CN109729563B

CN109729563B - Unmanned aerial vehicle control method, network equipment and unmanned aerial vehicle

Info

Publication number: CN109729563B
Application number: CN201711042647.0A
Authority: CN
Inventors: 张晓然
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Ltd Research Institute
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Communications Ltd Research Institute
Priority date: 2017-10-30
Filing date: 2017-10-30
Publication date: 2021-10-26
Anticipated expiration: 2037-10-30
Also published as: CN109729563A

Abstract

The embodiment of the invention provides a control method of an unmanned aerial vehicle, network equipment and the unmanned aerial vehicle, wherein the network equipment sends a downlink message carrying an unmanned aerial vehicle access control message, and the unmanned aerial vehicle access control message is used for ensuring whether the unmanned aerial vehicle accesses a specified cell or not according to the access control message; the unmanned aerial vehicle receives a downlink message which is sent by the network equipment and carries an unmanned aerial vehicle access control message; and determining whether to access the designated cell according to the access control message. The scheme of the invention carries out information interaction with the unmanned aerial vehicle by a wireless technical means and controls the unmanned aerial vehicle to forbid entering the no-fly zone.

Description

Unmanned aerial vehicle control method, network equipment and unmanned aerial vehicle

Technical Field

The invention relates to the field of control of unmanned aerial vehicles, in particular to a control method of an unmanned aerial vehicle, network equipment and the unmanned aerial vehicle.

Background

At present, unmanned aerial vehicle communication mainly has two modes:

the first method is as follows: the unmanned aerial vehicle and the remote control terminal thereof are realized through a wireless local area network (WIFI) technology;

the second method comprises the following steps: the unmanned aerial vehicle and the remote control terminal are both common users, the common users are accessed into the cellular network for communication, the remote control terminal transmits the instruction to the cellular network base station, and the base station forwards the instruction to the unmanned aerial vehicle.

The unmanned aerial vehicle flight-forbidden area is an area where unmanned aerial vehicles are forbidden to fly over or fly into in certain airports, power plants, military bases, prisons, government offices and the like. When the unmanned aerial vehicle enters the no-fly area, the take-off and landing of the civil aviation airliner can be interfered, the public safety and the like are influenced, and the personal and property safety of the ground is damaged.

For the first scheme of unmanned aerial vehicle communication (through wireless local area network control), a possible method for limiting the unmanned aerial vehicle from entering the no-fly zone is to set the no-fly zone inside, and when the unmanned aerial vehicle is positioned to be in the no-fly zone, the unmanned aerial vehicle cannot start or automatically land, return to the air, and the like. This method belongs to the unmanned aerial vehicle's own realization.

For the second method of unmanned aerial vehicle communication (controlled by cellular network), the communication signal of the unmanned aerial vehicle can be limited by wireless cellular technology, the unmanned aerial vehicle is not allowed to access into the cell within the no-fly zone, and when the unmanned aerial vehicle enters the no-fly zone, the unmanned aerial vehicle will directly drop due to losing the connection with the network.

As shown in fig. 1, when the network of the ground wireless communication system needs to simultaneously cover the aerial drone terminal, the main lobe direction of the base station antenna covers the ground terminal, and the side lobe covers the aerial drone terminal. Compared with a ground terminal, the unmanned aerial vehicle terminal in the air has more cells and changes in network topology structure.

As shown in fig. 2, the network topology of the current wireless cellular network is as follows, and the middle cell 21 is the strongest cell for the ground terminal. However, for an aerial drone terminal under the service of a ground base station, the network topology seen by the terminal may change, and as the flying altitude of the drone increases, the strongest cell seen by the drone terminal may be a cell of the area 22, or even a cell of the area 23.

So even if be in same geographical position, unmanned aerial vehicle user will be different with ordinary ground user's service cell, and the unmanned aerial vehicle of different flying height simultaneously also can be different for its cell of service.

In the existing blacklist mechanism in the LTE technology, blacklist cell lists configured for each cell/frequency point are the same, and the different factors of different unmanned aerial vehicle service cells with different altitudes are not considered. At this time, the blacklist cell is configured according to a common user, and the unmanned aerial vehicle cannot be limited to enter the no-fly zone. If the blacklist cell is configured according to the unmanned aerial vehicle user, the common user can be greatly influenced. In addition, the blacklist cells that the drones of different flight altitudes need to configure may also be different, requiring a new mechanism to solve this problem.

The existing LTE access control mechanism also has similar problems, a new access control mechanism needs to be designed for the unmanned aerial vehicle, and the unmanned aerial vehicles with different altitudes are limited from entering a no-fly area. In addition, the access control mechanism is only applied to the idle state, and the connected state cannot guarantee the requirements.

Disclosure of Invention

The invention provides a control method of an unmanned aerial vehicle, network equipment and the unmanned aerial vehicle, which interact information with the unmanned aerial vehicle through a wireless technical means and control the unmanned aerial vehicle to forbid entering a no-fly area on the premise of not influencing the work of a ground common terminal (non-unmanned aerial vehicle terminal).

To solve the above technical problem, an embodiment of the present invention provides the following solutions:

a method of controlling a drone, comprising:

and sending a downlink message carrying an unmanned aerial vehicle access control message, wherein the unmanned aerial vehicle access control message is used for ensuring that the unmanned aerial vehicle determines whether to access to a specified cell according to the access control message.

The step of sending the downlink message carrying the access control message of the unmanned aerial vehicle comprises the following steps:

sending a broadcast message carrying an unmanned aerial vehicle access control message to an idle unmanned aerial vehicle; or

And sending a measurement control message carrying the unmanned aerial vehicle access control message to the unmanned aerial vehicle in the connected state.

The step of sending the broadcast message carrying the unmanned aerial vehicle access control message to the idle unmanned aerial vehicle comprises the following steps:

sending a broadcast message carrying a first access control message to an idle unmanned aerial vehicle, wherein the first access control message comprises: and determining the unmanned aerial vehicle access control category according to the altitude.

Wherein the unmanned aerial vehicle access control category includes: and the altitude ranges of the control categories are different from each other.

Wherein each of the at least one control category comprises: the altitude range that this control classification corresponds to and whether allow unmanned aerial vehicle to access the zone bit of the district in this altitude range.

