CN107734604B - Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle - Google Patents

Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle Download PDF

Info

Publication number
CN107734604B
CN107734604B CN201610652384.4A CN201610652384A CN107734604B CN 107734604 B CN107734604 B CN 107734604B CN 201610652384 A CN201610652384 A CN 201610652384A CN 107734604 B CN107734604 B CN 107734604B
Authority
CN
China
Prior art keywords
frequency point
information
low
control device
base station
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610652384.4A
Other languages
Chinese (zh)
Other versions
CN107734604A (en
Inventor
朴昕阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Mobile Communications Group Co Ltd
China Mobile Communications Ltd Research Institute
Original Assignee
China Mobile Communications Group Co Ltd
China Mobile Communications Ltd Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Mobile Communications Group Co Ltd, China Mobile Communications Ltd Research Institute filed Critical China Mobile Communications Group Co Ltd
Priority to CN201610652384.4A priority Critical patent/CN107734604B/en
Publication of CN107734604A publication Critical patent/CN107734604A/en
Application granted granted Critical
Publication of CN107734604B publication Critical patent/CN107734604B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/20—Selecting an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04—TPC
    • H04W52/18—TPC being performed according to specific parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
    • H04W72/542—Allocation or scheduling criteria for wireless resources based on quality criteria using measured or perceived quality

Abstract

The invention discloses a control device for low-altitude network coverage, a control device for an unmanned aerial vehicle and a method thereof, wherein the control device for low-altitude network coverage comprises: the first data transmission module is used for receiving the signal intensity information of each base station frequency point detected by the unmanned aerial vehicle and sent by the unmanned aerial vehicle, and sending the signal intensity information of each base station frequency point to the frequency point determination module; receiving data to be transmitted sent by an unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment; the frequency point determining module is used for determining the information of the transmitting frequency points and then sending the information to the control module according to the preset rules and the received signal intensity information of the frequency points of each base station; and the control module is used for controlling the antenna to transmit signals according to the received transmitting frequency point information. Network coverage in a low-altitude area is realized, and the antenna transmits signals according to specific transmitting frequency point information, so that co-frequency interference can be relieved.

