CN109451373A - A kind of method and system based on cellular network control flight - Google Patents
A kind of method and system based on cellular network control flight Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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Abstract
The application provides a kind of method and system based on cellular network control flight, this method comprises: receiving flight destination coordinate information, adjoint point range information and communication base station location information；Aircraft is connected by enhancing machine type communication cellular network, the coverage area of enhancing machine type communication cellular network is obtained using the channel gain relationship that signal between aircraft and communication base station transmits；The adjoint point quantity that every bit in region is determined according to adjoint point range obtains the distance between each adjoint point by adjoint point range information, is developed using minimum range circulation and obtains the minimum range between fixed destination；Aircraft, which is obtained, using the minimum range between artificial ant algorithm and fixed destination traverses the minimum range of all flight destination coordinates, destination flight sequence and flight path sequential control aircraft flight.The flying distance that the present invention realizes aircraft minimizes, and improves the control efficiency of its flight.
Description
Technical field
This application involves flight control technical field more particularly to it is a kind of based on cellular network control flight method and
System.
Background technique
LTE (Long Term Evolution, long term evolution) is drilling for a long time for Universal Mobile Communication System technical standard
Into, and LTE-M, i.e. LTE-Machine-to-Machine, it is the technology of Internet of things based on LTE evolution, Low- is in R12
Cost MTC is referred to as LTE enhanced MTC, i.e. eMTC (enhancing machine type communication), it is intended to be based on existing in R13
LTE carrier wave meets internet of things equipment demand.EMTC (enhancing machine type communication) is disposed based on cellular network, supports uplink and downlink
The peak rate of maximum 1Mbps belongs to Internet of Things medium-rate, the radio frequency and base band band that user equipment passes through support 1.4MHz
Width can be directly accessed existing LTE network.LTE is during continuous evolution, newest eMTC (enhancing machine type communication)
The cost of system has all been advanced optimized with NBIoT, is enhanced cruising ability, is expanded coverage area.EMTC (enhancing machine type
Communication) most critical ability be to support mobility and to position, cost only has the 25% of Cat1 chip, compared to GPRS speed
Rate wants four times high.
Unmanned plane during flying technology has become popular research field, and is based on the control of cellular network condition of contact in the prior art
Unmanned plane during flying under system has many problems, embodies unmanned plane between two o'clock substantially under the scene of its setting and uses bee
The problem of nest network-control flight.But there are still following two aspects problems: 1, without specific unmanned plane cellular network communication skill
Art, cellular network have the technology of multiple versions, and the technology of different editions is directed to for different application scenarios, reasonable technology
It is just able to achieve the safety and effectiveness of UAV Flight Control, therefore the selection of cellular network version is one more multiple in the scene
Miscellaneous problem.2, it is seldom only carried out between two single positions in real life without multiple fixed destination flight scenarios
Operation, studying multiple fixed shortest flight scenarios of destination flying distance has an important realistic meaning, therefore existing there are two positions
Flight control between setting has biggish limitation.
Therefore, how to provide the flight scenario that one kind is highly reliable, controls with multiple destination flight communications is this field
Technical problem urgently to be resolved.
Summary of the invention
The application's is designed to provide a kind of method and system based on cellular network control flight, solves the prior art
Middle flight communication control reliability is low and cannot achieve the technical issues of multiple destination flight communications control.
In order to achieve the above objectives, the application provides a kind of method based on cellular network control flight, comprising:
Receive flight destination coordinate information, adjoint point range information and communication base station location information；
Aircraft is connected by enhancing machine type communication cellular network, utilizes signal between the aircraft and communication base station
The channel gain relationship of transmission to insure telecommunication service quality obtains the coverage area of the enhancing machine type communication cellular network；
In the coverage area of the enhancing machine type communication cellular network, every bit in region is determined according to adjoint point range
Adjoint point quantity, the distance between described each described adjoint point is obtained by the adjoint point range information, utilizes minimum range
Circulation, which develops, obtains the minimum range between the fixed destination；
The aircraft, which is obtained, using the minimum range between artificial ant algorithm and the fixed destination traverses all fly
Minimum range, destination flight sequence and the flight path sequence of row destination coordinate；
It flies using described in the minimum range of the flight destination coordinate, destination flight sequence and flight path sequential control
Device flight, and the position for showing the aircraft in real time and the flying distance between starting flight point.
Optionally, wherein this method further include:
It is obtained using the channel gain relationship that signal between the aircraft and communication base station transmits comprising described in all
The communication base station of flight destination coordinate；When including all flight destination coordinates without the communication base station, utilize
The channel gain relationship that signal transmits between the aircraft and communication base station obtains needing base station number minimum and covering is owned
The communication base station of the flight destination coordinate obtains the coverage area of the enhancing machine type communication cellular network.
Optionally, wherein this method further include:
When all communication base station combinations are all failed comprising all flight destination coordinates in flight range, generate not
Complete flight control information is simultaneously shown；Meanwhile it being found out according to existing communication base station information and needing newly-increased communication base station least logical
Letter base station combination is showed.
Optionally, wherein insured telecommunication service quality using what signal between the aircraft and communication base station transmitted
Channel gain relationship obtains the coverage area of the enhancing machine type communication cellular network, comprising:
The channel gain that signal transmits between the aircraft and the communication base station indicates are as follows:
Wherein H is the flying height of aircraft, HGIndicate the height of communication base station.U (t) indicates aircraft in the horizontal plane
Coordinate, gmIndicate the horizontal coordinate of any one communication base station, M indicates all communication base station quantity, β0Indicate signal in 1m
Apart from when channel gain；
The signal-to-noise ratio that aircraft is communicated with communication base station indicates are as follows:
Wherein P indicates the transmission power of each communication base station, σ2Indicate the noise of aircraft receiver；
The coverage area of cellular network refers to the maximum communication distance to insure telecommunication service quality between aircraft and base station,
It indicates are as follows:
SminIndicate the minimum signal-to-noise ratio communicated between aircraft and communication base station.
Optionally, wherein this method further include:
Show the minimum that minimum range and the aircraft between the fixed destination traverse all flight destination coordinates
Distance and flight path sequence；
It receives the minimum range being directed between the fixed destination and the aircraft traverses all flight destination coordinates
The flight control instruction of minimum range obtains specified flight destination coordinate and flight sequence from the flight control instruction and controls
Make the aircraft flight.
On the other hand, the present invention also provides a kind of systems based on cellular network control flight, comprising: flight information receives
Device, communication cellular network coverage area analyzer, adjoint point distance analysis device, flight path analyzer and flight controller；Wherein,
The flight information receiver is connected, for flying with the communication cellular network coverage area analyzer
It controls in equipment, receives starting flight point information, flight destination coordinate information, adjoint point range information and communication base station position letter
Breath；
The communication cellular network coverage area analyzer, with the flight information receiver and adjoint point distance analysis device phase
Connection is believed for connecting aircraft by enhancing machine type communication cellular network using between the aircraft and communication base station
Number transmission the channel gain relationship to insure telecommunication service quality obtain it is described enhancing machine type communication cellular network covering model
It encloses；
The adjoint point distance analysis device, with the communication cellular network coverage area analyzer and flight path analyzer phase
Connection, for according to the adjoint point quantity within the scope of adjoint point, leading in the coverage area of the enhancing machine type communication cellular network
It crosses the adjoint point range information and obtains the distance between described each described adjoint point, developed using minimum range circulation and obtain institute
State the minimum range between fixed destination；
The flight path analyzer is connected with the adjoint point distance analysis device and flight controller, for utilizing people
Minimum range between work ant group algorithm and the adjoint point obtains the most narrow spacing that the aircraft traverses all flight destination coordinates
From and flight path sequence；
The flight controller is connected with the flight path analyzer, for utilizing the flight destination coordinate
Minimum range, fixed destination flight sequence and flight path control the aircraft flight, and show the aircraft in real time
Position and the flying distance between starting flight point.
Optionally, wherein the communication cellular network coverage area analyzer, for calculating Cellular Networks in the following manner
The coverage area of network:
The channel gain that signal transmits between the aircraft and the communication base station indicates are as follows:
Wherein H is the flying height of aircraft, HGIndicate the height of communication base station.U (t) indicates aircraft in the horizontal plane
Coordinate, gmIndicate the horizontal coordinate of any one communication base station, M indicates all communication base station quantity, β0Indicate signal in 1m
Apart from when channel gain；
The signal-to-noise ratio that aircraft is communicated with communication base station indicates are as follows:
Wherein P indicates the transmission power of each communication base station, σ2Indicate the noise of aircraft receiver；
The coverage area of cellular network refers to the maximum communication distance to insure telecommunication service quality between aircraft and base station,
It indicates are as follows:
SminIndicate the minimum signal-to-noise ratio communicated between aircraft and communication base station.