Wherein the at least one control category comprises: a first control category corresponding to a first altitude range, a second control category corresponding to a second altitude range, and a third control category corresponding to a third altitude range;

wherein the third range of altitudes is greater than the second range of altitudes, which is greater than the first range of altitudes;

the first control category includes a first altitude range and a first flag of whether to allow the drone to access cells within the first altitude range;

the second control category includes a second altitude range and a second flag of whether to allow the drone to access cells within the second altitude range;

the third control category includes a third altitude range and a third flag of whether to allow the drone to access cells within the third altitude range.

Wherein the unmanned aerial vehicle access control category includes: an altitude threshold value, and whether the unmanned aerial vehicle is allowed to access a fourth flag of a cell within a range lower than the altitude threshold value when the altitude threshold value is lower than the altitude threshold value, or whether the unmanned aerial vehicle is allowed to access a fifth flag of a cell within a range higher than the altitude threshold value when the altitude threshold value is higher than the altitude threshold value.

sending a broadcast message carrying a second access control message to the idle unmanned aerial vehicle, wherein the second access control message comprises: a first blacklisted cell list of at least one cell into which the drone is prohibited from entering.

Wherein, the second access control message further comprises: a second blacklisted cell list of at least one cell into which non-drones are prohibited from entering.

Wherein, the step of sending the measurement control message carrying the unmanned aerial vehicle access control message to the connected unmanned aerial vehicle comprises:

obtaining current altitude information of the unmanned aerial vehicle in a connected state;

according to the current altitude information, sending measurement control information carrying a third access control message to the connected unmanned aerial vehicle, wherein the third access control message comprises: and the altitude range of the current altitude information is a corresponding blacklist cell list.

Wherein, the control method of the unmanned aerial vehicle further comprises:

when the current altitude information is detected to be out of the first preset altitude range, obtaining updated altitude information;

according to the updated altitude information, sending measurement control information carrying a fourth machine access control message to the connected unmanned aerial vehicle, wherein the fourth access control message comprises: and the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located.

Wherein, the step of sending the measurement control information carrying the unmanned aerial vehicle access control message to the connected unmanned aerial vehicle comprises:

obtaining current altitude information of the unmanned aerial vehicle in a connected state and a measurement report reported by the unmanned aerial vehicle;

if the cell in the measurement report is in a blacklist cell list corresponding to the altitude range where the current altitude information is located, sending measurement control information and alarm information carrying fifth access control information to a connected unmanned aerial vehicle, where the fifth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist list.

The control method of the unmanned aerial vehicle further comprises the following steps:

when the current altitude information is detected to be out of the altitude range, obtaining updated altitude information and an updated measurement report reported by the unmanned aerial vehicle;

if the neighbor cell in the updated measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information is located, sending measurement control information carrying sixth access control information and updated alarm information to the connected unmanned aerial vehicle, where the sixth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist list.

sending measurement control information carrying seventh access control information to the connected unmanned aerial vehicle, wherein the seventh access control information comprises: and respectively corresponding blacklist cell lists in different altitude ranges.

An embodiment of the present invention further provides a network device, including:

and the transceiver is used for sending a downlink message carrying an unmanned aerial vehicle access control message, and the unmanned aerial vehicle access control message is used for enabling the unmanned aerial vehicle to determine whether to access the designated cell according to the access control message.

Wherein the transceiver is specifically configured to: sending a downlink broadcast message carrying an unmanned aerial vehicle access control message to an idle unmanned aerial vehicle; or sending a measurement control message carrying the unmanned aerial vehicle access control message to the connected unmanned aerial vehicle.

When the transceiver sends a broadcast message carrying an access control message of the unmanned aerial vehicle to the idle unmanned aerial vehicle, the transceiver is specifically configured to: sending a broadcast message carrying a first access control message to an idle unmanned aerial vehicle, wherein the first access control message comprises: and determining the unmanned aerial vehicle access control category according to the altitude.

wherein the first control category comprises a first altitude range and a first flag indicating whether the drone is allowed to access cells within the first altitude range;

When the transceiver sends a broadcast message carrying an access control message of the unmanned aerial vehicle to the idle unmanned aerial vehicle, the transceiver is specifically configured to: sending a broadcast message carrying a second access control message to the idle unmanned aerial vehicle, wherein the second access control message comprises: a first blacklisted cell list of at least one cell into which the drone is prohibited from entering.

Wherein, when the transceiver sends the measurement control message carrying the access control message of the unmanned aerial vehicle to the connected unmanned aerial vehicle, the transceiver is specifically configured to: obtaining current altitude information of the unmanned aerial vehicle in a connected state; according to the current altitude information, sending measurement control information carrying a third access control message to the connected unmanned aerial vehicle, wherein the third access control message comprises: and the altitude range of the current altitude information is a corresponding blacklist cell list.

Wherein the transceiver is further configured to: when the current altitude information is detected to be out of the first preset altitude range, obtaining updated altitude information; according to the updated altitude information, sending measurement control information carrying a fourth machine access control message to the connected unmanned aerial vehicle, wherein the fourth access control message comprises: and the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located.

Wherein, when the transceiver sends the measurement control information carrying the access control message of the unmanned aerial vehicle to the connected unmanned aerial vehicle, the transceiver is specifically configured to: obtaining current altitude information of the unmanned aerial vehicle in a connected state and a measurement report reported by the unmanned aerial vehicle; if the cell in the measurement report is in a blacklist cell list corresponding to the altitude range where the current altitude information is located, sending measurement control information and alarm information carrying fifth access control information to a connected unmanned aerial vehicle, where the fifth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist list.

Wherein the transceiver is further configured to: when the current altitude information is detected to be out of the altitude range, obtaining updated altitude information and an updated measurement report reported by the unmanned aerial vehicle; if the neighbor cell in the updated measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information is located, sending measurement control information carrying sixth access control information and updated alarm information to the connected unmanned aerial vehicle, where the sixth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist list.

Wherein, when the transceiver sends the measurement control information carrying the access control message of the unmanned aerial vehicle to the connected unmanned aerial vehicle, the transceiver is specifically configured to: sending measurement control information carrying seventh access control information to the connected unmanned aerial vehicle, wherein the seventh access control information comprises: and respectively corresponding blacklist cell lists in different altitude ranges.

The embodiment of the invention also provides a control method of the unmanned aerial vehicle, which comprises the following steps:

receiving a downlink message which is sent by network equipment and carries an unmanned aerial vehicle access control message;

and determining whether to access the designated cell according to the access control message.