Description

Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle
Technical Field
The invention relates to the technical field of communication, in particular to a control device for low-altitude network coverage, a control device for an unmanned aerial vehicle and a control method for the unmanned aerial vehicle.
Background
With the fact that low-altitude aerial photography service is getting hotter and hotter in recent years, the data transmission module can be carried by the aerial photography unmanned aerial vehicle, real-time remote data transmission is carried out based on the existing cellular network, and the technology can be widely applied to various low-altitude aerial photography live broadcast scenes, such as real-time and space investigation, various on-site aerial live broadcast and the like.
In the prior art, an unmanned aerial vehicle carries a data transmission module, real-time data transmission is carried out through a cellular network in the low air, and when data with high uplink bandwidth demand (such as high-definition video) are transmitted, the situations of data transmission failure and the like caused by signal instability are likely to occur, so that development of related live broadcast services is seriously influenced.
In order to solve the problem of unstable low-altitude coverage signals, a scheme for performing low-altitude coverage by using relays exists in the prior art, but the scheme has the defects of poor equipment portability, same frequency interference, poor directivity, limited power and the like, cannot automatically adjust the strength of transmitting power, cannot automatically adjust the direction of an antenna according to different areas where an unmanned aerial vehicle is located, cannot avoid the interference of frequency points of the existing cell, and the like. In addition, the existing air live broadcast technology firstly transmits air video data to the ground by utilizing microwave image transmission coding, and then transmits the video data to a background server through a cellular network after secondary coding is carried out by a ground coder, so that the problem of unstable low-altitude coverage signals when the data is directly transmitted from the air is avoided, but the scheme needs secondary coding, and the problem that the experience of watching live broadcast users is seriously influenced by poor image quality and the like is solved.
In summary, the existing base station mainly meets the signal coverage requirement of the ground area, and for the wireless coverage of the low-altitude network, there are problems of unstable signals, poor signals, even no signals, and the like.
Disclosure of Invention
The embodiment of the invention provides a control device for low-altitude network coverage, a control device for an unmanned aerial vehicle and a method, which are used for solving the problem of unstable low-altitude network signals in the prior art.
The embodiment of the invention provides a control device for low-altitude network coverage, which comprises: the device comprises a first data transmission module, a frequency point determination module and a control module; wherein the content of the first and second substances,
the first data transmission module is used for receiving the signal intensity information of each base station frequency point detected by the unmanned aerial vehicle and sent by the unmanned aerial vehicle, and sending the signal intensity information of each base station frequency point to the frequency point determination module; receiving data to be transmitted sent by the unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment;
the frequency point determining module is used for determining the information of the transmitting frequency points and then sending the information to the control module according to the preset rules and the received signal intensity information of the frequency points of each base station;
and the control module is used for controlling an antenna to transmit signals according to the received transmitting frequency point information.
In a possible implementation manner, in the control device for low-altitude network coverage provided in an embodiment of the present invention, the frequency point determining module is specifically configured to select, from the received signal strength information of the frequency points of each base station, frequency point information corresponding to a frequency point with the weakest signal strength as the transmission frequency point information.
In a possible implementation manner, in a control apparatus for low-altitude network coverage provided in an embodiment of the present invention, the control apparatus further includes: the device comprises a power determining module and an electric quantity determining module;
the frequency point determining module is further configured to send the determined transmitting frequency point information to the first data transmission module;
the first data transmission module is further configured to receive the signal strength information of the detected transmission frequency point information and the current position information of the unmanned aerial vehicle, which are fed back by the unmanned aerial vehicle, after the transmission frequency point information is sent to the unmanned aerial vehicle, and send the signal strength of the transmission frequency point information and the current position information of the unmanned aerial vehicle to the power determination module;
the power determining module is configured to determine current power information of the control device covered by the low-altitude network, and send the determined current power information of the control device covered by the low-altitude network to the power determining module;
the power determining module is used for determining transmitting power information according to the signal intensity of a frequency point corresponding to the transmitting frequency point information, the current position information of the unmanned aerial vehicle, the received current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network, and sending the determined transmitting power information to the control module;
and the control module is further used for controlling the antenna to transmit signals according to the received transmission power information.
In a possible implementation manner, in a control apparatus for low-altitude network coverage provided in an embodiment of the present invention, the power determining module specifically determines the transmission power information according to the following formula:
P(t)∝-α*M(t)+β*S(t)+γ*D(t)，
wherein p (t) represents the transmission power in the transmission power information, m (t) represents the signal strength of the frequency point corresponding to the transmission frequency point information, s (t) represents the current remaining power of the control device covered by the low-altitude network, d (t) represents the current distance between the unmanned aerial vehicle and the control device covered by the low-altitude network, and α, β, and γ are all positive real numbers.
In a possible implementation manner, in a control apparatus for low-altitude network coverage provided in an embodiment of the present invention, the control apparatus further includes: an antenna angle determination module;
the first data transmission module is further configured to send current position information of the unmanned aerial vehicle to the antenna angle determination module;
the antenna angle determining module is used for determining antenna angle information according to the current position information of the unmanned aerial vehicle and the received current position information of the control device covered by the low-altitude network, and sending the determined antenna angle information to the control module;
the control module is further configured to control the antenna to transmit a signal according to the antenna angle information according to the received antenna angle information.
The embodiment of the present invention further provides a control device for an unmanned aerial vehicle, including: the acquisition module and the second data transmission module;
the acquisition module is used for detecting the signal intensity information of each base station frequency point and sending the detected signal intensity information of each base station frequency point to the second data transmission module;
and the second data transmission module is used for sending the signal intensity information of the frequency points of each base station to the control device covered by the low-altitude network, and sending the data to be transmitted to the control device covered by the low-altitude network after the acquisition module detects the signal transmitted by the control device covered by the low-altitude network according to the determined information of the transmitting frequency points.
The second data transmission module is further configured to, after receiving the transmission frequency point information sent by the control device covered by the low-altitude network, feed back the detected signal intensity information of the frequency point corresponding to the transmission frequency point information and the received current position information of the unmanned aerial vehicle to the control device covered by the low-altitude network.
In a possible implementation manner, in a control apparatus of an unmanned aerial vehicle provided in an embodiment of the present invention, the control apparatus further includes:
and the judging module is used for judging whether a base station frequency point with the signal intensity reaching a preset threshold value exists in the signal intensity information of each base station frequency point, controlling the second data transmission module to directly send the data to be transmitted to a base station corresponding to the base station frequency point if the base station frequency point exists, and controlling the second data transmission module to send the data to be transmitted to the control device covered by the low-altitude network if the base station frequency point does not exist.
The embodiment of the invention also provides a data transmission system covered by the low-altitude network, which comprises:
the control device for low-altitude network coverage is used for receiving signal intensity information of each base station frequency point detected by the unmanned aerial vehicle, and the signal intensity information is sent by the unmanned aerial vehicle; determining the information of the transmitting frequency points according to a preset rule and the received signal intensity information of the frequency points of each base station; controlling an antenna to transmit signals according to the transmitting frequency point information; receiving data to be transmitted sent by the unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment;
the control device of the unmanned aerial vehicle is used for detecting the signal intensity information of each base station frequency point; and sending the signal intensity information of the frequency points of each base station to a control device covered by the low-altitude network, and sending data to be transmitted to the control device covered by the low-altitude network after detecting the signals transmitted by the control device covered by the low-altitude network according to the determined information of the transmitting frequency points.
In a possible implementation manner, in a data transmission system with low altitude network coverage provided by the embodiment of the present invention, a position of a control device of the low altitude network coverage is lower than a position of a control device of the drone.
In a possible implementation manner, in the data transmission system covered by the low-altitude network provided in the embodiment of the present invention, the control device covered by the low-altitude network is fixed to another drone that is lower than the drone in position; or the control device covered by the low-altitude network is fixed on the ground.
