云不仅获取无人机上报的无人机位置，还获取网络设备上报的无人机位置，通过无人机上报的位置和网络设备上报的位置的联合校验，来确定无人机的当前位置。相比于只通过无人机上报的位置确定无人机的当前位置相比，避免了无人机的GPS可能被修改而导致无人机上报虚假位置的情况。从而有效的提高了无人机上报的位置的可靠性，进而提高了无人机飞行的安全性。The method for updating the electronic fence of the UAV provided by the embodiment of the present application, the UAV cloud not only acquires the location of the UAV reported by the UAV, but also acquires the location of the UAV reported by the network device, and the location reported by the UAV. A joint check of the location reported by the network device to determine the current location of the drone. Compared with determining the current position of the drone only by the position reported by the drone, it is avoided that the drone's GPS may be modified to cause the drone to report the false position. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
可选的，作为一个实施例，该方法300还包括：Optionally, as an embodiment, the method 300 further includes:
S360，该无人机云确定该当前位置对应的飞行状态信息。S360, the drone cloud determines flight status information corresponding to the current location.
S370，该无人机云在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。S370. The UAV cloud allows the UAV to fly in a case where it is determined that the flight state information corresponding to the current location is allowed to fly.
具体而言，无人机云根据该当前位置对应的飞行状态信息对无人机的飞行进行鉴权的方法与方法100中的类似，为了简洁，此处不再赘述。Specifically, the method for authenticating the flight of the UAV based on the flight state information corresponding to the current location is similar to that in the method 100. For brevity, no further details are provided herein.
本申请实施例提供的更新无人机电子围栏的方法，无人机云已经通过对无人机的位置的联合校验，确定了无人机上报的位置的准确性。在无人机位置准确的条件下结合电子围栏信息对无人机的飞行进行鉴权，可以提高对无人机飞行鉴权和监管的可靠性，提高无人 机飞行的安全性。The method for updating the electronic fence of the drone provided by the embodiment of the present application, the UAV cloud has determined the accuracy of the position reported by the drone through the joint verification of the position of the drone. In the accurate position of the drone, combined with the electronic fence information to authenticate the flight of the drone, the reliability of the flight authentication and supervision of the drone can be improved, and the unmanned person can be improved. The safety of aircraft flight.
可选的，在S360中，该无人机云确定该当前位置对应的飞行状态信息，包括：该无人机云根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。Optionally, in S360, the UAV cloud determines the flight state information corresponding to the current location, including: determining, by the UAV cloud, the flight state information corresponding to the current location according to the parameter of the current location and the heading threshold. The heading threshold is a preset minimum value of a distance between the UAV and an electronic fence boundary.
可选的，作为一个实施例，该电子围栏信息包括电子围栏等级信息。Optionally, as an embodiment, the electronic fence information includes electronic fence level information.
应理解，上述的步骤与方法100中相应的步骤类似，为了简洁，在此不再赘述。It should be understood that the above steps are similar to the corresponding steps in the method 100, and are not described herein for brevity.
下面结合图11详细说明本申请实施例提供的更新无人机电子围栏的方法400。如图11所示，该方法400包括：The method 400 for updating the electronic fence of the drone provided by the embodiment of the present application is described in detail below with reference to FIG. As shown in FIG. 11, the method 400 includes:
S401，无人机开机启动，与无人机云通过网络设备提供的无线网络发起数据链路建立过程。S401: The UAV starts up, and initiates a data link establishment process with the UAV cloud through the wireless network provided by the network device.
S402，无人机云从政府管理机构周期性获取电子围栏的更新。S402. The drone cloud periodically obtains an update of the electronic fence from a government regulatory agency.
S403，无人机向无人机云发起电子围栏初始同步，获取最新的电子围栏信息。如果S401中的链路建立失败，则使用无人机本机存储的电子围栏。S403: The drone initiates an initial synchronization of the electronic fence to the drone cloud to obtain the latest electronic fence information. If the link establishment in S401 fails, the electronic fence stored locally by the drone is used.
S404，无人机根据电子围栏信息判断是否需要向无人机云发送激活请求，如果不需要，则直接起飞，执行步骤S409。如果需要，执行步骤S405。例如，在电子围栏信息为允许飞行的区域或者人迹罕至的沙漠区域飞行时，不需要发送激活请求。S404, the drone determines, according to the electronic fence information, whether an activation request needs to be sent to the drone cloud, and if not, directly takes off, and step S409 is performed. If necessary, step S405 is performed. For example, when the electronic fence information is flying in an area that allows flight or an inaccessible desert area, there is no need to send an activation request.
S405，无人机向无人机云发送飞行激活请求。S405. The drone sends a flight activation request to the drone cloud.
S406，无人机云收到后飞行激活请求后，记录无人机的位置，并向电信运营商查询无人机的网络位置。电信运营商可以控制网络设备。S406: After receiving the flight activation request, the drone cloud records the location of the drone and queries the telecommunication operator for the network location of the drone. Telecom operators can control network equipment.
S407，无人机云对无人机进行飞行鉴权，如果鉴权成功，进入步骤S408。如果鉴权失败，禁止无人机起飞，同时向政府管理机构发送无人机非法接入告警。S407. The UAV cloud performs flight authentication on the UAV. If the authentication is successful, the process proceeds to step S408. If the authentication fails, the drone is prohibited from taking off, and the drone illegal access alarm is sent to the government regulatory agency.
S408，无人机云向无人机发送飞行激活通过通知。In S408, the drone cloud sends a flight activation notification to the drone.
S409，无人机起飞。S409, the drone takes off.
S410，无人机云向政府管理机构发送无人机接入通知。In S410, the drone cloud sends a drone access notification to the government regulatory agency.