The step of receiving the downlink message carrying the unmanned aerial vehicle access control message sent by the network device includes:

the method comprises the steps that an idle unmanned aerial vehicle receives a broadcast message which is sent by network equipment and carries an unmanned aerial vehicle access control message; or

And the unmanned aerial vehicle in the connected state receives the measurement control message which is sent by the network equipment and carries the unmanned aerial vehicle access control message.

The method for receiving the broadcast message carrying the unmanned aerial vehicle access control message sent by the network equipment by the idle unmanned aerial vehicle comprises the following steps:

an idle unmanned aerial vehicle receives a broadcast message which is sent by network equipment and carries a first access control message, wherein the first access control message comprises: and determining the unmanned aerial vehicle access control category according to the altitude.

Wherein the step of determining whether to access the designated cell according to the access control message comprises:

the unmanned aerial vehicle in an idle state judges that the current altitude of the unmanned aerial vehicle is within a first altitude range, and when the first zone bit is in a first state, the unmanned aerial vehicle determines that the unmanned aerial vehicle can be accessed to a cell within the first altitude range, otherwise, when the first zone bit is in a second state, the unmanned aerial vehicle determines that the unmanned aerial vehicle cannot be accessed to the cell within the first altitude range; or

The unmanned aerial vehicle in the idle state judges that the current altitude of the unmanned aerial vehicle is within a second altitude range, and when the second zone bit is in a first state, the unmanned aerial vehicle determines that the unmanned aerial vehicle can be accessed to a cell within the second altitude range, otherwise, when the second zone bit is in a second state, the unmanned aerial vehicle determines that the unmanned aerial vehicle cannot be accessed to the cell within the second altitude range; or

The unmanned aerial vehicle in the idle state judges that the current altitude of the unmanned aerial vehicle is in a third altitude range, and when the third zone bit is in a first state, the unmanned aerial vehicle determines that the unmanned aerial vehicle can be accessed into a cell in the third altitude range, otherwise, when the third zone bit is in a second state, the unmanned aerial vehicle determines that the unmanned aerial vehicle cannot be accessed into the cell in the third altitude range.

when the idle unmanned aerial vehicle judges that the current altitude of the unmanned aerial vehicle is lower than an altitude threshold value and the fourth zone bit is in a first state, determining that the unmanned aerial vehicle can be accessed to a cell within a range lower than the altitude threshold value, otherwise, when the fourth zone bit is in a second state, determining that the unmanned aerial vehicle cannot be accessed to the cell within the range lower than the altitude threshold value; or

When the unmanned aerial vehicle in the idle state judges that the current altitude of the unmanned aerial vehicle is higher than the altitude threshold value, and the fifth marker bit is in the first state, the unmanned aerial vehicle determines that the unmanned aerial vehicle can access the cell higher than the altitude threshold value range, otherwise, when the fifth marker bit is in the second state, the unmanned aerial vehicle determines that the unmanned aerial vehicle cannot access the cell higher than the altitude threshold value range.

the idle unmanned aerial vehicle receives a broadcast message which is sent by network equipment and carries a second access control message, wherein the second access control message comprises: a first blacklisted cell list of at least one cell into which the drone is prohibited from entering.

and the idle unmanned aerial vehicle does not measure the cells in the first blacklist cell list according to the first blacklist cell list in the second access control message and does not access the cells in the first blacklist cell list.

The step of receiving, by the connected unmanned aerial vehicle, the measurement control message carrying the unmanned aerial vehicle access control message sent by the network device includes:

the unmanned aerial vehicle in the connected state receives a measurement control message which is sent by the network equipment and carries a third access control message, wherein the third access control message comprises: and a blacklist cell list corresponding to the altitude range where the current altitude information of the unmanned aerial vehicle is located.

and the unmanned aerial vehicle in the connected state does not measure the cells in the blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle is located according to the blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle is located in the third access control message, and does not access the cells in the blacklist cell list.

the unmanned aerial vehicle in the connected state receives measurement control information which is sent by the network equipment and carries a fourth machine access control message, wherein the fourth access control message comprises: a blacklist cell list corresponding to a preset altitude range in which the altitude information updated by the unmanned aerial vehicle is located;

and the unmanned aerial vehicle in the connected state does not measure the cells in the blacklist cell list corresponding to the altitude range in which the updated altitude information is located, and does not access the cells in the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located.

reporting a measurement report of the unmanned aerial vehicle in a connected state to network equipment;

receiving measurement control information and alarm information which carry fifth access control information and are sent to the connected unmanned aerial vehicle by the network equipment, wherein the fifth access control information comprises: and when the cell in the measurement report is in a blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle in the connected state is located, prohibiting the unmanned aerial vehicle from accessing the control information of the cell in the blacklist list.

and the unmanned aerial vehicle in the connected state does not access the cell in the blacklist list when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range where the current altitude information of the unmanned aerial vehicle in the connected state is located according to the fifth access control information.

the connected unmanned aerial vehicle receives measurement control information which is sent by the network equipment and carries a sixth machine access control message, wherein the sixth access control message comprises: when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information of the connected unmanned aerial vehicle is located, the unmanned aerial vehicle is prohibited from accessing the cell in the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located;

the connected unmanned aerial vehicle receives measurement control information which is sent by the network equipment and carries seventh access control information, wherein the seventh access control information comprises: blacklist cell lists corresponding to different altitude ranges respectively;

and the unmanned aerial vehicle in a connected state does not measure the cells in the blacklist cell list corresponding to the altitude range in which the current altitude is located according to the current altitude of the unmanned aerial vehicle, and does not access the cells in the blacklist.

An embodiment of the present invention further provides an unmanned aerial vehicle, including:

the transceiver is used for receiving a downlink message which is sent by the network equipment and carries the unmanned aerial vehicle access control message;

and the processor is used for determining whether to access the designated cell according to the access control message.

Wherein the transceiver is specifically configured to: in an idle state, receiving a broadcast message which is sent by network equipment and carries an unmanned aerial vehicle access control message; or

And receiving a measurement control message carrying an unmanned aerial vehicle access control message sent by the network equipment in a connected state.

The transceiver is specifically configured to receive, in an idle state, a broadcast message that is sent by a network device and carries a first access control message, where the first access control message includes: and determining the unmanned aerial vehicle access control category according to the altitude.

