CN110417457B - Unmanned aerial vehicle cellular communication base station selection method based on sliding window counting - Google Patents
Unmanned aerial vehicle cellular communication base station selection method based on sliding window counting Download PDFInfo
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- CN110417457B CN110417457B CN201910691575.5A CN201910691575A CN110417457B CN 110417457 B CN110417457 B CN 110417457B CN 201910691575 A CN201910691575 A CN 201910691575A CN 110417457 B CN110417457 B CN 110417457B
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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
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- 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
Abstract
The invention belongs to the technical field of unmanned aerial vehicle communication, and discloses an unmanned aerial vehicle cellular communication base station selection method based on sliding window counting, which comprises the following steps: s1, building a hybrid base station; s2, constructing a cellular communication network by using the hybrid base station; s3, the unmanned aerial vehicle sends a telemetry frame to the communication base station; s4, counting the number of telemetry frames received in the time slice by each communication base station; s5, the communication base station sends the telemetering counting frame of the unmanned aerial vehicle to the console; s6, the console marks active base stations and inactive base stations of all unmanned aerial vehicles according to the sliding window counting; s7, the console informs the active base station to switch to the current active base station of the unmanned aerial vehicle; and S8, entering the next time slice to count the sliding window of the next round. The invention uses the hybrid base station cellular communication, and has wide communication range and low use cost; meanwhile, the mode of counting by using the sliding window is utilized, the problem of selecting the most appropriate base station by the unmanned aerial vehicle is solved, and the measurement and control quality of the unmanned aerial vehicle is greatly improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle communication, and particularly relates to an unmanned aerial vehicle cellular communication base station selection method based on sliding window counting.
Background
Along with the development of unmanned aerial vehicle technology, unmanned aerial vehicle no longer simply is applied to aspects such as movie & TV shooting, miniature autodyne, all has the application in fields such as agriculture, commodity circulation, disaster relief, observation wild animal, control infectious disease, survey and drawing, news report, electric power patrol inspection, and the measurement and control problem of medium and long distance unmanned aerial vehicle also gets more and more attentions.
Due to the limitation of a communication system, a ground communication network (such as 4G, WiFi) cannot be applied to the field of unmanned aerial vehicle measurement and control. The current channel modes for unmanned aerial vehicle measurement and control include a satellite communication mode and a radio station communication mode. Most unmanned aerial vehicles all adopt radio station communication mode in the market, and unmanned aerial vehicle passes through radio station and is connected with the control cabinet, and its shortcoming is that communication distance is limited, generally does not exceed 50 kilometers, can not satisfy remote unmanned aerial vehicle's observing and controlling. A small number of unmanned aerial vehicles adopt a satellite communication mode, carry satellite terminals, and are directly connected with a control console through a satellite channel. In addition, most satellite terminals are large in size and weight and occupy limited load capacity of the unmanned aerial vehicle; although the volume of few satellite terminals is small, the code rate is low, and the requirement of image transmission cannot be met. At present, no unit or person uses hybrid base station cellular communication for the unmanned aerial vehicle, and a corresponding mode of selecting the base station by using a sliding window counting mode does not appear.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a method for selecting a cellular communication base station of an unmanned aerial vehicle based on sliding window counting, which utilizes a hybrid base station cellular communication architecture to solve the problem that the measurement and control range of the unmanned aerial vehicle is too small in a radio station communication mode and the problem that the cost of a satellite terminal is high in a satellite communication mode; unmanned aerial vehicle can select the most suitable basic station to communicate at the in-process of flying, has solved the handover problem of unmanned aerial vehicle flight in-process, avoids the basic station to the repetitive transmission a large amount of invalid information of control cabinet simultaneously, avoids the flow extravagant, has guaranteed information transmission's quality and efficiency.
The technical scheme adopted by the invention is as follows: a method for selecting an unmanned aerial vehicle cellular communication base station based on sliding window counting comprises the following steps:
s1, building a hybrid base station;
s2, constructing a cellular communication network by using the hybrid base station;
s3, taking a hybrid base station in the communication range of the unmanned aerial vehicles as a communication base station, and sending a telemetering frame to each communication base station by each unmanned aerial vehicle, wherein the telemetering frame comprises an unmanned aerial vehicle number Num, a timestamp t, a telemetering frame number No and unmanned aerial vehicle telemetering data;
s4, each communication base station takes the timestamp T as a starting time point and takes T as an ending time point according to the set time slice delta T, and counts the number of telemetry frames C received from the starting time point to the ending time point, wherein T is T + delta T;
s5, each communication base station sends telemetry counting frames of different unmanned aerial vehicles to the console, wherein the telemetry counting frames comprise an unmanned aerial vehicle number Num, a base station number Num, an end time point T and a telemetry frame number C;
s6, the console counts the number of telemetry frames of the same unmanned aerial vehicle in different communication base stations according to the telemetry counting frames of each communication base station by a sliding window, and marks an active base station and an inactive base station of the unmanned aerial vehicle;
s7, the console informs the active base station to switch to the current active base station of the unmanned aerial vehicle;
s8, proceed to the next time slice Δ t, and perform the next round of sliding window counting.
Preferably, in S6, the sliding window count is specifically: designing a plurality of sliding window cells, wherein each sliding window cell comprises an unmanned aerial vehicle number Num, a base station number Num, an end time point T and a telemetry frame number C; the control console constructs a sliding window cell queue according to the sequence of the ending time point T, 1 sliding window cell is added in the sliding window cell queue when the control console receives a telemetering counting frame, and if delay information exists, insertion operation is carried out to enable the sliding window cells to be sequenced according to the ending time point T; x for ith sliding window celliIndicates, the ith sliding window cell xiTelemetry frame number in CiRepresents; defining a time window tau, wherein tau is n and delta t, n is the number of the sliding window cells, and n is more than or equal to 1; the (i-n + 1) th sliding window unit cell xi-n+1To the ith sliding window cell xiThe total telemetry frame number sumC is calculatediWherein the total telemetry frame number sumC is accumulatedi＝Ci-n+1+…+Ci(ii) a Mark accumulation Total telemetry frame number sumCiThe largest communication base station is the active base station, the base station number num of the active base station is stored, and other communication base stations are marked as inactive base stations.
Preferably, in S7, after the console notifies the active base station to switch to the current active base station of the drone, the current active base station returns an acknowledgement to the console, and after the console receives the acknowledgement, the console notifies the previous active base station of the drone to switch to the inactive base station.
The invention has the beneficial effects that:
the invention provides an unmanned aerial vehicle cellular communication base station selection method based on sliding window counting, which solves the problem that the unmanned aerial vehicle measurement and control range is too small in a radio station communication mode by using hybrid base station cellular communication, and simultaneously solves the problem that a satellite terminal is high in cost in a satellite communication mode. The invention marks the active base station and the inactive base station of the unmanned aerial vehicle by using a sliding window counting mode, solves the problem of selecting the most appropriate hybrid base station by the unmanned aerial vehicle, and greatly improves the measurement and control quality of the unmanned aerial vehicle; meanwhile, an active base station is selected for the unmanned aerial vehicle, so that the hybrid base station can be prevented from repeatedly transmitting a large amount of invalid information to the console, the waste of flow is avoided, and the information transmission efficiency of the unmanned aerial vehicle is improved.
Drawings
Fig. 1 is a flowchart of a method for selecting a cellular communication base station of an unmanned aerial vehicle based on sliding window counting according to the present invention;
fig. 2 is a topological diagram of hybrid base station cellular communication in a method for selecting an unmanned aerial vehicle cellular communication base station based on sliding window counting according to the present invention;
fig. 3 is an illustration of a format of a telemetry count frame in a method for selecting a cellular communication base station for a drone based on sliding window counting according to the present invention;
fig. 4 is a detailed illustration diagram of a sliding window cell in the method for selecting a cellular communication base station of an unmanned aerial vehicle based on sliding window counting according to the present invention;
fig. 5 is a detailed illustration diagram of a sliding window cell queue in the method for selecting a cellular communication base station of an unmanned aerial vehicle based on sliding window counting according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1, the present embodiment provides a method for selecting a cellular communication base station of an unmanned aerial vehicle based on sliding window counting, including the following steps:
s1, building a hybrid base station, realizing communication between the hybrid base station and the unmanned aerial vehicle, and simultaneously realizing communication between the hybrid base station and the relay satellite, thereby solving the problem of communication between the unmanned aerial vehicle and the console.
S2, building a cellular communication network using the hybrid base station. As shown in fig. 2, in a cellular communication network, a single hybrid base station is used as a center of a circle, the single hybrid base station can cover a circular area with a radius of 10-250 km, a plurality of hybrid base stations can cover a larger area through reasonable layout, and in order to prevent some areas from being uncovered, coverage areas among the hybrid base stations are crossed. By using the hybrid base station cellular communication, the signal coverage area is wide, and the measurable control range of the unmanned aerial vehicle is improved.
And S3, taking the hybrid base station in the communication range of the unmanned aerial vehicles as a communication base station, and sending telemetry frames to each communication base station by each unmanned aerial vehicle, wherein the telemetry frames comprise unmanned aerial vehicle numbers Num, timestamps t, telemetry frame numbers No and unmanned aerial vehicle telemetry data.
And S4, each communication base station counts the number C of telemetry frames received from the starting time point to the ending time point by taking the timestamp T as the starting time point and T as the ending time point according to the set time slice delta T, wherein T is T + delta T, and each communication base station counts the number C of telemetry frames received in the time slice delta T.
And S5, each communication base station sends telemetry counting frames of different unmanned aerial vehicles to the console, wherein the telemetry counting frames comprise an unmanned aerial vehicle number Num, a base station number Num, an end time point T and a telemetry frame number C, and the specific format of the telemetry counting frames is shown in FIG. 3.
And S6, the console counts the number of the telemetering frames of the unmanned aerial vehicles with the same unmanned aerial vehicle number Num in different communication base stations by a sliding window according to the telemetering counting frames of the communication base stations, and marks the active base station and the inactive base station of the unmanned aerial vehicle. Because unmanned aerial vehicle is through a plurality of hybrid base stations midway at the flight process, so can have the switching problem of the most suitable hybrid base station, through the mode that uses the sliding window count, can solve unmanned aerial vehicle at the flight in-process to hybrid base station's selection problem, guarantee that unmanned aerial vehicle can observe and control smoothly.
The sliding window accumulated count specifically includes: as shown in fig. 4 and 5, a plurality of sliding window cells are designed, and each sliding window cell includes an unmanned aerial vehicle number Num, a base station number Num, an end time point T, and a telemetry frame number C; the console constructs a sliding window cell queue according to the sequence of the ending time points T, and controlsWhen a station receives a telemetering counting frame, adding 1 sliding window unit cell in a sliding window unit cell queue, and if delay information exists, performing insertion operation to enable the sliding window unit cells to be sorted according to an end time point T; x for ith sliding window celliIndicates, the ith sliding window cell xiTelemetry frame number in CiRepresents; defining a time window tau, wherein tau is n and delta t, n is the number of the sliding window cells, and n is more than or equal to 1; the (i-n + 1) th sliding window unit cell xi-n+1To the ith sliding window cell xiThe total telemetry frame number sumC is calculatediWherein the total telemetry frame number sumC is accumulatedi＝Ci-n+1+…+Ci(ii) a Mark accumulation Total telemetry frame number sumCiThe largest communication base station is the active base station, the base station number num of the active base station is stored, and other communication base stations are marked as inactive base stations.
S7, the console informs the active base station to switch to the current active base station of the drone. For the next drone number Num, S6-S7 are repeated until the current active base stations of all drones are found.
Preferably, in order to avoid loss of telemetry data, after the console notifies the active base station to switch to the current active base station of the drone, the current active base station returns confirmation information to the console, and after the console receives the confirmation information, the console notifies the previous active base station of the drone to switch to the inactive base station.
And S8, entering the next time slice delta t, moving a sliding window cell forwards by the sliding window, and counting the sliding window of the next round, so that the unmanned aerial vehicle can select the most appropriate hybrid base station for communication in the flight process.
According to the invention, through hybrid base station cellular communication, the problem that the measurement and control range of the unmanned aerial vehicle is too small in a radio station communication mode is solved, and the problem that the cost of a satellite terminal is high in a satellite communication mode is solved. The invention marks the active base station and the inactive base station of the unmanned aerial vehicle by using a sliding window counting mode, solves the problem of selecting the most appropriate hybrid base station by the unmanned aerial vehicle, and greatly improves the measurement and control quality of the unmanned aerial vehicle; meanwhile, an active base station is selected for the unmanned aerial vehicle, so that the hybrid base station can be prevented from repeatedly transmitting a large amount of invalid information to the console, the waste of flow is avoided, and the information transmission efficiency of the unmanned aerial vehicle is improved.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (2)
1. A method for selecting an unmanned aerial vehicle cellular communication base station based on sliding window counting is characterized by comprising the following steps:
s1, building a hybrid base station;
s2, constructing a cellular communication network by using the hybrid base station;
s3, taking a hybrid base station in the communication range of the unmanned aerial vehicles as a communication base station, and sending a telemetering frame to each communication base station by each unmanned aerial vehicle, wherein the telemetering frame comprises an unmanned aerial vehicle number Num, a timestamp t, a telemetering frame number No and unmanned aerial vehicle telemetering data;
s4, each communication base station takes the timestamp T as a starting time point and takes T as an ending time point according to the set time slice delta T, and counts the number of telemetry frames C received from the starting time point to the ending time point, wherein T is T + delta T;
s5, each communication base station sends telemetry counting frames of different unmanned aerial vehicles to the console, wherein the telemetry counting frames comprise an unmanned aerial vehicle number Num, a base station number Num, an end time point T and a telemetry frame number C;
s6, the console counts the number of telemetry frames of the same unmanned aerial vehicle in different communication base stations according to the telemetry counting frames of each communication base station by a sliding window, and marks an active base station and an inactive base station of the unmanned aerial vehicle;
s7, the console informs the active base station to switch to the current active base station of the unmanned aerial vehicle;
s8, entering the next time slice delta t, and counting the sliding window of the next wheel;
in S6, the sliding window count is specifically: designing a plurality of sliding window cells, wherein each sliding window cell comprises an unmanned aerial vehicle number Num, a base station number Num, an end time point T and a telemetry frame number C; the control console constructs a sliding window cell queue according to the sequence of the ending time point T, 1 sliding window cell is added in the sliding window cell queue when the control console receives a telemetering counting frame, and if delay information exists, insertion operation is carried out to enable the sliding window cells to be sequenced according to the ending time point T; x for ith sliding window celliIndicates, the ith sliding window cell xiTelemetry frame number in CiRepresents; defining a time window tau, wherein tau is n and delta t, n is the number of the sliding window cells, and n is more than or equal to 1; the (i-n + 1) th sliding window unit cell xi-n+1To the ith sliding window cell xiThe total telemetry frame number sumC is calculatediWherein the total telemetry frame number sumC is accumulatedi＝Ci-n+1+…+Ci(ii) a Mark accumulation Total telemetry frame number sumCiThe largest communication base station is the active base station, the base station number num of the active base station is stored, and other communication base stations are marked as inactive base stations.
2. The method of claim 1, wherein in step S7, after the console notifies the active base station to switch to the current active base station of the drone, the current active base station returns an acknowledgement to the console, and after the console receives the acknowledgement, the console notifies the previous active base station of the drone to switch to the inactive base station.
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| CN106792753A (en) * | 2016-12-30 | 2017-05-31 | 广东曼克维通信科技有限公司 | Distributed communication covering system and method |
| CN206615406U (en) * | 2017-03-23 | 2017-11-07 | 泉州装备制造研究所 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
| WO2018204623A1 (en) * | 2017-05-03 | 2018-11-08 | Qualcomm Incorporated | Exchanging a message including drone-coupled capability information between a drone-coupled user equipment and a component of a terrestrial wireless communication subscriber network |
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| US20100250022A1 (en) * | 2006-12-29 | 2010-09-30 | Air Recon, Inc. | Useful unmanned aerial vehicle |
| WO2017111185A1 (en) * | 2015-12-22 | 2017-06-29 | 엘지전자(주) | Method and device for transmitting and receiving data in wireless communication system |
| CN109080478A (en) * | 2018-07-28 | 2018-12-25 | 深圳市旭发智能科技有限公司 | A kind of continuation of the journey base station suitable for unmanned plane |
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| CN106792753A (en) * | 2016-12-30 | 2017-05-31 | 广东曼克维通信科技有限公司 | Distributed communication covering system and method |
| CN206615406U (en) * | 2017-03-23 | 2017-11-07 | 泉州装备制造研究所 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
| WO2018204623A1 (en) * | 2017-05-03 | 2018-11-08 | Qualcomm Incorporated | Exchanging a message including drone-coupled capability information between a drone-coupled user equipment and a component of a terrestrial wireless communication subscriber network |
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