S411，无人机与无人机云周期性检测之间的链路是否畅通，可选的，无人机与无人机云可以进行电子围栏同步过程。S411, whether the link between the UAV and the UAV cloud periodic detection is unblocked. Alternatively, the UAV and the UAV cloud can perform the electronic fence synchronization process.
S412，无人机云与政府管理机构周期性更新无人机云数据。In S412, the drone cloud and the government management agency periodically update the drone cloud data.
S413，无人机向无人机云周期性上报实时飞行数据。S413, the drone periodically reports real-time flight data to the drone cloud.
S414，无人机云记录该无人机上报的飞行数据，并周期性向电信运营商查询无人机的网络位置，S414, the drone cloud records the flight data reported by the drone, and periodically queries the telecommunication operator for the network location of the drone.
S415，无人机云对无人机进行飞行鉴权，若鉴权失败，向无人机发送管制指令(悬停/降落/返航)，同时向政府管理机构发送无人机非法接入告警。S415: The drone cloud performs flight authentication on the drone. If the authentication fails, the control command (hover/landing/return) is sent to the drone, and the drone illegal access alarm is sent to the government management agency.
S416，无人机云将该无人机上报的飞行数据发送给政府管理机构。重复上述步骤S411-S416S416. The drone cloud sends the flight data reported by the drone to the government regulatory agency. Repeat the above steps S411-S416
S417，飞行结束，无人机降落关机。S417, the flight is over, and the drone is landed and shut down.
应理解，在上述方法400中，各个步骤的具体过程和本申请实施例提供的方法100、方法200和方法300中相应的步骤类似，为了简洁，在此不在赘述。It should be understood that, in the above method 400, the specific steps of the respective steps are similar to the corresponding steps in the method 100, the method 200, and the method 300 provided by the embodiments of the present application, and are not described herein for brevity.
本申请实施例提供的更新机电子围栏的方法，无人机通过蜂窝网实时接入到无人机云，结合网络设备辅助定位，避免了通过篡改无人机的GPS模组造成的无人机上报的位 置造假。网络设备辅助无人机云进行无人定位，结合无人机上报的GPS位置联合校验，提升了无人机位置上报的可靠性。无人机开机后与无人机云实时(飞行前、飞行中)更新电子围栏，增加了电子围栏破解的难度，也满足无人机在飞行中能即时响应电子围栏变化。The method for updating an electronic fence provided by the embodiment of the present application, the UAV accesses the UAV cloud through the cellular network in real time, and the network device assists the positioning, thereby avoiding the drone caused by tampering with the GPS module of the UAV Reported bit Make a fake. The network equipment assists the unmanned aerial vehicle to perform unattended positioning, and combines the GPS position joint verification reported by the drone to improve the reliability of the UAV position reporting. After the drone is turned on, the electronic fence is updated with the drone cloud in real time (before flight, in flight), which increases the difficulty of cracking the electronic fence, and also satisfies the UAV's ability to respond to changes in the electronic fence in flight.
应理解，本申请实施例提供更新无人机电子围栏的方法，可以用于需要经过远程授权才可以执行的无人机的应用，通过对无人机位置的增强校验，对无人机的启动和激活进行授权，可以用于对企业内自动导引运输车的巡检、室外远程作业机器人等。本申请实施例在此不作限制。It should be understood that the embodiment of the present application provides a method for updating an electronic fence of a drone, which can be applied to an application of a drone that can be executed after remote authorization, and an enhanced check on the position of the drone to the drone. Activation and activation for authorization, can be used for inspection of auto-guided transport vehicles in the enterprise, outdoor remote operation robots, etc. The embodiments of the present application are not limited herein.
还应理解，在本申请各个实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应该以其功能和内在的逻辑而定，而不应对本申请的实施例的实施过程造成任何限制。It should also be understood that, in various embodiments of the present application, the size of the serial numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be addressed by the present application. The implementation of the embodiments imposes any limitations.
下面将结合图12至图17，详细描述本申请实施例的服务器和更新无人机电子围栏的装置。The server of the embodiment of the present application and the apparatus for updating the electronic fence of the drone will be described in detail below with reference to FIGS. 12 to 17.
图12是本申请一个实施例的服务器的示意性框图。该服务器可以是无人机云服务器(无人机云)。应理解，服务器实施例与方法实施例相互对应，类似的描述可以参照方法实施例，图12所示的服务器500可以用于执行对应于图5和图6中无人机云执行的步骤。该服务器500包括：处理器510、存储器520和收发器530，处理器510、存储器520和收发器530通过通信连接，存储器520存储指令，处理器510用于执行存储器520存储的指令，收发器530用于在处理器510的驱动下执行具体的信号收发。Figure 12 is a schematic block diagram of a server in accordance with one embodiment of the present application. The server can be a drone cloud server (unmanned cloud). It should be understood that the server embodiment and the method embodiment correspond to each other, and a similar description may refer to the method embodiment. The server 500 shown in FIG. 12 may be used to execute the steps corresponding to the unmanned cloud execution in FIG. 5 and FIG. The server 500 includes a processor 510, a memory 520 and a transceiver 530. The processor 510, the memory 520 and the transceiver 530 are connected by communication, the memory 520 stores instructions, and the processor 510 is configured to execute instructions stored by the memory 520. The transceiver 530 It is used to perform specific signal transceiving under the driving of the processor 510.
该收发器，用于接收无人机发送的本机位置参数，该本机位置参数用于指示该无人机的本机位置。The transceiver is configured to receive a local location parameter sent by the drone, and the local location parameter is used to indicate the local location of the drone.
