CN113055858B - Data transmission method and device for unmanned aerial vehicle - Google Patents
Data transmission method and device for unmanned aerial vehicle Download PDFInfo
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- CN113055858B CN113055858B CN201911374738.3A CN201911374738A CN113055858B CN 113055858 B CN113055858 B CN 113055858B CN 201911374738 A CN201911374738 A CN 201911374738A CN 113055858 B CN113055858 B CN 113055858B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/15—Setup of multiple wireless link connections
Abstract
The application discloses unmanned aerial vehicle's data transmission method and device, wherein the method includes: when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, the sender determines a corresponding transmission link by using a preset candidate transmission link, and sends the information to the receiver by using the determined transmission link, wherein the candidate transmission link at least comprises a Silelink. By applying the technical scheme disclosed by the application, under the scene that the unmanned aerial vehicle and the control center adopt link interaction information of a private network, the information transmission between the unmanned aerial vehicle and the ground controller is realized by utilizing the Sildelink link, the information between the unmanned aerial vehicle and the ground controller can be realized, the communication quality can be ensured, and the interference can be avoided.
Description
Technical Field
The application relates to the technical field of communication, in particular to a data transmission method and device for an unmanned aerial vehicle.
Background
Unmanned Aerial vehicles, collectively known as Unmanned Aerial Vehicles (UAVs), are Unmanned aircraft that utilize wireless remote control and program control. The method relates to a sensor technology, a communication technology, an information processing technology, an intelligent control technology, an aviation power propulsion technology and the like, and is a product with high technical content in the information era. Along with the gradual maturity of unmanned aerial vehicle research and development technique, manufacturing cost reduces by a wide margin, and unmanned aerial vehicle has obtained wide application in each field, including civilian fields such as agricultural plant protection, electric power are patrolled and examined, police law enforcement, geological exploration, environmental monitoring, forest fire prevention and movie & TV aerial photograph, and its application field still is expanding rapidly.
At present, there are mainly three implementation schemes for the video return of an unmanned aerial vehicle, specifically as follows:
a common unmanned aerial vehicle video passback scheme is: after the camera of unmanned aerial vehicle gathered image or video, after passing back unmanned aerial vehicle ground controller through wireless technologies such as WIFI, LTE or 5G public network is accessed to the LTE/5G wireless module of rethread ground controller, passes back the data of gathering to control center.
The second type is a public cellular network networking scheme of the unmanned aerial vehicle, a small LTE/5G wireless module is arranged in the unmanned aerial vehicle, after images or videos are collected by a camera, the unmanned aerial vehicle is directly accessed into a public mobile communication network through the built-in LTE/5G wireless module by an LTE/5G air interface and is directly transmitted back to a control center, a ground controller of the unmanned aerial vehicle is also accessed into the public mobile communication network, the unmanned aerial vehicle is controlled, and meanwhile, video images of the unmanned aerial vehicle transmitted by the control center can be received.
And the third method is to adopt a special frequency networking (a private network for short) of the unmanned aerial vehicle, realize the air coverage by fewer base stations by adjusting the downward inclination angle of an antenna, embed a small LTE/5G wireless module in the unmanned aerial vehicle, directly access the unmanned aerial vehicle to a special network through the LTE/5G air interface by the built-in LTE/5G wireless module after a camera collects images or videos, and directly transmit the images or videos back to a control center, and the control center controls the unmanned aerial vehicle.
The inventor finds that the third scheme of adopting the unmanned aerial vehicle dedicated frequency networking exists in practical application in the process of realizing the invention: the problem of unable communication between unmanned aerial vehicle and the ground controller, concrete reason analysis is as follows:
in the implementation scheme of the private network of the unmanned aerial vehicle, the base station realizes the empty coverage by a small number of base stations by adjusting the downward inclination angle of the antenna. So, make the basic station quantity in this private network limited to the unmanned aerial vehicle ground controller that can't ensure to be in any position can both be covered by the unmanned aerial vehicle private network. Like this, when unmanned aerial vehicle ground controller is in the unable position that covers of private network, unmanned aerial vehicle ground controller just can't communicate through the private network between with unmanned aerial vehicle, and then, the flyer (unmanned aerial vehicle ground control personnel) also can't control unmanned aerial vehicle and locally watch the video etc. of unmanned aerial vehicle passback through ground controller.
Disclosure of Invention
In view of the above, the main object of the present invention is to provide a method and an apparatus for controlling an unmanned aerial vehicle, which can achieve communication between the unmanned aerial vehicle and a ground controller in a scenario where the unmanned aerial vehicle and a control center use a private network link to exchange information.
In order to achieve the above purpose, the embodiment of the present invention provides a technical solution:
a data transmission method of an unmanned aerial vehicle is applied to a scene that the unmanned aerial vehicle and a control center adopt link interaction information of a private network, and comprises the following steps:
when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, a sender determines a corresponding transmission link by using a preset candidate transmission link and sends the information to a receiver by using the determined transmission link, wherein the candidate transmission link at least comprises Sidelink.
Preferably, the determining the corresponding transmission link comprises:
select Sidelink as the transmission link.
Preferably, the candidate transmission link further comprises a link of the private network;
the determining a corresponding transmission link comprises:
and determining the transmission link according to the coverage condition of the current private network on the ground controller and the candidate transmission link.
Preferably, the determining the corresponding transmission link comprises:
and if the ground controller is currently under the coverage of the private network, selecting one link from the candidate transmission links as the transmission link according to a preset selection strategy, and otherwise, selecting Sidelink as the transmission link.
Preferably, the method further comprises:
the unmanned aerial vehicle utilizes a built-in land mobile communication system wireless transmission module to respectively exchange information with the control center and the ground controller.
The utility model provides an unmanned aerial vehicle's data transmission device, sets up in unmanned aerial vehicle and ground controller, includes:
the transmission unit is used for determining a corresponding transmission link by using a preset candidate transmission link if the equipment is a sender when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, and transmitting the information to a receiver by using the determined transmission link, wherein the candidate transmission link at least comprises Sidelink; and if the equipment is the receiving party, receiving the information.
Preferably, the transmission unit is specifically configured to: determining the transmission link, comprising:
select Sidelink as the transmission link.
Preferably, the candidate transmission link further comprises a link of the private network;
the transmission unit is specifically configured to: determining the transmission link, comprising:
and determining the transmission link according to the coverage condition of the current private network on the ground controller and the candidate transmission link.
Preferably, the transmission unit is specifically configured to: determining the transmission link, comprising:
and if the ground controller is currently under the coverage of the private network, selecting one link from the candidate transmission links as the transmission link according to a preset selection strategy, and otherwise, selecting Sidelink as the transmission link.
Preferably, the transmission unit is further configured to: and the wireless transmission module of the land mobile communication system built in the equipment is utilized to complete the sending or receiving of the information.
According to the technical scheme, under the scene that the unmanned aerial vehicle and the control center adopt link interaction information of a private network, the data transmission method and the data transmission device of the unmanned aerial vehicle take the Sidelink link as a candidate transmission link, and the adopted transmission link is determined according to the candidate transmission link, so that communication between the unmanned aerial vehicle and the ground controller can be ensured, communication quality can be ensured, and interference can be avoided.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
fig. 2 is a schematic diagram of a conventional D2D network architecture;
fig. 3 is a schematic diagram of sildenk-based communication between UEs.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
After the inventor carries out earnest research and analysis through the video passback scheme to current unmanned aerial vehicle, discover: the means of direct communication through WIFI between unmanned aerial vehicle and the ground controller that adopts in the existing other video passback schemes is not suitable for being applied to the scene that unmanned aerial vehicle and control center adopt private network link mutual information, and the concrete reason is as follows:
WIFI work is on the unauthorized frequency channel, like this, because the user of unauthorized frequency channel is uncontrollable for when communicating between unmanned aerial vehicle and the ground controller, probably there are other communication signal with the frequency channel in the surrounding environment, thereby lead to the communication between unmanned aerial vehicle and the ground controller to receive the interference.
Considering that a path is directly established between the drone and the ground controller, without any medium (e.g., eNB), real-time performance of transmission can be guaranteed, and in order to overcome the above interference problem of direct communication between the existing drone and the ground controller, in an embodiment of the present invention, a Sidelink (SL) is introduced to implement interaction between the drone and the ground controller, as shown in fig. 1.
In order to facilitate understanding of the technical solution of the present invention, the following description of the Sidelink is provided:
sidelink: is a link used for direct communication (D2D) between terminals and corresponds to UL and DL in the current communication system. As shown in fig. 2, when two UEs need to communicate, if one or both of the UEs are not in the network coverage, a control channel is established between the UEs directly through a pre-configured Radio Resource (as shown by a solid line in fig. 3), or D2D communication is controlled and managed through a Public Safety Radio Resource Management Function (Public Safety Radio Resource Management Function) built in the UE (as shown by a dotted line in fig. 3).
Since the Sidelink works on the authorized frequency band, the Sidelink is used for realizing communication between the unmanned aerial vehicle and the ground controller under the scene that the unmanned aerial vehicle and the control center adopt private network link interaction information, and the anti-interference capability of point-to-point transmission between the unmanned aerial vehicle and the ground controller can be effectively enhanced.
The data transmission method of the unmanned aerial vehicle, which is realized by the embodiment of the method, is applied to a scene that the unmanned aerial vehicle and the control center adopt link interaction information of a private network. The embodiment mainly comprises the following contents:
when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, the sender determines a corresponding transmission link by using a preset candidate transmission link, and sends the information to the receiver by using the determined transmission link, wherein the candidate transmission link at least comprises a Silelink.
In the method, when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, a preset candidate transmission link needs to be used as a device of a sender to determine a transmission link that needs to be used for current transmission of information, where the candidate transmission link at least includes a Sidelink. Thus, even if the ground controller is not in the coverage area of the private network, the ground controller can utilize the Sidelink to successfully send out the information required to be transmitted to the unmanned aerial vehicle. So, unmanned aerial vehicle's camera device (like the camera) gather image or video data after, alright send them for ground controller in time, the video data of unmanned aerial vehicle passback is consulted through ground controller in real time to the flier of being convenient for. Similarly, the control command can be sent to the unmanned aerial vehicle by the flyer through the ground controller, and the unmanned aerial vehicle is operated and controlled in real time.
The candidate transmission links are used to define transmission links that may be considered for use when transmitting information between the ground controller and the drone. In practical applications, a person skilled in the art can set suitable candidate transmission links according to practical needs.
For example, if the user has a high requirement on the real-time performance of information transmission, it may be considered to preferentially use the Sidelink as the link for transmitting information between the ground controller and the drone, that is, when the ground controller needs to send information to the drone, and when the drone needs to send information to the ground controller, the Sidelink is directly selected as the transmission link.
A link of the private network may also be further added to the candidate transmission link; in this way, the transmission link can be determined according to the coverage condition of the ground controller by the current private network and the candidate transmission link. For example, the following method can be used for determining the transmission link:
and if the ground controller is currently under the coverage of the private network, selecting one link from the candidate transmission links as the transmission link according to a preset selection strategy, and otherwise, selecting Sidelink as the transmission link.
In the above example, if the ground controller is not currently under the coverage of the private network, the Sidelink is directly selected as the transmission link, so as to ensure that information can be successfully transmitted between the ground controller and the drone.
In the above example, if the ground controller is currently under the coverage of the private network, a link may be selected from the Sidelink and the link of the private network, and the specifically adopted selection policy may be set by a person in the art according to actual needs, for example, an arbitrary selection manner may be adopted, or a preferred link preset by a user may be adopted, but the method is not limited to this.
Preferably, the wireless transmission module (such as an LTE/5G wireless module) of the land mobile communication system can be fully utilized, the advantages of strong adaptability and low production cost are achieved in the industry, the module is arranged in the ground controller and the unmanned aerial vehicle, and the module is utilized to carry out information interaction with the outside world, so that the production cost of the invention is saved. For example, the drone may exchange information with the control center and the ground controller, respectively, using only one built-in LTE/5G radio module.
In practical application, the ground controller can determine whether the unmanned aerial vehicle is in the coverage of the private network, and for the unmanned aerial vehicle, whether the ground controller processes the private network or not can be known from the ground controller through the Sidelink. The specific implementation method is known to those skilled in the art and will not be described herein.
In practical applications, the communication system of the private network may be 4G LTE or 5G NR, but is not limited thereto.
According to the method embodiment, the scheme is applied to the private network of the networked unmanned aerial vehicle, and communication between the unmanned aerial vehicle and the ground controller can be guaranteed when the ground unmanned aerial vehicle controller is not covered by the private network. Thereby making it possible to: information such as unmanned aerial vehicle video also can send to in the unmanned aerial vehicle ground controller when passing back to control center. So, on the one hand, can exert the advantage that adopts unmanned aerial vehicle private network to carry out the video passback better, be favorable to internet unmanned aerial vehicle's propulsion, on the other hand can strengthen interference immunity, the reliability of communication between unmanned aerial vehicle and the ground controller, and then promote the experience that the flying hand controlled unmanned aerial vehicle.
Corresponding to the above method embodiment, the present application further provides a data transmission device for an unmanned aerial vehicle, where the device is applied in a scenario where the unmanned aerial vehicle and the control center use link interaction information of a private network, and the device includes:
the transmission unit is used for determining a corresponding transmission link by using a preset candidate transmission link if the equipment is a sender when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, and transmitting the information to a receiver by using the determined transmission link, wherein the candidate transmission link at least comprises Sidelink; and if the equipment is the receiving party, receiving the information.
Preferably, the transmission unit is specifically configured to: determining the transmission link, comprising:
select Sidelink as the transmission link.
Preferably, the candidate transmission link further comprises a link of the private network;
the transmission unit is specifically configured to: determining the transmission link, comprising:
and determining the transmission link according to the coverage condition of the current private network on the ground controller and the candidate transmission link.
Preferably, the transmission unit is specifically configured to: determining the transmission link, comprising:
and if the ground controller is currently under the coverage of the private network, selecting a link from the candidate transmission links as the transmission link according to a preset selection strategy, otherwise, selecting Sidelink as the transmission link.
Preferably, the transmission unit is further configured to: and the wireless transmission module of the land mobile communication system built in the equipment is utilized to complete the sending or receiving of the information.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. A data transmission method of an unmanned aerial vehicle is applied to a scene that the unmanned aerial vehicle and a control center adopt link interaction information of a private network, and comprises the following steps:
when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, a sender determines a corresponding transmission link by using a preset candidate transmission link and sends the information to a receiver by using the determined transmission link, wherein the candidate transmission link at least comprises a Silelink;
when the candidate transmission links further include a link of the private network, the determining the corresponding transmission link includes:
determining the transmission link according to the coverage condition of the current private network on the ground controller and the candidate transmission link, wherein the determination comprises the following steps: and if the ground controller is currently under the coverage of the private network, selecting a link from the candidate transmission links as the transmission link according to a preset selection strategy, otherwise, selecting Sidelink as the transmission link.
2. The method of claim 1, wherein the determining the corresponding transmission link comprises:
select Sidelink as the transmission link.
3. The method of claim 1, wherein the method further comprises:
the unmanned aerial vehicle utilizes a built-in land mobile communication system wireless transmission module to respectively exchange information with the control center and the ground controller.
4. The utility model provides an unmanned aerial vehicle's data transmission device which characterized in that sets up in unmanned aerial vehicle and ground controller, includes:
the transmission unit is used for determining a corresponding transmission link by using a preset candidate transmission link if the equipment is a sender when information needs to be transmitted between the unmanned aerial vehicle and the ground controller, and transmitting the information to a receiver by using the determined transmission link, wherein the candidate transmission link at least comprises Sidelink; if the equipment is the receiving party, the information is received; when the candidate transmission link further includes a link of a private network, the determining the corresponding transmission link specifically includes: a link of the private network; the transmission unit is specifically configured to: determining the transmission link, comprising: determining the transmission link according to the coverage condition of the current private network on the ground controller and the candidate transmission link, wherein the determination comprises the following steps: and if the ground controller is currently under the coverage of the private network, selecting a link from the candidate transmission links as the transmission link according to a preset selection strategy, otherwise, selecting Sidelink as the transmission link.
5. The apparatus of claim 4, wherein the transmission unit is specifically configured to: determining the transmission link, comprising:
sidelink is selected as the transmission link.
6. The apparatus of claim 4, wherein the transmission unit is further to: and the wireless transmission module of the land mobile communication system built in the equipment is utilized to complete the sending or receiving of the information.
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