CN110769431A - Unmanned aerial vehicle communication method, system, related equipment and storage medium - Google Patents
Unmanned aerial vehicle communication method, system, related equipment and storage medium Download PDFInfo
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Abstract
The application provides an unmanned aerial vehicle communication method, an unmanned aerial vehicle communication system, related equipment and a storage medium, and relates to the technical field of unmanned aerial vehicle communication. The method comprises the following steps: establishing data connection between a ground station and each of a plurality of base stations; selecting one base station from the plurality of base stations as an active base station; and sending a base station selection instruction to each base station of the plurality of base stations, wherein the base station selection instruction is used for indicating the selection of the active base station, and the active base station provides data forwarding service for the ground station. This application can realize the roaming communication between unmanned aerial vehicle communication equipment and the ground satellite station, improves communication distance, still can avoid sheltering from the communication that causes badly, improves communication quality.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle communication, in particular to an unmanned aerial vehicle communication method, an unmanned aerial vehicle communication system, related equipment and a storage medium.
Background
The application range of the unmanned aerial vehicle can be developed from remote control to autonomous control, and the unmanned aerial vehicle is used as a communication technology of an important component of an unmanned aerial vehicle system and must be continuously perfected and improved along with the development of information technology. The unmanned aerial vehicle communication technology is one of key technologies in unmanned aerial vehicle development.
Unmanned aerial vehicle's communication generally relies on the communication station, and the communication station both can be built on ground, also can establish on car, ship or other platforms, through the communication station, not only can obtain the information that unmanned aerial vehicle reconnaissance arrived, but also can issue the instruction to unmanned aerial vehicle, control its flight, make unmanned aerial vehicle can accomplish the task smoothly.
When present communication station is the ground station, its and the communication mode between the unmanned aerial vehicle adopts point-to-point communication mode between aircraft and the ground station more, do not support the roaming, therefore communication distance is limited to receive sheltering from easily.
Disclosure of Invention
An object of the application lies in, to the not enough among the above-mentioned prior art, provides unmanned aerial vehicle communication method, system, relevant equipment and storage medium to it is limited to solve communication distance among the prior art, and receives the problem of sheltering from easily.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides an unmanned aerial vehicle communication method, where the method includes:
establishing data connection between a ground station and each of a plurality of base stations;
selecting one base station from the plurality of base stations as an active base station;
and sending a base station selection instruction to each base station of the plurality of base stations, wherein the base station selection instruction is used for indicating the selection of the active base station, and the active base station provides data forwarding service for the ground station.
By adopting the unmanned aerial vehicle communication method provided by the first aspect, the communication distance of the aircraft is effectively extended through the deployment of multiple base stations, and the problem of short communication distance in the prior art is solved. The base station and the ground station realize data connection through a signaling server side of a public network, so that the base station and the ground station can be deployed in remote areas (uncovered by a wired network or difficult to deploy) or office environments, the application range of the unmanned aerial vehicle is greatly expanded, and the whole system is more flexible to deploy. In addition, one base station is selected from the base stations as an active base station through the signaling server, and a base station selection instruction is sent to each base station in the base stations, so that only the active base station provides data forwarding service for the ground station in the base stations, namely only the forwarding wireless signal of one base station is provided at the same time, the interference between the wireless signals forwarded by different base stations is avoided, and the communication quality between the unmanned aerial vehicle communication equipment and the ground station is improved.
In a second aspect, another embodiment of the present application provides a method for drone communication, where the method includes:
establishing data connection with a ground station through a signaling server;
receiving a base station selection instruction sent by the signaling server;
and judging whether the base station is an active base station or not according to the base station selection instruction, and if so, starting data forwarding service provided for the ground station.
By adopting the unmanned aerial vehicle communication method provided by the second aspect, the communication distance of the aircraft is effectively expanded through the deployment of multiple base stations, and the problem of short communication distance in the prior art is solved. The base station and the ground station realize data connection through a signaling server side of a public network, so that the base station and the ground station can be deployed in remote areas (uncovered by a wired network or difficult to deploy) or office environments, the application range of the unmanned aerial vehicle is greatly expanded, and the whole system is more flexible to deploy. In addition, each base station determines whether the base station is an active base station selected by the signaling base station or not by receiving a base station selection instruction sent by the signaling server, and if the base station is the active base station, the data forwarding service provided for the ground station is started, so that only the active base stations provide the data forwarding service for the ground station in a plurality of base stations at the same time, the interference between wireless signals forwarded by different base stations is avoided, and the communication quality between the unmanned aerial vehicle communication equipment and the ground station is improved.
In a third aspect, another embodiment of the present application provides a method for unmanned aerial vehicle communication, where the method includes:
establishing data connection with a plurality of base stations through a signaling server;
data receiving and sending with the unmanned aerial vehicle communication equipment are realized through the active base station; the active base station is a base station selected by the signaling server from the plurality of base stations.
By adopting the unmanned aerial vehicle communication method provided by the third aspect, the communication distance of the aircraft is effectively expanded through the deployment of multiple base stations, and the problem of short communication distance in the prior art is solved. The base station and the ground station realize data connection through a signaling server side of a public network, so that the base station and the ground station can be deployed in remote areas (uncovered by a wired network or difficult to deploy) or office environments, the application range of the unmanned aerial vehicle is greatly expanded, and the whole system is more flexible to deploy. In addition, through the base station that signaling server selected from a plurality of base stations, realize with the data transceiver between the unmanned aerial vehicle communications facilities, because only there is one active basic station in a plurality of base stations at the same moment, so only the retransmission radio signal of one active basic station at the same moment, avoid the interference between the radio signal that different base stations retransmitted to improve the communication quality between unmanned aerial vehicle communications facilities and the ground station.