该收发器还用于：接收网络设备发送的该的无人机的网络位置参数，该网络位置参数用于指示该无人机的网络位置。The transceiver is further configured to: receive a network location parameter of the UAV sent by the network device, where the network location parameter is used to indicate a network location of the UAV.
该处理器，用于根据该本机位置参数和该网络位置参数，确定该无人机的当前位置。The processor is configured to determine a current location of the drone based on the local location parameter and the network location parameter.
本申请实施例提供的服务器，不仅获取无人发送(上报)的无人机自身的位置，还获取网络设备上报的无人机的位置，通过无人机上报的本机位置和网络设备上报的位置的联合校验，来确定无人机的当前位置。相比于只通过无人机上报的位置确定无人机的当前位置相比，避免了无人机的GPS模组可能被篡改而导致无人机上报虚假位置的问题。从而有效的提高了无人机上报的位置的可靠性，进而提高了无人机飞行的安全性。The server provided by the embodiment of the present application not only acquires the location of the unmanned unmanned aircraft (not reported), but also obtains the location of the drone reported by the network device, and reports the local location and the network device reported by the drone. A joint check of the location to determine the current location of the drone. Compared with determining the current position of the drone only by the position reported by the drone, the problem that the drone's GPS module may be tampered and the drone reports the false position is avoided. Thereby effectively improving the reliability of the location reported by the drone, thereby improving the safety of the drone flight.
服务器500中的各个组件通过通信连接，即处理器510、存储器520和收发器530之间通过内部连接通路互相通信，传递控制和/或数据信号。本申请上述方法实施例可以应用于处理器中，或者由处理器实现上述方法实施例的步骤。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)或者CPU和NP的组合、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请所公开的方法的步骤可以直接体现为硬件译码处理器执行 完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。The various components in server 500 communicate with each other via a communication connection, i.e., processor 510, memory 520, and transceiver 530, through internal connection paths, to communicate control and/or data signals. The foregoing method embodiments of the present application may be applied to a processor, or the processor may implement the steps of the foregoing method embodiments. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method embodiments may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software. The above processor may be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and an NP, a digital signal processor (DSP), an application specific integrated circuit (application). Specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. The methods, steps, and logical block diagrams disclosed in this application can be implemented or executed. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in connection with the present application may be directly embodied by a hardware decoding processor. Completed, or completed with a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.
可选的，在本申请的另一个实施例中，该处理器510具体用于：在该本机位置参数和该网络位置参数的误差在预设的阈值范围内的情况下，确定该当前位置为该本机位置或该网络位置。Optionally, in another embodiment of the present application, the processor 510 is specifically configured to determine the current location if the error of the local location parameter and the network location parameter is within a preset threshold range. For the local location or the network location.
可选的，在本申请的另一个实施例中，该收发器530还用于：接收该无人机发送的电子围栏更新参数；根据该电子围栏更新参数，向该无人机发送电子围栏信息。Optionally, in another embodiment of the present application, the transceiver 530 is further configured to: receive an electronic fence update parameter sent by the drone; and send the electronic fence information to the drone according to the electronic fence update parameter. .
可选的，在本申请的另一个实施例中，该处理器510还用于：确定该当前位置对应的飞行状态信息；在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。该实施例中提供的服务器，由于已经通过对无人机的位置的联合校验，确定了无人机上报的位置的准确性。在无人机位置准确的条件下结合电子围栏信息对无人机的飞行进行鉴权，可以提高对无人机飞行鉴权和监管的可靠性，提高无人机飞行的安全性。Optionally, in another embodiment of the present application, the processor 510 is further configured to: determine flight state information corresponding to the current location; and allow the flight state information corresponding to the current location to allow flight, allow The drone flies. The server provided in this embodiment determines the accuracy of the location reported by the drone since the joint verification of the position of the drone has been passed. Under the condition that the position of the drone is accurate, the electronic fence information can be used to authenticate the flight of the drone, which can improve the reliability of flight authentication and supervision of the drone and improve the safety of the drone flight.
可选的，在本申请的另一个实施例中，该处理器510具体用于：根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。Optionally, in another embodiment of the present application, the processor 510 is specifically configured to: determine, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold is a preset The minimum distance between the drone and the edge of the electronic fence.
可选的，在本申请的另一个实施例中，该电子围栏更新参数包括该无人机当前位置的参数和更新半径。Optionally, in another embodiment of the present application, the electronic fence update parameter includes a parameter of the current location of the drone and an update radius.
可选的，在本申请的另一个实施例中，该电子围栏信息包括电子围栏等级信息。Optionally, in another embodiment of the present application, the electronic fence information includes electronic fence level information.
应注意，本申请实施例中，处理器510可以由处理模块实现，存储器520可以由存储模块实现，收发器530可以由收发模块实现，如图13所示，服务器600可以包括处理模块610、存储模块620和收发模块630。It should be noted that, in the embodiment of the present application, the processor 510 may be implemented by a processing module, the memory 520 may be implemented by a storage module, and the transceiver 530 may be implemented by a transceiver module. As shown in FIG. 13, the server 600 may include a processing module 610 and storage. Module 620 and transceiver module 630.
图12所示的服务器500或图13所示的服务器600能够实现前述图5、图6以及图11中无人机云执行的步骤，为避免重复，这里不再赘述。The server 500 shown in FIG. 12 or the server 600 shown in FIG. 13 can implement the steps of the UAV cloud execution in FIG. 5, FIG. 6 and FIG. 11 described above. To avoid repetition, details are not described herein again.