The embodiment of the invention also provides a control method for low-altitude network coverage, which comprises the following steps:
receiving signal intensity information of each base station frequency point detected by an unmanned aerial vehicle, wherein the signal intensity information is sent by the unmanned aerial vehicle;
determining the information of the transmitting frequency points according to a preset rule and the received signal intensity information of the frequency points of each base station;
controlling an antenna to transmit signals according to the transmitting frequency point information;
and receiving the data to be transmitted sent by the unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment.
In a possible implementation manner, in the control method for low-altitude network coverage provided in an embodiment of the present invention, the determining, according to a preset rule and received signal strength information of frequency points of each base station, transmission frequency point information specifically includes:
and selecting the frequency point information corresponding to the frequency point with the weakest signal intensity from the received signal intensity information of the frequency points of each base station as the transmitting frequency point information.
In a possible implementation manner, in a control method for low-altitude network coverage provided in an embodiment of the present invention, the method further includes:
after the transmitting frequency point information is sent to the unmanned aerial vehicle, receiving the signal intensity information of the detected transmitting frequency point information and the current position information of the unmanned aerial vehicle fed back by the unmanned aerial vehicle;
determining current position information of a control device covered by the low-altitude network;
determining current electric quantity information of a control device covered by the low-altitude network;
determining transmission power information according to the signal intensity of a frequency point corresponding to the transmission frequency point information, the current position information of the unmanned aerial vehicle, the current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network;
and controlling an antenna to transmit signals according to the transmission power information.
In a possible implementation manner, in a control method for low-altitude network coverage provided in an embodiment of the present invention, the transmit power information is determined by the following formula:
P(t)∝-α*M(t)+β*S(t)+γ*D(t)，
wherein p (t) represents the transmission power in the transmission power information, m (t) represents the signal strength of the frequency point corresponding to the transmission frequency point information, s (t) represents the current remaining power of the control device covered by the low-altitude network, d (t) represents the current distance between the unmanned aerial vehicle and the control device covered by the low-altitude network, and α, β, and γ are all positive real numbers.
In a possible implementation manner, in a control method for low-altitude network coverage provided in an embodiment of the present invention, the method further includes:
determining antenna angle information according to the current position information of the unmanned aerial vehicle and the current position information of the control device covered by the low-altitude network;
and controlling the antenna to transmit signals according to the antenna angle information.
The embodiment of the invention also provides a control method of the unmanned aerial vehicle, which comprises the following steps:
detecting signal intensity information of each base station frequency point;
and sending the signal intensity information of the frequency points of each base station to a control device covered by the low-altitude network, and sending data to be transmitted to the control device covered by the low-altitude network after detecting the signals transmitted by the control device covered by the low-altitude network according to the determined information of the transmitting frequency points.
In a possible implementation manner, in a control method of an unmanned aerial vehicle provided in an embodiment of the present invention, the method further includes:
determining current location information of the drone;
after receiving the transmitting frequency point information sent by the control device covered by the low-altitude network, feeding back the detected signal intensity information of the frequency point corresponding to the transmitting frequency point information and the current position information of the unmanned aerial vehicle to the control device covered by the low-altitude network.
In a possible implementation manner, in a control method of an unmanned aerial vehicle provided in an embodiment of the present invention, the method further includes:
and judging whether a base station frequency point with the signal intensity reaching a preset threshold value exists in the signal intensity information of each base station frequency point, if so, directly sending the data to be transmitted to a base station corresponding to the base station frequency point, and if not, sending the data to be transmitted to a control device covered by the low-altitude network.
The invention has the following beneficial effects:
the embodiment of the invention provides a control device for low-altitude network coverage, a control device for an unmanned aerial vehicle and a method, wherein the control device for low-altitude network coverage comprises: the device comprises a first data transmission module, a frequency point determination module and a control module; the first data transmission module is used for receiving signal intensity information of each base station frequency point detected by the unmanned aerial vehicle and sent by the unmanned aerial vehicle, and sending the signal intensity information of each base station frequency point to the frequency point determination module; receiving data to be transmitted sent by an unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment; the frequency point determining module is used for determining the information of the transmitting frequency points and then sending the information to the control module according to the preset rules and the received signal intensity information of the frequency points of each base station; and the control module is used for controlling the antenna to transmit signals according to the received transmitting frequency point information. According to the control device for low-altitude network coverage, the transmitting frequency point information is determined according to the preset rules and the received signal strength information of each base station frequency point, the antenna is controlled to transmit signals according to the transmitting frequency point information, network coverage in a low-altitude area is achieved, the antenna transmits signals according to the specific transmitting frequency point information, and interference generated by signals of the same frequency point can be relieved.
Drawings
Fig. 1 is a schematic structural diagram of a control apparatus for low-altitude network coverage according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a data transmission system covered by a low-altitude network according to an embodiment of the present invention;
fig. 4a is a schematic signal interaction diagram of a data transmission system covered by a low-altitude network according to an embodiment of the present invention;
fig. 4b is a second schematic signal interaction diagram of a data transmission system with low-altitude network coverage according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for controlling low-altitude network coverage according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
Aiming at the problem of unstable low-altitude network signals in the prior art, the embodiment of the invention provides a control device for low-altitude network coverage, a control device for an unmanned aerial vehicle and a control method for the unmanned aerial vehicle.
As shown in fig. 1, an embodiment of the present invention provides a control apparatus for low-altitude network coverage, including: a first data transmission module 101, a frequency point determination module 102 and a control module 103; wherein the content of the first and second substances,
the first data transmission module 101 is configured to receive signal intensity information of each base station frequency point detected by the unmanned aerial vehicle and sent by the unmanned aerial vehicle, and send the signal intensity information of each base station frequency point to the frequency point determination module 102; receiving data to be transmitted sent by an unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment;
the frequency point determining module 102 is configured to determine, according to a preset rule and received signal strength information of frequency points of each base station, information of transmitted frequency points, and then send the information to the control module 103;
and the control module 103 is configured to control the antenna to transmit signals according to the received transmission frequency point information.
According to the control device for low-altitude network coverage, the transmitting frequency point information is determined according to the preset rules and the received signal intensity information of each base station frequency point, the antenna is controlled to transmit signals according to the transmitting frequency point information, the transmitted signals cover the flight area of the unmanned aerial vehicle, and therefore network coverage in the low-altitude area is achieved. And the antenna transmits signals according to the determined transmitting frequency point information, so that the interference generated by the signals of the same frequency point can be relieved.
It should be noted that the "low altitude" mentioned in the embodiments of the present invention is the same as the concept of "low altitude" understood by those skilled in the art, for example, the "low altitude" may be, but is not limited to be, understood as a flying height of 50 meters to 1000 meters from the ground.
In a specific implementation, the control device for low-altitude network coverage is preferably applied to a cellular network, and the control device for low-altitude network coverage may also be applied to other network architectures, which is not limited herein. The cellular network is a mobile communication hardware framework, divides the service area of the mobile phone into sub-cells in regular hexagon, and each sub-cell is provided with a base station to form a 'cellular' structure. The base station sets up to down for satisfying the antenna that ground network covered general base station, and unmanned aerial vehicle can detect when flying to a take the altitude like this the signal intensity ratio of base station transmission relatively weak, can not detect network signal even, and is different with the base station antenna, and above-mentioned controlling means's that low-altitude network covered antenna sets up to can cover the low-altitude area.
The frequency point determining module 102 provided in the embodiment of the present invention determines the information of the transmission frequency point according to a preset rule by traversing the signal intensity information of the frequency points of each base station around the unmanned aerial vehicle. The information of the transmitting frequency point can be a frequency point value corresponding to the information of the transmitting frequency point, and can also be other parameter values corresponding to the information of the transmitting frequency point. The preset rule can be that the frequency point information corresponding to the frequency point with the signal intensity meeting a certain preset threshold range in the frequency points of each base station is selected as the transmitting frequency point information; the signal intensity of the frequency points of the base stations can be sequenced, and the frequency point information corresponding to one frequency point is selected from a plurality of frequency points with weaker signal intensity as the transmitting frequency point information, or the frequency point information corresponding to the frequency point with the weakest signal intensity is directly selected as the transmitting frequency point information.