In a fourth aspect, an embodiment of the present application provides a signaling server, where the signaling server includes: a processor and a signal transmitter, wherein:
the processor is used for establishing data connection between the ground station and each base station of the plurality of base stations; selecting one base station from the plurality of base stations as an active base station;
the signal transmitter is configured to transmit a base station selection instruction to each of the plurality of base stations, where the base station selection instruction is used to instruct selection of the active base station, and the active base station provides a data forwarding service for the ground station.
The signaling server of the fourth aspect has a similar technical effect to the unmanned aerial vehicle communication method applied to the signaling server side of the first aspect, and is not described herein again.
In a fifth aspect, another embodiment of the present application provides a base station, including: a processor and a signal receiver, wherein:
the processor is used for establishing data connection with the ground station through the signaling server; judging whether the base station is an active base station or not according to a base station selection instruction, and if so, starting a data forwarding service provided for the ground station;
and the signal receiver is used for receiving the base station selection instruction sent by the signaling server.
The base station of the fifth aspect has a similar technical effect to the unmanned aerial vehicle communication method applied to the base station side in the second aspect, and is not described herein again.
In a sixth aspect, another embodiment of the present application provides a ground station comprising a processor and a signal transceiver, wherein:
the processor is used for establishing data connection with a plurality of base stations through the signaling server;
the signal transceiver is used for realizing data transceiving with the unmanned aerial vehicle communication equipment through the active base station; the active base station is a base station selected from the plurality of base stations by the signaling server.
The base station of the sixth aspect is similar to the base station of the third aspect in technical effect when applied to the unmanned aerial vehicle communication method of the ground station side, and is not described herein again.
In a seventh aspect, another embodiment of the present application provides an unmanned aerial vehicle communication system, including: the system comprises unmanned aerial vehicle communication equipment, a ground station, a plurality of base stations and a signaling server;
the ground station and each base station complete communication connection through the signaling server, the signaling server selects an active base station from the plurality of base stations, and the ground station completes data transmission with the unmanned aerial vehicle communication equipment through the active base station; wherein the signaling server is the server according to the fourth aspect.
By the arrangement of multiple base stations, the communication distance of the airplane is effectively expanded, and the problem of short communication distance in the prior art is solved. The base station and the ground station realize data connection through a signaling server side of a public network, so that the base station and the ground station can be deployed in remote areas (uncovered by a wired network or difficult to deploy) or office environments, the application range of the unmanned aerial vehicle is greatly expanded, and the whole system is more flexible to deploy. In addition, one base station is selected from the base stations as an active base station through the signaling server, and a base station selection instruction is sent to each base station in the base stations, so that only the active base station provides data forwarding service for the ground station in the base stations, namely only the forwarding wireless signal of one base station is provided at the same time, the interference between the wireless signals forwarded by different base stations is avoided, and the communication quality between the unmanned aerial vehicle communication equipment and the ground station is improved.
In an eighth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the method according to the first, second or third aspect.
In a ninth aspect, another embodiment of the present application provides a control apparatus, including: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, the processor and the storage medium communicate with each other through the bus, and the processor executes the machine-readable instructions to perform the steps of the method according to the first, second or third aspect.
The beneficial effect of this application is: by the arrangement of multiple base stations, the communication distance of the airplane is effectively expanded, and the problem of short communication distance in the prior art is solved. Base station and ground station, through the signaling server side of public network server, realize data connection, greatly expanded unmanned aerial vehicle's application range, entire system deploys more in a flexible way, realizes the roaming communication between unmanned aerial vehicle communications facilities and the ground station, has effectively expanded transmission distance, still can avoid because shelter from the communication that causes badly, improves communication quality. The public network server selects active base stations from the base stations and sends a base station selection instruction, so that only the data forwarding function of the active base stations is started and the data forwarding functions of the rest base stations are closed in the base stations, so that only one base station forwards wireless signals at the same time, interference among the wireless signals forwarded by different base stations is avoided, and the communication quality between the unmanned aerial vehicle communication equipment and the ground station is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a cellular mobile network-based drone communication system according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a cellular mobile network-based drone communication method according to another embodiment of the present application;
fig. 3 is a schematic flowchart of a cellular mobile network-based drone communication method according to another embodiment of the present application;
fig. 4 is a schematic flowchart of a cellular mobile network-based drone communication method according to another embodiment of the present application;
fig. 5 is a schematic flowchart of a cellular mobile network-based drone communication method according to another embodiment of the present application;
fig. 6 is a schematic flowchart of a cellular mobile network-based drone communication method according to another embodiment of the present application;
fig. 7 is a schematic flowchart of a cellular mobile network-based drone communication method according to another embodiment of the present application;
fig. 8 is an interactive signaling diagram provided in an embodiment of the present application;
fig. 9 is a schematic structural diagram of a signaling server according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a base station according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a base station according to another embodiment of the present application;
fig. 12 is a schematic structural diagram of a ground station according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a signaling server according to another embodiment of the present application;
fig. 14 is a schematic structural diagram of a base station according to another embodiment of the present application;
fig. 15 is a schematic structural diagram of a ground station according to another embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
In order to make the technical solution of the present application clearer, the following explains and facilitates understanding of some terms referred to in the present application.