图14示出了本申请一个实施例的更新无人机电子围栏的装置700示意性框图，如图14所示，该更新无人机电子围栏的装置700包括收发单元710和处理单元720。14 shows a schematic block diagram of an apparatus 700 for updating an electronic fence of a drone according to an embodiment of the present application. As shown in FIG. 14, the apparatus 700 for updating an electronic fence of a drone includes a transceiver unit 710 and a processing unit 720.
该收发单710，用于向无人机云发送无人机的电子围栏更新参数。The transceiver 710 is configured to send an electronic fence update parameter of the drone to the drone cloud.
该收发单元710还用于：接收该无人机云发送的第一区域的电子围栏信息，该第一区域是根据该电子围栏更新参数得到的。The transceiver unit 710 is further configured to: receive the electronic fence information of the first area sent by the drone cloud, where the first area is obtained according to the electronic fence update parameter.
本申请实施例提供的更新无人机电子围栏的装置，可以实时与无人机云连接，从无人机云直接获取最新的电子围栏信息，即对无人机的电子围栏信息进行更新。增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，可以及时响应电子围栏信息的变化。The device for updating the electronic fence of the drone can be connected to the cloud of the drone in real time, and the latest electronic fence information can be directly obtained from the cloud of the drone, that is, the electronic fence information of the drone is updated. The difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
可选的，在本申请的另一个实施例中，该处理单元720，用于确定该无人机的当前位置对应的飞行状态信息；该处理单元720还用于：在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。在该实施例中，由于已经从无人机云获取了最新的电子围栏信息，因此，会根据自身当前位置(实时位置)的飞行状态信息(电子围栏信息)，即当前位置的电子围栏状态。根据当前位置的电子围栏状态，对无人机进行相应 的飞行控制。可以体改无人机飞行时电子围栏鉴权的准确性。Optionally, in another embodiment of the present application, the processing unit 720 is configured to determine flight state information corresponding to a current location of the drone; the processing unit 720 is further configured to: determine, in the determining the current location The flight status information allows the drone to fly in the case of allowing flight. In this embodiment, since the latest electronic fence information has been acquired from the drone cloud, the flight state information (electronic fence information) according to its current position (real time position), that is, the electronic fence state of the current position. According to the current position of the electronic fence state, the corresponding drone Flight control. It can change the accuracy of the electronic fence authentication when the drone is flying.
可选的，在本申请的另一个实施例中，该电子围栏更新参数包括该无人机的第一位置参数和第一飞行半径。Optionally, in another embodiment of the present application, the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
可选的，在本申请的另一个实施例中，该处理单元720具体用于：根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。Optionally, in another embodiment of the present application, the processing unit 720 is specifically configured to: determine, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold is a preset The minimum distance between the drone and the edge of the electronic fence.
可选的，在本申请的另一个实施例中，在该收发单元710向该无人机云发送该无人机的第一位置参数和第一飞行半径前，该收发单元710还用于：获取该第一位置和该无人机的第二位置之间的距离；该处理单元720还用于：确定该无人机的第二飞行半径与该距离之间的差值小于或者等于的第一阈值，该第一阈值为预设的该无人机与第二区域的边界之间距离的最小值，该第二区域是根据该第二位置和该第二飞行半径确定。Optionally, in another embodiment of the present application, before the transceiver unit 710 sends the first location parameter and the first flight radius of the drone to the drone cloud, the transceiver unit 710 is further configured to: Obtaining a distance between the first location and the second location of the drone; the processing unit 720 is further configured to: determine that the difference between the second flight radius of the drone and the distance is less than or equal to a threshold value, the first threshold being a preset minimum value of a distance between the UAV and a boundary of the second region, the second region being determined according to the second location and the second flight radius.
可选的，在本申请的另一个实施例中，该电子围栏信息包括电子围栏等级信息。Optionally, in another embodiment of the present application, the electronic fence information includes electronic fence level information.
应理解，该装置700可以以硬件的形式安装在无人机中或者在无人机出厂时就固化在无人机中，与无人形成一体，作为无人机的一部分。可选的，该装置700还可以包括存储单元730，用于存储收发单元710和处理单元720实现上述各种功能时的调用的代码。It should be understood that the apparatus 700 can be installed in the drone in the form of hardware or in the drone when the drone is shipped from the factory, integrated with the unmanned person, as part of the drone. Optionally, the apparatus 700 may further include a storage unit 730 for storing codes of the transceiver unit 710 and the processing unit 720 to implement the foregoing various functions.
图14所示的更新无人机电子围栏的装置可以实现图7、图8以及图11中无人机执行的步骤，为避免重复，这里不再赘述。The apparatus for updating the electronic fence of the drone shown in FIG. 14 can implement the steps performed by the drones in FIGS. 7, 8, and 11. To avoid repetition, details are not described herein again.
应注意，本申请实施例中，收发单元可以由收发器来实现，处理单元可以由处理器来实现，存储单元可以由存储器来实现。如图15所示，更新无人机电子围栏的装置800可以包括处理模块810、存储模块820和收发模块830。It should be noted that, in the embodiment of the present application, the transceiver unit may be implemented by a transceiver, the processing unit may be implemented by a processor, and the storage unit may be implemented by a memory. As shown in FIG. 15, the apparatus 800 for updating the drone electronic fence may include a processing module 810, a storage module 820, and a transceiver module 830.
更新无人机电子围栏的装置800中的各个组件通过通信连接，即处理器810、存储器820和收发器830之间通过内部连接通路互相通信，传递控制和/或数据信号。本申请上述方法实施例可以应用于处理器中，或者由处理器实现上述方法实施例的步骤。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是CPU，网络处理器NP或者CPU和NP的组合、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。The various components in the device 800 that updates the drone electronic fence communicate with each other via a communication connection, i.e., between the processor 810, the memory 820, and the transceiver 830, through internal interconnect paths, and communicate control and/or data signals. The foregoing method embodiments of the present application may be applied to a processor, or the processor may implement the steps of the foregoing method embodiments. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method embodiments may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software. The above processor may be a CPU, a network processor NP or a combination of a CPU and an NP, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or a transistor logic device, or a discrete hardware component. The methods, steps, and logical block diagrams disclosed in this application can be implemented or executed. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in connection with the present application may be directly embodied by the execution of the hardware decoding processor or by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.
图16是本申请另一个实施例的服务器的示意性框图。该服务器可以是无人机云服务器(无人机云)。应理解，服务器实施例与方法实施例相互对应，类似的描述可以参照方法实施例，图16所示的服务器900可以用于执行对应于图7、图8、图10和图11中无人机云执行的步骤。该服务器900包括：处理器910、存储器920和收发器930，处理器910、存储器920和收发器930通过通信连接，存储器920存储指令，处理器910用于执行存储器920存储的指令，收发器930用于在处理器910的驱动下执行具体的信号收发。 16 is a schematic block diagram of a server of another embodiment of the present application. The server can be a drone cloud server (unmanned cloud). It should be understood that the server embodiment and the method embodiment correspond to each other, a similar description may refer to the method embodiment, and the server 900 shown in FIG. 16 may be used to execute the drone corresponding to FIG. 7, FIG. 8, FIG. 10 and FIG. The steps performed by the cloud. The server 900 includes a processor 910, a memory 920 and a transceiver 930. The processor 910, the memory 920 and the transceiver 930 are connected by communication, the memory 920 stores instructions, and the processor 910 is configured to execute instructions stored by the memory 920. The transceiver 930 It is used to perform specific signal transceiving under the driving of the processor 910.
该收发器930，用于接收无人机发送的无人机的电子围栏更新参数。The transceiver 930 is configured to receive an electronic fence update parameter of the drone sent by the drone.
该收发器930还用于：将第一区域的电子围栏信息发送给所述无人机，该第一区域是根据该电子围栏更新参数获得的。The transceiver 930 is further configured to: send the electronic fence information of the first area to the drone, and the first area is obtained according to the electronic fence update parameter.
本申请实施例提供的服务器，可以实时与无人机云连接，对无人机的电子围栏信息进行更新。增加了电子围栏信息破解的难度，提高了电子围栏信息的准确性。还可以实现无人机在飞行过程中电子围栏信息的实时更新，可以及时响应电子围栏信息的变化。The server provided in the embodiment of the present application can be connected to the cloud of the drone in real time to update the electronic fence information of the drone. The difficulty of cracking the electronic fence information is increased, and the accuracy of the electronic fence information is improved. It can also realize the real-time update of the electronic fence information during the flight of the drone, and can respond to the changes of the electronic fence information in time.
服务器900中的各个组件通过通信连接，即处理器910、存储器920和收发器530之间通过内部连接通路互相通信，传递控制和/或数据信号。本申请上述方法实施例可以应用于处理器中，或者由处理器实现上述方法实施例的步骤。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是CPU，网络处理器NP或者CPU和NP的组合、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。The various components in server 900 communicate with one another via a communication connection, i.e., processor 910, memory 920, and transceiver 530, through internal connection paths, to communicate control and/or data signals. The foregoing method embodiments of the present application may be applied to a processor, or the processor may implement the steps of the foregoing method embodiments. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method embodiments may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software. The above processor may be a CPU, a network processor NP or a combination of a CPU and an NP, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or a transistor logic device, or a discrete hardware component. The methods, steps, and logical block diagrams disclosed in this application can be implemented or executed. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in connection with the present application may be directly embodied by the execution of the hardware decoding processor or by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.
可选的，在本申请的另一个实施例中，该收发器930还用于：接收无人机发送的该无人机的本机位置参数；接收网络设备发送的该的无人机的网络位置参数。该处理器910还用于：在该本机置的参数和该本机位置参数的误差在预设的阈值范围内的情况下，确定该无人机的当前位置为该本机位置或该网络位置。Optionally, in another embodiment of the present application, the transceiver 930 is further configured to: receive a local location parameter of the drone sent by the drone; and receive the network of the drone sent by the network device. Location parameter. The processor 910 is further configured to: determine that the current location of the drone is the local location or the network if the parameter of the local device and the error of the local location parameter are within a preset threshold range position.
可选的，在本申请的另一个实施例中，该电子围栏更新参数包括该无人机的第一位置参数和第一飞行半径。Optionally, in another embodiment of the present application, the electronic fence update parameter includes a first position parameter of the drone and a first flight radius.
可选的，在本申请的另一个实施例中，该处理器910还用于：确定该当前位置对应的飞行状态信息；在确定该当前位置对应的飞行状态信息为允许飞行的情况下，允许该无人机飞行。Optionally, in another embodiment of the present application, the processor 910 is further configured to: determine flight state information corresponding to the current location; and allow the flight state information corresponding to the current location to allow flight, allow The drone flies.
可选的，在本申请的另一个实施例中，该处理器910具体用于：根据该当前位置的参数和航向阈值，确定该当前位置对应的飞行状态信息，其中，该航向阈值为预设的该无人机与电子围栏边界之间距离的最小值。Optionally, in another embodiment of the present application, the processor 910 is specifically configured to: determine, according to the parameter of the current location and a heading threshold, flight state information corresponding to the current location, where the heading threshold is a preset The minimum distance between the drone and the edge of the electronic fence.
可选的，在本申请的另一个实施例中，该电子围栏信息包括电子围栏等级信息。Optionally, in another embodiment of the present application, the electronic fence information includes electronic fence level information.
