KR20180054392A - Method for contacting the channel of unmanned aerial vehicle(uav) control and non-payload communications(cnpc) system - Google Patents

Abstract

Disclosed is a channel connecting method of an unmanned aerial vehicle (UAV) control and non-payload communication (CNPC) system. The present invention provides an operating method which sets a frequency assigned by a frequency control office and allows a UAV station to connect to a ground station. According to an embodiment of the present invention, the channel connecting method comprises the following steps of: setting an uplink frequency and a downlink frequency to the ground station and the UAV station; and allowing the ground station and the UAV station to perform an initial connection by using the uplink frequency or the downlink frequency.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for connecting a UAV to a CNPC system,

The following embodiments relate to a channel access method of a UAV CNPC system.

It includes all the components necessary for the entire flight, including unmanned aerial vehicle (UAV), pilotless aircraft or drone, as well as a control communication system for takeoff / cruising, flight control, landing / Unmanned Aircraft Systems (UAS) or Remotely Piloted Aircraft Systems (RPAS).

These UASs consist of UAVs, UAVs, and data links. The data link is a wireless data link between the ground station and the UAV. The UAS data link can be largely divided into UAS ground control and non-payload communication (CNPC) data link and UAS mission link.

A mission data link is a link for carrying data related to mission performance and is generally broader than a CNPC data link. On the other hand, the CNPC link is composed of a pilot / ATC relay link and a UAS control link as a link for conveying data related to UAV flight control, UAS status monitoring, and CNPC link management. The pilot / ATC relay link is a communication link for relaying voice and data between the ATC and the pilot through the UAV, and the UAS control link is used to transmit safety control related information between the pilot and the UAV Link. In case of UAS control link, it can be divided into Telecommand (TC) link and Telemetry (TM) link. TC link can be classified into flight control information, all UAV control information required for safety flight Is the uplink that transmits from the ground pilot to the UAV, and the TM link is the UAV position, altitude, speed, UAS system operation mode and status, navigation assistance data, detection and avoidance related trace, weather radar, To the pilot of the aircraft.

The frequency for the unmanned terrestrial CNPC link is mainly considered as the C (5030-5091 MHz) band allocated to the new dedicated band in WRC-12, and the L (L) 960-1164 MHz) bands may be considered in the aeronautical mobile service. In the C band, the effect of frequency interference with the existing system and the multipath delay spread are small. On the other hand, there is a disadvantage that the directional antenna must be considered for ensuring the link margin and the Doppler effect is five times larger than the L band. On the other hand, the low-frequency band distributed to other aeronautical mobile services such as the L-band has better propagation characteristics than the C-band (L band has 14 dB lower propagation loss than the C band) Equipment, ADS-B (Automatic Dependent Surveillance-Broadcast), and TACAN (Tactic Air Navigation System) are operated in a congested manner, there is a problem in securing the frequency and a large multipath delay spread. Therefore, it is expected that the pre-established C band will be considered as the base link of the terrestrial CNPC and the lower frequency band (eg L or UHF band) will be used to increase the CNPC link availability for unmanned safety navigation. Of course, you can use them in reverse or independently.

Next, terrestrial CNPC link connection types are P2P (Point-to-Point) type and P2MP (Point-to-MultiPoint) type. The P2P type is a concept in which one GRS forms a data link with one UA, which is a type that has been mainly considered in a conventional unmanned aerial vehicle system. On the other hand, in the P2MP type, one GRS forms a data link with a plurality of UAs. In the P2MP type, the GRSs are connected to the network to support the GRS handover. Both P2P type and P2MP type GRS can be connected to the network to provide continuous communication service for UAV control such as GRS handover, or it can be constructed as a single GRS type. Typically, P2P type is built as a single GRS type, and P2MP type is expected to be network based GRS construction. The network-based P2MP type, which can form a communication link with a large number of UAVs at the same time, is expected to be considered as a next generation CNPC link, and the related technology of the P2MP type UAS CNPC system is still insufficient.

In addition, in order to operate the existing P2P type UAS CNPC system, a channel for CNPC must be allocated. In the conventional method, when the UAS CNPC system is registered in the Spectrum Authority (SA), the channel is fixed for a long time The channel assigned to a specific UAS CNPC system is difficult to use in another UAS CNPC system.

Therefore, UAV CNPC system (UAV CNPC system) is operated so as to enable efficient utilization of communication frequency resources for UAV control that can efficiently operate a large number of UAVs in a limited UAV control dedicated frequency band in order to stabilize operation of UAV and increase demand of UAV Is required.

In order to stabilize operation of UAV and increase demand of UAV, it is necessary to design and operate UAV control communication system that can efficiently operate a large number of UAVs in a limited frequency range of UAV control. The frequency bureau does not allocate a specific frequency to a specific CNPC system in a fixed manner. Instead, the frequency bureau manages the frequency in real time and dynamically allocates it only when the UAS CNPC system is operated. When the frequency is recovered, it is reused in another UAS CNPC system And the UAV CNPC system should support such dynamic channel allocation and management.

There is a need for a method for establishing and connecting to a CNPC system a frequency for dynamically assigned UAVs according to such a dynamic channel assignment and management method. In the present invention, a frequency assigned by a frequency jurisdiction authority is set, and an operation method in which an unmanned station connects to a ground station is proposed.

According to an embodiment of the present invention, there is provided a method for establishing an uplink frequency and a downlink frequency in a ground station and an unmanned aerial station in accordance with a UWB CNPC connection method, .

Wherein the setting step comprises the steps of: the control center acquiring the uplink frequency and the downlink frequency from the frequency control center; and setting the uplink frequency and the downlink frequency to the ground station and the unmanned aerial station . ≪ / RTI >

Wherein the setting step comprises the steps of: the control station transmitting the uplink frequency and the downlink frequency to the ground station and the unmanned aerial station; and setting the uplink frequency and the downlink frequency .

Wherein the transmitting includes transmitting the assigned frequency transmission message to the ground station and the unmanned aerial station, wherein the assigned frequency transmission message includes at least one of an uplink frequency, an uplink data class, Link frequency, downlink data class (DC), and UAV ID.

The URI ID can be obtained by performing scrambling on a CRC (Cyclic Redundancy Check).

Wherein said setting comprises: measuring signal energy for all center frequencies that can be assigned by said unlicensed station; selecting at least one center frequency at which said signal energy is above a threshold; And setting the uplink frequency and the downlink frequency based on one center frequency.

The measuring may include measuring the signal energy with the smallest bandwidth size that the unlicensed station can allocate for all of the allocatable center frequencies.

Wherein the step of the UAV setting the uplink frequency and the downlink frequency based on the at least one center frequency comprises the steps of: arranging the at least one center frequency in order of increasing signal energy; Verifying the URI ID of the received assigned frequency information message for the at least one center frequency; and if the URI ID matches the ID of the actual URI, And setting the uplink frequency and the downlink frequency based on the uplink frequency and the downlink frequency.

Wherein the setting step comprises the steps of: informing the CNC network of the uplink frequency and the downlink frequency allocated to the URI by the frequency bureau, and the CNPC network transmitting the uplink frequency and the downlink frequency May be established.

A method for connecting a UAV CNPC according to another embodiment of the present invention includes the steps of setting an uplink slot and a downlink frequency to a ground station and an unmanned aerial station and a method of connecting the ground station and the unmanned aerial station using the uplink slot or the downlink frequency And performing an initial connection.

Wherein the setting step comprises the steps of: the control center acquiring the uplink slot and the downlink frequency from the frequency control center; and setting the uplink slot and the downlink frequency to the ground station and the unmanned aerial station .

Wherein the setting step comprises the steps of: the control station transmitting the uplink slot and the downlink frequency to the ground station and the unmanned aerial station; and transmitting the uplink slot and the downlink frequency, May be established.

Wherein the transmitting comprises transmitting the assigned frequency transmission message to the ground station and the unmanned aerial station, wherein the assigned frequency transmission message includes at least one of an uplink frequency, an uplink bandwidth, an uplink data class ), The position of the uplink slot, the downlink frequency, the downlink data class (DC), and the UAV ID.

The URI ID can be obtained by scrambling the CRC.

Wherein said setting comprises: measuring signal energy for all center frequencies that can be assigned by said unlicensed station; selecting at least one center frequency at which said signal energy is above a threshold; And setting the uplink slot and the downlink frequency based on one center frequency.

The measuring may include measuring the signal energy with the smallest bandwidth size that the unlicensed station can allocate for all of the allocatable center frequencies.

Wherein the step of the UAV setting the uplink slot and the downlink frequency based on the at least one center frequency comprises: arranging the at least one center frequency in order of increasing signal energy; Verifying the URI ID of the received assigned frequency information message for the at least one center frequency, and if the URI ID matches the ID of the actual URI, the URI determines, based on the frequency information message And setting up the uplink slot and the downlink frequency.

Wherein the step of setting comprises: notifying, to the CNPC network, the uplink slot and the downlink frequency allocated to the UAV by the frequency bureau, and a step in which the CNPC network notifies the ground station of the uplink slot and the downlink frequency, And setting the link frequency.

FIG. 1 illustrates an example of a relationship and information exchange with a peripheral system for stable operation of a UAV in a UAV CNPC system according to an exemplary embodiment.
Figure 2 shows another example of the relationship and information exchange between peripheral systems for stable operation of UAV in a UAV CNPC system according to an embodiment.
3 shows an example of a block diagram of a UAV CNPC system according to one embodiment.
FIG. 4 is a view for explaining an example of an operation in which the ground station shown in FIG. 3 transmits the allocated frequency information.
5 shows an example of the allocated frequency information.
6 is a diagram for explaining an assignable center frequency in the frequency for UAV control.
FIG. 7 is a view for explaining a bandwidth size allocable at a center frequency for UAV control.
FIG. 8 illustrates an example of an operation in which the unmanned aerial station shown in FIG. 3 obtains the allocated frequency information.

It is to be understood that the specific structural or functional descriptions of embodiments of the present invention disclosed herein are presented for the purpose of describing embodiments only in accordance with the concepts of the present invention, May be embodied in various forms and are not limited to the embodiments described herein.

Embodiments in accordance with the concepts of the present invention are capable of various modifications and may take various forms, so that the embodiments are illustrated in the drawings and described in detail herein. However, it is not intended to limit the embodiments according to the concepts of the present invention to the specific disclosure forms, but includes changes, equivalents, or alternatives falling within the spirit and scope of the present invention.

The terms first, second, or the like may be used to describe various elements, but the elements should not be limited by the terms. The terms may be named for the purpose of distinguishing one element from another, for example without departing from the scope of the right according to the concept of the present invention, the first element being referred to as the second element, Similarly, the second component may also be referred to as the first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It will be understood that, in this specification, the terms "comprises ", or" having ", and the like are to be construed as including the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments. Like reference symbols in the drawings denote like elements.

FIG. 1 illustrates an example of a relationship and information exchange with a peripheral system for stable operation of a UAV in a UAV CNPC system according to an exemplary embodiment.

Referring to FIG. 1, a UAV CNPC system 10 includes a spectrum authority (SA) 110, an air traffic control (ATC) 120, a ground control equipment (ATC) 130, a ground CNPC radio system 140, and a CNPC airborne CNPC radio system 150.

The UAV CNPC system 10 may be a UAV CNPC system that controls the UAV 190 in a point-to-point (P2P) type. The UAV 190 may include at least one of a configuration such as Video, Flight Control, and VHF / Radio.

In order to operate the P2P unmanned CNPC system, the control center 130 can request the channel to the SA 110 and receive the channel allocation (K1) from the SA 110.

Next, the control center 130 transmits the ground / unmanned CNPC radio channel assignment information and the information F1 including the state information G1 and the communication data between the ATC 120 and the UAV control data to the CNPC ground station system 140 (H1).

The CNPC ground station system 140 can transmit information A1 including communication data with the ATC 120 and UAV control data to Flight Control and VHF / Radio. The UAV control data may include UAV telemetry and video image data. The information A1 including the communication data with the ATC 120 and the unmanned control data may be substantially the same as the information F1 including the communication data with the ATC 120 and the unmanned control data. In addition, the CNPC ground station system 140 can transmit the CNPC UAV status information (Airborne Radio Status information; B1) to Flight Control.

The CNPC unmanned aerial station system 150 may transmit the information A1 including the communication data with the ATC 120 and the unmanned control data to the CNPC ground station system 140. The CNPC ground station system 140 may transmit the information F1 received from the CNPC UAV system 150 and the CNPC radio channel allocation information and the status information G1 to the control station 130 via the wired or wireless network H1 . The characteristics of the UAV CNPC system 10 will be described below.

The UAV CNPC system 10 can operate in the following link configuration.

1) The UAV CNPC system 10 includes a plurality of ground stations and an unmanned aerial station, and each ground station and the unmanned aerial station can form a one-to-one communication link.

2) If the UAV CNPC system 10 is a standalone system, the UAV CNPC system 10 can extend the coverage by switching the ground station (GRS) of the control station and transferring control.

3) The UAV CNPC system 10 implements an FDMA-based ground station and can support multiple P2P type UAVs in a single ground station.

The uplink channel and the downlink channel of the UAV CNPC system 10 can operate in the following configuration.

1) The UAV CNPC system 10 can operate on an FDMA channel in uplink (ground station -> unmanned station) and downlink (unmanned station -> ground station).

2) The UAV CNPC system 10 can support simultaneous transmission and reception in dual band channels (e.g., L band and C band).

3) The UAV CNPC system 10 may support multiple channel bandwidths (e.g., four Data Classes (DC1) with 30/60/90/120 kHz).

4) The UAV CNPC system 10 supports the number of different supported channel bandwidths per link direction and band.

5) The UAV CNPC system 10 can support DC1, DC2, or DC3 in the uplink and DC1, DC2, DC3, DC4, DC5, or DC6 in the downlink.

6) The UAV of the UAV CNPC system 10 can support simultaneous transmission of two FDMA channels. For example, the two FDMA channels may be one of DC1 to DC4 for UAV control and one of DC5 to DC6 for safety video.

7) The UAV CNPC system 10 can operate in a fixed channel other than channel reallocation and handover.

Figure 2 shows another example of the relationship and information exchange between peripheral systems for stable operation of UAV in a UAV CNPC system according to an embodiment.

2, the UAV CNPC system 20 includes an SA 210, an ATC 220, a control station 230-1 to 230-N, a CNPC ground station system 240, and a CNPC UAV system 250-1 To 250-3). The UAV CNPC system 20 may be a UAV CNPC system that controls the UAVs 290-1 through 290-3 in a Point-to-Multi-Point (P2MP) type. The UAVs 290-1 through 290-3 may include at least one of a configuration such as Video, Flight Control, and VHF / Radio.

The SA 210, the ATC 220, the control stations 230-1 to 230-N, the CNPC ground station system 240, and the CNPC UAV systems 250-1 to 250-3, 110, the ATC 120, the control station 130, the CNPC ground station system 140, and the CNPC unmanned aerial station system 150 may be substantially the same in construction and operation.

Although FIG. 2 shows three CNPC unmanned aerial vehicle systems 250-1 to 250-3 and three unmanned aerial vehicles 290-1 to 290-3 for convenience of explanation, it is not necessarily limited thereto, And can be implemented as a plurality of UAVs.

In order to operate the P2MP type UAV CNPC system, the control stations 230-1 to 230-N can make a channel request to the SA 210 and receive the channel assignment K1 from the SA 210. [

Next, the control stations 230-1 to 230-N transmit the information F1 including the communication data with the ATC 220 and the UAV control data to the CNPC ground station system 240 through the distribution system (H1 to Hn) can do. SA 210 may transmit each unmanned channel assignment information (K1 to Kn) to CNPC ground station system 240. [ The CNPC ground station system 240 transmits information A1 to An including communication data with the ATC 120 and the UAV control data transmitted from the control stations 230-1 to 230-N to the control stations 230-1 to 230- N) to the Flight Control and VHF / Radio of the UAVs 290-1 to 290-3. The UAV control data may include UAV telemetry and video image data. The information A1 to An including the communication data with the ATC 120 and the unmanned control data may be substantially the same as the information F1 to Fn including the communication data with the ATC 120 and the unmanned control data. In addition, the CNPC ground station system 240 can transmit the CNPC UAV status information (B1 to Bn) to the Flight Control.

The CNPC UAV system 250-1 to 250-3 transmits information (A1 to An) including communication data with the ATC 120 relayed from the VHF / UHF Radio and UAV control data to the CNPC ground station system 240 . The CNPC ground station system 240 transmits information (F1 to Fn), CNPC radio channel assignment information, and status information (G1 to Gn) received from a plurality of CNPC UAVs 250-1 to 250-3 to a wired / (H1 to Hn) to the corresponding control stations 230-1 to 230-N.

The control communication service for safe operation provided by the UAV CNC system 20 between the control stations 230-1 to 230-N and the UAVs 290-1 to 290-3 is performed in the case of uplink or downlink can be different. For example, in the case of the uplink, the control communication service for safe operation includes at least one of Telecommand information, ATC Relay information, and NavAid setting information. In the downlink case, the control communication service for safe operation includes telemetry information, ATC relay Information, NavAid information, DAA Target information, Weather Radar information, Safety take-off landing video information, and Emergency video information. The ATC Relay information may include ATC voice and data relay information.

The UAV CNPC system 20 can define and provide various types of service classes to provide various services according to the channel capacity. The channel capacity may be the CNPC channel capacity for the UAVs 290-1 to 290-3.

For example, the CNPC UAV system 250-1 to 250-3 can provide various service classes according to the allocated channel bandwidth or channel capacity by defining the service class as shown in Table 1 in case of the uplink. Also, the CNPC UAV system 250-1 to 250-3 can provide various service classes according to the allocated channel bandwidth or channel capacity by defining a service class as shown in Table 2 in the case of downlink.

The services provided by the CNPC UAV stations 250-1 to 250-3 include telecommand information (uplink, ground station, and unmanned aerial station) and telemetry information (downlink , Unmanned aerial station -> ground station). In addition, at least one of TC / TM data, ATC relay information, NavAid information, DAA target information, Weather radar information, and video information may be further included, depending on the capabilities of the terrestrial and stationary stations and the allocated channel capacity or bandwidth.

The CNPC UAV system 250-1 to 250-3 transmits video services (safety takeoff and landing video information and / or emergency video information) that can be considered in takeoff and landing and emergency situations to a single band of a separate downlink channel For example, the C-band for controlling the UAV). That is, the CNPC UAV system 250-1 to 250-3 transmits one of the Service Classes of Service Classes 1 to 4 and one of the Service Classes 5 to 6 to the C-band Lt; RTI ID = 0.0 > channel < / RTI >

The UAV CNPC system 20 can operate in a dual band so that the link meets 99.999% usage. For example, the CNPC unmanned aerial platform systems 250-1 through 250-3 may operate in the dual band of the C and L bands allocated for UAV control. The UAV CNPC system 20 can transmit the same information or other information in the dual band. When the CNPC UAV system 250-1 to 250-3 transmit the same information, the signal level diversity gain between the L and C bands can be obtained in the physical layer, and the C band and L band A different bandwidth can be allocated from the SA 210 to the mobile station.

At this time, the C band can be utilized for the UAV CNPC with the entire frequency band of 61 MHz as the UAV exclusive frequency band. For example, the CNPC UAV system 250-1 to 250-3 can transmit at least one of TC / TM data, ATC relay information, DAA target information, and Weather radar information in the C band.

In the L band, there may be interference with other aeronautical radio devices. For example, the CNPC UAV system 250-1 to 250-3 can transmit TC / TM data in the L band. The characteristics of the UAV CNPC system 20 will be described below.

The UAV CNPC system 20 can operate in the following link configuration.

1) The UAV CNPC system 20 may include a plurality of ground stations simultaneously supporting a plurality of UAVs.

2) When the UAV CNPC system 20 is connected to the network, the UAV CNPC system 20 can extend the coverage through inter-terrestrial handover.

3) The UAV CNPC system 20 can implement a TDM-based ground station to support multiple UAVs in one ground station.

The uplink channel and the downlink channel of the UAV CNPC system 20 can operate in the following configuration.

1) The UAV CNPC system 20 can operate on the TDM channel in the uplink (ground station -> unmanned aerial station).

2) The UAV CNPC system 20 can allocate different TDM time slots for each unmanned station and distinguish the unmanned station according to the TDM time slot.

3) The UAV CNPC system 20 can allocate the frequency and channel bandwidth (number of TDM slots) of the ground station fixedly. The UAV CNPC system 20 can change the number of TDM slots when performing a long-term update.

4) The UAV CNCP system 20 can flexibly change the number and location of slots allocated to the UAV communicating with the corresponding ground station, thereby supporting multiple UAVs simultaneously and efficiently supporting channel change in the cell.

5) The UAV CNPC system 20 can operate on the FDMA channel in the downlink (unmanned station -> ground station).

6) The UAV CNPC system 20 can support simultaneous transmission and reception in dual band channels (e.g., L band and C band).

7) The UAV CNPC system 20 can support multiple channel bandwidths (e.g., eight channel bandwidths with 90/180/270/360/450/540/630/720 kHz).

8) The UAV CNPC system 20 can support different TDM time slot numbers according to the uplink channel bandwidth. For example, the UAV CNPC system 20 can support three slots for 90 kHz, six slots for 180 kHz, and 24 slots for 720 kHz.