Optionally, wherein the system further include: flight directive controller is connected with the flight controller, is used for:
Show the minimum range between the adjoint point and the aircraft traverses the minimum range of all flight destination coordinates
And flight path sequence；
It receives the minimum range being directed between the adjoint point and the aircraft traverses the minimum of all flight destination coordinates
The flight control instruction of distance obtains specified flight destination coordinate and flight sequential control institute from the flight control instruction
State aircraft flight.
What the application realized has the beneficial effect that:
(1) method and system based on cellular network control flight of the application have using eMTC enhancing machine type communication
Compensate for effect the defect that traditional unmanned plane peer-to-peer mode rate is low, delay is high, reliability is weak, in addition to this, the hair
It is bright to realize that flying distance when unmanned plane traverses multiple pinned task points under cellular network control minimizes, it improves
The efficiency of flight.
(2) method and system based on cellular network control flight of the application, control is chosen according to environmental condition automatically
It flies most suitable cellular network version, realizes unmanned flight's control under various varying environments, improve flight control
Applicability.
(3) method and system based on cellular network control flight of the application, enhance machine type communication based on eMTC, from
The dynamic available communication base station range of detection, sets the line of flight and control route before flight, can be more stable effective
The flight of ground control aircraft.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application can also be obtained according to these attached drawings other attached for those skilled in the art
Figure.
Fig. 1 is the flow diagram of method of the first in the embodiment of the present invention based on cellular network control flight；
Fig. 2 is the principle process schematic diagram of the method in the embodiment of the present invention based on cellular network control flight described in Fig. 1；
Fig. 3 is the flow diagram of second of method based on cellular network control flight in the embodiment of the present invention；
Fig. 4 is the flow diagram of method of the third in the embodiment of the present invention based on cellular network control flight；
Fig. 5 is the flow diagram of method of the third in the embodiment of the present invention based on cellular network control flight；
Fig. 6 is the structural schematic diagram of system of the first in the embodiment of the present invention based on cellular network control flight；
Fig. 7 is the structural schematic diagram of second of system based on cellular network control flight in the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of system of the third in the embodiment of the present invention based on cellular network control flight；
Fig. 9 is the schematic diagram of the 4th kind of system based on cellular network control flight in the embodiment of the present invention.
Specific embodiment
Below with reference to the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on the application
In embodiment, those skilled in the art's every other embodiment obtained without making creative work, all
Belong to the range of the application protection.
Embodiment
As shown in Figure 1, the method flow schematic diagram for the first in the present embodiment based on cellular network control flight, passes through
It is weak that eMTC enhancing machine type communication effectively compensates for low traditional unmanned plane peer-to-peer mode rate, delay height, reliability
Defect, improve the flight control efficiency of aircraft.EMTC (enhancing machine type communication) technical support mobility can position.
It can monitor in real time and position, information is recorded and uploaded.Requirement based on new physical-layer techniques and low-power consumption is set again
The unmanned aerial vehicle (UAV) control unit of meter can further increase the speed of response that unmanned plane flies control, reduce UAV Communication power consumption；Together
When, by the On-line Control of eMTC (enhancing machine type communication) cellular network, it can abandon what hand-held remote controller manipulated winged hand
It is required that the high speed provided using operator, low time delay, stable network online can carry out unmanned plane using cell phone application winged
Control operation.This method comprises the following steps:
Step 101 receives flight destination coordinate information, adjoint point range information and communication base station location information.
The adjoint point range and use of aircraft initial point position information, the destination coordinate information to be passed through within the set range
It in providing the information such as the communication base station coordinate for controlling the network coverage for aircraft is needed in aircraft flight control process
The basic data based on eMTC enhancing machine type communication used, analyzes what aircraft to be passed through by these data in advance
Place and communication overlay situation provide route control condition for the practical flight of aircraft, improve aircraft flight control
Stability and applicability.
Step 102 connects aircraft by enhancing machine type communication cellular network, using between aircraft and communication base station
The channel gain relationship of signal transmission to insure telecommunication service quality obtains the coverage area of enhancing machine type communication cellular network.
Optionally, show that enhancing machine type is logical using the channel gain relationship that signal between aircraft and communication base station transmits
Believe the coverage area of cellular network, comprising:
The channel gain that signal transmits between aircraft and communication base station indicates are as follows:
Wherein H is the flying height of aircraft, HGIndicate the height of communication base station.U (t) indicates aircraft in the horizontal plane
Coordinate, gmIndicate the horizontal coordinate of any one communication base station, M indicates all communication base station quantity, β0Indicate signal in 1m
Apart from when channel gain；
The signal-to-noise ratio that aircraft is communicated with communication base station indicates are as follows:
Wherein P indicates the transmission power of each communication base station, σ2Indicate the noise of aircraft receiver；
The coverage area of cellular network refers to the maximum communication distance that insures telecommunication service quality between unmanned plane and base station, table
It is shown as:
SminIndicate the minimum signal-to-noise ratio communicated between aircraft and communication base station.
The coverage area of enhancing machine type communication cellular network is related to the control network coverage situation of aircraft flight, leads to
The network crossed in network coverage can navigation that is steady, remotely controlling aircraft, without being needed as tradition unmanned plane
It to be just able to achieve control function in a certain range, in this way, flying for the Wireless remote control aircraft of mobile terminal may be implemented
It goes, at the same time it can also which reservation flight time, reservation flight locations control is arranged by communication base station, or even can also be arranged certainly
Dynamic flight and automatic flight to predeterminated position are charged, upload the functions such as data, further realize the intelligence of aircraft
It automatically controls.
Step 103, enhancing machine type communication cellular network coverage area in, according within the scope of adjoint point determine region in
The adjoint point quantity of every bit obtains the distance between each adjoint point by adjoint point range information, is drilled using minimum range circulation
Change and obtains the minimum range between fixed destination.
Suitable adjoint point is screened by step in detail below, determines the optimum trajectory between destination.Assuming that unmanned plane exists
It is in the air flown with sustained height.If the plan-position of certain point is (a, b), then adjoint point coordinate (x, y) range that the point generates
A-nr < x < a+nr, b-nr < y <b+nr, to range in the distance put can indicate are as follows:When
The point of dist < nr is considered as adjoint point.It minimizes the distance that starting point is put to certain: the distance at any point will be arrived on coordinate first
D is denoted as infinity, then will be denoted as 0 to the distance D of initial point.If the plan-position of certain point is (a, b), the neighbour which generates
Point coordinate (x, y), the distance of initial point to the point are D (a, b), and the distance of initial point to adjoint point is D (x, y), between two o'clock
Distance is dist, if the value of D (x, y)+dist is assigned to the value of D (x, y)+dist D (a, b) less than D (a, b), and
Starting point is needed to (a, b) by (x, y).By repeatedly looping through, finally obtain minimum range between two destinations and
Track.In circulation, coordinate will recycle respectively for several times from small to large and from big to small, it is ensured that obtained distance is the smallest.
Step 104 is obtained aircraft using the minimum range between artificial ant algorithm and fixed destination and traverses all fly
Minimum range, destination flight sequence and the flight path sequence of row destination coordinate.
The minimum range between all fixed destinations obtained according to process above finds out nothing using artificial ant algorithm
The sequence of man-machine traversal destination and the shortest distance for having flown all fixed destinations.Artificial ant algorithm used herein is similar to solve
The artificial ant algorithm of traveling salesman problem, but when traversing all destinations herein, unmanned plane does not return to starting point.
Step 105 is flown using the minimum range, destination flight sequence and flight path sequential control of flight destination coordinate
Device flight, and the position for showing aircraft in real time and the flying distance between starting flight point.
Export the minimum of unmanned plane multiple fixed destination flights under eMTC (enhancing machine type communication) cellular network connection
Distance and most short track.The unmanned plane during flying system of real-time control is carried out using cellular network, introducing emtc, (enhancing machine type is logical
Letter) technology, traditional point-to-point communication mode is replaced by cellular network communication, unmanned plane will be significantly promoted and fly in the sky
Safety.In addition importantly, the present invention proposes under cellular network control condition, the flight path of multiple destinations is traversed
Optimisation strategy can make unmanned plane complete task time most short.Generally speaking, the present invention effectively overcomes existing similar technique scheme
The shortcomings that and deficiency, it is of the invention kept based on cellular network connection under the conditions of more destination flying distances minimize strategy mainly by
Two parts form, as shown in Fig. 2, including the following steps:
Step 201, initialization, input start the relevant parameters such as coordinate, adjoint point range, base station location, then carry out next
Step.
Step 202, the connection of eMTC Cellular Networks, according to the minimum noise of the communication normally to be insured telecommunication service quality
Than determining the coverage area of all base stations in region the maximum distance that determines unmanned plane and base station communication.
Step 203 determines Cellular Networks coverage area, and the adjoint point quantity of every bit in region is determined according to adjoint point range, and
Calculate its distance for arriving adjoint point.
Step 204 determines adjoint point quantity and the distance to adjoint point, minimize under cellular network condition of contact from starting point to
The distance of certain point.
Step 205 minimizes and fixes the distance between destination and track.
If step 206, the Minimize All termination condition that the distance between meets destination, jump out flow chart, are unsatisfactory for
Termination condition then continues cycling through.
Step 207, artificial ant algorithm calculate Ship's Optimum Route.
Step 208, output Ship's Optimum Route: flow graph is completed, and optimum results are exported.
Using eMTC (enhancing machine type communication) cellular network technologies scheme, realizes the real-time control of unmanned plane during flying, subtract
Lack previous using drawback brought by point-to-point communication.Realize unmanned plane in eMTC (enhancing machine type communication) cellular network control
Flying distance when the system multiple pinned task points of lower traversal minimizes, such as important in inhibiting in terms of cargo pinpoints.
In some alternative embodiments, as shown in figure 4, being flown for third in the present embodiment is various based on cellular network control
The flow diagram of capable method, unlike Fig. 1, this method comprises the following steps:
Step 401, when the combination of all communication base stations is all failed comprising all flight destination coordinates in flight range, it is raw
At imperfect flight control information and show.
Step 402, found out according to existing communication base station information need the newly-increased least communication base station of communication base station combine into
Row shows.
Optionally, as shown in figure 5, the stream for the method flown for the 4th kind in the embodiment of the present invention based on cellular network control
Journey schematic diagram, unlike Fig. 1, further includes:
Step 501 shows minimum range between fixed destination and aircraft traverses the minimum of all flight destination coordinates
Distance and flight path sequence.
Step 502, reception traverse all flight destination coordinates for the minimum range and aircraft fixed between destination
The flight control instruction of minimum range obtains specified flight destination coordinate and flight sequential control from flight control instruction and flies
The flight of row device.
Fig. 6 is that a kind of structural schematic diagram of the system 600 based on cellular network control flight, the system are used in the present embodiment
In implementing the above-mentioned method based on cellular network control flight, which includes: flight information receiver 601, communication cell
Network coverage analyzer 602, adjoint point distance analysis device 603, flight path analyzer 604 and flight controller 605；Its
In,
Flight information receiver 601 is connected with communication cellular network coverage area analyzer 602, for controlling in flight
On control equipment, flight destination coordinate information, adjoint point range information and communication base station location information are received.
Communication cellular network coverage area analyzer 602, with flight information receiver 601 and adjoint point distance analysis device 603
It is connected, for connecting aircraft by enhancing machine type communication cellular network, utilizes signal between aircraft and communication base station
The channel gain relationship of transmission obtains the coverage area of enhancing machine type communication cellular network.
Optionally, communication cellular network coverage area analyzer, for calculating the covering of cellular network in the following manner
Range:
The channel gain that signal transmits between aircraft and communication base station indicates are as follows:
Wherein H is the flying height of aircraft, HGIndicate the height of communication base station.U (t) indicates aircraft in the horizontal plane
Coordinate, gmIndicate the horizontal coordinate of any one communication base station, M indicates all communication base station quantity, β0Indicate signal in 1m
Apart from when channel gain；
The signal-to-noise ratio that aircraft is communicated with communication base station indicates are as follows:
Wherein P indicates the transmission power of each communication base station, σ2Indicate the noise of aircraft receiver；
The coverage area of cellular network refers to maximum communication distance between unmanned plane and base station, indicates are as follows:
SminIndicate the minimum signal-to-noise ratio communicated between aircraft and communication base station.
Adjoint point distance analysis device 603, with communication cellular network coverage area analyzer 602 and flight path analyzer 604
It is connected, for determining every bit in region according to adjoint point range in the coverage area of enhancing machine type communication cellular network
Adjoint point quantity, the distance between each adjoint point is obtained by adjoint point range information, using minimum range circulation develop obtain
Minimum range and track between fixed destination.
Flight path analyzer 604 is connected with adjoint point distance analysis device 603 and flight controller 605, for utilizing people
Minimum range between work ant group algorithm and fixed destination obtain aircraft traverse all flight destination coordinates minimum range and
Flight path sequence.
Flight controller 605 is connected with flight path analyzer 604, for the most narrow spacing using flight destination coordinate
From and flight sequential control aircraft flight, and show in real time aircraft position and starting flight point between flight away from
From.
In some optionally embodiments, as shown in fig. 7, being second in this implementation based on cellular network control flight
System 700 structural schematic diagram, unlike Fig. 6, further includes: communication base station covering analyzing device 701, with communication cell net
Network coverage area analyzer 602 is connected, for the guarantee communication service using signal transmission between aircraft and communication base station
The channel gain relationship of quality obtains the communication base station comprising all flight destination coordinates；When no communication base station includes all
When flight destination coordinate, closed using the channel gain to insure telecommunication service quality that signal between aircraft and communication base station transmits
System obtains needing base station number minimum and the communication base station of all flight destination coordinates of covering obtains enhancing machine type communication honeycomb
The coverage area of network.
In some optionally embodiments, as shown in figure 8, being second in this implementation based on cellular network control flight
System 800 structural schematic diagram, unlike Fig. 7, further includes: communication base station combine judging device 801, covered with communication base station
Lid analyzer 701 is connected, and all fails to sit comprising all flight destinations for communication base stations all in flight range combination
When mark, generates imperfect flight control information and show.
In some optionally embodiments, as shown in figure 9, being second in this implementation based on cellular network control flight
System 900 structural schematic diagram, unlike Fig. 6, further includes: flight directive controller 901, with flight controller 605
It is connected, is used for: shows the minimum range that minimum range and aircraft between fixed destination traverse all flight destination coordinates
And flight path sequence；It receives the minimum range being directed between adjoint point and aircraft traverses the most narrow spacing of all flight destination coordinates
From flight control instruction, obtained from flight control instruction specified flight destination coordinate and flight sequential control aircraft fly
Row.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.Obviously, those skilled in the art can be to the application
Various modification and variations are carried out without departing from spirit and scope.If in this way, these modifications and variations of the application
Belong within the scope of the claim of this application and its equivalent technologies, then the application is also intended to encompass these modification and variations and exists
It is interior.
Claims (8)
1. a kind of method based on cellular network control flight characterized by comprising
Receive flight destination coordinate information, adjoint point range information and communication base station location information；
Aircraft is connected by enhancing machine type communication cellular network, is transmitted using signal between the aircraft and communication base station
The channel gain relationship to insure telecommunication service quality obtain it is described enhancing machine type communication cellular network coverage area；
In the coverage area of the enhancing machine type communication cellular network, the neighbour of every bit in region is determined according to adjoint point range
Point quantity, is obtained the distance between described each described adjoint point by the adjoint point range information, is recycled using minimum range
Develop and obtains the minimum range between fixed destination；
The aircraft, which is obtained, using the minimum range between artificial ant algorithm and the fixed destination traverses all flights boats
Minimum range, destination flight sequence and the flight path sequence of point coordinate；
Flown using aircraft described in the minimum range of the flight destination coordinate, destination flight sequence and flight path sequential control
Row, and the position for showing the aircraft in real time and the flying distance between starting flight point.
2. the method according to claim 1 based on cellular network control flight, which is characterized in that further include:
It is obtained using the channel gain relationship that signal between the aircraft and communication base station transmits comprising all flight
The communication base station of destination coordinate；When including all flight destination coordinates without the communication base station, using described
The channel gain relationship that signal transmits between aircraft and communication base station is obtained needing base station number minimum and be covered all described
The communication base station of flight destination coordinate obtains the coverage area of the enhancing machine type communication cellular network.
3. the method according to claim 2 based on cellular network control flight, which is characterized in that further include:
When all communication base station combinations are all failed comprising all flight destination coordinates in flight range, generate imperfect
Flight control information is simultaneously shown；Meanwhile it being found out according to existing communication base station information and needing the newly-increased least communication base of communication base station
Combination of standing is showed.
4. the method according to claim 1 based on cellular network control flight, which is characterized in that utilize the aircraft
The channel gain relationship to insure telecommunication service quality that signal transmits between communication base station obtains the enhancing machine type communication
The coverage area of cellular network, comprising:
The channel gain that signal transmits between the aircraft and the communication base station indicates are as follows:
Wherein H is the flying height of aircraft, HGIndicate the height of communication base station, U (t) indicates the seat of aircraft in the horizontal plane
Mark, gmIndicate the horizontal coordinate of any one communication base station, M indicates all communication base station quantity, β0Indicate signal 1m away from
From when channel gain；
The signal-to-noise ratio that aircraft is communicated with communication base station indicates are as follows:
Wherein P indicates the transmission power of each communication base station, σ2Indicate the noise of aircraft receiver；
The coverage area of cellular network refers to the maximum communication distance to insure telecommunication service quality between aircraft and base station, indicates
Are as follows:
SminIndicate the minimum signal-to-noise ratio communicated between aircraft and communication base station.
5. the method according to claim 1 based on cellular network control flight, which is characterized in that further include:
Show the minimum range that minimum range and the aircraft between the fixed destination traverse all flight destination coordinates
And flight path sequence；
It receives the minimum range being directed between the fixed destination and the aircraft traverses the minimum of all flight destination coordinates
The flight control instruction of distance obtains specified flight destination coordinate and flight sequential control institute from the flight control instruction
State aircraft flight.
6. a kind of system based on cellular network control flight characterized by comprising flight information receiver, communication cell
Network coverage analyzer, adjoint point distance analysis device, flight path analyzer and flight controller；Wherein,
The flight information receiver is connected with the communication cellular network coverage area analyzer, for controlling in flight
In equipment, starting flight point information, flight destination coordinate information, adjoint point range information and communication base station location information are received；
The communication cellular network coverage area analyzer is connected with the flight information receiver and adjoint point distance analysis device
It connects, for connecting aircraft by enhancing machine type communication cellular network, utilizes signal between the aircraft and communication base station
The channel gain relationship of transmission to insure telecommunication service quality obtains the coverage area of the enhancing machine type communication cellular network；
The adjoint point distance analysis device is connected with the communication cellular network coverage area analyzer and flight path analyzer
It connects, for determining every bit in region according to adjoint point range in the coverage area of the enhancing machine type communication cellular network
Adjoint point quantity, the distance between described each described adjoint point is obtained by the adjoint point range information, utilizes minimum range
Circulation, which develops, obtains the minimum range between the fixed destination；
The flight path analyzer is connected with the adjoint point distance analysis device and flight controller, for utilizing artificial ant
Group algorithm and the adjoint point between minimum range obtain the aircraft traverse all flight destination coordinates minimum range and
Flight path sequence；
The flight controller is connected with the flight path analyzer, for the minimum using the flight destination coordinate
Distance, fixed destination flight sequence and flight path control the aircraft flight, and show the position of the aircraft in real time
And the flying distance between starting flight point.
7. the system according to claim 6 based on cellular network control flight, which is characterized in that the communication cell net
Network coverage area analyzer, for calculating the coverage area of cellular network in the following manner:
The channel gain that signal transmits between the aircraft and the communication base station indicates are as follows:
Wherein H is the flying height of aircraft, HGIndicate the height of communication base station, U (t) indicates the seat of aircraft in the horizontal plane
Mark, gmIndicate the horizontal coordinate of any one communication base station, M indicates all communication base station quantity, β0Indicate signal 1m away from
From when channel gain；
The signal-to-noise ratio that aircraft is communicated with communication base station indicates are as follows:
Wherein P indicates the transmission power of each communication base station, σ2Indicate the noise of aircraft receiver；
The coverage area of cellular network refers to the maximum communication distance to insure telecommunication service quality between aircraft and base station, indicates
Are as follows:
SminIndicate the minimum signal-to-noise ratio communicated between aircraft and communication base station.
8. the system according to claim 6 based on cellular network control flight, which is characterized in that further include: flight refers to
Controller is enabled, is connected with the flight controller, is used for:
Show the minimum range that minimum range and the aircraft between the fixed destination traverse all flight destination coordinates
And flight path sequence；
It receives the minimum range being directed between the fixed destination and the aircraft traverses the minimum of all flight destination coordinates
The flight control instruction of distance obtains specified flight destination coordinate and flight sequential control institute from the flight control instruction
State aircraft flight.
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