And (3) node: refers to each base station and ground station; each node comprises two types of configuration information: session configuration information: identity Document (ID), role, belonging session;
ICE static configuration information: NAT forwarding Traversal (TURN) server information, NAT Session Traversal application for NAT (STUN) server information, and signaling server information.
A base station: the unmanned aerial vehicle base station can establish bidirectional wireless data communication with the unmanned aerial vehicle communication equipment, and can access the internet to communicate with the ground station; when the data forwarding function of the base station is turned on, the data of the unmanned aerial vehicle communication equipment and the ground station can be forwarded; when the data forwarding function of the base station is closed, data forwarding is not carried out;
a ground station: the control operation center of the unmanned aerial vehicle can display data streams, such as video streams, transmitted in the flight state of the unmanned aerial vehicle.
ICE: a NAT traversal protocol can realize point-to-point communication or forwarding-based communication between intranet equipment.
STUN server: as part of the ICE protocol, a node uses a STUN server to obtain its own public network IP address for point-to-point connection creation.
TURN server: and as a component of the ICE protocol, when NAT penetration cannot be realized between nodes, data is forwarded through the TURN server.
A signaling server: the method is used for completing the functions of session creation, session monitoring, session topology and base station selection, is an important component of the scheme, and simultaneously realizes a signaling part required by an ICE protocol.
The methods provided by the present application are all applied to an unmanned aerial vehicle communication system, and fig. 1 is a schematic structural diagram of an unmanned aerial vehicle communication system based on a cellular mobile network according to an embodiment of the present application, as shown in fig. 1, the unmanned aerial vehicle communication system 600 includes: an unmanned aerial vehicle communication device 601, a ground station 602, a plurality of base stations 603, and a public network server 604; the ground station 602 and each base station 603 are respectively connected with a public network server 604 through a router 605 supporting a cellular mobile network, each base station 603 is connected with an unmanned aerial vehicle communication device 601, the ground station 602 and the base station 603 establish communication connection with the public network server 604 through encrypted TCP, and a point-to-point link is established between the base station 603 and the ground station 602 through an ICE protocol; wherein, the user can watch the data stream, such as the video stream, that unmanned aerial vehicle conveys through ground station 602, can carry out the control operation to unmanned aerial vehicle's flight through ground station 602 simultaneously.
The public network server 604 may be located in the public internet 606, for example: may be a signaling server with a public network IP address; or other control device with a public network IP address.
Taking the signaling server as an example, the signaling server may be a server in the public internet 606 that has a public IP address, considering that the node may be behind a NAT device and does not have a public IP address, since the node and the signaling server have two-way communication, and the signaling service can realize access of all nodes. The deployment method can effectively reduce the technical complexity and simultaneously improve the flexibility of the system.
Taking other control devices as an example, when other control devices, such as the above-mentioned nodes, have public IP addresses, the public network server 604 may also be deployed on other control devices, so as to save resources. In this deployment, the public network server 604 is a control device with a public network IP address, such as the ground station 602 or the base station 603 with the public network IP address.
STUN, TUNR servers may be deployed in the public internet 606.
In the present application, each node (e.g., ground station or base station) supports a cellular mobile network, and may be deployed in a coverage area with the cellular mobile network. Each node may be connected to a public network server 604 through a router 605 supporting a cellular mobile network. The cellular mobile network to which the present application relates may be a 4G network, a 5G network, or a network of other cellular communication standard.
In the unmanned aerial vehicle communication system that this application provided, each base station and ground station all can insert public internet through the router that supports cellular mobile network, adopt the ICE agreement to solve NAT and pierce through the problem, two-way data communication link has been established, be used for data transmission, make base station and ground station can deploy in remote area (wired network does not cover or is difficult to deploy) or office environment, unmanned aerial vehicle's application range has greatly been expanded, entire system deploys more in a flexible way, simultaneously because the deployment of many base stations, the effectual communication distance that expands the aircraft, overcome the short problem of prior art communication distance.
Fig. 2 is a schematic flowchart of a cellular mobile network-based drone communication method according to an embodiment of the present application, where the drone communication method is applicable to the drone communication system shown in fig. 1. As shown in fig. 2, the method may include:
s101: a data connection is established between the ground station and each of the plurality of base stations.
The ground station and each base station need to establish corresponding data connection, and the data connection can be forwarded through point-to-point connection or through TURN server. Wherein the established data connection can be used for transmitting data.
S102: one base station is selected from a plurality of base stations as an active base station.
The active base stations are used for providing data forwarding service for the ground stations, forwarding data or instructions sent by the ground stations to the unmanned aerial vehicle communication equipment, meanwhile, data sent by the unmanned aerial vehicle communication equipment can be forwarded to the ground stations, one active base station is selected from the base stations, and therefore only one base station can provide data forwarding service for the ground stations at the same time.
S103: a base station selection instruction is transmitted to each of the plurality of base stations.
The base station selection instruction is used for indicating the selection of an active base station, and the active base station provides data forwarding service for the ground station.
Optionally, the base station selection instruction may include: an identification of active base stations; after receiving a base station selection instruction sent by a signaling server, each base station compares the identification of the active base station with the identification of the base station, and if the two identifications are the same, the base station is determined to be the active base station; and if the two identifications are not the same, the base station is an inactive base station.
Optionally, in an embodiment of the present application, the identification of the active base station may include: the ID number of the base station, that is, the active base station may be determined according to the matching of the ID numbers of the base stations, but the identifier of the active base station may also select any information that can uniquely represent the identity of the base station, such as the geographic location coordinates of the base station, and the like.