Specifically, the frequency point determining module 102 is specifically configured to select, from the received signal strength information of the frequency points of each base station, frequency point information corresponding to a frequency point with the weakest signal strength as transmission frequency point information. The frequency point information corresponding to the frequency point with the weakest signal intensity is selected from the signal intensity information as the transmitting frequency point information, so that the interference generated by the signals of the same frequency point can be relieved, the weaker the signal intensity of the frequency point of the base station is, fewer users using the frequency point of the base station to transmit data are, the frequency point is used as the transmitting frequency point information of the control device covered by the low-altitude network, and the co-frequency interference of the frequency point of the base station on the control device covered by the low-altitude network can be reduced.
In specific implementation, the transmission frequency point information can be changed once every preset time, so that the transmission frequency point information can be adjusted in real time according to the signal intensity change of each base station frequency point.
Specifically, the calculation process of the transmission frequency point information of the control device covered by the low-altitude network is as follows:
firstly, traversing the signal intensity of each base station frequency point around the unmanned aerial vehicle at regular time;
n _ Max represents the maximum value of the frequency point of the current ergodic base station, n _ Min represents the minimum value of the frequency point of the current ergodic base station, n represents the frequency point value of the current ergodic base station, wherein n is not less than n _ Min and not more than n _ Max, W (n) represents the signal intensity of the frequency point of the current base station, and the frequency point of the base station corresponding to the minimum value of W (n) is selected as the information of the transmitting frequency point.
Further, the control apparatus for low-altitude network coverage provided in the embodiment of the present invention may further include a power determining module 104 and an electric quantity determining module 105;
the frequency point determining module 102 is further configured to send the determined transmitting frequency point information to the first data transmission module 101;
the first data transmission module 101 is further configured to receive signal strength information of the detected transmission frequency point information and current position information of the unmanned aerial vehicle, which are fed back by the unmanned aerial vehicle, after the transmission frequency point information is sent to the unmanned aerial vehicle, and send the signal strength of the transmission frequency point information and the current position information of the unmanned aerial vehicle to the power determination module 104;
the power determining module 105 is configured to determine current power information of the control device covered by the low-altitude network, and send the determined current power information of the control device covered by the low-altitude network to the power determining module 104;
the power determining module 104 is configured to determine transmission power information according to the signal intensity of the frequency point corresponding to the transmission frequency point information, current position information of the unmanned aerial vehicle, current position information of the control device covered by the low-altitude network, and received current electric quantity information of the control device covered by the low-altitude network, and send the determined transmission power information to the control module 103;
the control module 103 is further configured to control the antenna to transmit a signal according to the received transmission power information.
According to the control device for low-altitude network coverage provided by the embodiment of the invention, the determined transmission frequency point information is sent to the unmanned aerial vehicle, the signal intensity information corresponding to the transmission frequency point information fed back by the unmanned aerial vehicle is received, the transmission power information is determined by combining the distance between the unmanned aerial vehicle and the control device for low-altitude network coverage and the electric quantity of the control device for low-altitude network coverage, and the antenna is controlled to transmit signals according to the transmission power information, so that the adjustment of the transmission power of the antenna is realized. In specific implementation, the transmission frequency information may be changed once every preset time, so that the transmission frequency may be adjusted in real time according to the signal intensity change corresponding to the current transmission frequency point information, and the time interval for determining the transmission frequency information is generally shorter than the time interval for determining the transmission frequency point information, for example, the time interval for determining the transmission frequency information is set to 5s, and the time interval for determining the transmission frequency point information is set to 10 s.
Specifically, the power determination module determines the transmission power information by specifically using the following formula:
P(t)∝-α*M(t)+β*S(t)+γ*D(t)，
wherein, p (t) represents the transmission power in the transmission power information, m (t) represents the signal strength of the frequency point corresponding to the transmission frequency point information, s (t) represents the current remaining power of the control device covered by the low-altitude network, d (t) represents the current distance between the unmanned aerial vehicle and the control device covered by the low-altitude network, α, β, and γ are positive real numbers, and represent coefficients of the proportion of each factor, and the coefficients of each factor can be adjusted according to the actual situation.
The transmitting power is related to the signal intensity and the electric quantity information of the current transmitting frequency point information of the control device covered by the low-altitude network and the distance between the control device covered by the low-altitude network and the unmanned aerial vehicle; the signal intensity M (t) of the current information of the transmitting frequency point is inversely proportional to the transmitting power P (t), the current residual electric quantity S (t) is proportional to the transmitting power P (t), and the current distance D (t) between the unmanned aerial vehicle and the control device covered by the low-altitude network is proportional to the transmitting power P (t).
In practical application, if there is a frequency point whose signal strength can meet the requirement of real-time transmission in each base station frequency point at the current position of the unmanned aerial vehicle, the control device capable of controlling the low-altitude network coverage stops transmitting signals, that is, the transmission power p (t) is controlled to be 0, so that the energy of the control device covered by the low-altitude network is saved.
Specifically, the position information of the control device covered by the low-altitude network may be determined by a GPS (Global Positioning System). Because the controlling means that this low latitude network covered is portable device, can fix on the position is less than other unmanned aerial vehicles of unmanned aerial vehicle, or fix to ground, so generally set up portable power source in the controlling means that this low latitude network covered and supply power. In addition, a GPS location module is typically deployed on the drone, and the power determination module 104 may obtain the location information from the drone with which it is secured.
Furthermore, the control device for low-altitude network coverage provided by the embodiment of the present invention may further include: an antenna angle determination module 106;
the first data transmission module 101 is further configured to send current position information of the unmanned aerial vehicle to the antenna angle determination module 106;
the antenna angle determining module 106 is configured to determine antenna angle information according to the current position information of the unmanned aerial vehicle and the received current position information of the control device covered by the low-altitude network, and send the determined antenna angle information to the control module 103;
the control module 103 is further configured to control the antenna to transmit a signal according to the antenna angle information according to the received antenna angle information.
Above-mentioned antenna angle confirms module 106, confirm antenna angle information according to unmanned aerial vehicle's current position information and this low-altitude network covered controlling means's current position information, adjust the controlling means's that makes this low-altitude network cover antenna orientation unmanned aerial vehicle according to this antenna angle information to the antenna, thereby make the flight area of the more accurate unmanned aerial vehicle that covers of transmitted signal, guarantee unmanned aerial vehicle and low-altitude network covered controlling means's real-time data transmission.
The control device for low-altitude network coverage provided by the embodiment of the invention realizes network coverage in a low-altitude area where the unmanned aerial vehicle is located, and determines the information of the transmitting frequency point through the signal intensity of each base station frequency point which can be detected by the unmanned aerial vehicle, so that the unmanned aerial vehicle and the control device for low-altitude network coverage carry out data transmission through the specific transmitting frequency point information, secondary coding of data to be transmitted is avoided, and interference between base station frequency points with the same frequency is reduced. The control device that low-altitude network covered can also adjust the transmitting frequency and the transmission angle of antenna according to actual conditions to can accurately cover unmanned aerial vehicle's flight area, and can guarantee the real-time transmission of waiting to transmit data and avoid the control device's that low-altitude network covered energy waste through adjusting transmitting frequency.
As shown in fig. 2, an embodiment of the present invention further provides a control apparatus for an unmanned aerial vehicle, including: an acquisition module 201 and a second data transmission module 202;
the acquisition module 201 is configured to detect signal strength information of each base station frequency point, and send the detected signal strength information of each base station frequency point to the second data transmission module 202;
the second data transmission module 202 is configured to send the signal strength information of each base station frequency point to the control device for low-altitude network coverage, and send data to be transmitted to the control device for low-altitude network coverage after the acquisition module 201 detects that the control device for low-altitude network coverage transmits a signal according to the determined information of the transmission frequency point.
