WO2019028791A1 - Procédé de localisation de véhicule aérien sans pilote, et serveur - Google Patents

Procédé de localisation de véhicule aérien sans pilote, et serveur 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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Prior art keywords
drone
electronic fence
parameter
location
flight
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PCT/CN2017/096931
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English (en)
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/fr
Publication of WO2019028791A1 publication Critical patent/WO2019028791A1/fr

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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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  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
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  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé de localisation d'un véhicule aérien sans pilote, ainsi qu'un serveur. Le procédé comprend les étapes qui consistent : à recevoir un paramètre de position physique envoyé par un véhicule aérien sans pilote, ledit paramètre de position physique servant à indiquer la position physique du véhicule aérien sans pilote; à recevoir un paramètre de position réseau du véhicule aérien sans pilote envoyé par un dispositif de réseau, le paramètre de position réseau permettant d'indiquer la position réseau du véhicule aérien sans pilote; et à déterminer, en fonction du paramètre de position physique et du paramètre de position réseau, la position courante du véhicule aérien sans pilote. Le procédé et le serveur de localisation de véhicule aérien sans pilote ci-décrits permettent non seulement d'acquérir la position du véhicule aérien sans pilote envoyée par le véhicule aérien sans pilote lui-même, mais également d'acquérir la position du véhicule aérien sans pilote rapportée par le dispositif de réseau, et de déterminer la position courante du véhicule aérien sans pilote conformément à la vérification conjointe de la position physique et de la position réseau. L'invention évite que le module GPS du véhicule aérien sans pilote ait pu être trafiqué et que le véhicule aérien sans pilote rapporte par conséquent une position erronée. L'invention est efficace pour améliorer la fiabilité de la position rapportée par le véhicule aérien sans pilote, améliorant ainsi la fiabilité de l'authentification de vol du véhicule aérien sans pilote et la sécurité du vol du véhicule aérien sans pilote.
PCT/CN2017/096931 2017-08-10 2017-08-10 Procédé de localisation de véhicule aérien sans pilote, et serveur WO2019028791A1 (fr)

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