In the embodiment, a plurality of base stations can be arranged, and the ground station and each base station are respectively connected with the signaling server through the router supporting the cellular mobile network, so that the roaming communication between the unmanned aerial vehicle communication equipment and the ground station can be realized, the transmission distance is effectively extended, poor communication caused by shielding can be avoided, and the communication quality is improved; the base station and the ground station use an ICE protocol to realize NAT penetration, thereby enlarging the application range of the base station and the ground station and facilitating the system deployment; meanwhile, the signaling server selects one base station from the base stations as an active base station and sends a base station selection instruction to each base station in the base stations, so that only the active base station provides data forwarding service for the ground station in the base stations, only one base station forwards wireless signals at the same time, interference among the wireless signals forwarded by different base stations is avoided, and the communication quality between the unmanned aerial vehicle communication equipment and the ground station is improved.
Optionally, S102 includes: receiving link quality information of the base station and the unmanned aerial vehicle communication equipment, which is sent by each base station; determining an active base station according to link quality information of a plurality of base stations; wherein, the active base station is the base station with the highest link quality in the plurality of base stations.
Optionally, the base station sends link quality information between the base station and the unmanned aerial vehicle communication device to the signaling server according to a preset time interval, in an embodiment of the present application, the base station sends the link quality information to the signaling server at a time interval of 1s, but the time interval may be set according to a user requirement, and is not limited to 1s, and the present application does not limit the time interval.
The signaling server may determine the current link quality of each base station according to the received link quality information of the plurality of base stations, and select one base station with the highest link quality from the plurality of base stations as an active base station.
Optionally, the link quality information includes: the signal-to-noise ratio between each base station and the unmanned aerial vehicle communication equipment; determining the active base station according to the link quality information of the plurality of base stations may be: sequencing signal-to-noise ratios between the plurality of base stations and the unmanned aerial vehicle communication equipment, and selecting the base station with the largest signal-to-noise ratio as an active base station; and if a plurality of base stations with the maximum signal-to-noise ratio exist in the sequencing process, the base station closest to the unmanned aerial vehicle communication equipment in the base stations with the maximum signal-to-noise ratio is used as an active base station.
Optionally, the signaling server may rank the received link signal-to-noise ratios sent by the base stations according to a descending order, where the base station at the forefront of the ranking is the base station with the highest current link signal-to-noise ratio, and the base station is taken as the active base station. The signaling server can also sequence the received link signal-to-noise ratios sent by the base stations according to the sequence from small to large, the base station at the tail end of the sequence is the base station with the highest link signal-to-noise ratio, and the base station is taken as an active base station.
For example, the link signal-to-noise ratio sent by each base station to the signaling server may include: after receiving the multiple signal-to-noise ratios of the base stations in the preset time period, the signaling server can respectively determine the average signal-to-noise ratio of each base station in the preset time period, selects a base station with the highest average signal-to-noise ratio as the base station with the highest link signal-to-noise ratio according to the average signal-to-noise ratios of the base stations, and determines the base station as an active base station.
Optionally, the preset time period may be 10s or another time period with any time length, each signal-to-noise ratio in the preset time period may be a floating point number, and the setting of the specific preset time period is designed according to user needs, which is not limited herein.
The higher the signal-to-noise ratio of the link is, the better the quality of the wireless signal of the base station is, the base station with the highest signal-to-noise ratio of the link is selected as the active base station, so that the best data transmission effect of the unmanned aerial vehicle and the active base station can be ensured, meanwhile, only one base station is selected to forward the wireless signal, the interference cooperation of the wireless signals among a plurality of base stations can be avoided, and the signal transmission quality is improved.
Optionally, the link quality information may further include: distance between the base station and the unmanned aerial vehicle communication device; if the link signal-to-noise ratios of the base stations are ranked, a plurality of base stations with the same link signal-to-noise ratio and the highest signal-to-noise ratio exist, and at the moment, the signaling server selects the base station with the shortest distance to the unmanned aerial vehicle communication equipment as an active base station from the base stations with the highest link signal-to-noise ratios.
The distance between the base station and the unmanned aerial vehicle is acquired and reported by the base station: the base station estimates the distance according to the propagation speed of the electromagnetic wave and the measured data transceiving time delay, and reports the estimated distance to the signaling server.
Optionally, if there are a plurality of base stations with the highest link signal-to-noise ratio, and there are still a plurality of base stations with equal distances and all the base stations with the shortest distance among the base stations with the highest link signal-to-noise ratio, sorting the base stations according to ID letters of the base stations among the base stations with the shortest distance and the highest signal-to-noise ratio, and selecting the first base station in the sorting as the active base station.
Optionally, the link quality information may further include: and the communication packet loss rate between the base station and the unmanned aerial vehicle communication equipment. If the link signal-to-noise ratios of the base stations are ranked, a plurality of base stations with the same link signal-to-noise ratio and the base stations with the highest signal-to-noise ratio exist, at this time, the signaling server can select the base station with the lowest packet loss rate with the unmanned aerial vehicle communication equipment from the base stations with the highest link signal-to-noise ratios as an active base station.
Fig. 3 is a schematic flowchart of a communication method of an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 3, S101 includes:
s104: a session is established between the base station and the ground station.
The signaling server receives the session configuration information sent by each base station and the ground station, establishes a session according to the session configuration information, and adds a plurality of base stations and ground stations in the session.
The session configuration information may include: node ID, node role and node belonging session; wherein: the node ID is a unique mark of the node; the node role is receiver or sender, in the application, the base station is the sender, and the ground station is the receiver; the session to which the node belongs is a session name to be added by the node; each node sends its own ID and role to the signaling server, and in the present application, a node can only belong to one session, so the session to which the node belongs is also single.
It should be noted that, when creating a session, the signaling server first receives session configuration information sent by one node, adds each node having the same session to establish the session, and the signaling server receives the session configuration information sent by other nodes in real time to update the state of each node in the established session in real time.
Optionally, the signaling server is a signaling server with a public network IP address; or other control devices with a public network IP address.
S105: and acquiring the dynamic information of each base station and the dynamic information of the ground station.
The ground station and the base station establish communication connection with a signaling server through an encrypted TCP; the base station and the ground station establish point-to-point link through ICE protocol, the dynamic information of the base station is the ICE dynamic information of the base station, and the dynamic information of the ground station is the ICE dynamic information of the ground station.
S106: and sending the dynamic information of each base station to the ground station, and sending the dynamic information of the ground station to each base station so as to establish data connection between the ground station and each base station.
When two nodes establish data connection between each other, each node sends own dynamic information to a signaling server, and after the signaling server establishes connection topology, the dynamic information of an opposite node is sent to an original node, so that the establishment of data connection is realized. Dynamic information between two nodes is exchanged, and data connection can be established between the two nodes.
Fig. 4 is a communication method of a drone according to another embodiment of the present application, and as shown in fig. 4, after S104, the communication method of a drone may further include:
s107: and if the keep-alive information of any node in the plurality of base stations and the ground station is not received within the preset interval, determining that the node is off-line, and moving the node out of the session.
Optionally, after the node is moved out of the session, data (such as link quality of the base station) associated with the node may be deleted in the current call back.
Whether the node is offline is judged through a keep-alive mechanism, the robustness of the system can be improved, and the problems of node restart and the like can be automatically processed.
Optionally, the preset interval may be set to 5S, that is, if the signaling server receives the keep-alive information of a certain node in 5S, the node is considered to be offline, but the preset interval may be adjusted according to the user requirement, and is not limited to 5S, and the application is not limited thereto.
The establishment of the whole session is a dynamic process, and the signaling server can establish the session as long as the signaling server receives the session configuration information of any node in the session; in the following session detection process, the rest nodes are dynamically added or removed, and when all the nodes in the session are judged to be offline, the session is also destroyed.
For example, the following steps are carried out: after the session is established, if the signaling server receives the session configuration information of other nodes subsequently, whether the session to which the node belongs and the current session are the same session or not is judged, if so, the node is also added to the current session, wherein the node can be a ground station or a base station; after the session is established, the signaling server also periodically receives the keep-alive information sent by each node, if the signaling server does not receive the keep-alive information of a certain node in a periodic time interval, the node is considered to be offline, and the signaling server removes the node from the current session.
It should be noted that the session establishment is a part of the signaling server function. The signaling server supports the dynamic establishment of multiple sessions, and because the signaling server does not contain any session related information, the establishment process of the sessions is more flexible, and the dynamic addition and deletion of nodes are supported; for example: after the signaling server receives the session configuration control message from the node, the node is considered to be on line, if the session to which the node belongs does not exist in the current session, the session is created, and meanwhile, the node is added into the session.
Fig. 5 is a schematic flowchart of a communication method for an unmanned aerial vehicle according to another embodiment of the present application, and is applied to a base station side, where as shown in fig. 5, the method includes:
s201: and establishing data connection with the ground station through the signaling server.
The plurality of base stations establish data connection with the ground station, and the established data connection is used for transmitting data.
S202: and receiving a base station selection instruction sent by the signaling server.
The base stations receive a base station selection instruction sent by a signaling server, and each base station confirms whether the base station is an active base station according to the received base station selection instruction; the active base station is a base station selected by the signaling server from the plurality of base stations according to a preset rule, and a specific implementation manner of the base station is selected, which may be referred to in the above embodiments, and is not described herein again.
S203: and judging whether the base station is an active base station or not according to the base station selection instruction, and if so, starting data forwarding service provided for the ground station.
The data forwarding service is used for sending information to the unmanned aerial vehicle communication equipment and the ground station, and after receiving the base station selection instruction, each base station can start or close the data forwarding service according to the received base station selection instruction, so that only the data forwarding service of the active base station is started in a plurality of base stations after receiving the base station selection instruction, and the data forwarding functions of the rest base stations are all in a closed state.
Fig. 6 is a schematic flowchart of a communication method of an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 6, before S202, the method further includes:
s204: and sending link quality information of the unmanned aerial vehicle communication equipment to a signaling server.
Wherein the link quality information includes: signal-to-noise ratio between each base station and unmanned aerial vehicle communications facilities. The link quality information is used for selecting the base station with the best link quality from the plurality of base stations as an active base station after the signaling server receives the link quality information sent by the plurality of base stations.
Whether the base station is an active base station or not needs to send the link quality to the signaling server, so that the signaling server can select the active base station according to the link quality of each base station in real time.
Alternatively, S201 may include: sending session configuration information to a signaling server; after establishing a session, sending the dynamic information of the local terminal to a signaling server to establish data connection with a ground station; acquiring dynamic information of a ground station sent by a signaling server, and establishing data connection with the ground station according to the dynamic information; and if the establishment is not successful, forwarding the data through the relay server.
Fig. 7 is a schematic flow chart of a communication method for an unmanned aerial vehicle according to another embodiment of the present application, and is applied to a ground station side, where as shown in fig. 7, the method includes:
s401: data connections are established with a plurality of base stations through a signaling server.
Wherein the ground station establishes a data connection with each base station.
S402: through active basic station, realize with the data transceiver between the unmanned aerial vehicle communications facilities.
The active base station is a base station selected by the signaling server from a plurality of base stations, and a specific implementation manner of the base station is selected, which may be referred to in the above description, and is not described herein again.
Alternatively, S401 may include: sending session configuration information to a signaling server; after establishing a session, sending the dynamic information of the local terminal to a signaling server to establish data connection with a ground station; acquiring dynamic information of a plurality of base stations sent by a signaling server, and establishing data connection with the plurality of base stations according to the dynamic information; and if the establishment is not successful, forwarding the data through the relay server.
Fig. 8 is an interactive signaling diagram according to an embodiment of the present application, and as shown in fig. 8, an interactive process between a signaling server and each node is as follows:
firstly, the signaling server respectively creates connections with the ground station and each base station, wherein the connection mode may be as follows: connecting with a Transport Layer Security (TLS) based on a Control Protocol (TCP); then, the signaling server receives the session configuration message sent by each node (base station or ground station), creates a session according to the session configuration message sent among the nodes, and adds the nodes with the same session to the same session; then, the signaling server receives the ICE dynamic information sent by each node, establishes a connection topology, and then sends the ICE dynamic information of the opposite node to the original node, thereby realizing the establishment of ICE data connection, being used for exchanging the ICE dynamic information between the two nodes and being capable of establishing data connection between the two nodes; the signaling server also periodically receives the keep-alive information sent by each node in the same session and replies each keep-alive information, if the signaling server does not receive the keep-alive information of a certain node in the periodic time, the signaling server considers that the node is offline, namely the node is removed from the current session; and each base station periodically sends link quality information between the base station and the unmanned aerial vehicle communication equipment to a signaling server, the signaling server selects a base station with the highest link quality as an active base station in the current session according to the received link quality information, and sends a base station selection instruction to each base station, wherein the base station selection instruction is used for notifying each base station of the selection of the active base station, and in the same session, only the data forwarding function of the active base station is in an open state, and the data forwarding functions of the other base stations are all closed.
For example, the following steps are carried out: the following describes in detail an interaction process between a signaling server and each node provided in the embodiment of the present application, taking two base stations including a base station 1 and a base station 2, and taking the signaling server as a public network server as an example:
the signaling server creates a connection with the ground station:
s301: the ground station sends a connection creation request to the signaling server.
The connection creation request may be a connection creation request corresponding through a TCP based TLS.
The signaling server periodically receives the keep-alive information sent by the ground station, replies the keep-alive information, confirms that the ground station is online, if the signaling server does not receive the keep-alive information sent by the ground station within the periodic time, the ground station is considered to be offline, and the ground station is removed from the current session:
s302: the ground station periodically sends keep alive (KeepAlive) request messages to the signaling server.
S303: the signaling server sends a keep-alive reply message to the ground station.
The signaling server also establishes connection with the base station 2, and periodically receives and replies the keep-alive information sent by the base station 2:
s304: the base station 2 sends a connection creation request to the signaling server.
The connection creation request may be a connection creation request corresponding to a TLS based on TCP.
S305: the base station 2 periodically sends a keep-alive request message to the signaling server.
S306: the signaling server sends a keep-alive reply message to the base station 2.
The signaling server also establishes connection with the base station 1, and periodically receives and replies the keep-alive information sent by the base station 2:
s307: the base station 1 sends a connection creation request to the signaling server.
The connection creation request may be a connection creation request corresponding to a TLS based on TCP.
S308: the base station 1 periodically sends a keep-alive request message to the signaling server.
S309: the signalling server sends a keep alive reply message to the base station 1.
A signaling server receives session configuration information sent by each node (base station or ground station) to the signaling server, creates a session according to the session configuration information sent among the nodes, and adds the nodes with the same session to the same session; then, the signaling server receives the ICE dynamic information sent by each node, establishes a connection topology, and then sends the ICE dynamic information of the opposite node to the original node, thereby realizing the establishment of ICE data connection, being used for exchanging the ICE dynamic information between two nodes, and being capable of establishing data connection between the two nodes:
s310: the base station 2 sends session configuration information to the signaling server.
Wherein the session configuration information includes: and (4) session identification.
The signaling server executes S311 according to the session configuration information: a session is created and the base station 2 is added in the session.
S312: the base station 2 sends dynamic information of the base station 2 to the signaling server through the session.
S313: the base station 2 periodically sends link quality information between the base station 2 and the unmanned aerial vehicle communication device to the signaling server through the session.
S314: the base station 1 sends session configuration information to the signalling server.
Wherein the session configuration information includes: and (4) session identification.
S315: the signaling server updates the created session according to the session configuration information, and adds the base station 1 in the session.
S316: the base station 1 transmits dynamic information of the base station 1 to the signaling server through the session.
S317: the base station 1 periodically transmits link quality information between the base station 1 and the drone communication device to the signaling server over the session.
S318: the ground station sends session configuration information to the signaling server.
Wherein the session configuration information includes: and (4) session identification.
S319: and the signaling server updates the created session according to the session configuration information and adds the ground station in the session.
S320: the ground station sends dynamic information of the ground station to the signaling server through the session.
S321: the signaling server sends the dynamic information of the base station 1 to the ground station for creating a data connection between the ground station and the base station 1.
S322: the signalling server sends dynamic information of the base station 2 to the ground station for creating a data connection of the ground station with the base station 2.
S323: the signaling server sends dynamic information of the ground station to the base station 1 for creating a data connection of the ground station with the base station 1.
S324: the signaling server sends the base station 2 the dynamic information of the ground station for creating a data connection of the ground station with the base station 2.
S325: the signaling server sends a base station selection instruction to the base station 1.
Wherein the base station selection instruction comprises: identity of base station 1.
For example, the following steps are carried out: when the link quality of the base station 1 is greater than the link quality of the base station 2, the signaling server may determine that the link quality of the base station 1 is the highest according to the link quality information of the base station 1 and the link quality information of the base station 2, so as to select the base station 1 as an active base station.
S326: the base station 1 opens the data forwarding function of the created data connection according to the base station selection instruction.
S327: the signaling server sends a base station selection instruction to the base station 2.
Wherein the base station selection instruction comprises: identity of base station 1.
S328: the base station 2 closes the data forwarding function of the created data connection according to the base station selection instruction.
It should be noted that S301, S304, and S307 may be executed sequentially or simultaneously; s302, S305, and S308 may be executed sequentially or simultaneously; s303, S306, and S309 may be executed sequentially or simultaneously; s310, S314, and S318 may be executed sequentially or simultaneously; s311, S315, and S319 may be executed sequentially or simultaneously; s312, S316, and S320 may be executed sequentially or simultaneously; s313 and S317 may be executed sequentially or simultaneously; s321, S322, S323, and S324 may be executed sequentially or simultaneously; s325 and S327 may be executed sequentially or simultaneously; s326 and S328 may be executed sequentially or simultaneously.
Fig. 9 is a signaling server according to an embodiment of the present application, and as shown in fig. 9, the signaling server includes: a processor 501 and a signal transmitter 502, wherein:
a processor 501 configured to establish a data connection between a ground station and each of a plurality of base stations; and selects one base station from the plurality of base stations as an active base station.
A signal transmitter 502, configured to transmit a base station selection instruction to each base station of the plurality of base stations, where the base station selection instruction is used to indicate selection of an active base station, and the active base station provides a data forwarding service for the ground station.
Optionally, the processor 501 is further configured to receive link quality information of the base station and the drone communication device sent by each base station; determining an active base station according to link quality information of a plurality of base stations; wherein, the active base station is the base station with the highest link quality in the plurality of base stations.
Optionally, the link quality information includes: the signal-to-noise ratio between each base station and the unmanned aerial vehicle communication equipment; the processor 501 is further configured to rank the signal-to-noise ratios between the multiple base stations and the unmanned aerial vehicle communication device, and select a base station with the largest signal-to-noise ratio as an active base station; and if a plurality of base stations with the maximum signal-to-noise ratio exist in the sequencing process, the base station closest to the unmanned aerial vehicle communication equipment in the base stations with the maximum signal-to-noise ratio is used as an active base station.
Optionally, the processor 501 is further configured to establish a session between the base station and the ground station; acquiring dynamic information of each base station and dynamic information of a ground station; and sending the dynamic information of each base station to the ground station, and sending the dynamic information of the ground station to each base station so as to establish data connection between the ground station and each base station.
Optionally, the processor 501 is further configured to determine that a node is offline and move the node out of the session if keep-alive information of any node of the multiple base stations and the ground station is not received within a preset interval.
Fig. 10 is a base station according to an embodiment of the present application, and as shown in fig. 10, the base station includes: a processor 701 and a signal receiver 702, wherein:
a processor 701, configured to establish a data connection with a ground station through a signaling server; and judging whether the base station is an active base station or not according to the base station selection instruction, and if so, starting data forwarding service provided for the ground station.
And a signal receiver 702, configured to receive a base station selection instruction sent by the signaling server.
Fig. 11 is a schematic structural diagram of a base station according to another embodiment of the present application, and as shown in fig. 11, the base station further includes: a signal transmitter 703, configured to send link quality information with the drone communication device to a signaling server, where the link quality information includes: signal-to-noise ratio between each base station and unmanned aerial vehicle communications facilities.
Optionally, the processor 701 is further configured to send session configuration information to a signaling server; after establishing session, sending dynamic information of local terminal to signaling server to establish data connection with ground station。Acquiring dynamic information of a ground station sent by a signaling server, and establishing data connection with the ground station according to the dynamic information; and if the establishment is not successful, forwarding the data through the relay server.
Fig. 12 is a ground station provided in an embodiment of the present application, and as shown in fig. 12, the ground station includes: a processor 801 and a signal transceiver 802, wherein:
a processor 801 for establishing data connections with a plurality of base stations via a signaling server.
The signal transceiver 802 is used for realizing data transceiving with the unmanned aerial vehicle communication equipment through an active base station; the active base station is a base station selected by the signaling server from a plurality of base stations.
Optionally, the processor 801 is further configured to send session configuration information to a signaling server; after establishing a session, sending the dynamic information of the local terminal to a signaling server to establish data connection with a ground station; acquiring dynamic information of a plurality of base stations sent by a signaling server, and establishing data connection with the plurality of base stations according to the dynamic information; and if the establishment is not successful, forwarding the data through the relay server.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 13 is a schematic structural diagram of a signaling server according to another embodiment of the present application, including: a processor 901, a storage medium 902, and a bus 903.
The processor 901 is configured to store a program, and the processor 901 calls the program stored in the storage medium 902 to execute the method embodiment in any one of fig. 2 or 3. The specific implementation and technical effects are similar, and are not described herein again.
Fig. 14 is a schematic structural diagram of a base station according to another embodiment of the present application, including: a processor 1001, a storage medium 1002, and a bus 1003.
The processor 1001 is used for storing a program, and the processor 1001 calls the program stored in the storage medium 1002 to execute the method embodiment shown in any one of fig. 4 or 5. The specific implementation and technical effects are similar, and are not described herein again.
Fig. 15 is a schematic structural diagram of a ground station according to another embodiment of the present application, including: a processor 1101, a storage medium 1102, and a bus 1103.
The processor 1101 is configured to store a program, and the processor 1101 calls the program stored in the storage medium 1102 to execute the method embodiment shown in any one of fig. 6 or 8. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application also provides a program product, such as a storage medium, having a computer program stored thereon, including a program, which when executed by a processor, performs the method embodiment of any of fig. 2 or 3.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (15)
1. A method of drone communication, the method comprising:
establishing data connection between a ground station and each of a plurality of base stations;
selecting one base station from the plurality of base stations as an active base station;
and sending a base station selection instruction to each base station of the plurality of base stations, wherein the base station selection instruction is used for indicating the selection of the active base station, and the active base station provides data forwarding service for the ground station.
2. The method of claim 1, wherein said selecting one of the plurality of base stations as an active base station comprises:
receiving link quality information of the base stations and unmanned aerial vehicle communication equipment, which is sent by each base station;
determining an active base station according to the link quality information of the base stations; wherein the active base station is a base station with the highest link quality in the plurality of base stations.
3. The method of claim 1 or 2, wherein said establishing a data connection of the ground station with each base station comprises:
establishing a session between the base station and the ground station;
acquiring dynamic information of each base station and dynamic information of the ground station;
and sending the dynamic information of each base station to the ground station, and sending the dynamic information of the ground station to each base station so as to establish data connection between the ground station and each base station.
4. A method of drone communication, the method comprising:
establishing data connection with a ground station through a signaling server;
receiving a base station selection instruction sent by the signaling server;
and judging whether the base station is an active base station or not according to the base station selection instruction, and if so, starting data forwarding service provided for the ground station.
5. The method of claim 4, wherein prior to said receiving the base station selection instruction sent by the signaling server, further comprising:
sending link quality information with the UAV communication device to the signaling server, the link quality information comprising: a signal-to-noise ratio between each of the base stations and the drone communications device.
6. A method of drone communication, the method comprising:
establishing data connection with a plurality of base stations through a signaling server;
data receiving and sending with the unmanned aerial vehicle communication equipment are realized through the active base station; the active base station is a base station selected by the signaling server from the plurality of base stations.
7. A signaling server, characterized in that the signaling server comprises: a processor and a signal transmitter, wherein:
the processor is used for establishing data connection between the ground station and each base station of the plurality of base stations; selecting one base station from the plurality of base stations as an active base station;
the signal transmitter is configured to transmit a base station selection instruction to each of the plurality of base stations, where the base station selection instruction is used to instruct selection of the active base station, and the active base station provides a data forwarding service for the ground station.
8. The signaling server of claim 7, wherein the processor is further configured to receive link quality information of the base station and the drone communication device sent by each of the base stations;
determining an active base station according to the link quality information of the base stations; wherein the active base station is a base station with the highest link quality in the plurality of base stations.
9. The signaling server of claim 7 or 8, wherein said processor is further configured to establish a session between said base station and said ground station; acquiring dynamic information of each base station and dynamic information of the ground station; and sending the dynamic information of each base station to the ground station, and sending the dynamic information of the ground station to each base station so as to establish data connection between the ground station and each base station.
10. A base station, characterized in that the base station comprises: a processor and a signal receiver, wherein:
the processor is used for establishing data connection with the ground station through the signaling server; judging whether the base station is an active base station or not according to a base station selection instruction, and if so, starting a data forwarding service provided for the ground station;
and the signal receiver is used for receiving the base station selection instruction sent by the signaling server.
11. The base station of claim 10, wherein the base station further comprises: a signal transmitter for transmitting link quality information with a drone communication device to the signaling server, the link quality information comprising: a signal-to-noise ratio between each of the base stations and the drone communications device.
12. A ground station, characterized in that the ground station comprises: a processor and a signal transceiver, wherein:
the processor is used for establishing data connection with a plurality of base stations through the signaling server;
the signal transceiver is used for realizing data transceiving with the unmanned aerial vehicle communication equipment through the active base station; the active base station is a base station selected by the signaling server from the plurality of base stations.
13. An unmanned aerial vehicle communication system, the system comprising: the system comprises unmanned aerial vehicle communication equipment, a ground station, a plurality of base stations and a signaling server;
the ground station and each base station complete communication connection through the signaling server, the signaling server selects an active base station from the plurality of base stations, and the ground station completes data transmission with the unmanned aerial vehicle communication equipment through the active base station;
wherein the signaling server is the server of any of the preceding claims 7-9.
14. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the drone communication method according to any one of claims 1 to 6.
15. A control apparatus, characterized by comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus, the processor executing the machine-readable instructions to perform the steps of the drone communication method of any one of claims 1-6 when executed.
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Application publication date: 20200207 |