According to the control device of the unmanned aerial vehicle provided by the embodiment of the invention, the signal intensity information of each base station frequency point is detected through the acquisition module 201, and the signal intensity information of each base station frequency point is sent to the control device covered by the low-altitude network through the second data transmission module 202. After the control device that the low-altitude network covered transmits the signal according to the transmission frequency point information that determines, the network signal covers this unmanned aerial vehicle's flight area, makes unmanned aerial vehicle can wait to transmit data transmission to the control device that the low-altitude network covered through specific frequency point, and this data of waiting to transmit generally are video coding data, adopts this kind of mode to transmit video coding data, need not to carry out secondary encoding to video signal. And the unmanned aerial vehicle constantly sends the data to be transmitted to the control device covered by the low-altitude network, so that the real-time live broadcast of the shooting scene of the unmanned aerial vehicle can be realized, and the live broadcast has small time delay and high picture quality. In a specific implementation, a data transmission unit capable of setting a frequency point, such as a SIM (Subscriber identity Module) card or a network card, may be disposed in the second data transmission Module 202.
In practical application. The control device of the above-mentioned unmanned aerial vehicle generally includes an encoding module for transmitting video encoding data to the second data transmission module.
The control device of the above unmanned aerial vehicle that this embodiment provided, second data transmission module 202 is still used for receiving the transmission frequency point information that the control device that the low-altitude network covered sent, and the signal intensity information of the frequency point that the transmission frequency point information that feeds back to the control device that the low-altitude network covered detected corresponds and the current position information of unmanned aerial vehicle that receives.
Specifically, the current position information of the drone may be determined by a GPS (Global Positioning System). Through the signal strength information of the frequency point that the transmission frequency point information that detects is fed back to the controlling means that the low-altitude network covered corresponds and unmanned aerial vehicle's current position information, the controlling means that makes the low-altitude network cover can carry out the adjustment of transmitting power and antenna angle through these data of feedback, the transmitting power that makes the controlling means transmitting signal that the low-altitude network covered is fit for unmanned aerial vehicle's data transmission more, avoid the signal strength of transmission too big to cause the controlling means's that the low-altitude network covered energy waste, perhaps avoid the less transmission rate who influences the data of treating transmission of the signal strength of transmission. Can make the antenna towards unmanned aerial vehicle through adjusting antenna angle to the area that dynamic adjustment antenna transmission signal can cover can be along with unmanned aerial vehicle position constantly changes and always to unmanned aerial vehicle transmission signal.
Further, the control device of the above-mentioned unmanned aerial vehicle provided by the embodiment of the present invention may further include:
the determining module 203 is configured to determine whether a base station frequency point with a signal intensity reaching a preset threshold exists in the signal intensity information of each base station frequency point, if yes, control the second data transmission module 202 to directly send data to be transmitted to a base station corresponding to the base station frequency point, and if not, control the second data transmission module 202 to send data to be transmitted to the control device for low-altitude network coverage.
According to the control device of the unmanned aerial vehicle provided by the embodiment of the invention, the signal intensity of each base station frequency point is judged through the judging module 203, if a base station frequency point with the signal intensity reaching a preset threshold value exists, the base station frequency point is sent to the corresponding base station through the base station frequency point, and if the signal intensities of a plurality of base station frequency points meet the preset threshold value, the base station frequency point with the strongest signal intensity is preferentially selected for data transmission. And if the base station frequency points with the signal intensity larger than the preset threshold value do not exist in the base station frequency points, sending the data to be transmitted to a control device covered by the low-altitude network. The preset threshold value is a signal intensity value which enables the data to be transmitted to the corresponding base station in real time. By arranging the judging module 203, the signal strength of each base station frequency point can be judged firstly, and when the signal strength meets the condition of real-time transmission, the signal strength is transmitted to the corresponding base station without transmitting data through the control device covered by the low-altitude network all the time, so that the energy of the control device covered by the low-altitude network is saved.
In specific implementation, the determining module 203 may implement detection of signal strength of each base station frequency point by setting a cellular network SIM card, and the principle of the method is similar to that of an SIM card in a mobile phone. Similarly, the determining module 203 may detect the signal strength of each base station frequency point by reading the signal strength value of the built-in SIM card of the cellular network.
As shown in fig. 3, an embodiment of the present invention further provides a data transmission system covered by a low-altitude network, including:
the control device 100 for low-altitude network coverage is used for receiving signal intensity information of each base station frequency point detected by the unmanned aerial vehicle and sent by the unmanned aerial vehicle; determining the information of the transmitting frequency points according to a preset rule and the received signal intensity information of each base station frequency point; controlling an antenna to transmit signals according to the transmitting frequency point information; and receiving the data to be transmitted sent by the unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment.
The control device 200 of the unmanned aerial vehicle is used for detecting the signal intensity information of each base station frequency point; and sending the signal strength information of each base station frequency point to the control device 100 covered by the low-altitude network, and sending the data to be transmitted to the control device 100 covered by the low-altitude network after detecting the signal transmitted by the control device 100 covered by the low-altitude network according to the determined information of the transmitting frequency point.
According to the data transmission system covered by the low-altitude network, the transmitting frequency point information is determined according to the preset rules and the received signal strength information of each base station frequency point, the antenna is controlled to transmit signals according to the transmitting frequency point information, the transmitted signals cover the flight area of the unmanned aerial vehicle, and after the control device 200 of the unmanned aerial vehicle detects the signals transmitted by the antenna, the data to be transmitted can be sent to the control device 100 covered by the low-altitude network, so that the real-time data transmission of the unmanned aerial vehicle is realized. Network coverage in a low-altitude area is realized, and the antenna transmits signals according to the determined information of the transmitting frequency points, so that interference generated by the signals of the same frequency points can be relieved.
In practical applications, the control apparatus 100 covered by the low-altitude network cannot be directly connected to the cellular network, that is, cannot directly send the data to be transmitted to the corresponding base station 400, and the data to be transmitted needs to be sent to the wireless terminal access device 300 (CPE), and the wireless terminal access device 300 sends the data to be transmitted to the corresponding base station 400.
The signal interaction method of the data transmission system covered by the low-altitude network provided by the embodiment of the present invention is shown in fig. 4a, and includes:
s401, judging whether a base station frequency point with signal intensity reaching a preset threshold exists in signal intensity information of each base station frequency point by a control device of the unmanned aerial vehicle;
s402, if the data to be transmitted exist, the control device of the unmanned aerial vehicle directly sends the data to be transmitted to a base station corresponding to the base station frequency point;
s403, when all the base station frequency points detected by the unmanned aerial vehicle control device cannot reach a preset threshold value, sending signal intensity information of all the base station frequency points to a control device covered by a low-altitude network;
s404, the control device covered by the low-altitude network determines the information of the transmitting frequency points according to the signal intensity information of the frequency points of each base station, and sends the determined information of the transmitting frequency points to the control device of the unmanned aerial vehicle;
s405, detecting signal intensity information of the emission frequency point information and current position information of the unmanned aerial vehicle by a control device of the unmanned aerial vehicle;
s406, the control device of the unmanned aerial vehicle sends the signal intensity information of the transmitting frequency point information and the current position information of the unmanned aerial vehicle to the control device covered by the low-altitude network;
s407, detecting current position information and current electric quantity information of the control device covered by the current low-altitude network by the control device covered by the low-altitude network; determining transmitting power information according to the signal intensity of a frequency point corresponding to the transmitting frequency point information, the current position information of the unmanned aerial vehicle, the current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network, and determining antenna angle information according to the current position information of the control device covered by the low-altitude network; controlling an antenna to transmit signals according to the determined transmitting frequency point information according to the transmitting power information and the antenna angle information;
s408, when the control device of the unmanned aerial vehicle detects the signal transmitted by the control device covered by the low-altitude network according to the determined transmission frequency point information, transmitting the data to be transmitted to the control device covered by the low-altitude network;
s409, the control device covered by the low-altitude network forwards the data to be transmitted to the wireless terminal access equipment;
and S410, the wireless terminal access equipment sends the data to be transmitted to the corresponding base station.