应注意，在发明实施例中，处理器910可以由处理模块实现，存储器920可以由存储模块实现，收发器930可以由收发模块实现，如图17所示，服务器1100可以包括处理模块1110、存储模块1120和收发模块1130。It should be noted that, in an embodiment of the invention, the processor 910 may be implemented by a processing module, the memory 920 may be implemented by a storage module, and the transceiver 930 may be implemented by a transceiver module. As shown in FIG. 17, the server 1100 may include a processing module 1110, and storage. Module 1120 and transceiver module 1130.
图16所示的服务器900或图17所示的服务器1100能够实现前述图7、图8、图10和图11中无人机云执行的步骤，为避免重复，这里不再赘述。The server 900 shown in FIG. 16 or the server 1100 shown in FIG. 17 can implement the steps of the aforementioned UAV cloud execution in FIG. 7, FIG. 8, FIG. 10 and FIG. 11, and the details are not described herein again.
本申请实施例还提供了一种计算机可读介质，用于存储计算机程序代码，该计算机程序包括用于执行上述图5、图6、图7、图8、图10和图11中至少一种本申请实施例的方法的指令。该可读介质可以是只读存储器(read-only memory，ROM)或随机存取存储器 (random access memory，RAM)，本申请实施例对此不做限制。The embodiment of the present application further provides a computer readable medium for storing computer program code, the computer program comprising at least one of the foregoing FIG. 5, FIG. 6, FIG. 7, FIG. 8, FIG. 10 and FIG. Instructions to the method of the embodiments of the present application. The readable medium can be a read-only memory (ROM) or a random access memory (Random access memory, RAM), this embodiment of the present application does not limit this.
应理解，本文中术语“和/或”以及“A或B中的至少一种”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the terms "and/or" and "at least one of A or B" herein are merely an association describing the associated object, indicating that there may be three relationships, for example, A and/or B, Representation: There are three cases where A exists separately, A and B exist at the same time, and B exists separately. In addition, the character "/" in this article generally indicates that the contextual object is an "or" relationship.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
在本申请所提供的几个实施例中，应该理解到，所揭露的***、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。The functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the technical solution of the present application, which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including The instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。 The foregoing is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application. It should be covered by the scope of protection of this application. Therefore, the scope of protection of the present application should be determined by the scope of the claims.

Claims (30)

  1. 一种定位无人机的方法，其特征在于，包括：A method for locating a drone, characterized in that it comprises:
    接收无人机发送的本机位置参数，所述本机位置参数用于指示所述无人机的本机位置；Receiving a local location parameter sent by the drone, wherein the local location parameter is used to indicate a local location of the drone;
    接收网络设备发送的所述无人机的网络位置参数，所述网络位置参数用于指示所述无人机的网络位置；Receiving, by the network device, a network location parameter of the drone, where the network location parameter is used to indicate a network location of the drone;
    根据所述本机位置参数和所述网络位置参数，确定所述无人机的当前位置。Determining a current location of the drone based on the local location parameter and the network location parameter.
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述本机位置参数和所述网络位置参数，确定所述无人机的当前位置，包括：The method according to claim 1, wherein the determining the current location of the drone according to the local location parameter and the network location parameter comprises:
    在所述本机位置参数和所述网络位置参数的误差在预设的阈值范围内的情况下，确定所述当前位置为所述本机位置或所述网络位置。In case the error of the local location parameter and the network location parameter is within a preset threshold range, the current location is determined to be the local location or the network location.
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法还包括：The method according to claim 1 or 2, wherein the method further comprises:
    接收所述无人机发送的电子围栏更新参数；Receiving an electronic fence update parameter sent by the drone;
    根据所述电子围栏更新参数，向所述无人机发送电子围栏信息。The electronic fence information is transmitted to the drone according to the electronic fence update parameter.
  4. 根据权利要求3所述的方法，其特征在于，所述电子围栏更新参数包括所述当前位置的参数和更新半径。The method of claim 3 wherein said electronic fence update parameter comprises a parameter of said current location and an update radius.
  5. 根据权利要求3或4所述的方法，其特征在于，所述电子围栏信息包括电子围栏等级信息。The method of claim 3 or 4 wherein said electronic fence information comprises electronic fence level information.
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括The method according to any one of claims 1 to 5, characterized in that the method further comprises
    确定所述当前位置对应的飞行状态信息；Determining flight status information corresponding to the current location;
    在确定所述当前位置对应的飞行状态信息为允许飞行的情况下，允许所述无人机飞行。The drone is allowed to fly in a case where it is determined that the flight state information corresponding to the current location is allowable flight.
  7. 根据权利要求6所述的方法，其特征在于，所述确定所述当前位置对应的飞行状态信息，包括：The method according to claim 6, wherein the determining the flight state information corresponding to the current location comprises:
    根据所述当前位置的参数和航向阈值，确定所述当前位置对应的飞行状态信息，其中，所述航向阈值为预设的所述无人机与电子围栏边界之间距离的最小值。Determining flight state information corresponding to the current location according to the parameter of the current location and a heading threshold, wherein the heading threshold is a minimum value of a preset distance between the UAV and an electronic fence boundary.
  8. 一种更新无人机电子围栏的方法，其特征在于，包括：A method for updating an electronic fence of a drone, comprising:
    向服务器发送无人机的电子围栏更新参数；Sending the electronic fence update parameters of the drone to the server;
    接收所述服务器发送的第一区域的电子围栏信息，所述第一区域是根据所述电子围栏更新参数获得的。Receiving electronic fence information of the first area sent by the server, where the first area is obtained according to the electronic fence update parameter.
  9. 根据权利要求8所述的方法，其特征在于，所述电子围栏更新参数包括所述无人机的第一位置参数和第一飞行半径。The method of claim 8 wherein said electronic fence update parameter comprises a first position parameter of said drone and a first flight radius.
  10. 根据权利要求8或9所述的方法，其特征在于，所述方法还包括：The method according to claim 8 or 9, wherein the method further comprises:
    确定所述无人机的当前位置对应的飞行状态信息；Determining flight status information corresponding to a current location of the drone;
    在确定所述当前位置对应的飞行状态信息为允许飞行的情况下，允许所述无人机飞行。The drone is allowed to fly in a case where it is determined that the flight state information corresponding to the current location is allowable flight.
  11. 根据权利要求9所述的方法，其特征在于，在所述向服务器发送无人机的电子围 栏更新参数前，所述方法还包括：The method according to claim 9, wherein said electronic enclosure of the drone is transmitted to said server Before the column updates the parameters, the method further includes:
    获取所述第一位置和所述无人机的第二位置之间的距离；Obtaining a distance between the first location and a second location of the drone;
    确定所述无人机的第二飞行半径与所述距离之间的差值小于或者等于的第一阈值，所述第一阈值为预设的所述无人机与第二区域的边界之间距离的最小值，所述第二区域的电子围栏信息是根据所述第二位置和所述第二飞行半径确定的。Determining, by the first threshold, a difference between a second flight radius of the drone and the distance, the first threshold being between a preset boundary of the drone and the second region The minimum value of the distance, the electronic fence information of the second area is determined according to the second position and the second flight radius.
  12. 根据权利要求8至11中任一项所述的方法，其特征在于，所述电子围栏信息包括电子围栏等级信息。The method according to any one of claims 8 to 11, wherein the electronic fence information comprises electronic fence level information.
  13. 一种更新无人机电子围栏的方法，其特征在于，包括：A method for updating an electronic fence of a drone, comprising:
    接收无人机发送的所述无人机的电子围栏更新参数；Receiving an electronic fence update parameter of the drone sent by the drone;
    将第一区域的电子围栏信息发送给所述无人机，所述第一区域是根据所述电子围栏更新参数获得的。The electronic fence information of the first area is sent to the drone, and the first area is obtained according to the electronic fence update parameter.
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：The method of claim 13 wherein the method further comprises:
    接收无人机发送的本机位置参数，所述本机位置参数用于指示所述无人机的本机位置；Receiving a local location parameter sent by the drone, wherein the local location parameter is used to indicate a local location of the drone;
    接收网络设备发送的所述无人机的网络位置参数，所述网络位置参数用于指示所述无人机的网络位置；Receiving, by the network device, a network location parameter of the drone, where the network location parameter is used to indicate a network location of the drone;
    在所述本机位置参数和所述网络位置参数的误差在预设的阈值范围内的情况下，确定所述当前位置为所述本机位置或所述网络位置。In case the error of the local location parameter and the network location parameter is within a preset threshold range, the current location is determined to be the local location or the network location.
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：The method of claim 14, wherein the method further comprises:
    确定所述当前位置对应的飞行状态信息；Determining flight status information corresponding to the current location;
    在确定所述当前位置对应的飞行状态信息为允许飞行的情况下，允许所述无人机飞行。The drone is allowed to fly in a case where it is determined that the flight state information corresponding to the current location is allowable flight.
  16. 一种服务器，其特征在于，所述服务器包括处理器、收发器和存储器，所述存储器用于存储指令，所述处理器用于执行所述存储器存储的指令，以控制所述收发器接收或发送信号；A server, comprising: a processor, a transceiver for storing instructions, and a processor for executing instructions stored by the memory to control reception or transmission by the transceiver signal;
    所述收发器，用于接收无人机发送的所述无人机的本机位置参数，所述本机位置参数用于指示所述无人机的本机位置；The transceiver is configured to receive a local location parameter of the drone sent by the drone, and the local location parameter is used to indicate a local location of the drone;
    所述收发器还用于：接收网络设备发送的所述的无人机的网络位置参数，所述网络位置参数用于指示所述无人机的网络位置；The transceiver is further configured to: receive a network location parameter of the UAV sent by a network device, where the network location parameter is used to indicate a network location of the UAV;
    所述处理器，用于根据所述本机位置参数和所述网络位置参数，确定所述无人机的当前位置。The processor is configured to determine a current location of the drone according to the local location parameter and the network location parameter.
  17. 根据权利要求16所述的服务器，其特征在于，所述处理器具体用于：在所述本机位置参数和所述网络位置参数的误差在预设的阈值范围内的情况下，确定所述当前位置为所述本机位置或所述网络位置。The server according to claim 16, wherein the processor is specifically configured to: when the error of the local location parameter and the network location parameter is within a preset threshold range, determine the The current location is the local location or the network location.
  18. 根据权利要求16或17所述的服务器，其特征在于，所述收发器还用于：The server according to claim 16 or 17, wherein the transceiver is further configured to:
    接收所述无人机发送的电子围栏更新参数；Receiving an electronic fence update parameter sent by the drone;
    根据所述电子围栏更新参数，向所述无人机发送电子围栏信息。The electronic fence information is transmitted to the drone according to the electronic fence update parameter.
  19. 根据权利要求18所述的服务器，其特征在于，所述电子围栏更新参数包括所述当前位置的参数和更新半径。 The server of claim 18, wherein the electronic fence update parameter comprises a parameter of the current location and an update radius.
  20. 根据权利要求18或19所述的服务器，其特征在于，所述电子围栏信息包括电子围栏等级信息。A server according to claim 18 or 19, wherein said electronic fence information comprises electronic fence level information.
  21. 根据权利要求16至20中任一项所述的服务器，其特征在于，所述处理器还用于：The server according to any one of claims 16 to 20, wherein the processor is further configured to:
    确定所述当前位置对应的飞行状态信息；Determining flight status information corresponding to the current location;
    在确定所述当前位置对应的飞行状态信息为允许飞行的情况下，允许所述无人机飞行。The drone is allowed to fly in a case where it is determined that the flight state information corresponding to the current location is allowable flight.
  22. 根据权利要求21所述的服务器，其特征在于，所述处理器具体用于：The server according to claim 21, wherein the processor is specifically configured to:
    根据所述当前位置的参数和航向阈值，确定所述当前位置对应的飞行状态信息，其中，所述航向阈值为预设的所述无人机与电子围栏边界之间距离的最小值。Determining flight state information corresponding to the current location according to the parameter of the current location and a heading threshold, wherein the heading threshold is a minimum value of a preset distance between the UAV and an electronic fence boundary.
  23. 一种更新无人机电子围栏的装置，其特征在于，包括收发单元和处理单元；An apparatus for updating an electronic fence of a drone, comprising: a transceiver unit and a processing unit;
    所述收发单元，用于向服务器发送无人机的电子围栏更新参数；The transceiver unit is configured to send an electronic fence update parameter of the drone to the server;
    所述收发单元还用于：接收所述服务器发送的第一区域的电子围栏信息，所述第一区域是根据所述电子围栏更新参数获得的。The transceiver unit is further configured to: receive electronic fence information of the first area sent by the server, where the first area is obtained according to the electronic fence update parameter.
  24. 根据权利要求23所述的装置，其特征在于：所述电子围栏更新参数包括所述无人机的第一位置参数和第一飞行半径。The apparatus of claim 23 wherein said electronic fence update parameter comprises a first position parameter of said drone and a first flight radius.
  25. 根据权利要求23或24所述的装置，其特征在于：A device according to claim 23 or 24, wherein:
    所述处理单元，用于确定所述无人机的当前位置对应的飞行状态信息；The processing unit is configured to determine flight state information corresponding to a current location of the drone;
    所述处理单元还用于：在确定所述当前位置对应的飞行状态信息为允许飞行的情况下，允许所述无人机飞行。The processing unit is further configured to allow the drone to fly if it is determined that the flight state information corresponding to the current location is allowed to fly.
  26. 根据权利要求24所述的装置，其特征在于：The device of claim 24 wherein:
    在所述收发单元向所述服务器发送所述无人机的第一位置参数和第一飞行半径前，所述收发单元还用于：获取所述第一位置和所述无人机的第二位置之间的距离；The transceiver unit is further configured to: acquire the first location and the second of the drone before the transceiver unit sends the first location parameter and the first flight radius of the drone to the server The distance between the locations;
    所述处理单元还用于：确定所述无人机的第二飞行半径与所述距离之间的差值小于或者等于的第一阈值，所述第一阈值为预设的所述无人机与第二区域的边界之间距离的最小值，所述第二区域的电子围栏信息是根据所述第二位置和所述第二飞行半径确定的。The processing unit is further configured to: determine that a difference between a second flight radius of the drone and the distance is less than or equal to a first threshold, where the first threshold is a preset of the drone The minimum value of the distance between the boundary of the second region, the electronic fence information of the second region being determined according to the second location and the second flight radius.
  27. 根据权利要求23至26中任一项所述的装置，其特征在于：所述电子围栏信息包括电子围栏等级信息。The apparatus according to any one of claims 23 to 26, wherein the electronic fence information comprises electronic fence level information.
  28. 一种服务器，其特征在于，所述服务器包括处理器、收发器和存储器，所述存储器用于存储指令，所述处理器用于执行所述存储器存储的指令，以控制所述收发器接收或发送信号；A server, comprising: a processor, a transceiver for storing instructions, and a processor for executing instructions stored by the memory to control reception or transmission by the transceiver signal;
    所述收发器，用于接收无人机发送的所述无人机的电子围栏更新参数；The transceiver is configured to receive an electronic fence update parameter of the drone sent by the drone;
    所述收发器还用于：将第一区域的电子围栏信息发送给所述无人机，所述第一区域是根据所述电子围栏更新参数获得的。The transceiver is further configured to: send the electronic fence information of the first area to the drone, and the first area is obtained according to the electronic fence update parameter.
  29. 根据权利要求28所述的服务器，其特征在于，所述收发器还用于：The server according to claim 28, wherein said transceiver is further configured to:
    接收无人机发送的本机位置参数；Receiving local location parameters sent by the drone;
    接收网络设备发送的所述的无人机的网络位置参数，所述网络位置参数用于指示所述无人机的网络位置；Receiving, by the network device, a network location parameter of the UAV, where the network location parameter is used to indicate a network location of the UAV;
    所述处理器还用于：在所述本机位置参数和所述网络位置参数的误差在预设的阈值范围内的情况下，确定所述当前位置为所述本机位置或所述网络位置。 The processor is further configured to: when the error of the local location parameter and the network location parameter is within a preset threshold range, determine that the current location is the local location or the network location .
  30. 根据权利要求29所述的服务器，其特征在于，所述处理器还用于：The server according to claim 29, wherein the processor is further configured to:
    确定所述当前位置对应的飞行状态信息；Determining flight status information corresponding to the current location;
    在确定所述当前位置对应的飞行状态信息为允许飞行的情况下，允许所述无人机飞行。 The drone is allowed to fly in a case where it is determined that the flight state information corresponding to the current location is allowable flight.
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