9) The UAV CNPC system 20 can support the number of different channel bandwidths per link direction and band. For example, the UAV CNPC system 20 can support 90/180/270/360/450/540/630/720 kHz in the uplink and 30/40/90/120 kHz in the downlink have.

10) The UAV of the UAV CNPC system 20 can support simultaneous transmission of two FDMA channels. For example, the two FDMA channels may be one of DC1 to DC4 for UAV control and one of DC5 to DC6 for safety video.

11) The UAV CNPC system 20 can operate in a fixed channel other than channel reassignment and handover.

Hereinafter, an initial connection method of the UAV CNPC system 10 or 20 will be described.

FIG. 3 illustrates an example of a block diagram of a UAV CNPC system according to an embodiment, FIG. 4 illustrates an example of an operation of transmitting the allocated frequency information by the ground station shown in FIG. 3, and FIG. And shows an example of the assigned frequency information.

3 to 5, the UAV CNPC system 30 includes an SA 310, a control station 330, a ground station 340, and an unmanned aerial station 350.

The control station 330 can be set to the ground station 340 and the UAV 350 by assigning frequencies from the SA 310. The control station 330 and the ground station 340 are directly or via a wired / wireless network, and the control station 330 can directly set the frequency of the ground station 340. The control station 330 can set the frequency of the UAV 350 in a manner supported by the UAV 350 (for example, a touch pad input, a wireless setting via a Bluetooth connection, etc.). The control station 330 may also set the frequency of the UAV 350 using the information received via the ground station 340, according to a predetermined method.

The ground station 340 can confirm and set the frequency and data class (DC) of the transceiver based on the information allocated from the SA 310. At this time, if the DC of the uplink is not DC1, the ground station 340 may set the uplink DC to DC1 and transmit the assigned frequency information message 500 to DC1. The ground station 340 may transmit the assigned frequency information message 500 at DC1 at the uplink frequency every transmission timing. The ground station 340 may transmit the assigned frequency information message 500 to the UAV 350 using DC1. Thus, the ground station 340 can set the control frequency to the UAV 350. When the UAV CNPC system 30 is of the P2MP type, the ground station 340 can transmit the frequency information to the slot allocated at the uplink frequency.

The ground station 340 may attempt to receive a message from the UAV 350 at each reception timing. For example, the ground station 340 may receive the message of the UAV 350 with the assigned DC at the assigned frequency. When the ground station 340 receives the message of the UAV 350, the transmission procedure of the assigned frequency information message 500 may be terminated. If the ground station 340 does not receive the message from the UAV 350, the UTRAN 350 transmits the assigned frequency information message 500 until the ground station 340 receives the message, You can repeat the attempt.

The assigned frequency information message 500 may include a header 510, a UAV ID 530, allocated frequency information 550, and padding 570. The header 510 may include basic information such as the length of the assigned frequency information message 500. The UAV ID 530 may be the ID of the UAV that is the subject of the assigned frequency information. The ground station 340 may transmit the UAV ID 530 to the UAV 350 by scrambling the UAV ID 530 to a CRC (Cyclic Redundancy Check) added at the physical layer. The assigned frequency information 550 may be information of a frequency allocated for control communication to the ground station 340 and the UAV 350. [ The padding 570 may be information that adjusts the size of the assigned frequency information message 500. For example, the ground station 340 may set the size of the assigned frequency information message 500 to correspond to DC1 when transmitting the assigned frequency information message 500 to DC1. At this time, the ground station 340 can control the size of the assigned frequency information message 500 by controlling the size of the padding 570.

FIG. 6 is a view for explaining an allocatable center frequency in a frequency range for UAV control, and FIG. 7 is a diagram for explaining an allocatable bandwidth size in a center frequency for UAV control.

Referring to FIGS. 3 and 5 to 7, when the ground station 340 transmits the assigned frequency information message 500, the UAV 350 must receive the assigned frequency information message 500. That is, the UAV 350 must confirm the frequency at which the ground station 340 transmits the assigned frequency information message 500.

The unmanned aerial station 350 can identify all of the assignable center frequencies in the bands allocated for the UAV control frequency. When the frequency band for the ground station 340 is set separately from the frequency for controlling the UAV, or when the frequency band is classified according to the use, the UAV 350 transmits the center frequency only in the frequency band that the ground station 340 can use Can be confirmed.

In addition, the UAV 350 can identify all bandwidths for one center frequency. This is because bandwidths of various sizes can be allocated at one center frequency. The UAV 350 can measure the signal energy (Radio Signal Strength) with the smallest bandwidth size at the assignable center frequency.

At this time, the UAV 350 may search for at least one center frequency whose measured signal energy is equal to or greater than a threshold value and sort the signals in the order of having a high signal energy value. The UAV 350 may attempt to receive the DC1 signal in the order of the center frequency having a high signal energy value. For example, the UAV 350 may attempt to receive the DC1 signal for all applicable bandwidths of the center frequency having the highest signal energy value.

When the unmanned aerial station 350 receives the message that the unmanned aerobics ID 530 matches, the unmanned aerial station 350 may terminate the search (confirmation) procedure. If the UAV 350 fails to receive a message that matches the UAV 530, it may attempt to receive the DC1 signal at the center frequency with the next highest signal energy value. Through the above-described process, the UAV 350 can shorten the center frequency search (confirmation) time.

When the UAV CNMP system 30 is of the P2MP type, the UAV 350 may attempt to receive signals for all slots existing according to the bandwidth size. This is because the number of slots varies depending on the size of the bandwidth.

FIG. 8 illustrates an example of an operation in which the unmanned aerial station shown in FIG. 3 obtains the allocated frequency information.

Referring to FIG. 3 and FIG. 8, the UAV 350 may obtain the assigned frequency information 550 transmitted by the ground station 340. The unmanned aerial station 350 can measure the signal energy with the smallest allocable bandwidth among the entire allocatable center frequencies. The UAV 350 can search for at least one center frequency where the measured signal energy is above a threshold value and sort in order of having a high signal energy value. The UAV 350 may attempt to receive the DC1 signal in the order of the center frequency having a high signal energy value. As described above, the UAV 350 can attempt to receive DC1 for all bandwidths that can be allocated per center frequency.

If the UAV CNMP system 30 is of the P2MP type, the UAV 350 may attempt to receive DC1 for all slots present according to the bandwidth size. If the UAV 350 successfully receives DC1 and the UAV ID 530 of the allocated frequency information message 500 matches the UAV ID assigned to the UAV 350, And transmit the frequency information message 500 to an upper layer. Therefore, the allocated frequency information 550 of the SA 310 can be reflected. The unmanned aerial station 350 may terminate the allocated frequency information acquisition procedure.

The ground station 340 may be allocated a frequency to be used when the CNPC network is initially installed. When the control station 330 utilizes the UAV, the control station 330 can allocate the frequency to be used for the downlink by the UAV and the frequency to be used for the uplink by the ground station 340 from the SA 310. In addition, when the CNPC network is installed and utilized, the SA 310 can directly inform the CNPC network of the information without setting the information directly in the control station 330 ground station 340. The unmanned aerial station 350 can use a method supported by the unmanned aerial station 350 and a method using the information received through the ground station 340, as in the case where there is no CNPC network. That is, the CNPC network and the control center 330 can perform substantially similar operations.

The CNPC network may be a communication network formed between the control station 330 and the ground station 340. For example, the CNPC network may perform an initial access operation using the identity of the control station 330 and the ground station 340.

The above-described configurations can perform an initial connection of the ground station 340 and the UAV 350 using the frequency allocated through the SA 310. Also, even if the UAV does not know the information assigned, it is possible to find the assigned frequency and perform the connection. The above-mentioned UAV CNPC system can be flexibly extended and can be used in the P2P type or P2MP type. When the UAV CNPC system is used for the P2MP type, it can support multiple UAVs at the same time.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA) , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (18)

Setting an uplink frequency and a downlink frequency in a ground station and an unmanned aerial vehicle; And
The ground station and the UAV performing an initial connection using the uplink frequency or the downlink frequency
Wherein the CNPC connection method comprises:
The method according to claim 1,
Wherein the setting step comprises:
The control station acquiring the uplink frequency and the downlink frequency from the frequency bureau; And
Setting the uplink frequency and the downlink frequency to the ground station and the unmanned aerial station
Wherein the CNPC connection method comprises:
The method according to claim 1,
Wherein the setting step comprises:
The control station transmitting the uplink frequency and the downlink frequency to the ground station and the UAV; And
Wherein the ground station and the UAV set the uplink frequency and the downlink frequency
Wherein the CNPC connection method comprises:
The method of claim 3,
Wherein the transmitting comprises:
The control station transmitting an assigned frequency transmission message to the ground station and the unmanned aerial station
Lt; / RTI >
Wherein the assigned frequency transmission message comprises:
The uplink frequency, the uplink data class DC, the downlink frequency, the downlink data class DC,
Wherein the CNPC connection method comprises:
5. The method of claim 4,
The URI ID is obtained by performing scrambling on a CRC (Cyclic Redundancy Check)
UAV CNPC connection method.
The method according to claim 1,
Wherein the setting step comprises:
Measuring signal energy for all of the center frequencies that can be assigned by the UAV;
Selecting at least one center frequency at which the signal energy is above a threshold value; And
Wherein the station sets the uplink frequency and the downlink frequency based on the at least one center frequency
Wherein the CNPC connection method comprises:
The method according to claim 6,
Wherein the measuring step comprises:
Measuring the signal energy to a size of the smallest bandwidth allocable for all assignable center frequencies,
Wherein the CNPC connection method comprises:
The method according to claim 6,
Wherein the step of the UAV setting the uplink frequency and the downlink frequency based on the at least one center frequency comprises:
Aligning the at least one center frequency in order of increasing signal energy;
Verifying the URI ID of the assigned frequency information message received by the URI station for the at least one center frequency; And
And setting the uplink frequency and the downlink frequency based on the frequency information message if the URI ID coincides with the ID of the actual URI,
Wherein the CNPC connection method comprises:
The method according to claim 1,
Wherein the setting step comprises:
Notifying the CNC network of the uplink frequency and the downlink frequency allocated to the UAV by the frequency bureau of the frequency bureau; And
The CNPC network establishing the uplink frequency and the downlink frequency to the ground station
Wherein the CNPC connection method comprises:
Setting an uplink slot and a downlink frequency in a ground station and an unmanned aerial vehicle; And
The ground station and the UAV performing an initial connection using the uplink slot or the downlink frequency
Wherein the CNPC connection method comprises:
11. The method of claim 10,
Wherein the setting step comprises:
The control station acquiring the uplink slot and the downlink frequency from the frequency bureau; And
Setting the uplink slot and the downlink frequency to the ground station and the UAV,
Wherein the CNPC connection method comprises:
11. The method of claim 10,
Wherein the setting step comprises:
The control station transmitting the uplink slot and the downlink frequency to the ground station and the UAV; And
Wherein the ground station and the UAV set up the uplink slot and the downlink frequency
Wherein the CNPC connection method comprises:
13. The method of claim 12,
Wherein the transmitting comprises:
The control station transmitting an assigned frequency transmission message to the ground station and the unmanned aerial station
Lt; / RTI >
Wherein the assigned frequency transmission message comprises:
The uplink frequency, the uplink bandwidth, the uplink data class DC, the position of the uplink slot, the downlink frequency, the downlink data class DC,
Wherein the CNPC connection method comprises:
14. The method of claim 13,
The URI ID is obtained by performing scrambling on the CRC
UAV CNPC connection method.
11. The method of claim 10,
Wherein the setting step comprises:
Measuring signal energy for all of the center frequencies that can be assigned by the UAV;
Selecting at least one center frequency at which the signal energy is above a threshold value; And
Setting up the uplink slot and the downlink frequency based on the at least one center frequency
Wherein the CNPC connection method comprises:
16. The method of claim 15,
Wherein the measuring step comprises:
Measuring the signal energy to a size of the smallest bandwidth allocable for all assignable center frequencies,
Wherein the CNPC connection method comprises:
16. The method of claim 15,
Wherein the step of the URI setting the uplink slot and the downlink frequency based on the at least one center frequency comprises:
Aligning the at least one center frequency in order of increasing signal energy;
Verifying the URI ID of the assigned frequency information message received by the URI station for the at least one center frequency; And
Establishing the uplink slot and the downlink frequency based on the frequency information message if the URI ID coincides with the ID of the real URI
Wherein the CNPC connection method comprises:
11. The method of claim 10,
Wherein the setting step comprises:
Informing the CNPC network of the uplink slot and the downlink frequency allocated to the UAV by the frequency jurisdiction; And
The CNPC network establishing the uplink slot and the downlink frequency to the ground station
Wherein the CNPC connection method comprises:

Images