In the data transmission system covered by the low-altitude network provided by the embodiment of the invention, in the steps S401 and S402, the signal intensity of each base station frequency point is judged first, and if a base station frequency point with the signal intensity reaching a preset threshold exists, the unmanned aerial vehicle control device directly sends the data to be transmitted to the base station corresponding to the base station frequency point, so that the data does not need to be transmitted through the control device covered by the low-altitude network all the time, and the energy of the control device covered by the low-altitude network is saved.
In specific implementation, as shown in fig. 4b, the data transmission system covered by the low-altitude network provided in the embodiment of the present invention may also not include step S401 and step S402 in fig. 4a, that is, the unmanned aerial vehicle control device transmits data through the control device covered by the low-altitude network all the time, so that a target (a base station or a control device covered by the low-altitude network) for the unmanned aerial vehicle control device to transmit data is prevented from being continuously switched according to a change of signal intensity of each base station frequency point, thereby simplifying a control flow of the system. The signal interaction method in fig. 4b specifically includes:
s401', sending signal intensity information of each base station frequency point to a control device covered by a low-altitude network in an unmanned aerial vehicle control device;
s402', the control device covered by the low-altitude network determines the information of the transmitting frequency points according to the signal intensity information of the frequency points of each base station, and sends the determined information of the transmitting frequency points to the control device of the unmanned aerial vehicle;
s403', the control device of the unmanned aerial vehicle detects signal intensity information of the transmitting frequency point information and current position information of the unmanned aerial vehicle;
s404', the control device of the unmanned aerial vehicle sends the signal intensity information of the transmitting frequency point information and the current position information of the unmanned aerial vehicle to the control device covered by the low-altitude network;
s405', the control device covered by the low-altitude network detects the current position information and the current electric quantity information of the control device covered by the current low-altitude network; determining transmitting power information according to the signal intensity of a frequency point corresponding to the transmitting frequency point information, the current position information of the unmanned aerial vehicle, the current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network, and determining antenna angle information according to the current position information of the control device covered by the low-altitude network; controlling an antenna to transmit signals according to the determined transmitting frequency point information according to the transmitting power information and the antenna angle information;
s406', when the control device of the unmanned aerial vehicle detects the signal transmitted by the control device covered by the low-altitude network according to the determined transmission frequency point information, transmitting the data to be transmitted to the control device covered by the low-altitude network;
s407', the control device covered by the low-altitude network forwards the data to be transmitted to the wireless terminal access equipment;
s408', the wireless terminal access equipment sends the data to be transmitted to the corresponding base station.
In specific implementation, the antenna of the control device 100 covered by the low-altitude network is generally arranged upward, so that the position of the control device 100 covered by the low-altitude network is preferably lower than that of the control device 200 of the drone, so that the transmitted signal of the control device 100 covered by the low-altitude network can cover the drone.
Specifically, the control device 100 covered by the low-altitude network is fixed on the other unmanned aerial vehicle with the position lower than that of the unmanned aerial vehicle, and during specific implementation, the flight routes of the other unmanned aerial vehicle with the position lower than that of the unmanned aerial vehicle can be controlled to be the same as the flight route of the unmanned aerial vehicle, so that the other unmanned aerial vehicle always flies along with the unmanned aerial vehicle, and real-time data transmission of the control device 100 covered by the low-altitude network and the unmanned aerial vehicle is realized; alternatively, the control device 100 covered by the low-altitude network is fixed on the ground.
In specific implementation, the positions of the control devices covered by the low-altitude network can be set according to actual conditions, the number of the control devices covered by the low-altitude network is not limited in the invention, and the number of the control devices covered by the low-altitude network can be determined according to the size of the flight area of the unmanned aerial vehicle.
Referring to fig. 5, based on the same inventive concept, an embodiment of the present invention further provides a method for controlling low-altitude network coverage, including:
s501, receiving signal intensity information of each base station frequency point detected by the unmanned aerial vehicle, wherein the signal intensity information is sent by the unmanned aerial vehicle;
s502, determining the information of the transmitting frequency points according to a preset rule and the received signal intensity information of the frequency points of each base station;
s503, controlling an antenna to transmit signals according to the transmitting frequency point information;
s504, receiving data to be transmitted sent by the unmanned aerial vehicle, and sending the data to be transmitted to a corresponding base station through the wireless terminal access equipment.
In a specific implementation, the step S502 may specifically include:
and selecting the frequency point information corresponding to the frequency point with the weakest signal intensity from the received signal intensity information of the frequency points of each base station as the transmitting frequency point information.
Specifically, the method provided by the embodiment of the present invention may further include:
after the transmitting frequency point information is sent to the unmanned aerial vehicle, receiving the signal intensity information of the detected transmitting frequency point information fed back by the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle;
determining current position information of a control device covered by the low-altitude network;
determining current electric quantity information of a control device covered by the low-altitude network;
determining transmitting power information according to the signal intensity of a frequency point corresponding to the transmitting frequency point information, the current position information of the unmanned aerial vehicle, the current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network;
and controlling the antenna to transmit signals according to the transmission power information.
Specifically, the transmission power information is determined by the following formula:
P(t)∝-α*M(t)+β*S(t)+γ*D(t)，
wherein p (t) represents the transmission power in the transmission power information, m (t) represents the signal intensity of the frequency point corresponding to the transmission frequency point information, s (t) represents the current remaining power of the control device covered by the low-altitude network, d (t) represents the current distance between the unmanned aerial vehicle and the control device covered by the low-altitude network, and α, β and γ are positive real numbers.
Specifically, the method provided by the embodiment of the present invention may further include:
determining antenna angle information according to the current position information of the unmanned aerial vehicle and the current position information of a control device covered by the low-altitude network;
and controlling the antenna to transmit signals according to the antenna angle information.
The principle of the control method for low-altitude network coverage provided by the embodiment of the invention for solving the problem is similar to that of the control device for low-altitude network coverage, so the implementation of the method can be referred to the implementation of the device, and repeated details are not repeated.
As shown in fig. 6, an embodiment of the present invention further provides a method for controlling an unmanned aerial vehicle, including:
s601, detecting signal intensity information of each base station frequency point;
s602, sending the signal intensity information of each base station frequency point to a control device covered by the low-altitude network, and sending the data to be transmitted to the control device covered by the low-altitude network after detecting the signal transmitted by the control device covered by the low-altitude network according to the determined transmitting frequency point information.
Specifically, the method provided by the embodiment of the present invention may further include:
determining current position information of the unmanned aerial vehicle;
after receiving the transmitting frequency point information sent by the control device covered by the low-altitude network, feeding back the signal intensity information of the frequency point corresponding to the detected transmitting frequency point information and the current position information of the unmanned aerial vehicle to the control device covered by the low-altitude network.
Specifically, the method provided by the embodiment of the present invention may further include:
and judging whether a base station frequency point with the signal intensity reaching a preset threshold value exists in the signal intensity information of each base station frequency point, if so, directly sending the data to be transmitted to a base station corresponding to the base station frequency point, and if not, sending the data to be transmitted to a control device for low-altitude network coverage.
The principle for solving the problems of the control method of the unmanned aerial vehicle provided by the embodiment of the invention is similar to that of the control device of the unmanned aerial vehicle, so the implementation of the method can be referred to the implementation of the device, and repeated parts are not repeated.
The control device for low-altitude network coverage, the control device for the unmanned aerial vehicle and the method thereof provided by the embodiment of the invention realize network coverage in a low-altitude area where the unmanned aerial vehicle is located, and determine the information of the transmitting frequency point through the signal intensity of each base station frequency point which can be detected by the unmanned aerial vehicle, so that the unmanned aerial vehicle and the control device for low-altitude network coverage carry out data transmission through the specific transmitting frequency point information, thereby avoiding secondary coding of data to be transmitted and reducing interference between base station frequency points with the same frequency. The control device that low-altitude network covered can also adjust the transmitting frequency and the transmission angle of antenna according to actual conditions to can accurately cover unmanned aerial vehicle's flight area, and can guarantee the real-time transmission of waiting to transmit data and avoid the control device's that low-altitude network covered energy waste through adjusting transmitting frequency.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (17)

