CN113099499A - Wireless communication method, device and system - Google Patents

Wireless communication method, device and system Download PDF

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Publication number
CN113099499A
CN113099499A CN202110378730.5A CN202110378730A CN113099499A CN 113099499 A CN113099499 A CN 113099499A CN 202110378730 A CN202110378730 A CN 202110378730A CN 113099499 A CN113099499 A CN 113099499A
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CN
China
Prior art keywords
rtk
link
unmanned aerial
aerial vehicle
wireless communication
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Withdrawn
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CN202110378730.5A
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Chinese (zh)
Inventor
张吉
陈庭欣
洪泽钦
周毅
郑德恩
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN202110378730.5A priority Critical patent/CN113099499A/en
Publication of CN113099499A publication Critical patent/CN113099499A/en
Withdrawn legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

A wireless communication method, equipment and a system are provided, wherein the wireless communication method of an unmanned aerial vehicle equipment and an RTK equipment comprises the following steps: the unmanned aerial vehicle device carries out login authentication on the message queue telemetry transmission MQTT server; the RTK equipment performs login authentication on the MQTT server; the MQTT server distributes a release Topic, namely, Topic, to the unmanned aerial vehicle device and the RTK device respectively; the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective key through a local link. Accordingly, the initialization of the mobile link is realized through the local link, the mobile link can be used as a backup link, and the effectiveness of the RTK is ensured when the RTK device is disconnected with the local link of the unmanned aerial vehicle device.

Description

Wireless communication method, device and system
Technical Field
The invention relates to a wireless communication method, wireless communication equipment and a wireless communication system, in particular to a wireless communication method, wireless communication equipment and a wireless communication system of unmanned aerial vehicle equipment and RTK equipment.
Background
Today, consumer-grade unmanned aerial vehicles are becoming more popular, and industrial-grade unmanned aerial vehicles are beginning to stand out. For example, agricultural drones have occupied an important position in industrial-grade application drones in view of their importance for agriculture.
In the operation process of agricultural unmanned aerial vehicle, have higher requirement to geographical position's accurate degree, and ordinary GPS location often can bring great error, causes the course line skew, can bump into the barrier even, causes the incident. An RTK (Real-time kinematic) high-precision navigation positioning technology can improve the positioning precision to centimeter level and reduce the flight error. Therefore, in navigation positioning of agricultural drones and the like, use of the RTK technique is being actively studied.
However, because the working environment of the agricultural drone is complex, the agricultural drone device and the RTK device cannot provide continuous and stable data transmission only by means of the local link.
Disclosure of Invention
The present invention has been made in view of the above problems, and an object of the present invention is to provide a technology for ensuring the validity of an RTK for an unmanned aerial vehicle device requiring high-precision positioning, in which a backup link is established through mobile communication, and when a local link between the RTK device and the unmanned aerial vehicle device is disconnected, the RTK device is switched to the backup link, thereby ensuring the validity of the RTK.
One aspect of the present invention relates to a wireless communication method between an unmanned aerial vehicle device and a real-time kinematic positioning RTK device, including: initializing, namely initializing a mobile communication link between the unmanned aerial vehicle device and the RTK device through a local link; a switching step, when one or more characteristics of the local link meet a switching rule, the unmanned aerial vehicle device switches a connection link with the RTK device to the mobile communication link; and a data transmission step, wherein the unmanned aerial vehicle device and the RTK device transmit data through the mobile communication link.
Another aspect of the present invention relates to a method for wireless communication between an unmanned aerial vehicle device and a real-time kinematic positioning RTK device, including: the unmanned aerial vehicle device carries out login authentication on the message queue telemetry transmission MQTT server; the RTK equipment performs login authentication on the MQTT server; the MQTT server distributes a release Topic, namely, Topic, to the unmanned aerial vehicle device and the RTK device respectively; the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective key through a local link.
Another aspect of the present invention relates to a method for wireless communication between an unmanned aerial vehicle device and a real-time kinematic positioning RTK device, including: the unmanned aerial vehicle device carries out login authentication on the message queue telemetry transmission MQTT server; the RTK equipment performs login authentication on the MQTT server; the unmanned aerial vehicle equipment and the RTK equipment exchange respective release Topic and respective identity information through a local link; the unmanned aerial vehicle device and the RTK device respectively send the published Topic of the opposite side and the identity information of the opposite side to the MQTT server, and the MQTT server performs access control so as to initialize a mobile communication link.
Another aspect of the present invention relates to a wireless communication system, including a drone device and a real-time kinematic positioning RTK device, wherein the drone device and the RTK device perform initialization of a mobile communication link through a local link, and when one or more characteristics of the local link satisfy a switching rule, the drone device switches a connection link with the RTK device to the mobile communication link, and the drone device and the RTK device transmit data through the mobile communication link.
Another aspect of the present invention relates to a wireless communication system, including an unmanned aerial vehicle device and a real-time dynamic positioning RTK device, wherein the unmanned aerial vehicle device performs login authentication on an MQTT server for message queue telemetry transmission, the RTK device performs login authentication on the MQTT server, the MQTT server allocates a release Topic, i.e., release Topic, to the unmanned aerial vehicle device and the RTK device, respectively, and the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective key Token through a local link.
Another aspect of the present invention relates to a wireless communication system, including an unmanned aerial vehicle device and a real-time dynamic positioning RTK device, wherein the unmanned aerial vehicle device performs login authentication on a message queue telemetry transmission MQTT server, the RTK device performs login authentication on the MQTT server, the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective identity information through a local link, the unmanned aerial vehicle device and the RTK device respectively transmit the release Topic of the opposite party and the identity information of the opposite party to the MQTT server, and the MQTT server performs access control to initialize a mobile communication link.
Another aspect of the present invention relates to a wireless communication method for an unmanned aerial vehicle device capable of wirelessly communicating with a real-time kinematic positioning RTK device, the wireless communication method including: an initialization step, wherein the initialization of a mobile communication link is carried out through a local link and the RTK equipment; a switching step of switching a connection link with the RTK device to the mobile communication link when one or more characteristics of the local link satisfy a switching rule; and a data transmission step of transmitting data with the RTK device through the mobile communication link.
Another aspect of the present invention relates to a wireless communication method for an unmanned aerial vehicle device capable of wirelessly communicating with a real-time kinematic positioning RTK device, the wireless communication method including: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server; sending a key Token of the RTK device and the received first release Topic to the RTK device through the local link; and receiving a second release Topic sent from the RTK equipment and a Token of the RTK equipment through the local link, and completing subscription according to the second release Topic and the Token of the RTK equipment so as to initialize the mobile communication link.
Another aspect of the present invention relates to a wireless communication method for an unmanned aerial vehicle device capable of wirelessly communicating with a real-time kinematic positioning RTK device, the wireless communication method including: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server; sending identity information of the RTK equipment and the first release Topic to the RTK equipment through a local link; receiving, from the RTK device over the local link, a second release Topic sent by the RTK device and identity information of the RTK device; and sending the received identity information of the second release Topic and the RTK equipment to the MQTT server so as to initialize the mobile communication link.
Another aspect of the invention relates to a drone device comprising a processor and a memory, in which are stored computer-executable instructions that, when executed by the processor, cause the processor to perform a wireless communication method as in any one of the above aspects.
Another aspect of the present invention relates to a wireless communication method for dynamically positioning an RTK device in real time, the RTK device being capable of wirelessly communicating with an unmanned aerial vehicle device, the wireless communication method including: an initialization step, wherein the initialization of a mobile communication link is carried out with the unmanned aerial vehicle device through a local link; a switching step of switching a connection link with the drone device to the mobile communication link when one or more characteristics of the local link satisfy a switching rule; and a data transmission step, wherein data is transmitted with the unmanned aerial vehicle device through the mobile communication link.
Another aspect of the present invention relates to a wireless communication method for dynamically positioning an RTK device in real time, the RTK device being capable of wirelessly communicating with an unmanned aerial vehicle device, the wireless communication method including: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server; sending the key Token of the unmanned aerial vehicle and the received first distribution Topic to the unmanned aerial vehicle device through a local link; and receiving a second release Topic sent from the unmanned aerial vehicle device and a Token of the unmanned aerial vehicle device through the local link, and completing subscription according to the second release Topic and the Token of the unmanned aerial vehicle device so as to initialize the mobile communication link.
Another aspect of the present invention relates to a wireless communication method for dynamically positioning an RTK device in real time, the RTK device being capable of wirelessly communicating with an unmanned aerial vehicle device, the wireless communication method including: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server; sending identity information of the unmanned aerial vehicle and the first distribution Topic to the unmanned aerial vehicle device through the local link; receiving, from the drone device over the local link, a second publication Topic sent by the drone device and identity information of the drone device; and sending the received identity information of the second release Topic and the unmanned aerial vehicle device to the MQTT server so as to initialize the mobile communication link.
Another aspect of the present invention relates to a real time kinematic positioning RTK device comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the wireless communication method of any of the above aspects.
Another aspect of the present invention relates to a computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method according to any one of the above aspects.
Another aspect of the present invention relates to a program for causing a computer to execute the wireless communication method according to any one of the above aspects.
Effects of the invention
According to the technology of the invention, the backup link is established through mobile communication, and when the RTK equipment is disconnected with the local link of the unmanned aerial vehicle equipment, the backup link is switched to, so that the effectiveness of the RTK is ensured. In addition, according to the invention, extra labor and equipment cost are not needed, and the problem that the local link connection between the unmanned aerial vehicle equipment and the RTK equipment is lost in a complex environment is solved.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings.
Fig. 1 is an overall schematic flowchart of wireless communication between an unmanned aerial vehicle device and an RTK device according to an embodiment of the present invention.
Fig. 2 is a flowchart of mobile communication link initialization according to the embodiment of the present invention.
Fig. 3 is another flowchart of mobile communication link initialization according to an embodiment of the present invention.
Fig. 4 is a connection link switching flowchart according to the embodiment of the present invention.
Fig. 5 is a reverse handover flowchart of the connection link according to the embodiment of the present invention.
Fig. 6 is a flow chart of transferring RTK data using a mobile communication link according to an embodiment of the present invention.
Fig. 7 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.
Fig. 8 is a schematic block diagram of an unmanned aerial vehicle device according to an embodiment of the present invention.
Fig. 9 is a schematic block diagram of an RTK device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "link," "connected" and "connecting" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
In the embodiment of the invention, the RTK equipment and the unmanned aerial vehicle equipment are mutually independent modules, and the RTK equipment needs to cross with different unmanned aerial vehicle equipment in different operation tasks. For example, after the device is marked by the account, the link needs to be initialized first, so that the communication of the link meets the security requirement and is not accessed by unauthorized devices.
In the embodiment of the invention, when the operation of the unmanned aerial vehicle device is started, the mobile communication link is initialized with the RTK device through the local link, so that the RTK device can be accessed only through the authorized unmanned aerial vehicle device.
Next, radio communication between the drone device and the RTK device according to the embodiment of the present invention will be described in detail with reference to the drawings.
Fig. 1 is an overall schematic flowchart of wireless communication between an unmanned aerial vehicle device and an RTK device according to an embodiment of the present invention.
In this embodiment, an SDR (Software defined Radio) link is taken as an example for the local link, and a 4G link is taken as an example for the mobile communication link, and it is understood that specific modes of the local link and the mobile communication link are not limited here.
As shown in fig. 1, in step S101, the drone device and the RTK device establish an SDR link through SDR frequency alignment and the like. Next, the drone device and the RTK device perform 4G link initialization through the SDR link (step S102).
Because the operating environment of the drone device is complex, when one or more characteristics of the local link satisfy the switching rule (yes in step S103), the drone device switches the connection link with the RTK device to the mobile communication link (step S104). As a handover rule, it may depend on the strength and/or quality of a signal received over the local link, for example, or it may be a local link disconnection. For example, when the strength and/or quality of the signal received through the local link is less than a threshold value, it is determined that the handover rule is satisfied.
After the connection link between the drone device and the RTK device is switched to the mobile communication link, the drone device and the RTK device transmit data through the mobile communication link (step S105).
According to the invention, the backup link is established through mobile communication such as 4G, and when the RTK equipment is disconnected with the local link of the unmanned aerial vehicle equipment, the backup link is switched to, so that the effectiveness of the RTK is ensured. In addition, according to the invention, extra labor and equipment cost are not needed, and the problem that the local link connection between the unmanned aerial vehicle equipment and the RTK equipment is lost in a complex environment is solved.
Further, during the connection of the drone device and the RTK device through the mobile communication link, the drone device monitors whether one or more characteristics of the local link no longer satisfy the switching rule (step S106), and when the one or more characteristics of the local link no longer satisfy the switching rule (yes judgment in step S106), the drone device switches the connection link with the RTK device to the local link (step S107). In the present invention, this process may also be referred to as "reverse handover". When it is determined as no in step S106, that is, when one or more characteristics of the local link satisfy the switching rule, the drone device and the RTK device still transmit data through the mobile communication link (step S105).
When the connection link between the drone device and the RTK device is switched to the local link, the drone device and the RTK device transmit data through the local link (step S108). Alternatively, when it is determined as no in step S103, that is, when one or more characteristics of the local link do not satisfy the switching rule, the drone device and the RTK device transmit data through the local link (step S108).
According to the invention, when one or more characteristics of the local link no longer meet the switching rule, the local link is switched to carry out data transmission, so that the validity of RTK is ensured and the mobile communication flow can be saved.
Next, the process of initializing the mobile communication link will be described in detail with reference to fig. 2 and 3. Fig. 2 is a flowchart of mobile communication link initialization according to the embodiment of the present invention. Fig. 3 is another flowchart of mobile communication link initialization according to an embodiment of the present invention.
As shown in fig. 2, in the initialization process of the mobile communication link according to the embodiment of the present invention, after the RTK device and the drone device pass through the server for authentication, in the embodiment, the 4G link scheme uses the MQTT (Message queue Telemetry Transport) protocol, and the server allocates a data issue Topic and a command issue Topic with issue authority to both sides. The RTK device and the unmanned aerial vehicle device share the Topic through the local link and subscribe with each other, so that commands and data of the opposite device are received.
That is, in the initialization process of the mobile communication link according to the embodiment of the present invention, the drone device performs login authentication on the MQTT server (step S201), the RTK device performs login authentication on the MQTT server (step S202), the MQTT server then allocates publication topics to the drone device and the RTK device respectively (steps S203 and S204), the drone device and the RTK device exchange the respective publication topics and the respective keys Token through the local link (step S205), and then the drone device and the RTK device subscribe to each other through the local link to initialize the mobile communication link. That is, the drone device subscribes to Topic published by the RTK device via the MQTT server (step S206), and the RTK device subscribes to Topic published by the drone device via the MQTT server (step S207).
It can be understood by those skilled in the art that, in the initialization process of the mobile communication link, there is no precedence relationship between step S201 and step S202, between step S203 and step S204, and between step S206 and step S207, and the two may be executed successively or simultaneously.
In an embodiment of the present invention, another scheme may also be adopted to implement initialization of the mobile communication link, that is, the identity information is shared by the local link between the unmanned aerial vehicle device and the RTK device, the identity information of the other party is transmitted to the MQTT server, and the MQTT server performs access control to initialize the mobile communication link.
As shown in fig. 3, the unmanned aerial vehicle device performs login authentication on the MQTT server (step S301), the RTK device performs login authentication on the MQTT server (step S302), the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective identity information through the local link (S303), then the unmanned aerial vehicle device and the RTK device respectively transmit the Topic and the identity information of the other party to the MQTT server (steps S304 and S305), and the MQTT server performs access control (steps S306 and S307) to initialize the mobile communication link.
It can be understood by those skilled in the art that, in the initialization process of the mobile communication link, there is no precedence relationship between step S301 and step S302, between step S304 and step S305, and between step S306 and step S307, and the two may be executed successively or simultaneously.
Next, the procedures of the connection link handover and the reverse handover according to the embodiment of the present invention will be described in detail with reference to fig. 4 and 5. In the present embodiment, a procedure of switching from the local link to the mobile communication link is referred to as a "handover procedure", and a procedure of switching from the mobile communication link to the local link is referred to as a "reverse handover procedure". Fig. 4 is a connection link switching flowchart according to the embodiment of the present invention. Fig. 5 is a reverse handover flowchart of the connection link according to the embodiment of the present invention.
When one or more characteristics of the local link satisfy the switching rule, as shown in fig. 4, the drone device uses the MQTT server to distribute the issued Topic to the drone device through the mobile communication link, and sends a command to switch the mobile communication link (4G link) to the RTK device (step S401), the RTK device uses the MQTT server to distribute the issued Topic to the RTK device through the mobile communication link, and sends a switching confirmation command to the drone device (step S402), and if the drone device receives the switching confirmation command, the connection link between the drone device and the RTK device is switched to the mobile communication link.
When one or more characteristics of the local link no longer satisfy the switching rule, the connection link between the drone device and the RTK device is switched to the local link. As shown in fig. 5, the drone device sends a switch local link command to the RTK device by using the local link (step S501), the RTK device sends a switch confirmation command to the drone device by using the local link (step S502), and if the drone device receives the switch confirmation command, the connection link between the drone device and the RTK device is switched to the local link.
In the above switching process or the reverse switching process, the drone device may send a command to switch the mobile communication link or a command to switch the local link to the RTK device at predetermined intervals, or of course, may send a command to switch the mobile communication link or a command to switch the local link to the RTK device at predetermined intervals when the switching is not successful. The predetermined time may be 1 second or the like.
Fig. 6 is a flow chart of transferring RTK data using a mobile communication link according to an embodiment of the present invention. In the process of transmitting data through the 4G link according to the present embodiment, as shown in fig. 6, the drone device and the RTK device transmit RTK data via the MQTT server, for example, the drone device transmits its position data by publishing Topic and receives RTK data from the publishing Topic of the subscribed RTK device.
As described above, in the initialization scheme of the mobile communication link between the unmanned aerial vehicle device and the RTK device of the present invention, the unmanned aerial vehicle device performs login authentication on the MQTT server, the RTK device performs login authentication on the MQTT server, the MQTT server distributes release topics to the unmanned aerial vehicle device and the RTK device, the unmanned aerial vehicle device and the RTK device exchange the release topics and the keys Token thereof through the local link, and the unmanned aerial vehicle device and the RTK device subscribe to each other through the local link to initialize the mobile communication link.
In addition, in an embodiment of the present invention, in another scheme of initializing a mobile communication link between the unmanned aerial vehicle device and the RTK device, the unmanned aerial vehicle device performs login authentication on the MQTT server, the RTK device performs login authentication on the MQTT server, the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective identity information through a local link, the unmanned aerial vehicle device and the RTK device respectively send the Topic and the identity information of the other party to the MQTT server, and the MQTT server performs access control to initialize the mobile communication link.
In the present invention, the local link may be a wifi (Wireless Fidelity) link, a Bluetooth (Bluetooth) link, or the like, in addition to the SDR link. As the mobile communication link, in addition to the 4G link, a 2G link, a 3G link, a 5G link, or the like may be possible.
Fig. 7 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention. As shown in fig. 7, the wireless communication system 701 of the present invention includes a drone device 702 and an RTK device 703. The unmanned aerial vehicle device 702 and the RTK device 703 initialize a mobile communication link through a local link, and when one or more characteristics of the local link satisfy a switching rule, the unmanned aerial vehicle device 702 switches a connection link with the RTK device 703 to the mobile communication link, and the unmanned aerial vehicle device 702 and the RTK device 703 transmit data through the mobile communication link.
In addition, the invention can be realized as a wireless communication method of the unmanned aerial vehicle device 702, a wireless communication method of the RTK device 703 and a wireless communication method of the MQTT server.
Fig. 8 is a schematic block diagram of an unmanned aerial vehicle device according to an embodiment of the present invention. As shown in fig. 8, the drone device 702 includes a processor 801 and a memory 802, with computer-executable instructions stored in the memory 802 that, when executed by the processor 801, cause the processor 801 to perform the wireless communication method of the drone device 702.
Fig. 9 is a schematic block diagram of an RTK device according to an embodiment of the present invention. As shown in fig. 9, the RTK device 703 includes a processor 901 and a memory 902, and computer-executable instructions are stored in the memory 902, which when executed by the processor 901, cause the processor 901 to execute a wireless communication method of the RTK device 703.
Furthermore, an embodiment of the present invention relates to a wireless communication method for an unmanned aerial vehicle device capable of wirelessly communicating with a real-time kinematic positioning RTK device, the wireless communication method including: an initialization step, wherein the initialization of a mobile communication link is carried out through a local link and the RTK equipment; a switching step of switching a connection link with the RTK device to the mobile communication link when one or more characteristics of the local link satisfy a switching rule; and a data transmission step of transmitting data with the RTK device through the mobile communication link.
In one embodiment of the present invention, the initialization step preferably includes: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first post Topic assigned by the MQTT server; sending a key Token of the RTK device and the received first release Topic to the RTK device through the local link; and receiving a second Topic sent from the RTK device and a Token of the RTK device through the local link, and completing subscription according to the second Topic and the Token of the RTK device so as to initialize the mobile communication link.
In one embodiment of the present invention, the initialization step preferably includes: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; sending identity information of the RTK equipment and first release Topic to the RTK equipment through the local link; receiving, from the RTK device over the local link, a second release Topic sent by the RTK device and identity information of the RTK device; and sending the received identity information of the second release Topic and the RTK equipment to the MQTT server so as to initialize the mobile communication link.
In one embodiment of the present invention, it is preferable that the switching step includes: sending a switch mobile communications link command over the mobile communications link to the RTK device via an MQTT server when one or more characteristics of the local link satisfy a switching rule; receiving a handover confirm command sent from the RTK device via an MQTT server over the mobile communication link; and if the switching confirmation command is received, switching the connection link between the RTK equipment and the RTK equipment to the mobile communication link.
Further, in one embodiment of the present invention, it is preferable that the switching mobile communication link command is transmitted to the RTK device every predetermined time.
Further, in one embodiment of the present invention, it is preferable that in the data transmission step, the position data of the own device is transmitted by a publishing Topic, and the RTK data is received from the publishing Topic of the RTK device to which the device subscribes.
In one embodiment of the present invention, it is preferable that the wireless communication method further includes: a reverse switching step of switching the connection link with the RTK device to the local link when one or more characteristics of the local link no longer satisfy the switching rule.
In one embodiment of the present invention, it is preferable that the reverse switching step includes: sending a switch local link command to the RTK device using the local link when one or more characteristics of the local link no longer satisfy the switch rule; receiving a handover confirm command from the RTK device using the local link; and if the switching confirmation command is received, switching the connection link between the RTK equipment and the RTK equipment to the local link.
Further, in one embodiment of the present invention, it is preferable that the switching local link command is transmitted to the RTK device every predetermined time.
Furthermore, in one embodiment of the present invention, preferably said local link is a software defined radio, SDR, link, said initialisation step comprising SDR video.
In addition, in one embodiment of the present invention, it is preferable that the mobile communication link is a 4G link.
Furthermore, in one embodiment of the present invention, it is preferable that the handover rule depends on strength and/or quality of a signal received through the local link.
In addition, in an embodiment of the present invention, it is preferable that the handover rule is the local link disconnection.
Furthermore, one embodiment of the present invention relates to a wireless communication method for a drone device capable of wirelessly communicating with a real-time kinematic positioning RTK device, the wireless communication method including: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first post Topic assigned by the MQTT server; sending a key Token of the RTK device and the received first release Topic to the RTK device through the local link; and receiving a second Topic sent from the RTK device and a Token of the RTK device through the local link, and completing subscription according to the second Topic and the Token of the RTK device so as to initialize the mobile communication link.
Furthermore, one embodiment of the present invention relates to a wireless communication method for a drone device capable of wirelessly communicating with a real-time kinematic positioning RTK device, the wireless communication method including: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; sending the identity information of the RTK equipment and the first release Topic to the RTK equipment through a local link; receiving, from the RTK device over the local link, a second release Topic sent by the RTK device and identity information of the RTK device; and sending the received identity information of the second release Topic and the RTK equipment to the MQTT server so as to initialize the mobile communication link.
In one embodiment of the present invention, it is preferable that the method further comprises: sending a switch mobile communications link command over the mobile communications link to the RTK device via an MQTT server when one or more characteristics of the local link satisfy a switching rule; receiving a handover confirm command sent from the RTK device via an MQTT server over the mobile communication link; and if the switching confirmation command is received, switching the connection link between the RTK equipment and the RTK equipment to the mobile communication link.
Further, in one embodiment of the present invention, it is preferable that the switching mobile communication link command is transmitted to the RTK device every predetermined time.
Further, in one embodiment of the present invention, it is preferred that a switch local link command is sent to the RTK device using the local link when one or more characteristics of the local link no longer satisfy the switching rule; receiving a handover confirm command from the RTK device using the local link; and if the switching confirmation command is received, switching the connection link between the RTK equipment and the RTK equipment to the local link.
Further, in one embodiment of the present invention, it is preferable that the switching local link command is transmitted to the RTK device every predetermined time.
Furthermore, in one embodiment of the present invention, preferably, the local link is a software defined radio SDR link, and the wireless communication method further comprises SDR frequency alignment.
In addition, in one embodiment of the present invention, it is preferable that the mobile communication link is a 4G link.
Furthermore, in one embodiment the invention relates to a drone device comprising a processor and a memory, in which are stored computer executable instructions that, when executed by the processor, cause the processor to perform any of the above described wireless communication methods.
Furthermore, in one embodiment of the present invention, a wireless communication method for dynamically positioning an RTK device in real time, the RTK device being capable of wirelessly communicating with an unmanned aerial vehicle device, includes: an initialization step, wherein the initialization of a mobile communication link is carried out with the unmanned aerial vehicle device through a local link; a switching step of switching a connection link with the drone device to the mobile communication link when one or more characteristics of the local link satisfy a switching rule; and a data transmission step, wherein data is transmitted with the unmanned aerial vehicle device through the mobile communication link.
In one embodiment of the present invention, the initialization step preferably includes: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first post Topic assigned by the MQTT server; sending a key Token of the unmanned aerial vehicle and the received first distribution Topic to the unmanned aerial vehicle device through the local link; and receiving a second Topic and a Token of the unmanned aerial vehicle device which are sent from the unmanned aerial vehicle device through the local link, and completing subscription according to the second Topic and the Token of the unmanned aerial vehicle device so as to initialize the mobile communication link.
In one embodiment of the present invention, the initialization step preferably includes: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; sending identity information of the unmanned aerial vehicle and the first distribution Topic to the unmanned aerial vehicle device through the local link; receiving, from the drone device over the local link, a second publication Topic sent by the drone device and identity information of the drone device; and sending the received identity information of the second release Topic and the unmanned aerial vehicle device to the MQTT server so as to initialize the mobile communication link.
In one embodiment of the present invention, it is preferable that the switching step includes: receiving, over the mobile communication link via an MQTT server, a handover mobile communication link command sent from the drone device when one or more characteristics of the local link satisfy a handover rule; sending a handover confirm command to the drone device via an MQTT server over the mobile communication link; and under the condition that the unmanned aerial vehicle device receives the switching confirmation command, switching a connection link between the unmanned aerial vehicle device and the unmanned aerial vehicle device to the mobile communication link.
Further, in one embodiment of the present invention, it is preferable that in the data transmission step, the position data of the drone device is received from the published Topic of the drone device to which the drone device is subscribed, and the RTK data is transmitted by the published Topic.
In one embodiment of the present invention, it is preferable that the wireless communication method further includes:
and a reverse switching step of switching the connection link with the unmanned aerial vehicle device to the local link when one or more characteristics of the local link no longer satisfy the switching rule.
In one embodiment of the present invention, it is preferable that the reverse switching step includes: receiving a handover local link command from the drone device utilizing the local link when one or more characteristics of the local link no longer satisfy the handover rule; sending a handover confirmation command to the unmanned aerial vehicle device using the local link; and under the condition that the unmanned aerial vehicle device receives the switching confirmation command, switching a connection link between the unmanned aerial vehicle device and the unmanned aerial vehicle device to the local link.
Furthermore, in one embodiment of the present invention, a wireless communication method for dynamically positioning an RTK device in real time, the RTK device being capable of wirelessly communicating with an unmanned aerial vehicle device, includes: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; receiving a first post Topic assigned by the MQTT server; sending the key Token of the unmanned aerial vehicle and the received first distribution Topic to the unmanned aerial vehicle device through a local link; and receiving a second Topic and a Token of the unmanned aerial vehicle device which are sent from the unmanned aerial vehicle device through the local link, and completing subscription according to the second Topic and the Token of the unmanned aerial vehicle device so as to initialize the mobile communication link.
Furthermore, in one embodiment of the present invention, a wireless communication method for dynamically positioning an RTK device in real time, the RTK device being capable of wirelessly communicating with an unmanned aerial vehicle device, includes: log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue; sending identity information of the unmanned aerial vehicle and the first distribution Topic to the unmanned aerial vehicle device through the local link; receiving, from the drone device over the local link, a second publication Topic sent by the drone device and identity information of the drone device; and sending the received identity information of the second release Topic and the unmanned aerial vehicle device to the MQTT server so as to initialize the mobile communication link.
In one embodiment of the present invention, it is preferable that the method further comprises: receiving, over the mobile communication link via an MQTT server, a handover mobile communication link command sent from the drone device when one or more characteristics of the local link satisfy a handover rule; sending a handover confirm command to the drone device via an MQTT server over the mobile communication link; and under the condition that the unmanned aerial vehicle device receives the switching confirmation command, switching a connection link between the unmanned aerial vehicle device and the unmanned aerial vehicle device to the mobile communication link.
In one embodiment of the present invention, it is preferable that the method further comprises: receiving a handover local link command from the drone device utilizing the local link when one or more characteristics of the local link no longer satisfy the handover rule; sending a handover confirmation command to the unmanned aerial vehicle device using the local link; and under the condition that the unmanned aerial vehicle device receives the switching confirmation command, switching a connection link between the unmanned aerial vehicle device and the unmanned aerial vehicle device to the local link.
Furthermore, in one embodiment the present invention relates to a real time kinematic positioning RTK device comprising a processor and a memory having stored therein computer executable instructions which, when executed by the processor, cause the processor to perform any of the wireless communication methods described above.
Furthermore, in one embodiment of the present invention, the invention relates to a wireless communication method for a message queue telemetry transport MQTT server, the MQTT server being capable of wirelessly communicating with a drone device and a real-time kinematic positioning RTK device, the wireless communication method comprising: performing login authentication on the unmanned aerial vehicle equipment; performing login authentication on the RTK equipment; and distributing and issuing Topic to the unmanned aerial vehicle equipment and the RTK equipment respectively.
Furthermore, in one embodiment of the present invention, the invention relates to a wireless communication method for a message queue telemetry transport MQTT server, the MQTT server being capable of wirelessly communicating with a drone device and a real-time kinematic positioning RTK device, the wireless communication method comprising: performing login authentication on the unmanned aerial vehicle equipment; performing login authentication on the RTK equipment; receiving identity information of the RTK device from the drone device;
receiving identity information of the drone device from the RTK device; and performing access control on the connection between the unmanned aerial vehicle device and the RTK device.
Furthermore, in one embodiment the present invention relates to a message queue telemetry transport, MQTT, server comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform any of the above-described methods of wireless communication.
Furthermore, the present invention provides a computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform any one of the above-described wireless communication methods.
Further, the present invention provides a program for causing a computer to execute any one of the wireless communication methods described above.
In the description herein, references to the description of "one embodiment," "an embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable recording medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable recording medium include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable recording medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out to implement the above-described implementation method can be implemented by hardware related to instructions of a program, which can be stored in a computer-readable recording medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The above-mentioned recording medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
Description of the reference numerals
701 … wireless communication system
702 … drone device
703 … RTK device
801. 901 … processor
802. 902 … memory

Claims (19)

1. A wireless communication method for an unmanned aerial vehicle device and a real-time kinematic positioning RTK device comprises the following steps:
the unmanned aerial vehicle device carries out login authentication on the message queue telemetry transmission MQTT server;
the RTK equipment performs login authentication on the MQTT server;
the MQTT server distributes a release Topic, namely, Topic, to the unmanned aerial vehicle device and the RTK device respectively;
the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective key through a local link.
2. A wireless communication method for an unmanned aerial vehicle device and a real-time kinematic positioning RTK device comprises the following steps:
the unmanned aerial vehicle device carries out login authentication on the message queue telemetry transmission MQTT server;
the RTK equipment performs login authentication on the MQTT server;
the unmanned aerial vehicle equipment and the RTK equipment exchange respective release Topic and respective identity information through a local link;
the unmanned aerial vehicle device and the RTK device respectively send the published Topic of the opposite side and the identity information of the opposite side to the MQTT server, and the MQTT server performs access control so as to initialize a mobile communication link.
3. The wireless communication method according to claim 1 or 2, further comprising:
when one or more characteristics of the local link meet a switching rule, the unmanned aerial vehicle device sends a mobile communication link switching command to the RTK device through a release Topic distributed to the unmanned aerial vehicle device by the mobile communication link by using an MQTT server;
the RTK equipment transmits a switching confirmation command to the unmanned aerial vehicle equipment by using a release Topic distributed to the RTK equipment by the MQTT server through the mobile communication link;
if the unmanned aerial vehicle equipment receives the switching confirmation command, switching a connection link between the unmanned aerial vehicle equipment and the RTK equipment to the mobile communication link; and/or
When one or more characteristics of the local link no longer satisfy the switching rule,
the unmanned aerial vehicle device sends a local link switching command to the RTK device by using the local link;
the RTK equipment sends a switching confirmation command to the unmanned aerial vehicle equipment by using the local link;
and if the unmanned aerial vehicle equipment receives the switching confirmation command, switching the connection link between the unmanned aerial vehicle equipment and the RTK equipment to the local link.
4. The wireless communication method according to claim 3,
the unmanned aerial vehicle device sends the mobile communication link switching command to the RTK device every preset time; and/or
And the unmanned aerial vehicle equipment sends the local link switching command to the RTK equipment at preset time intervals.
5. The wireless communication method according to any one of claims 1 to 4,
the local link is a Software Defined Radio (SDR) link, the wireless communication method further comprising SDR frequency alignment; and/or
The mobile communication link is a 4G link.
6. A wireless communication system comprises an unmanned aerial vehicle device and a real-time kinematic positioning RTK device, wherein,
the unmanned aerial vehicle device carries out login authentication on the MQTT server for message queue telemetry transmission,
the RTK device performs login authentication on the MQTT server,
the MQTT server distributes a release Topic, namely, a release Topic to the unmanned aerial vehicle device and the RTK device respectively,
the unmanned aerial vehicle device and the RTK device exchange respective release Topic and respective key through a local link.
7. A wireless communication system comprises an unmanned aerial vehicle device and a real-time kinematic positioning RTK device, wherein,
the unmanned aerial vehicle device carries out login authentication on the MQTT server for message queue telemetry transmission,
the RTK device performs login authentication on the MQTT server,
the drone device and the RTK device exchange respective release Topic and respective identity information over a local link,
the unmanned aerial vehicle device and the RTK device respectively send the published Topic of the opposite side and the identity information of the opposite side to the MQTT server, and the MQTT server performs access control so as to initialize a mobile communication link.
8. A wireless communication method of a drone device capable of wireless communication with a real-time dynamic positioning, RTK, device, the wireless communication method comprising:
log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue;
receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server;
sending a key Token of the RTK device and the received first release Topic to the RTK device through the local link;
and receiving a second release Topic sent from the RTK equipment and a Token of the RTK equipment through the local link, and completing subscription according to the second release Topic and the Token of the RTK equipment so as to initialize the mobile communication link.
9. A wireless communication method of a drone device capable of wireless communication with a real-time dynamic positioning, RTK, device, the wireless communication method comprising:
log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue;
receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server;
sending identity information of the RTK equipment and the first release Topic to the RTK equipment through a local link;
receiving, from the RTK device over the local link, a second release Topic sent by the RTK device and identity information of the RTK device;
and sending the received identity information of the second release Topic and the RTK equipment to the MQTT server so as to initialize the mobile communication link.
10. The wireless communication method according to claim 8 or 9, further comprising:
when one or more characteristics of the local link satisfy a switching rule,
sending a switch mobile communication link command to the RTK device via an MQTT server over the mobile communication link;
receiving a handover confirm command sent from the RTK device via an MQTT server over the mobile communication link;
if the switching confirmation command is received, switching a connection link between the RTK equipment and the RTK equipment to the mobile communication link; and/or
When one or more characteristics of the local link no longer satisfy the switching rule,
sending a local link switching command to the RTK device using the local link;
receiving a handover confirm command from the RTK device using the local link;
and if the switching confirmation command is received, switching the connection link between the RTK equipment and the RTK equipment to the local link.
11. The wireless communication method according to claim 10,
sending the command for switching the mobile communication link to the RTK equipment at intervals of preset time; and/or
Transmitting the switch local link command to the RTK device every predetermined time.
12. The wireless communication method according to any one of claims 8 to 11,
the local link is a Software Defined Radio (SDR) link, the wireless communication method further comprising SDR frequency alignment; and/or
The mobile communication link is a 4G link.
13. A wireless communication method of dynamically positioning an RTK device in real time, the RTK device being capable of wireless communication with a drone device, the wireless communication method comprising:
log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue;
receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server;
sending the key Token of the unmanned aerial vehicle and the received first distribution Topic to the unmanned aerial vehicle device through a local link;
and receiving a second release Topic sent from the unmanned aerial vehicle device and a Token of the unmanned aerial vehicle device through the local link, and completing subscription according to the second release Topic and the Token of the unmanned aerial vehicle device so as to initialize the mobile communication link.
14. A wireless communication method of dynamically positioning an RTK device in real time, the RTK device being capable of wireless communication with a drone device, the wireless communication method comprising:
log-in authentication is carried out on the MQTT server for telemetering transmission of the message queue;
receiving a first publishing Topic (first publishing Topic) distributed by the MQTT server;
sending identity information of the unmanned aerial vehicle and the first distribution Topic to the unmanned aerial vehicle device through the local link;
receiving, from the drone device over the local link, a second publication Topic sent by the drone device and identity information of the drone device;
and sending the received identity information of the second release Topic and the unmanned aerial vehicle device to the MQTT server so as to initialize the mobile communication link.
15. The wireless communication method according to claim 13 or 14, further comprising:
when one or more characteristics of the local link satisfy a switching rule,
receiving, over the mobile communication link via an MQTT server, a handover mobile communication link command sent from the drone device;
sending a handover confirm command to the drone device via an MQTT server over the mobile communication link;
switching a connection link with the unmanned aerial vehicle device to the mobile communication link when the unmanned aerial vehicle device receives the switching confirmation command; and/or
When one or more characteristics of the local link no longer satisfy the switching rule,
receiving a switch local link command from the drone device with the local link;
sending a handover confirmation command to the unmanned aerial vehicle device using the local link;
and under the condition that the unmanned aerial vehicle device receives the switching confirmation command, switching a connection link between the unmanned aerial vehicle device and the unmanned aerial vehicle device to the local link.
16. The wireless communication method according to any one of claims 13 to 15,
the local link is a Software Defined Radio (SDR) link, the wireless communication method further comprising SDR frequency alignment; and/or
The mobile communication link is a 4G link.
17. A computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any one of claims 1 to 5, 8 to 12, and 13 to 16.
18. A drone device comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the wireless communication method of any one of claims 8 to 12.
19. A real time kinematic positioning RTK device comprising a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform the wireless communication method of any of claims 13 to 16.
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