Wherein the processor is specifically configured to: in an idle state, judging that the current altitude of the user is within a first altitude range, and when the first zone bit is in a first state, determining that the user can access a cell within the first altitude range, otherwise, when the first zone bit is in a second state, determining that the user cannot access the cell within the first altitude range; or

Judging that the current altitude of the user is within a second altitude range, and when the second zone bit is in a first state, determining that the user can access the cell within the second altitude range, otherwise, when the second zone bit is in a second state, determining that the user cannot access the cell within the second altitude range; or

And judging that the current altitude of the user is within a third altitude range, determining that the cell within the third altitude range can be accessed when the third zone bit is in a first state, and otherwise, determining that the cell within the third altitude range cannot be accessed when the third zone bit is in a second state.

Wherein the processor is specifically configured to: in an idle state, when the current altitude of the user is judged to be lower than an altitude threshold value and the fourth zone bit is in a first state, determining that the cell which is lower than the altitude threshold value can be accessed, otherwise, when the fourth zone bit is in a second state, determining that the cell which is lower than the altitude threshold value cannot be accessed; or

And when the current altitude of the user is judged to be higher than an altitude threshold value and the fifth marker bit is in a first state, determining that the user can access the cell within the range higher than the altitude threshold value, otherwise, determining that the user cannot access the cell within the range higher than the altitude threshold value when the fifth marker bit is in a second state.

Wherein the transceiver is specifically configured to: in an idle state, receiving a broadcast message carrying a second access control message sent by a network device, where the second access control message includes: a first blacklisted cell list of at least one cell into which the drone is prohibited from entering.

Wherein the processor is specifically configured to: and in an idle state, according to a first blacklist cell list in the second access control message, not measuring the cells in the first blacklist cell list and not accessing the cells in the first blacklist cell list.

Wherein the transceiver is specifically configured to: in a connected state, receiving a measurement control message carrying a third access control message sent by a network device, where the third access control message includes: and a blacklist cell list corresponding to the altitude range where the current altitude information of the unmanned aerial vehicle is located.

The processor is specifically configured to, in a connected state, according to a blacklist cell list corresponding to an altitude range in which current altitude information of the unmanned aerial vehicle is located in the third access control message, not measure a cell in the blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle is located, and not access the cell in the blacklist cell list.

Wherein the transceiver is specifically configured to: in a connected state, receiving measurement control information carrying a fourth machine access control message sent by a network device, where the fourth access control message includes: a blacklist cell list corresponding to a preset altitude range in which the altitude information updated by the unmanned aerial vehicle is located;

the processor is configured to, in a connected state, not measure a cell in the blacklist cell list corresponding to an altitude range in which the updated altitude information is located, and not access a cell in the blacklist cell list corresponding to a preset altitude range in which the updated altitude information is located.

Wherein the transceiver is specifically configured to: reporting a measurement report of the unmanned aerial vehicle in a connected state to network equipment;

and receiving measurement control information and alarm information carrying fifth access control information sent by the network device to the connected unmanned aerial vehicle, wherein the fifth access control information comprises: and when the cell in the measurement report is in a blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle in the connected state is located, prohibiting the unmanned aerial vehicle from accessing the control information of the cell in the blacklist list.

Wherein the processor is specifically configured to: and when the cell in the measurement report is in a blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle in the connected state is located, the cell in the blacklist list is not accessed according to the fifth access control information in the connected state.

Wherein the transceiver is specifically configured to: in a connected state, receiving measurement control information carrying a sixth set of access control information sent by a network device, where the sixth access control information includes: when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information of the connected unmanned aerial vehicle is located, the unmanned aerial vehicle is prohibited from accessing the cell in the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located;

the processor is specifically configured to, in a connected state, not measure a cell in the blacklisted cell list corresponding to the altitude range in which the updated altitude information is located, and not access a cell in the blacklisted cell list corresponding to a preset altitude range in which the updated altitude information is located.

Wherein the transceiver is specifically configured to: in a connected state, receiving measurement control information carrying seventh access control information sent by a network device, where the seventh access control information includes: blacklist cell lists corresponding to different altitude ranges respectively;

the processor is specifically configured to, in a connected state, according to a current altitude of the processor, not measure a cell in a blacklist cell list corresponding to an altitude range in which the current altitude is located, and not access the cell in the blacklist.

An embodiment of the present invention further provides a communication device, including: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above.

Embodiments of the present invention also provide a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the method as described above.

The scheme of the invention at least comprises the following beneficial effects:

according to the scheme, the unmanned aerial vehicle access control message is used for enabling the unmanned aerial vehicle to determine whether to access the designated cell according to the access control message by sending the downlink message carrying the unmanned aerial vehicle access control message, the unmanned aerial vehicle receives the downlink message carrying the unmanned aerial vehicle access control message sent by the network equipment, and whether to access the designated cell is determined according to the access control message; thereby realized controlling unmanned aerial vehicle according to unmanned aerial vehicle's altitude to insert the district, satisfied utilizing the demand that the unmanned aerial vehicle got into the no-fly zone of cellular communication technique restriction.

Drawings

Fig. 1 is a schematic diagram of network coverage of a terrestrial wireless communication system;

FIG. 2 is a schematic diagram of a network topology of a current wireless cellular network;

fig. 3 is a schematic flow chart of a control method of the unmanned aerial vehicle according to the embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The embodiment of the invention provides a control method of an unmanned aerial vehicle, which comprises the following steps:

Specifically, a broadcast message carrying an access control message of the unmanned aerial vehicle may be sent to the idle unmanned aerial vehicle; or sending a measurement control message carrying the unmanned aerial vehicle access control message to the connected unmanned aerial vehicle.

The first scheme of sending the broadcast message carrying the unmanned aerial vehicle access control message to the idle unmanned aerial vehicle comprises the following steps:

sending a broadcast message carrying a first access control message to an idle unmanned aerial vehicle, wherein the first access control message comprises: determining the unmanned aerial vehicle access control category according to the altitude;

Each of the at least one control category includes: the altitude range that this control classification corresponds to and whether allow unmanned aerial vehicle to access the zone bit of the district in this altitude range.

wherein the third altitude range is greater than the second altitude range, which is greater than the first altitude range.

For example, the cell broadcasts its own access control message in a broadcast message, where the access control message includes whether to allow access to a terminal of the drone class (ac-BarringForDrone), where the ac-BarringForDrone may set different access control classes for different altitudes. For example:

ac-BarringForDronelow (equivalent to the first altitude range described above) for drones with an altitude below 50 meters;

ac-barringforddrenomedium (equivalent to the second altitude range mentioned above) for drones with altitudes above 50 m and below 200 m;

ac-barringforddronehigh (equivalent to the third altitude range described above) for drones with altitudes above 200 m;

the access control message may be a flag bit represented by (0, 1) bits, where 1 represents that the cell is allowed to be accessed, and 0 represents that the cell is not allowed to be accessed, although the flag bit is not limited to be represented by bits.

For example, a certain cell broadcasts:

ac-BarringForDronelow 0，

ac-BarringForDronemedium 1，

ac-BarringForDronehigh 1，

then the unmanned aerial vehicle with the altitude height of less than 50 meters is not allowed to access the cell, and the unmanned aerial vehicle with the altitude height of more than 50 meters can access the cell;

the unmanned aerial vehicle receives the broadcast message of the cell, reads the access control message, and determines whether to allow access to the cell according to the altitude of the unmanned aerial vehicle;

if the unmanned aerial vehicle finds that the unmanned aerial vehicle is forbidden to access in a certain cell, the unmanned aerial vehicle indicates that the unmanned aerial vehicle reaches the no-fly zone area and should land or return to the home immediately.

The second scheme of sending the broadcast message carrying the unmanned aerial vehicle access control message to the idle unmanned aerial vehicle comprises the following steps:

sending a broadcast message carrying a first access control message to an idle unmanned aerial vehicle, wherein the first access control message comprises: at least one unmanned aerial vehicle access control category determined according to the altitude;

the unmanned aerial vehicle access control categories include: an altitude threshold value, and whether the unmanned aerial vehicle is allowed to access a fourth flag of a cell within a range lower than the altitude threshold value when the altitude threshold value is lower than the altitude threshold value, or whether the unmanned aerial vehicle is allowed to access a fifth flag of a cell within a range higher than the altitude threshold value when the altitude threshold value is higher than the altitude threshold value.

For example, the cell broadcasts its own access control message in a broadcast message, where the access control message includes a flag bit indicating whether to allow access to a terminal in the drone class (ac-BarringForDrone), where the drone access control message may be represented by (0, 1) bits, 1 indicates that access to the cell is allowed, and 0 indicates that access to the cell is not allowed, and the flag bit is not limited to be represented by bits.

Meanwhile, in the unmanned aerial vehicle access control message, a threshold is added, wherein the threshold is the altitude threshold: ac-BarringFroDrone + threshold

For example, a certain cell broadcasts:

ac-BarringForDrone，threshold 100m，0

then the unmanned aerial vehicle with the altitude less than 100 meters is not allowed to access the cell, and the unmanned aerial vehicle with the altitude more than 100 meters can access the cell;

The third scheme of sending the broadcast message carrying the unmanned aerial vehicle access control message to the idle unmanned aerial vehicle comprises the following steps:

For example, a cell broadcasts a blacklist of cells in a broadcast message, including an intra-frequency cell blacklist and an inter-frequency cell blacklist.

The blacklisted cell list includes a blacklisted cell list for a common terminal (e.g., non-drone) and a blacklisted cell list for a drone.

The blacklist cell lists for the unmanned aerial vehicle users are multiple, and the blacklist cell lists corresponding to different altitudes are different.

For example: setting BlackCellList-low for unmanned aerial vehicles with the altitude of less than 50 meters, setting BlackCellList-medium for unmanned aerial vehicles with the altitude of more than 50 meters and less than 200 meters, and setting BlackCellList-high for unmanned aerial vehicles with the altitude of more than 200 meters;

the unmanned aerial vehicle receives the cell broadcast message, reads the blacklist cell list corresponding to the unmanned aerial vehicle, and does not need to read the blacklist cell list of a common terminal. The common terminal only reads the blacklist cell list of the common terminal, and the blacklist cell list of the unmanned aerial vehicle does not need to be read.

And the unmanned aerial vehicle reads the corresponding blacklist cell list according to the flight height of the unmanned aerial vehicle, and the unmanned aerial vehicle does not measure the cells in the blacklist.

In the above embodiment of the present invention, a downlink message carrying an access control message of an unmanned aerial vehicle is sent to an idle unmanned aerial vehicle, where the access control message of the unmanned aerial vehicle is used to enable the unmanned aerial vehicle to determine whether to access a designated cell according to the access control message, and the unmanned aerial vehicle receives the downlink message carrying the access control message of the unmanned aerial vehicle sent by a network device and determines whether to access the designated cell according to the access control message; therefore, the unmanned aerial vehicle in an idle state is accessed into the cell according to the control information of the cell, and the requirement that the unmanned aerial vehicle is limited to enter the no-fly zone by using the cellular communication technology is met.

In a specific embodiment of the present invention, a first scheme for sending a measurement control message carrying an access control message of an unmanned aerial vehicle to a connected unmanned aerial vehicle includes:

step 11, obtaining current altitude information of the unmanned aerial vehicle in a connected state;

specifically, the cell configures a measurement reporting configuration for the unmanned aerial vehicle, wherein the measurement reporting configuration comprises the step of enabling the unmanned aerial vehicle to report the altitude of the cell; the unmanned aerial vehicle receives the measurement reporting configuration of the cell and reports the altitude of the unmanned aerial vehicle;

it can also be: the cell determines the altitude of the unmanned aerial vehicle according to the arrival angle of the uplink received signal and the timing advance TA (timing advance);

step 12, sending measurement control information carrying a third access control message to the connected unmanned aerial vehicle according to the current altitude information, wherein the third access control message comprises: and the altitude range of the current altitude information is a corresponding blacklist cell list.

Further, the method can also comprise the following steps:

step 13, when detecting that the current altitude information is out of the first preset altitude range, obtaining updated altitude information;

step 14, sending measurement control information carrying a fourth access control message to the connected unmanned aerial vehicle according to the updated altitude information, wherein the fourth access control message includes: and the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located.

For example: 1) acquiring altitude information of the unmanned aerial vehicle;

2) the cell maintains a blacklisted cell list for drones, which may be different for different altitudes, e.g.: different blacklist cell lists are respectively arranged for unmanned aerial vehicles with the altitude lower than 50 meters, unmanned aerial vehicles with the altitude higher than 50 meters and lower than 200 meters and unmanned aerial vehicles with the altitude higher than 200 meters;

3) according to the altitude reported by the unmanned aerial vehicle, the cell sends measurement configuration to the unmanned aerial vehicle, wherein the measurement configuration comprises a blacklist cell list;

4) the unmanned aerial vehicle receives the measurement configuration sent by the cell and carries out measurement, and the unmanned aerial vehicle does not carry out measurement on the cell in the blacklist list;

5) when the unmanned aerial vehicle exceeds the altitude range used by the current blacklist, the altitude of the unmanned aerial vehicle is triggered to be reported again;

6) the cell receives the updated altitude of the unmanned aerial vehicle, configures the updated measurement configuration for the unmanned aerial vehicle, and the updated measurement configuration comprises a corresponding updated blacklist cell list.

The second scheme of sending the measurement control information carrying the unmanned aerial vehicle access control message to the connected unmanned aerial vehicle comprises the following steps:

step 21, obtaining current altitude information of the connected unmanned aerial vehicle and a measurement report reported by the unmanned aerial vehicle;

specifically, when obtaining the current altitude information of the connected unmanned aerial vehicle, the current altitude information may be: the cell configures measurement reporting configuration for the unmanned aerial vehicle, wherein the measurement reporting configuration comprises that the unmanned aerial vehicle reports the altitude of the cell, and the unmanned aerial vehicle receives the measurement reporting configuration of the cell and reports the altitude of the cell; or the cell determines the altitude of the unmanned aerial vehicle according to the arrival angle of the uplink received signal and TA (timing advance);

step 22, if the cell in the measurement report is in the blacklist cell list corresponding to the altitude range where the current altitude information is located, sending measurement control information and alarm information carrying fifth access control information to a connected unmanned aerial vehicle, where the fifth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist list.

Further, the method can also comprise the following steps:

step 23, when detecting that the current altitude information is outside the altitude range, obtaining updated altitude information and an updated measurement report reported by the unmanned aerial vehicle;

step 24, if the neighbor cell in the updated measurement report is in the blacklisted cell list corresponding to the altitude range in which the updated altitude information is located, sending measurement control information carrying sixth access control information and updated alarm information to the connected unmanned aerial vehicle, where the sixth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist list.

For example, 1) obtaining altitude information for the drone;

2) the cell maintains a blacklisted cell list for drones, which may be different for different altitudes, e.g.:

aiming at an unmanned aerial vehicle with the altitude lower than 50 meters, an unmanned aerial vehicle with the altitude higher than 50 meters and lower than 200 meters and an unmanned aerial vehicle with the altitude higher than 200 meters, different blacklist cell lists are respectively arranged

3) The cell receives the measurement report of the unmanned aerial vehicle, if the measurement result contains the cell in the blacklist cell list, the cell does not allow the unmanned aerial vehicle to be switched into the cell in the blacklist cell list, and sends alarm information to the unmanned aerial vehicle to inform that the unmanned aerial vehicle is in the vicinity of the no-fly zone;

4) when the unmanned aerial vehicle exceeds the altitude range used by the current blacklist, the altitude of the unmanned aerial vehicle is triggered to be reported again;

5) and the cell receives the updated altitude reported by the unmanned aerial vehicle, whether the measurement result of the adjacent cell reported by the unmanned aerial vehicle is contained in the blacklist or not is judged again, and if the measurement result of the adjacent cell reported by the unmanned aerial vehicle is contained in the blacklist and changes, updated warning information is sent to the unmanned aerial vehicle.

The third scheme of sending the measurement control information carrying the unmanned aerial vehicle access control message to the connected unmanned aerial vehicle comprises the following steps:

For example, 1) a cell sends a measurement configuration to a drone, where the measurement configuration includes a blacklist of cells corresponding to different altitudes, such as: different blacklist cell lists are respectively arranged for unmanned aerial vehicles with the altitude lower than 50 meters, unmanned aerial vehicles with the altitude higher than 50 meters and lower than 200 meters and unmanned aerial vehicles with the altitude higher than 200 meters;

2) the unmanned aerial vehicle receives the measurement configuration of the cell, and judges the blacklist cell list which should be selected by combining the altitude of the unmanned aerial vehicle. For cells in the blacklist, the drone will not make measurements.

In the embodiment of the invention, by sending the downlink message carrying the access control message of the unmanned aerial vehicle, the access control message of the unmanned aerial vehicle is used for enabling the unmanned aerial vehicle in a connected state to determine whether to access the designated cell according to the access control message, and the unmanned aerial vehicle receives the downlink message carrying the access control message of the unmanned aerial vehicle sent by the network equipment and determines whether to access the designated cell according to the access control message; thereby realized controlling unmanned aerial vehicle according to unmanned aerial vehicle's altitude to insert the district, satisfied utilizing the demand that the unmanned aerial vehicle got into the no-fly zone of cellular communication technique restriction.

Corresponding to the foregoing method embodiment, an embodiment of the present invention further provides a network device, including:

The at least one control category includes: a first control category corresponding to a first altitude range, a second control category corresponding to a second altitude range, and a third control category corresponding to a third altitude range;

An embodiment of the present invention further provides a communication device, including: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above. The processor and the memory are connected through a bus or an interface. The communication device may be a network side device, such as a base station.

It should be noted that the network device is a device corresponding to the method, and all implementation manners in the method are applicable to the embodiment of the network device, and the same technical effect can be achieved.

As shown in fig. 3, an embodiment of the present invention further provides a method for controlling an unmanned aerial vehicle, including:

step 31, receiving a downlink message which is sent by a network device and carries an unmanned aerial vehicle access control message;

and step 32, determining whether to access the designated cell according to the access control message.

Wherein step 31 comprises:

311, the idle unmanned aerial vehicle receives a broadcast message carrying an unmanned aerial vehicle access control message sent by the network device; or

In step 312, the connected drone receives the measurement control message carrying the drone access control message sent by the network device.

Wherein step 311 comprises:

step 3111, receiving, by an idle drone, a broadcast message carrying a first access control message sent by a network device, where the first access control message includes: and determining the unmanned aerial vehicle access control category according to the altitude.

Accordingly, step 32 includes:

For example, a certain cell broadcasts:

ac-BarringForDronelow 0，

ac-BarringForDronemedium 1，

ac-BarringForDronehigh 1，

it means that the cell does not allow the unmanned aerial vehicle with the altitude less than 50 meters to access, and the unmanned aerial vehicle with the altitude greater than 50 meters can access

In an embodiment of the present invention, step 311 includes:

step 3112, the idle drone receives a broadcast message carrying a first access control message sent by the network device, where the first access control message includes: at least one drone access control category determined according to altitude. The unmanned aerial vehicle access control categories include: an altitude threshold value, and whether the unmanned aerial vehicle is allowed to access a fourth flag of a cell within a range lower than the altitude threshold value when the altitude threshold value is lower than the altitude threshold value, or whether the unmanned aerial vehicle is allowed to access a fifth flag of a cell within a range higher than the altitude threshold value when the altitude threshold value is higher than the altitude threshold value.

Accordingly, step 32 includes:

For example, a certain cell broadcasts:

ac-BarringForDrone，threshold 100m，0

the unmanned aerial vehicle receives system information of a cell, reads access control information, and determines whether to allow access to the cell according to the altitude of the unmanned aerial vehicle;

In an embodiment of the present invention, step 311 includes:

step 3113, the idle drone receives a broadcast message carrying a second access control message sent by the network device, where the second access control message includes: a first blacklisted cell list of at least one cell into which the drone is prohibited from entering.

Accordingly, step 32 includes:

In the above embodiment of the present invention, an idle drone receives a downlink message carrying an drone access control message sent by a network device, where the drone access control message is used to enable the drone to determine whether to access a designated cell according to the access control message, and determine whether to access the designated cell according to the access control message; therefore, the unmanned aerial vehicle in the idle state can be accessed into the cell according to the control information of the cell, and the requirement that the unmanned aerial vehicle is limited to enter the no-fly zone by using the cellular communication technology is met.

In an embodiment of the present invention, step 312 comprises:

3121, receiving, by the connected unmanned aerial vehicle, a measurement control message carrying a third access control message sent by the network device, where the third access control message includes: and a blacklist cell list corresponding to the altitude range where the current altitude information of the unmanned aerial vehicle is located.

Accordingly, step 32 includes: and the unmanned aerial vehicle in the connected state does not measure the cells in the blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle is located according to the blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle is located in the third access control message, and does not access the cells in the blacklist cell list.

step 33, the connected unmanned aerial vehicle receives measurement control information carrying a fourth access control message sent by the network device, where the fourth access control message includes: a blacklist cell list corresponding to a preset altitude range in which the altitude information updated by the unmanned aerial vehicle is located;

and step 34, the connected unmanned aerial vehicle does not measure the cells in the blacklist cell list corresponding to the altitude range in which the updated altitude information is located, and does not access the cells in the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located.

For example: 1) acquiring altitude information of the unmanned aerial vehicle;

In an embodiment of the present invention, step 312 comprises:

step 3122, reporting the measurement report of the connected unmanned aerial vehicle to the network device;

3123, receiving measurement control information and alarm information that the network device sends to the connected unmanned aerial vehicle, where the measurement control information and the alarm information carry fifth access control information, where the fifth access control information includes: and when the cell in the measurement report is in a blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle in the connected state is located, prohibiting the unmanned aerial vehicle from accessing the control information of the cell in the blacklist list.

Accordingly, step 32 includes:

step 35, the connected unmanned aerial vehicle receives measurement control information which is sent by the network device and carries a sixth machine access control message, where the sixth access control message includes: when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information of the connected unmanned aerial vehicle is located, the unmanned aerial vehicle is prohibited from accessing the cell in the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located;

and step 36, the connected unmanned aerial vehicle does not measure the cells in the blacklisted cell list corresponding to the altitude range in which the updated altitude information is located, and does not access the cells in the blacklisted cell list corresponding to the preset altitude range in which the updated altitude information is located.

For example, 1) obtaining altitude information for the drone;

In an embodiment of the present invention, step 312 comprises:

3124, the connected unmanned aerial vehicle receives measurement control information which is sent by the network device and carries seventh access control information, where the seventh access control information includes: blacklist cell lists corresponding to different altitude ranges respectively;

and 3125, the connected unmanned aerial vehicle does not measure the cells in the blacklist cell list corresponding to the altitude range of the current altitude according to the current altitude of the unmanned aerial vehicle, and does not access the cells in the blacklist.

It should be noted that the embodiment of the unmanned aerial vehicle is a device corresponding to the above method, and all implementation manners in the embodiment of the above method are all applicable to the embodiment of the unmanned aerial vehicle, and the same technical effect can also be achieved.

An embodiment of the present invention further provides a communication device, including: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above. The processor and the memory are connected through a bus or an interface. The communication device may be a network-side device, such as a drone.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:

sending a downlink message carrying an unmanned aerial vehicle access control message, wherein the unmanned aerial vehicle access control message is used for enabling an unmanned aerial vehicle to determine whether to access a designated cell according to the unmanned aerial vehicle access control message, and the unmanned aerial vehicle access control message comprises whether to allow terminals of the type of the unmanned aerial vehicle to access ac-barringfordroone, and the ac-barringfordroone sets different access control types aiming at different altitude heights; the cell determines the altitude of the unmanned aerial vehicle according to the arrival angle of the uplink received signal and the time advance TA;

the unmanned aerial vehicle access control categories include: and the altitude ranges of the control categories are different from each other.

2. The method of claim 1, wherein the step of sending the downlink message carrying the drone access control message comprises:

3. The method of controlling a drone of claim 1, wherein each of the at least one control category includes: the altitude range that this control classification corresponds to and whether allow unmanned aerial vehicle to access the zone bit of the district in this altitude range.

4. The method of controlling a drone of claim 3, wherein the at least one control category includes: a first control category corresponding to a first altitude range, a second control category corresponding to a second altitude range, and a third control category corresponding to a third altitude range;

5. The method of controlling a drone of claim 1, wherein the drone access control category includes: an altitude threshold value, and whether the unmanned aerial vehicle is allowed to access a fourth flag of a cell within a range lower than the altitude threshold value when the altitude threshold value is lower than the altitude threshold value, or whether the unmanned aerial vehicle is allowed to access a fifth flag of a cell within a range higher than the altitude threshold value when the altitude threshold value is higher than the altitude threshold value.

6. The method of claim 2, wherein the step of sending the broadcast message carrying the drone access control message to the drone in the idle state comprises:

7. The method of claim 6, wherein the second access control message further comprises: a second blacklisted cell list of at least one cell into which non-drones are prohibited from entering.

8. The method of claim 2, wherein the step of sending the measurement control message carrying the drone access control message to the connected drone includes:

9. The method of controlling a drone of claim 8, further comprising:

when the current altitude information is detected to be out of a first preset altitude range, obtaining updated altitude information;

according to the updated altitude information, sending measurement control information carrying a fourth access control message to the connected unmanned aerial vehicle, wherein the fourth access control message comprises: and the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located.

10. The method of claim 2, wherein the step of sending measurement control information carrying the drone access control message to the connected drone includes:

if the cell in the measurement report is in a blacklist cell list corresponding to the altitude range where the current altitude information is located, sending measurement control information and alarm information carrying fifth access control information to a connected unmanned aerial vehicle, where the fifth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist cell list.

11. The method of controlling a drone of claim 10, further comprising:

if the neighbor cell in the updated measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information is located, sending measurement control information carrying sixth access control information and updated alarm information to the connected unmanned aerial vehicle, where the sixth access control information includes: and forbidding the unmanned aerial vehicle to access the cell in the blacklist cell list.

12. The method of claim 2, wherein the step of sending measurement control information carrying the drone access control message to the connected drone includes:

13. A network device, comprising:

the unmanned aerial vehicle access control message comprises an ac-BarringForDrone which is used for allowing a terminal of an unmanned aerial vehicle type to access to the ac-BarringForDrone or not, and the ac-BarringForDrone sets different access control types aiming at different altitudes; the cell determines the altitude of the unmanned aerial vehicle according to the arrival angle of the uplink received signal and the time advance TA;

14. The network device of claim 13, wherein the transceiver is specifically configured to:

sending a downlink broadcast message carrying an unmanned aerial vehicle access control message to an idle unmanned aerial vehicle; or

15. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:

determining whether to access a designated cell according to the unmanned aerial vehicle access control message, wherein the unmanned aerial vehicle access control message contains whether to allow terminals of the unmanned aerial vehicle type to access ac-BarringForDrone, and the ac-BarringForDrone sets different access control types aiming at different altitude heights; the cell determines the altitude of the unmanned aerial vehicle according to the arrival angle of the uplink received signal and the time advance TA;

16. The method of claim 15, wherein the step of receiving the downlink message carrying the drone access control message sent by the network device comprises:

17. The method of controlling a drone of claim 15, wherein each of the at least one control category includes: the altitude range that this control classification corresponds to and whether allow unmanned aerial vehicle to access the zone bit of the district in this altitude range.

18. The method of controlling a drone of claim 17, wherein the at least one control category includes: a first control category corresponding to a first altitude range, a second control category corresponding to a second altitude range, and a third control category corresponding to a third altitude range;

19. The method of claim 18, wherein the step of determining whether to access the designated cell according to the access control message comprises:

20. The method of controlling a drone of claim 15, wherein the drone access control category includes: an altitude threshold value, and whether the unmanned aerial vehicle is allowed to access a fourth flag of a cell within a range lower than the altitude threshold value when the altitude threshold value is lower than the altitude threshold value, or whether the unmanned aerial vehicle is allowed to access a fifth flag of a cell within a range higher than the altitude threshold value when the altitude threshold value is higher than the altitude threshold value.

21. The method of claim 20, wherein the step of determining whether to access the designated cell according to the access control message comprises:

22. The method of claim 16, wherein the step of receiving the broadcast message carrying the drone access control message from the network device by the drone in the idle state comprises:

23. The method of claim 22, wherein the step of determining whether to access the designated cell according to the access control message comprises:

24. The method of claim 16, wherein the step of the connected drone receiving the measurement control message carrying the drone access control message sent by the network device includes:

25. The method of claim 24, wherein the step of determining whether to access the designated cell according to the access control message comprises:

26. The method of controlling a drone of claim 25, further comprising:

the connected unmanned aerial vehicle receives measurement control information which is sent by the network equipment and carries a fourth access control message, wherein the fourth access control message comprises: a blacklist cell list corresponding to a preset altitude range in which the altitude information updated by the unmanned aerial vehicle is located;

27. The method of claim 16, wherein the step of the connected drone receiving the measurement control message carrying the drone access control message sent by the network device includes:

receiving measurement control information and alarm information which carry fifth access control information and are sent to the connected unmanned aerial vehicle by the network equipment, wherein the fifth access control information comprises: and when the cell in the measurement report is in a blacklist cell list corresponding to the altitude range in which the current altitude information of the unmanned aerial vehicle in the connected state is located, prohibiting the unmanned aerial vehicle from accessing the control information of the cell in the blacklist cell list.

28. The method of claim 27, wherein the step of determining whether to access the designated cell according to the access control message comprises:

and the unmanned aerial vehicle in the connected state does not access the cell in the blacklist cell list when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range where the current altitude information of the unmanned aerial vehicle in the connected state is located according to the fifth access control information.

29. The method of controlling a drone of claim 28, further comprising:

the connected unmanned aerial vehicle receives measurement control information which is sent by the network equipment and carries a sixth access control message, wherein the sixth access control message comprises: when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range in which the updated altitude information of the connected unmanned aerial vehicle is located, the unmanned aerial vehicle is prohibited from accessing the cell in the blacklist cell list corresponding to the preset altitude range in which the updated altitude information is located;

30. The method of claim 16, wherein the step of the connected drone receiving the measurement control message carrying the drone access control message sent by the network device includes:

and the unmanned aerial vehicle in a connected state does not measure the cells in the blacklist cell list corresponding to the altitude range in which the current altitude is located according to the current altitude of the unmanned aerial vehicle, and does not access the cells in the blacklist cell list.

31. An unmanned aerial vehicle, comprising:

the processor is used for determining whether to access a designated cell according to the unmanned aerial vehicle access control message, wherein the unmanned aerial vehicle access control message contains whether to allow a terminal of an unmanned aerial vehicle type to access ac-BarringForDrone, and the ac-BarringForDrone sets different access control types aiming at different altitude heights; the cell determines the altitude of the unmanned aerial vehicle according to the arrival angle of the uplink received signal and the time advance TA;

32. A drone according to claim 31, wherein the transceiver is specifically configured to:

in an idle state, receiving a broadcast message which is sent by network equipment and carries an unmanned aerial vehicle access control message; or receiving a measurement control message carrying an unmanned aerial vehicle access control message sent by the network equipment in a connected state.

33. A communication device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method of any one of claims 1-12, or the method of any one of claims 15-30.

34. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1-12, or the method of any one of claims 15-30.