1. A control apparatus for low-altitude network coverage, comprising: the device comprises a first data transmission module, a frequency point determination module and a control module; wherein the content of the first and second substances,
the first data transmission module is used for receiving the signal intensity information of each base station frequency point detected by the unmanned aerial vehicle and sent by the unmanned aerial vehicle, and sending the signal intensity information of each base station frequency point to the frequency point determination module; receiving data to be transmitted sent by the unmanned aerial vehicle according to the determined transmitting frequency point information, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment;
the frequency point determining module is used for determining the transmitting frequency point information and then sending the transmitting frequency point information to the control module according to a preset rule and the received signal intensity information of the frequency points of each base station;
the control module is used for controlling the antenna to transmit signals according to the received transmitting frequency point information;
wherein the preset rule comprises:
selecting frequency point information corresponding to frequency points meeting a first preset threshold range from the signal intensity information of the frequency points of each base station as the transmission frequency point information;
or sequencing the signal intensity information of the frequency points of each base station, and selecting frequency point information corresponding to one frequency point from at least one frequency point of which the signal intensity information is smaller than a preset intensity threshold value as the transmitting frequency point information;
or directly selecting the frequency point information corresponding to the frequency point with the weakest signal intensity information as the transmitting frequency point information.
2. The apparatus of claim 1, further comprising: the device comprises a power determining module and an electric quantity determining module;
the frequency point determining module is further configured to send the determined transmitting frequency point information to the first data transmission module;
the first data transmission module is further configured to receive the signal strength information of the detected transmission frequency point information and the current position information of the unmanned aerial vehicle, which are fed back by the unmanned aerial vehicle, after the transmission frequency point information is sent to the unmanned aerial vehicle, and send the signal strength of the transmission frequency point information and the current position information of the unmanned aerial vehicle to the power determination module;
the power determining module is configured to determine current power information of the control device covered by the low-altitude network, and send the determined current power information of the control device covered by the low-altitude network to the power determining module;
the power determining module is used for determining transmitting power information according to the signal intensity of a frequency point corresponding to the transmitting frequency point information, the current position information of the unmanned aerial vehicle, the received current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network, and sending the determined transmitting power information to the control module;
and the control module is further used for controlling the antenna to transmit signals according to the received transmission power information.
3. The apparatus of claim 2, wherein the power determination module determines the transmit power information by, in particular, the following equation:
P(t)∝-α*M(t)+β*S(t)+γ*D(t)，
wherein p (t) represents the transmission power in the transmission power information, m (t) represents the signal strength of the frequency point corresponding to the transmission frequency point information, s (t) represents the current remaining power of the control device covered by the low-altitude network, d (t) represents the current distance between the unmanned aerial vehicle and the control device covered by the low-altitude network, and α, β, and γ are all positive real numbers.
4. The apparatus of claim 2, further comprising: an antenna angle determination module;
the first data transmission module is further configured to send current position information of the unmanned aerial vehicle to the antenna angle determination module;
the antenna angle determining module is used for determining antenna angle information according to the current position information of the unmanned aerial vehicle and the received current position information of the control device covered by the low-altitude network, and sending the determined antenna angle information to the control module;
the control module is further configured to control the antenna to transmit a signal according to the antenna angle information according to the received antenna angle information.
5. A control device of an unmanned aerial vehicle, comprising: the acquisition module and the second data transmission module;
the acquisition module is used for detecting the signal intensity information of each base station frequency point and sending the detected signal intensity information of each base station frequency point to the second data transmission module;
the second data transmission module is used for sending the signal intensity information of the frequency points of each base station to a control device covered by a low-altitude network, and sending data to be transmitted to the control device covered by the low-altitude network according to the determined transmission frequency point information after the acquisition module detects the signal transmitted by the control device covered by the low-altitude network according to the determined transmission frequency point information;
the control device for the low-altitude network coverage determines the transmitting frequency point information according to a preset rule, wherein the preset rule comprises:
selecting frequency point information corresponding to frequency points meeting a first preset threshold range from the signal intensity information of the frequency points of each base station as the transmission frequency point information;
or sequencing the signal intensity information of the frequency points of each base station, and selecting frequency point information corresponding to one frequency point from at least one frequency point of which the signal intensity information is smaller than a preset intensity threshold value as the transmitting frequency point information;
or directly selecting the frequency point information corresponding to the frequency point with the weakest signal intensity information as the transmitting frequency point information.
6. The apparatus of claim 5, wherein the second data transmission module is further configured to, after receiving the information of the transmission frequency point sent by the control apparatus covered by the low-altitude network, feed back, to the control apparatus covered by the low-altitude network, the detected signal strength information of the frequency point corresponding to the information of the transmission frequency point and the received current location information of the unmanned aerial vehicle.
7. The apparatus of claim 5 or 6, further comprising:
and the judging module is used for judging whether a base station frequency point with the signal intensity reaching a preset threshold value exists in the signal intensity information of each base station frequency point, controlling the second data transmission module to directly send the data to be transmitted to a base station corresponding to the base station frequency point if the base station frequency point exists, and controlling the second data transmission module to send the data to be transmitted to the control device covered by the low-altitude network if the base station frequency point does not exist.
8. A data transmission system covered by a low-altitude network, comprising:
the control device for low-altitude network coverage is used for receiving signal intensity information of each base station frequency point detected by the unmanned aerial vehicle, and the signal intensity information is sent by the unmanned aerial vehicle; determining the information of the transmitting frequency points according to a preset rule and the received signal intensity information of the frequency points of each base station; controlling an antenna to transmit signals according to the transmitting frequency point information; receiving data to be transmitted sent by the unmanned aerial vehicle according to the determined transmitting frequency point information, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment;
the control device of the unmanned aerial vehicle is used for detecting the signal intensity information of each base station frequency point; sending the signal intensity information of each base station frequency point to a control device covered by the low-altitude network, and sending data to be transmitted to the control device covered by the low-altitude network according to the determined transmitting frequency point information after detecting a signal transmitted by the control device covered by the low-altitude network according to the determined transmitting frequency point information;
wherein the preset rule comprises:
selecting frequency point information corresponding to frequency points meeting a first preset threshold range from the signal intensity information of the frequency points of each base station as the transmission frequency point information;
or sequencing the signal intensity information of the frequency points of each base station, and selecting frequency point information corresponding to one frequency point from at least one frequency point of which the signal intensity information is smaller than a preset intensity threshold value as the transmitting frequency point information;
or directly selecting the frequency point information corresponding to the frequency point with the weakest signal intensity information as the transmitting frequency point information.
9. The system of claim 8, wherein the control device of the low-altitude network coverage is located lower than the control device of the drone.
10. The system of claim 9, wherein the control means of low altitude network coverage is fixed on other drones located lower than the drone; or the control device covered by the low-altitude network is fixed on the ground.
11. A method for controlling low-altitude network coverage is characterized by comprising the following steps:
receiving signal intensity information of each base station frequency point detected by an unmanned aerial vehicle, wherein the signal intensity information is sent by the unmanned aerial vehicle;
determining the information of the transmitting frequency points according to a preset rule and the received signal intensity information of the frequency points of each base station;
controlling an antenna to transmit signals according to the transmitting frequency point information;
receiving data to be transmitted sent by the unmanned aerial vehicle according to the determined transmitting frequency point information, and sending the data to be transmitted to a corresponding base station through wireless terminal access equipment;
wherein the preset rule comprises:
selecting frequency point information corresponding to frequency points meeting a first preset threshold range from the signal intensity information of the frequency points of each base station as the transmission frequency point information;
or sequencing the signal intensity information of the frequency points of each base station, and selecting frequency point information corresponding to one frequency point from at least one frequency point of which the signal intensity information is smaller than a preset intensity threshold value as the transmitting frequency point information;
or directly selecting the frequency point information corresponding to the frequency point with the weakest signal intensity information as the transmitting frequency point information.
12. The method of claim 11, further comprising:
after the transmitting frequency point information is sent to the unmanned aerial vehicle, receiving the signal intensity information of the detected transmitting frequency point information and the current position information of the unmanned aerial vehicle fed back by the unmanned aerial vehicle;
determining current position information of a control device covered by the low-altitude network;
determining current electric quantity information of a control device covered by the low-altitude network;
determining transmission power information according to the signal intensity of a frequency point corresponding to the transmission frequency point information, the current position information of the unmanned aerial vehicle, the current position information of the control device covered by the low-altitude network and the current electric quantity information of the control device covered by the low-altitude network;
and controlling an antenna to transmit signals according to the transmission power information.
13. The method of claim 12, wherein the transmit power information is determined by the formula:
P(t)∝-α*M(t)+β*S(t)+γ*D(t)，
wherein p (t) represents the transmission power in the transmission power information, m (t) represents the signal strength of the frequency point corresponding to the transmission frequency point information, s (t) represents the current remaining power of the control device covered by the low-altitude network, d (t) represents the current distance between the unmanned aerial vehicle and the control device covered by the low-altitude network, and α, β, and γ are all positive real numbers.
14. The method of claim 12, further comprising:
determining antenna angle information according to the current position information of the unmanned aerial vehicle and the current position information of the control device covered by the low-altitude network;
and controlling the antenna to transmit signals according to the antenna angle information.
15. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:
detecting signal intensity information of each base station frequency point;
sending the signal intensity information of each base station frequency point to a control device covered by a low-altitude network, and sending data to be transmitted to the control device covered by the low-altitude network according to the determined transmitting frequency point information after detecting a signal transmitted by the control device covered by the low-altitude network according to the determined transmitting frequency point information;
the control device for the low-altitude network coverage determines the transmitting frequency point information according to a preset rule, wherein the preset rule comprises:
selecting frequency point information corresponding to frequency points meeting a first preset threshold range from the signal intensity information of the frequency points of each base station as the transmission frequency point information;
or sequencing the signal intensity information of the frequency points of each base station, and selecting frequency point information corresponding to one frequency point from at least one frequency point of which the signal intensity information is smaller than a preset intensity threshold value as the transmitting frequency point information;
or directly selecting the frequency point information corresponding to the frequency point with the weakest signal intensity information as the transmitting frequency point information.
16. The method of claim 15, further comprising:
determining current location information of the drone;
after receiving the transmitting frequency point information sent by the control device covered by the low-altitude network, feeding back the detected signal intensity information of the frequency point corresponding to the transmitting frequency point information and the current position information of the unmanned aerial vehicle to the control device covered by the low-altitude network.
17. The method of claim 15 or 16, further comprising:
and judging whether a base station frequency point with the signal intensity reaching a preset threshold value exists in the signal intensity information of each base station frequency point, if so, directly sending the data to be transmitted to a base station corresponding to the base station frequency point, and if not, sending the data to be transmitted to a control device covered by the low-altitude network.
CN201610652384.4A 2016-08-10 2016-08-10 Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle Active CN107734604B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610652384.4A CN107734604B (en) 2016-08-10 2016-08-10 Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610652384.4A CN107734604B (en) 2016-08-10 2016-08-10 Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle

Publications (2)

Publication Number Publication Date
CN107734604A CN107734604A (en) 2018-02-23
CN107734604B true CN107734604B (en) 2021-01-15

Family

ID=61200125

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610652384.4A Active CN107734604B (en) 2016-08-10 2016-08-10 Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle

Country Status (1)

Country Link
CN (1) CN107734604B (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107380443A (en) * 2017-09-08 2017-11-24 深圳市道通智能航空技术有限公司 Unmanned aerial vehicle control system and implementation method, GCU and relay station
CN110278046B (en) * 2018-03-15 2021-11-19 中国移动通信有限公司研究院 Method and device for testing performance of unmanned aerial vehicle and base station and testing equipment
US11843446B2 (en) 2018-05-17 2023-12-12 Beijing Xiaomi Mobile Software Co., Ltd. Method and device of controlling unmanned aerial vehicle to access network
CN108923839B (en) * 2018-06-19 2021-10-22 深圳市道通智能航空技术股份有限公司 Data transmission method, device and system, aircraft and control equipment
CN109151754A (en) * 2018-09-03 2019-01-04 广州市花林景观工程有限公司 Farm environment high precision wireless monitors system
US11166175B2 (en) * 2018-11-30 2021-11-02 T-Mobile Usa, Inc. UAV modular redundant communications
CN111698639B (en) * 2019-03-15 2023-05-02 北京京东尚科信息技术有限公司 Control method, system, equipment and storage medium for signal coverage of air route
WO2021035641A1 (en) * 2019-08-29 2021-03-04 深圳市大疆创新科技有限公司 Control method, remote server, control station and storage medium
CN115347921A (en) * 2021-05-14 2022-11-15 中国移动通信集团浙江有限公司 Low-altitude-oriented 5G cell side lobe covering method and device and computing equipment
CN115347941B (en) * 2022-10-17 2023-02-17 四川腾盾科技有限公司 Large-scale high-altitude whole-network emergency communication unmanned aerial vehicle ground covering method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102508237A (en) * 2011-11-03 2012-06-20 南京鑫轩电子系统工程有限公司 Angle tracking system
CN104320208A (en) * 2014-11-11 2015-01-28 西华大学 Air radio monitoring method
CN104749640A (en) * 2015-03-26 2015-07-01 吉林大学 Multi-source multi-frequency ground-air electromagnetic detection emission method
CN105007115A (en) * 2015-07-24 2015-10-28 华南理工大学 Unmanned helicopter relay data link system and control method thereof
US9392570B1 (en) * 2013-12-04 2016-07-12 Garini Technologies Corporation Pte. Ltd. Method of using aircraft for providing mobile network connection and locating subscribers in specified areas

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102508237A (en) * 2011-11-03 2012-06-20 南京鑫轩电子系统工程有限公司 Angle tracking system
US9392570B1 (en) * 2013-12-04 2016-07-12 Garini Technologies Corporation Pte. Ltd. Method of using aircraft for providing mobile network connection and locating subscribers in specified areas
CN104320208A (en) * 2014-11-11 2015-01-28 西华大学 Air radio monitoring method
CN104749640A (en) * 2015-03-26 2015-07-01 吉林大学 Multi-source multi-frequency ground-air electromagnetic detection emission method
CN105007115A (en) * 2015-07-24 2015-10-28 华南理工大学 Unmanned helicopter relay data link system and control method thereof

Also Published As

Publication number Publication date
CN107734604A (en) 2018-02-23

Similar Documents

Publication Publication Date Title
CN107734604B (en) Control device for low-altitude network coverage, control device and method for unmanned aerial vehicle
CN110087189B (en) Method and device for determining deployment position of unmanned aerial vehicle base station
US20170048925A1 (en) Apparatus and method for managing network of drone
CN110036648B (en) Flight device, control device, communication control method, and control method
US11798425B2 (en) Preamble management for unmanned aerial vehicles
CN109451373B (en) Method and system for controlling flight based on cellular network
JP7136951B2 (en) Connection Establishment Method Using Common Random Access Preamble
WO2021114828A1 (en) Airway communication method and system, computer-readable storage medium, and electronic device
CN110635831B (en) FDMA-based unmanned aerial vehicle measurement and control cellular communication method
CN111264037B (en) Reducing aircraft induced disturbances
EP3897009B1 (en) Monitoring method and device
CN110677917B (en) Unmanned aerial vehicle measurement and control cellular communication method based on CS-ALOHA
US20200015237A1 (en) Method and apparatus for controlling network device, method and apparatus for sending control information, and method and apparatus for sending data
CN110635830A (en) Unmanned aerial vehicle measurement and control cellular communication method based on TS-ALOHA
CN113556189B (en) Antenna adjusting method and device for unmanned aerial vehicle
WO2021012118A1 (en) Communication method, apparatus, device and system, and storage medium
US20230300768A1 (en) Electronic device, infrastructure equipment and method
US11337191B2 (en) Interference mitigation for aerial vehicle communications by sharing scheduling information with neighboring base stations
CN109327873B (en) Equipment switching method and device and data transmission system
RU2772978C2 (en) Reduction in interference created by aircrafts
CN115362753B (en) Control method of transmitting signal, network equipment, terminal and storage medium
CN115623500A (en) Power control method, device, network node, terminal and storage medium
WO2022097869A1 (en) Method for controlling driving of v2x vehicle by first device in wireless communication system supporting sidelink, and device therefor
EP4315655A1 (en) Methods, communications device and non-terrestrial network infrastructure equipment
CN116707606A (en) Unmanned aerial vehicle remote broadband communication system and method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant