CN114039682A - Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN114039682A CN114039682A CN202111198137.9A CN202111198137A CN114039682A CN 114039682 A CN114039682 A CN 114039682A CN 202111198137 A CN202111198137 A CN 202111198137A CN 114039682 A CN114039682 A CN 114039682A
- Authority
- CN
- China
- Prior art keywords
- parameter information
- unmanned aerial
- aerial vehicle
- unmanned
- frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 239000000126 substance Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/345—Interference values
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Electromagnetism (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, and provides a communication method and a communication device of an unmanned aerial vehicle and the unmanned aerial vehicle. The communication method of the unmanned aerial vehicle comprises the following steps: monitoring a frequency point in a wireless signal frequency band by a first wireless machine; when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located; and the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information. Based on above-mentioned mode, can realize the intercommunication between a plurality of unmanned aerial vehicles to reduce the control interference of remote controller.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a communication method, a communication device, a communication terminal and an unmanned aerial vehicle of an unmanned aerial vehicle.
[ background of the invention ]
An Unmanned Aerial Vehicle (UAV), which may be referred to simply as a "drone," is controlled by a remote control of a ground station, where the remote control of the ground station may include a wireless remote control device or other control device, such as a user terminal or the like. The remote controller of ground station can control unmanned aerial vehicle flight, and unmanned aerial vehicle can send the remote controller on ground with information real-time in the flight simultaneously.
However, when a plurality of drones are present in a certain airspace, wireless control signals between the remote controller of the ground station and the drones interfere with each other, thereby affecting the control and communication quality of each other's drones.
[ summary of the invention ]
The embodiment of the application provides an unmanned aerial vehicle communication method, a communication device and an unmanned aerial vehicle, which can realize mutual communication among a plurality of unmanned aerial vehicles in an airspace and reduce the control interference of a remote controller.
In a first aspect, an embodiment of the present application provides a communication method for an unmanned aerial vehicle, including:
monitoring a frequency point in a wireless signal frequency band by a first wireless machine;
when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located;
and the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information.
In some embodiments, the first drone listens for frequency points in a wireless signal band, comprising:
the first unmanned machine continuously monitors the frequency points which are associated with the airspace range in the wireless signal frequency band; alternatively, the first and second electrodes may be,
the first wireless machine monitors frequency points in a wireless signal frequency band at the time associated with the airspace range; alternatively, the first and second electrodes may be,
and the first wireless machine monitors the frequency points which are associated with the spatial domain in the wireless signal frequency band at the time associated with the spatial domain.
In some embodiments, after the first drone receives the first parameter information, the method further comprises:
the first unmanned aerial vehicle receives second parameter information and determines whether the unmanned aerial vehicle to which the second parameter information belongs is the same as the unmanned aerial vehicle to which the first parameter information belongs;
and if the first parameter information is the same as the second parameter information, updating the flight information according to the second parameter information.
In some embodiments, the method further comprises: and the first unmanned machine broadcasts third parameter information through frequency points in the wireless signal frequency band, wherein the third parameter information is the parameter information of the first unmanned machine.
In some embodiments, after the first drone machine receives the first parameter information, the first drone machine sends third parameter information through a frequency point in the wireless signal frequency band, including:
and the first wireless machine broadcasts the first parameter information and the third parameter information through frequency points in the wireless signal frequency band.
In a second aspect, an embodiment of the present application provides a communication apparatus, including:
the signal monitoring unit is used for monitoring frequency points in a wireless signal frequency band;
the signal receiving unit is used for receiving first parameter information when the signal monitoring unit monitors the first parameter information through the frequency point, wherein the first parameter information is parameter information of other unmanned aerial vehicles in the airspace range where the first unmanned aerial vehicle is located;
and the first determining unit is used for determining the first unmanned aircraft flight information according to the first parameter information.
In some embodiments, the signal listening unit is specifically configured to:
continuously monitoring frequency points in the wireless signal frequency band, which are associated with the airspace range; alternatively, the first and second electrodes may be,
monitoring frequency points in a wireless signal frequency band at a time associated with the airspace range; alternatively, the first and second electrodes may be,
and monitoring frequency points associated with the spatial domain in the wireless signal frequency band at the time associated with the spatial domain.
In some embodiments, the apparatus further comprises:
a second determining unit, configured to receive second parameter information, and determine whether an unmanned aerial vehicle to which the second parameter information belongs is the same as an unmanned aerial vehicle to which the first parameter information belongs;
and the updating unit is used for updating the flight information according to the second parameter information if the second determining unit determines that the first parameter information is the same as the second parameter information.
In some embodiments, the apparatus further comprises:
and the broadcasting unit is used for broadcasting third parameter information through frequency points in the wireless signal frequency band, wherein the third parameter information is the parameter information of the first unmanned machine.
In some embodiments, the broadcast unit is specifically configured to:
and broadcasting the first parameter information and the third parameter information through frequency points in the wireless signal frequency band.
In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: at least one processor; and the number of the first and second groups,
a memory coupled to the at least one processor; wherein the memory stores computer instructions; the at least one processor is configured to invoke the computer instructions to perform the method of the first aspect.
In a fourth aspect, embodiments of the present application provide a readable storage medium, which includes computer instructions for execution by a processor to implement any one of the methods described above.
In the embodiment of the invention, in the same airspace, any one of the unmanned aerial vehicles can receive the parameter information of other unmanned aerial vehicles by monitoring the frequency points in the wireless signal frequency band, so that the flight information of the unmanned aerial vehicle can be determined according to the parameter information. The communication method can realize the mutual communication among a plurality of unmanned aerial vehicles in an airspace, and reduce the control interference of the remote controller.
[ description of the drawings ]
Fig. 1 is a schematic diagram of a communication system provided by an embodiment of the present invention;
fig. 2 is a schematic flowchart of a communication method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a communication method of a drone according to another embodiment of the present invention;
fig. 4 is a schematic flowchart of a communication method of a drone according to another embodiment of the present invention;
fig. 5 is a schematic flowchart of a communication method of an unmanned aerial vehicle according to still another embodiment of the present invention;
fig. 6 is a schematic structural diagram of a communication device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
The following describes embodiments of the present invention with reference to the drawings.
The communication method, the communication device, the unmanned aerial vehicle and the communication system of the unmanned aerial vehicle provided by the embodiment of the invention can be suitable for a plurality of application scenes, such as: photographing, collaboration, etc.
Fig. 1 is a schematic diagram of a communication system provided by an embodiment of the present invention, where the communication system may be composed of multiple drones capable of executing the communication method of the drone provided by the embodiment of the present invention.
Specifically, as shown in fig. 1, the communication system may exemplarily include: a first drone 10, a second drone 20, a third drone 30 and a fourth drone 40. The number of drones that can be included in the communication system is not limited herein. The unmanned aerial vehicles in the communication system are in the same airspace.
Wherein, first unmanned aerial vehicle 10, second unmanned aerial vehicle 20, third unmanned aerial vehicle 30 and fourth unmanned aerial vehicle 40 can be any type of unmanned aerial vehicle, for example, a multi-rotor unmanned aerial vehicle or a tilt-rotor unmanned aerial vehicle. The first drone 10, the second drone 20, the third drone 30 and the fourth drone 40 may be of the same type of drone, for example, these four drones are all multi-rotor drones; alternatively, different types of drones may be used, for example, the first drone 10 and the second drone 20 are multi-rotor drones, and the third drone 30 and the fourth drone 40 are tilt-rotor drones, which is not limited in this embodiment of the present invention.
Referring to fig. 2, a schematic flow chart of a communication method of an unmanned aerial vehicle according to an embodiment of the present invention is shown, as shown in fig. 2, the communication method of the unmanned aerial vehicle according to the embodiment of the present invention includes, but is not limited to:
s101, the first unmanned machine monitors frequency points in a wireless signal frequency band.
The Wireless communication frequency band described in the embodiment of the present application may be a frequency band used by an ISM (Industrial Scientific Medical) or WIFI (Wireless Fidelity), and specifically includes a Wireless signal frequency band in a range of 2.405GHz to 2.485GHz and 5.15GHz to 5.825 GHz.
Illustratively, specific ways for the first drone to listen to the frequency point in the wireless signal band include, but are not limited to, the following three ways:
in the first mode, the first drone machine continuously monitors the frequency points in the frequency band of the wireless signal, which are associated with the above spatial domain.
Wherein, the space domain range where the first unmanned machine is located is allocated with certain frequency domain resources. In embodiments of the present invention, the spatial domain may be allocated with one or more frequency points in the frequency band of the wireless signal. The one or more frequency points assigned to the spatial range may be understood as frequency points associated with the spatial range.
Further, the number of the one or more frequency points may correspond to the number of the drones in the airspace range, for example, the number of the drones that can be accommodated at most in the airspace range, or the number of the drones currently in a flight state in the airspace range, and the like, which is not limited herein.
The associated frequency points may be the same or different in different spatial ranges, which is not limited herein.
When a plurality of unmanned aerial vehicles exist in the airspace range, each unmanned aerial vehicle can respectively correspond to one frequency point so as to receive or send information by using the corresponding frequency point. Wherein, a plurality of unmanned aerial vehicles can include first unmanned aerial vehicle and other unmanned aerial vehicles, and this first unmanned aerial vehicle can continuously monitor or periodically monitor the frequency point that other unmanned aerial vehicles correspond in this airspace scope. The first duration of the unmanned listening is not limited herein. For example, there are four drones in the airspace range, where the four drones include a first drone, a second drone, a third drone, and a fourth drone. Wherein, first unmanned aerial vehicle corresponds frequency point A, and the second unmanned aerial vehicle corresponds frequency point B, and the third unmanned aerial vehicle corresponds frequency point C, and the fourth unmanned aerial vehicle corresponds frequency point D. This first unmanned aerial vehicle can continuously monitor frequency point B, frequency point C and frequency point D to whether there is the information that corresponding unmanned aerial vehicle sent in monitoring above-mentioned frequency point, for example, through monitoring above-mentioned frequency point in order to monitor other unmanned aerial vehicle's parameter information.
In a second mode, the first drone monitors frequency points in a wireless signal band at times associated with the spatial domain.
Wherein, the space domain where the first unmanned machine is located is allocated with certain time domain resources. In embodiments of the present invention, the spatial domain may be assigned one or more time instants. The one or more time instants assigned to the spatial range may be understood as time instants associated with the spatial range.
Further, the number of the one or more time instants may correspond to the number of drones in the airspace range, for example, the number of drones that can be accommodated at most in the airspace range, or the number of drones currently in a flight state in the airspace range, and the like, which is not limited herein.
When a plurality of unmanned aerial vehicles exist in the airspace range, each unmanned aerial vehicle can respectively correspond to one or more moments to receive or send information at the corresponding moment. The plurality of unmanned aerial vehicles can include a first unmanned aerial vehicle and other unmanned aerial vehicles, and the first unmanned aerial vehicle monitors one or more frequency points in a wireless signal frequency band at the corresponding sending time of other unmanned aerial vehicles in the airspace range. Here, the frequency point for the first drone monitoring is not limited. For example, there are four drones in the airspace range, where the four drones include a first drone, a second drone, a third drone, and a fourth drone. Wherein, first unmanned aerial vehicle corresponds moment 1, and the second unmanned aerial vehicle corresponds moment 2, and the third unmanned aerial vehicle corresponds moment 3, and the fourth unmanned aerial vehicle corresponds moment 4. The first wireless machine monitors one or more frequency points in a wireless signal frequency band at time 2, time 3 and time 4 in the airspace range in sequence.
In a third mode, the first wireless machine monitors the frequency points associated with the spatial domain in the wireless signal frequency band at the time associated with the spatial domain.
And a certain time-frequency resource is distributed in the airspace range where the first unmanned machine is located. In an embodiment of the present invention, the spatial domain may be allocated with one or more time instants and one or more frequency points. The corresponding relationship between the time and the frequency point may be a one-to-one correspondence, a one-to-many correspondence, or a many-to-one correspondence, which is not limited herein. The time and the corresponding frequency point are combined to form a time frequency resource. For example, if a time corresponds to multiple frequency points, the time and each frequency point corresponding to the time may be combined to form a time-frequency resource.
Further, the number of the time-frequency resources may correspond to the number of the drones in the airspace range, for example, the number of the drones that can be accommodated in the airspace range at most, or the number of the drones that are currently in a flight state in the airspace range, and the like, which is not limited herein.
When there are multiple drones within this airspace range, the multiple drones include a first drone and other drones. The first drone monitors the frequency points corresponding to the other drones (i.e., the frequency points associated with the airspace range) at the times corresponding to the other drones (i.e., the times associated with the airspace range) within the airspace range. For example, there are four drones in the airspace range, where the four drones include a first drone, a second drone, a third drone, and a fourth drone. The first unmanned aerial vehicle corresponds to the moment 1, the second unmanned aerial vehicle corresponds to the moment 2, the third unmanned aerial vehicle corresponds to the moment 3, and the fourth unmanned aerial vehicle corresponds to the moment 4; the first unmanned aerial vehicle corresponds frequency point A, the second unmanned aerial vehicle corresponds frequency point B, the third unmanned aerial vehicle corresponds frequency point C, the fourth unmanned aerial vehicle corresponds frequency point D. The first drone monitors frequency B at time 2, frequency C at time 3, and frequency D at time 4 within the airspace range. By adopting the above mode, signal interference during communication between unmanned aerial vehicles can be effectively avoided, and the quality of information transmission is ensured.
S102, when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located.
The first parameter information comprises one or more information of identification information, position information, flight direction, flight speed and flight mission of the unmanned aerial vehicle.
Exemplarily, the first drone may learn drones corresponding to other frequency points. In this case, when the first unmanned aerial vehicle monitors the first parameter information at a certain frequency point, the unmanned aerial vehicle to which the first parameter information belongs can be obtained; for example, if the first drone monitors the first parameter information at the frequency point B, it can be known that the drone to which the first parameter information belongs is the second drone.
Alternatively, the first drone only knows the frequency points associated with that spatial domain. In this case, when the first unmanned aerial vehicle monitors the first parameter information at a certain frequency point, the unmanned aerial vehicle to which the first parameter information belongs needs to be determined according to the identification information of the unmanned aerial vehicle carried in the first parameter information. At this time, the first parameter information at least includes identification information of the drone.
The first drone may monitor and receive one or more parameter information through the frequency point, which is not limited herein.
S103, the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information.
Wherein the flight information includes one or more of flight mission, flight path or other information. The first unmanned machine can determine the flight path of the first unmanned machine according to the received first parameter information so as to avoid collision with the unmanned machine to which the first parameter information belongs. If a plurality of unmanned aerial vehicles send parameter information in the airspace range, the parameter information can be obtained through the method, and the flight path of the first unmanned aerial vehicle is determined according to the parameter information so as to avoid collision with the unmanned aerial vehicles.
Further, the unmanned aerial vehicle can also determine the flight mission according to the parameter information. The flight mission may include taking a picture, collaborating, etc., among others.
For example, if a plurality of unmanned aerial vehicles send parameter information in the airspace range, the first unmanned aerial vehicle receives the parameter information, acquires the shooting angles of other unmanned aerial vehicles according to the parameter information, further determines that the flight task of the first unmanned aerial vehicle is shooting, and can determine the shooting angle of the first unmanned aerial vehicle so that the shooting angle of the first unmanned aerial vehicle is the same as or different from that of the other unmanned aerial vehicles.
For another example, in a plurality of unmanned aerial vehicles in an airspace range, a first unmanned aerial vehicle receives parameter information sent by other unmanned aerial vehicles, and acquires relevant information of flight tasks of other unmanned aerial vehicles according to the parameter information, such as flight paths of other unmanned aerial vehicles in cooperative flight. And the first unmanned machine determines the flight task of the first unmanned machine as cooperative flight according to the information, and determines a flight path in the cooperative flight.
For another example, the mission may be determined by a combination of the two approaches described above. In one implementation, the first unmanned machine receives parameter information sent by other unmanned machines, acquires identification information and flight tasks of the other unmanned machines from the parameter information, and then determines the flight task of the first unmanned machine according to the information. The first unmanned machine can determine the shooting angle of the first unmanned machine and the flight path of the cooperative flight according to the parameter information. Therefore, the flight task of cooperatively flying and shooting full-angle videos or images by a plurality of unmanned aerial vehicles in the same airspace can be realized.
In the embodiment of the invention, in the same airspace, any one of the unmanned aerial vehicles can receive the parameter information of other unmanned aerial vehicles by monitoring the frequency points in the wireless signal frequency band, so that the flight information of the unmanned aerial vehicle can be determined according to the parameter information. The communication method can realize the mutual communication among a plurality of unmanned aerial vehicles in an airspace, and reduce the control interference of the remote controller.
Referring to fig. 3, a schematic flow chart of a communication method of an unmanned aerial vehicle according to another embodiment of the present invention is shown, as shown in fig. 3, the communication method of the unmanned aerial vehicle according to the embodiment of the present invention includes, but is not limited to:
s201, a first unmanned machine monitors frequency points in a wireless signal frequency band.
S202, when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located.
S203, the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information.
For the description of step S201 to step S203, reference may be made to the relevant description of the corresponding steps in the above embodiments, which is not limited herein.
S204, the first unmanned aerial vehicle receives second parameter information and determines whether the unmanned aerial vehicle to which the second parameter information belongs is the same as the unmanned aerial vehicle to which the first parameter information belongs.
And S205, if the first parameter information is the same as the second parameter information, updating the flight information according to the second parameter information.
S206, if the first parameter information and the second parameter information are different, determining new flight information.
For example, when the first drone flies according to the flight information, step S201 may be continuously performed, that is, the first drone may continuously monitor the frequency point. If the first unmanned machine receives the second parameter information through the monitoring frequency point, the first unmanned machine can determine the unmanned machine to which the second parameter information belongs according to the unmanned machine identifier in the second parameter information or according to the frequency point for bearing the second parameter information. And judging whether the unmanned aerial vehicle to which the first parameter information and the second parameter information belong is the same. For example, if the unmanned aerial vehicle to which the first parameter information belongs is the second unmanned aerial vehicle, it is determined whether the unmanned aerial vehicle to which the second parameter information belongs is also the second unmanned aerial vehicle. If the two unmanned aerial vehicles are the same, the second unmanned aerial vehicle is indicated to update the parameter information of the second unmanned aerial vehicle, for example, position information or flight direction information in the parameter information is updated. The first drone may update the flight information according to the second parameter information to avoid a collision with the second drone. If not, it indicates that the first drone receives parameter information of another drone, for example, receives parameter information of a third drone. Furthermore, the first unmanned aerial vehicle can determine new flight information according to the first parameter information and the second parameter information so as to avoid collision with the second unmanned aerial vehicle and the third unmanned aerial vehicle.
For example, the situation of updating the flight information is illustrated, in the same airspace range, there are a first unmanned aerial vehicle and a second unmanned aerial vehicle, the second unmanned aerial vehicle is in flight state a at time 1, and the second unmanned aerial vehicle is in flight state B at time 2. The moment 2 is the next moment of the moment 1, the first parameter information is the parameter information of the second unmanned aerial vehicle at the moment 1, and the second parameter information is the parameter information of the second unmanned aerial vehicle at the moment 2. The first unmanned machine firstly receives first parameter information and determines flight information of the first unmanned machine according to the first parameter information; and at the next moment, the second parameter information is received, and the first unmanned machine can update the flight information of the first unmanned machine according to the second parameter information.
Referring to fig. 4, a schematic flow chart of a communication method of an unmanned aerial vehicle according to another embodiment of the present invention is shown, as shown in fig. 4, the communication method of an unmanned aerial vehicle according to the embodiment of the present invention includes, but is not limited to:
s301, the first unmanned machine monitors frequency points in the wireless signal frequency band.
S302, when the first unmanned aerial vehicle monitors first parameter information through the frequency point, the first unmanned aerial vehicle receives the first parameter information, and the first parameter information is parameter information of other unmanned aerial vehicles in the airspace range where the first unmanned aerial vehicle is located.
S303, the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information.
For the description of step S201 to step S203, reference may be made to the relevant description of the corresponding steps in the above embodiments, which is not limited herein.
S304, the first unmanned machine broadcasts third parameter information through the frequency points in the wireless signal frequency band, and the third parameter information is the parameter information of the first unmanned machine.
Here, the execution order of steps S301 to S303 and step S304 is not limited. That is, step S304 may be performed before step S301, or simultaneously with step S301.
Alternatively, in another embodiment, the first drone may execute only step S304 without executing steps S301 to S303. I.e. the first drone may only broadcast and not listen.
The third parameter information includes at least one of identification information of the first unmanned machine, global positioning information, motion direction, speed and/or data information sending time.
The first drone broadcasts third parameter information through the frequency points in the wireless signal frequency band, which specifically includes but is not limited to the following modes:
in the first broadcast mode, the first wireless machine broadcasts the third parameter information at the frequency point associated with the airspace range in the wireless signal frequency band.
Wherein, the space domain range where the first unmanned machine is located is allocated with certain frequency domain resources. In embodiments of the present invention, the spatial domain may be allocated with one or more frequency points in the frequency band of the wireless signal. The one or more frequency points assigned to the spatial range may be understood as frequency points associated with the spatial range.
Further, the number of the one or more frequency points may correspond to the number of the drones in the airspace range, for example, the number of the drones that can be accommodated at most in the airspace range, or the number of the drones currently in a flight state in the airspace range, and the like, which is not limited herein.
When a plurality of unmanned aerial vehicles exist in the airspace range, each unmanned aerial vehicle can respectively correspond to one frequency point so as to receive or send information by using the corresponding frequency point. The plurality of unmanned aerial vehicles may include a first unmanned aerial vehicle and other unmanned aerial vehicles, and the first unmanned aerial vehicle broadcasts the third parameter information at the frequency points corresponding to the other unmanned aerial vehicles (i.e., the frequency points associated with the airspace range) in the airspace range at the same time. For example, there are four drones in the airspace range, where the four drones include a first drone, a second drone, a third drone, and a fourth drone. Wherein, first unmanned aerial vehicle corresponds frequency point A, and the second unmanned aerial vehicle corresponds frequency point B, and the third unmanned aerial vehicle corresponds frequency point C, and the fourth unmanned aerial vehicle corresponds frequency point D. The first UAV broadcasts third parameter information at frequency point A in the spatial domain.
In a second broadcast mode, the first drone broadcasts third parameter information at a time associated with the spatial domain.
Wherein, the space domain where the first unmanned machine is located is allocated with certain time domain resources. In an embodiment of the present invention, the spatial domain may be allocated one or more time instants to broadcast the third parameter information. The one or more time instants assigned to the spatial range may be understood as time instants associated with the spatial range.
Further, the number of the one or more time instants may correspond to the number of drones in the airspace range, for example, the number of drones that can be accommodated at most in the airspace range, or the number of drones currently in a flight state in the airspace range, and the like, which is not limited herein.
There are multiple drones within this airspace range, which may include a first drone and other drones. In the airspace range, the first unmanned machine broadcasts the parameter information of the first unmanned machine through the frequency point at the corresponding moment, and monitors the frequency point at other moments.
For example, there are four drones in the airspace range, where the four drones include a first drone, a second drone, a third drone, and a fourth drone. The unmanned aerial vehicles respectively correspond to the moment 1, the moment 2, the moment 3 and the moment 4; all above-mentioned four unmanned aerial vehicles can carry out information reception and send through frequency point A. The first unmanned machine broadcasts third parameter information on a frequency point A only at the moment 1 in the airspace range; the second unmanned aerial vehicle broadcasts the parameter information of the second unmanned aerial vehicle on the frequency point A only at the moment 2 in the airspace range; the third unmanned aerial vehicle broadcasts the parameter information on the frequency point A only at the moment 3 in the airspace range; the fourth unmanned aerial vehicle broadcasts the parameter information of the fourth unmanned aerial vehicle on the frequency point A only at the moment 4 in the airspace range.
And in a third broadcasting mode, the first wireless machine broadcasts third parameter information at the time associated with the spatial domain and the frequency point associated with the spatial domain in the wireless signal frequency band.
And a certain time-frequency resource is distributed in the airspace range where the first unmanned machine is located. In the embodiment of the present invention, the spatial domain may be allocated with one or more time instants and one or more frequency points in the frequency band of the wireless signal. The one or more frequency points assigned to the spatial range may be understood as frequency points associated with the spatial range; the one or more time instants assigned to the spatial range may be understood as time instants associated with the spatial range. The corresponding relationship between the time and the frequency point may be a one-to-one correspondence, a one-to-many correspondence, or a many-to-one correspondence, which is not limited herein. The time and the corresponding frequency point are combined to form a time frequency resource. For example, a time corresponds to a plurality of frequency points, and the time and each corresponding frequency point may be combined to form a time-frequency resource.
Further, the number of the time-frequency resources may correspond to the number of the drones in the airspace range, for example, the number of the drones that can be accommodated in the airspace range at most, or the number of the drones that are currently in a flight state in the airspace range, and the like, which is not limited herein.
There are a plurality of unmanned aerial vehicles in this airspace range, and a plurality of unmanned aerial vehicles include first unmanned machine and other unmanned aerial vehicles. The first unmanned aerial vehicle monitors the frequency points corresponding to other unmanned aerial vehicles at the corresponding moments of other unmanned aerial vehicles in the airspace range.
For example, there are four drones in the airspace range, where the four drones include a first drone, a second drone, a third drone, and a fourth drone. Wherein, first unmanned aerial vehicle corresponds moment 1, and the second unmanned aerial vehicle corresponds moment 2, and the third unmanned aerial vehicle corresponds moment 3, and the fourth unmanned aerial vehicle corresponds moment 4. Wherein, first unmanned aerial vehicle corresponds frequency point A, and the second unmanned aerial vehicle corresponds frequency point B, and the third unmanned aerial vehicle corresponds frequency point C, and the fourth unmanned aerial vehicle corresponds frequency point D. The first unmanned machine broadcasts third parameter information on a frequency point A only at the moment 1 in the airspace range; the second unmanned aerial vehicle broadcasts the parameter information of the second unmanned aerial vehicle on the frequency point B only at the moment 2 in the airspace range; the third unmanned aerial vehicle broadcasts the parameter information of the third unmanned aerial vehicle on the frequency point C only at the moment 3 in the airspace range; this fourth unmanned aerial vehicle is in this airspace range, only at moment 4, broadcasts its parameter information on frequency point D.
It is to be noted in particular that: the frequency point for sending information and the frequency point for receiving information of the same unmanned aerial vehicle can be the same or different. In addition, the mode that unmanned aerial vehicle sent information can be broadcast on a frequency point, or broadcast on a plurality of frequency points, can broadcast in proper order on a plurality of frequency points or can broadcast simultaneously on a plurality of frequency points etc. do not give the restriction here.
Referring to fig. 5, a schematic flow chart of a communication method of an unmanned aerial vehicle according to still another embodiment of the present invention is shown in fig. 5, where the communication method of the unmanned aerial vehicle according to the embodiment of the present invention includes, but is not limited to:
s401, the first unmanned machine monitors frequency points in the wireless signal frequency band.
S402, when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located.
And S403, determining the flight information of the first unmanned machine according to the first parameter information by the first unmanned machine.
S404, the first wireless machine broadcasts the first parameter information and the third parameter information through frequency points in the wireless signal frequency band.
In order to improve the accuracy and efficiency of information transmission between multiple unmanned aerial vehicles, one unmanned aerial vehicle broadcasts its own parameter information (i.e., third parameter information), and may also broadcast and transmit the parameter information (i.e., first parameter information) of other unmanned aerial vehicles that it receives and records.
Specifically, the drone may record the first parameter information after receiving the first parameter information sent by the other drone. For the efficiency that improves information exchange between a plurality of unmanned aerial vehicles to ensure that unmanned aerial vehicle can in time receive other unmanned aerial vehicle's parameter information, with flight information according to this parameter information determination. The first drone may broadcast the recorded first parameter information and the third parameter information using the occupied transmission resource. For example, the first drone broadcasts using one or more frequency points, or one or more time instants, or a combination thereof. If the first drone corresponds to a plurality of frequency points, the first drone may broadcast the first parameter information and the third parameter information through the plurality of frequency points, respectively. If the first drone corresponds to a frequency point, the first drone may broadcast the first parameter information and the third parameter information through the frequency point simultaneously or in turn, which is not limited herein.
For example, in the communication system, after the first unmanned aerial vehicle 10 receives the first parameter information sent by the second unmanned aerial vehicle 20, the first parameter information of the second unmanned aerial vehicle 20 is recorded, then the first unmanned aerial vehicle 10 broadcasts and sends the third parameter information of the first unmanned aerial vehicle 10 and the first parameter information of the second unmanned aerial vehicle 20 together, and if the third unmanned aerial vehicle 30 and the fourth unmanned aerial vehicle 40 receive the parameter information, the parameter information of the first unmanned aerial vehicle 10 and the parameter information of the second unmanned aerial vehicle 20 can be acquired at the same time. Based on the above mode, the efficiency of information exchange between a plurality of unmanned aerial vehicles is improved, and the unmanned aerial vehicle can timely receive the data information of other unmanned aerial vehicles, so that the flight information of the first unmanned aerial vehicle is determined according to the parameter information.
In addition, it should be noted that the communication method of the unmanned aerial vehicle provided by the embodiment of the present invention may be further extended to other suitable communication systems, and is not limited to the communication system shown in fig. 1. Although only the first drone 10, the second drone 20, the third drone 30, and the fourth drone 40 are shown in fig. 1, it will be understood by those skilled in the art that the communication system may include more or fewer drones in practical applications.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a communication device according to an embodiment of the present invention, and as shown in fig. 6, a communication device 500 according to an embodiment of the present invention includes;
the signal monitoring unit 510 is configured to monitor frequency points in a wireless signal frequency band.
A signal receiving unit 520, configured to receive first parameter information when the signal monitoring unit 510 monitors the first parameter information through the frequency point, where the first parameter information is parameter information of other unmanned aerial vehicles in the airspace range where the first unmanned aerial vehicle is located. The first parameter information comprises one or more information of identification information, position information, flight direction, flight speed and flight mission of the unmanned aerial vehicle.
A first determining unit 530, configured to determine the first unmanned flight information according to the first parameter information. The flight information may include one or more of flight mission, flight path, or other information.
Optionally, the signal monitoring unit 510 is specifically configured to:
continuously monitoring frequency points in the wireless signal frequency band, which are associated with the airspace range; or monitoring frequency points in a wireless signal frequency band at a time associated with the spatial domain; or monitoring the frequency points which are associated with the spatial domain in the wireless signal frequency band at the time associated with the spatial domain.
Optionally, in order to avoid frequency repetition and mutual interference between sending time overlaps of the first data information and the second data information, the apparatus further includes:
a second determining unit 540, configured to receive second parameter information, and determine whether the drone to which the second parameter information belongs is the same as the drone to which the first parameter information belongs;
an updating unit 550, configured to update the flight information according to the second parameter information if the second determining unit 540 determines that the flight information is the same.
Optionally, the apparatus further comprises:
a broadcasting unit 560, where the broadcasting unit 560 is configured to broadcast third parameter information through a frequency point in the wireless signal frequency band, and the third parameter information is the parameter information of the first unmanned machine.
Optionally, the broadcasting unit 460 is specifically configured to: and broadcasting the first parameter information and the third parameter information through frequency points in the wireless signal frequency band.
Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 7, the drone 600 provided by the embodiment of the present invention includes; at least one processor 610, such as a CPU, at least one communication interface 630, memory 620, at least one communication bus 640. Wherein a communication bus 640 is used to enable connective communication between these components. The communication interface 630 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 620 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). The memory 620 may optionally be at least one memory device located remotely from the processor 610.
The memory 620, as a non-transitory computer-readable storage medium, may be used to store an operating system, an application program, computer instructions, and the like, such as an application program used in the communication method of the drone in the embodiment of the present invention. The processor may perform the communication method in the above method embodiments by invoking execution of an application program or computer instructions or the like stored in the memory.
For example, any one of the above-described method steps S101 to S104 in fig. 2, method steps S201 to S206 in fig. 3, method steps S301 to S304 in fig. 4, method steps S401 to S404 in fig. 5, and the like is performed.
In an actual application scenario, as in the communication system shown in fig. 1, the communication method of the unmanned aerial vehicle provided by the embodiment of the present invention may be used to implement communication among the first unmanned aerial vehicle 10, the second unmanned aerial vehicle 20, the third unmanned aerial vehicle 30, and the fourth unmanned aerial vehicle 40. The first drone 10 may communicate with any one or more of the second drone 20, the third drone 30, or the fourth drone 40 through a standard communication interface, which may include, but is not limited to: hardware interface circuits, transceivers, etc. And is not limited herein. The specific communication mode is as follows: monitoring a frequency point in a wireless signal frequency band by a first wireless machine; when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located; and the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information. Based on above-mentioned mode, improve the efficiency of information exchange between a plurality of unmanned aerial vehicles to ensure that unmanned aerial vehicle can in time receive other unmanned aerial vehicle's parameter information, with flight information according to this parameter information determination.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (16)
1. A communication method of an unmanned aerial vehicle is characterized by comprising the following steps:
monitoring a frequency point in a wireless signal frequency band by a first wireless machine;
when the first unmanned machine monitors first parameter information through the frequency point, the first unmanned machine receives the first parameter information, wherein the first parameter information is parameter information of other unmanned machines in the airspace range where the first unmanned machine is located;
and the first unmanned machine broadcasts third parameter information through frequency points in the wireless signal frequency band, wherein the third parameter information is the parameter information of the first unmanned machine.
2. The communication method according to claim 1, wherein the first drone machine broadcasts third parameter information through frequency points in the wireless signal frequency band, further comprising:
if the first unmanned machine corresponds to a plurality of frequency points, the first unmanned machine respectively broadcasts the first parameter information and the third parameter information through the plurality of frequency points;
if the first unmanned machine corresponds to one frequency point, the first unmanned machine broadcasts the first parameter information and the third parameter information simultaneously or alternately through one frequency point;
the frequency point of the first unmanned aerial vehicle broadcast information is the same as or different from the frequency point of the received information.
3. The communication method of claim 1, wherein after the first drone receives the first parameter information, the method further comprises:
and the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information.
4. A communication method according to any of claims 1-3, characterized in that the method further comprises:
the first unmanned aerial vehicle receives second parameter information and determines whether the unmanned aerial vehicle to which the second parameter information belongs is the same as the unmanned aerial vehicle to which the first parameter information belongs;
if the first parameter information is the same as the second parameter information, the first unmanned machine updates the flight information according to the second parameter information;
and if the first parameter information and the second parameter information are different, determining new flight information according to the first parameter information and the second parameter information.
5. The communication method according to claim 4, wherein the first drone listening frequency point in a radio signal band comprises:
and the first wireless machine continuously monitors the frequency points which are associated with the airspace range in the wireless signal frequency band.
6. The communication method according to claim 4, wherein the first drone listening frequency point in a radio signal band comprises:
the first wireless machine monitors frequency points in a wireless signal frequency band at a moment associated with an airspace range, wherein the corresponding relation between the moment and the frequency points is one-to-one correspondence or one-to-many or many-to-one relation;
and the first wireless machine broadcasts third parameter information through the frequency points which are associated with the airspace range in the wireless signal frequency band.
7. The communication method according to claim 4, wherein the first drone listening frequency point in a radio signal band comprises:
the first wireless machine broadcasts the third parameter information at the time associated with the airspace range and the frequency point associated with the airspace range in the wireless signal frequency band, wherein the corresponding relation between the time and the frequency point is one-to-one correspondence or one-to-many or many-to-one relation.
8. A communications apparatus, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform:
monitoring frequency points in a wireless signal frequency band;
when the signal monitoring unit monitors first parameter information through the frequency point, the first parameter information is received, and the first parameter information is parameter information of other unmanned aerial vehicles in the airspace range where the first unmanned aerial vehicle is located;
and broadcasting third parameter information through the frequency points in the wireless signal frequency band, wherein the third parameter information is the parameter information of the first unmanned machine.
9. The apparatus as claimed in claim 8, wherein said broadcasting the third parameter information through the frequency points in the wireless signal frequency band further comprises:
if the first unmanned machine corresponds to a plurality of frequency points, the first unmanned machine respectively broadcasts the first parameter information and the third parameter information through the plurality of frequency points;
if the first unmanned machine corresponds to one frequency point, the first unmanned machine broadcasts the first parameter information and the third parameter information simultaneously or alternately through one frequency point;
the frequency point of the first unmanned aerial vehicle broadcast information is the same as or different from the frequency point of the received information.
10. The apparatus of claim 8, wherein after receiving the first parameter information, further comprising:
and the first unmanned machine determines the flight information of the first unmanned machine according to the first parameter information.
11. The apparatus of any one of claims 8-10, further comprising:
receiving second parameter information, and determining whether the unmanned aerial vehicle to which the second parameter information belongs is the same as the unmanned aerial vehicle to which the first parameter information belongs;
if the first parameter information is the same as the second parameter information, the first unmanned machine updates the flight information according to the second parameter information;
and if the first parameter information and the second parameter information are different, determining new flight information according to the first parameter information and the second parameter information.
12. The apparatus of claim 11, wherein monitoring frequency points in a frequency band of wireless signals comprises:
and the first wireless machine continuously monitors the frequency points which are associated with the airspace range in the wireless signal frequency band.
13. The apparatus of claim 11, wherein monitoring frequency points in a frequency band of wireless signals comprises:
monitoring frequency points in a wireless signal frequency band at a time associated with an airspace range, wherein the corresponding relation between the time and the frequency points is one-to-one correspondence or one-to-many or many-to-one relation;
and the first wireless machine broadcasts third parameter information through the frequency points which are associated with the airspace range in the wireless signal frequency band.
14. The apparatus of claim 11, wherein said first drone listens to frequency points in a radio frequency band, comprising:
the first wireless machine broadcasts the third parameter information at the time associated with the airspace range and the frequency point associated with the airspace range in the wireless signal frequency band, wherein the corresponding relation between the time and the frequency point is one-to-one correspondence or one-to-many or many-to-one relation.
15. An unmanned aerial vehicle, comprising:
at least one processor; and the number of the first and second groups,
a memory coupled to the at least one processor;
wherein the memory stores computer instructions;
the at least one processor is configured to invoke the computer instructions to perform the method of any of claims 1 to 7.
16. A readable storage medium storing computer instructions for execution by a processor to implement the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198137.9A CN114039682A (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147755.4A CN107968692B (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
| CN202111198137.9A CN114039682A (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711147755.4A Division CN107968692B (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114039682A true CN114039682A (en) | 2022-02-11 |
Family
ID=62001220
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711147755.4A Active CN107968692B (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
| CN202111198137.9A Pending CN114039682A (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711147755.4A Active CN107968692B (en) | 2017-11-17 | 2017-11-17 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN107968692B (en) |
| WO (1) | WO2019095738A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107968692B (en) * | 2017-11-17 | 2021-10-22 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
| CN108832987A (en) * | 2018-05-28 | 2018-11-16 | 上海市地震局 | Based on the active intercepting method and system of signal interference technology in UAV Communication |
| JP7030201B2 (en) * | 2018-08-24 | 2022-03-04 | 株式会社Ｎｔｔドコモ | Flight object operation management device and flight object operation management method |
| CN110771064A (en) * | 2018-09-28 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Estimation method, monitoring equipment and computer readable storage medium |
| CN111316576A (en) * | 2019-02-28 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle communication method and unmanned aerial vehicle |
| WO2021012102A1 (en) * | 2019-07-19 | 2021-01-28 | SZ DJI Technology Co., Ltd. | Control method |
| WO2022183349A1 (en) * | 2021-03-01 | 2022-09-09 | 深圳市大疆创新科技有限公司 | Communication control method and device, mobile platform, and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749847A (en) * | 2012-06-26 | 2012-10-24 | 清华大学 | Cooperative landing method for multiple unmanned aerial vehicles |
| CN106354148A (en) * | 2016-10-28 | 2017-01-25 | 易瓦特科技股份公司 | Flight control method and flight control apparatus for unmanned aerial vehicle |
| CN106549899A (en) * | 2015-09-16 | 2017-03-29 | 中国航空工业第六八研究所 | A kind of Unmanned Aerial Vehicle Data Link channel equalization method |
| CN106559152A (en) * | 2015-09-28 | 2017-04-05 | 联芯科技有限公司 | The communication dynamic switching method of frequency, self-organizing network nodes and no-manned machine distant control system |
| CN106716973A (en) * | 2016-11-22 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method and ground control terminal of unmanned aerial vehicle |
| CN106788676A (en) * | 2016-12-09 | 2017-05-31 | 清华大学 | Unmanned plane management method, unmanned plane, monitor terminal and administrative center based on frequency modulation data radio |
| CN106992897A (en) * | 2017-06-07 | 2017-07-28 | 合肥工业大学 | Information exchange Topology Optimization Method and device in multiple no-manned plane collaboration formation |
| CN107087427A (en) * | 2016-11-30 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Control method, device and the equipment and aircraft of aircraft |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101770113B1 (en) * | 2015-08-13 | 2017-08-22 | 삼성에스디에스 주식회사 | Apparatus and method for managing network of drone |
| CN105676857B (en) * | 2016-02-24 | 2018-05-29 | 陈昊 | Exchange method, interactive device and the interactive system of unmanned vehicle |
| CN106412840A (en) * | 2016-10-21 | 2017-02-15 | 北京佰才邦技术有限公司 | Information transmission method of unmanned device, and base station |
| CN107016882A (en) * | 2017-01-18 | 2017-08-04 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of unmanned plane conflict avoidance system and method in low latitude domain |
| CN106814750A (en) * | 2017-02-14 | 2017-06-09 | 北京小米移动软件有限公司 | UAV flight control method and device |
| CN107968692B (en) * | 2017-11-17 | 2021-10-22 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle |
-
2017
- 2017-11-17 CN CN201711147755.4A patent/CN107968692B/en active Active
- 2017-11-17 CN CN202111198137.9A patent/CN114039682A/en active Pending
-
2018
- 2018-08-07 WO PCT/CN2018/099216 patent/WO2019095738A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749847A (en) * | 2012-06-26 | 2012-10-24 | 清华大学 | Cooperative landing method for multiple unmanned aerial vehicles |
| CN106549899A (en) * | 2015-09-16 | 2017-03-29 | 中国航空工业第六八研究所 | A kind of Unmanned Aerial Vehicle Data Link channel equalization method |
| CN106559152A (en) * | 2015-09-28 | 2017-04-05 | 联芯科技有限公司 | The communication dynamic switching method of frequency, self-organizing network nodes and no-manned machine distant control system |
| CN106354148A (en) * | 2016-10-28 | 2017-01-25 | 易瓦特科技股份公司 | Flight control method and flight control apparatus for unmanned aerial vehicle |
| CN106716973A (en) * | 2016-11-22 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Control method and ground control terminal of unmanned aerial vehicle |
| CN107087427A (en) * | 2016-11-30 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Control method, device and the equipment and aircraft of aircraft |
| CN106788676A (en) * | 2016-12-09 | 2017-05-31 | 清华大学 | Unmanned plane management method, unmanned plane, monitor terminal and administrative center based on frequency modulation data radio |
| CN106992897A (en) * | 2017-06-07 | 2017-07-28 | 合肥工业大学 | Information exchange Topology Optimization Method and device in multiple no-manned plane collaboration formation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107968692B (en) | 2021-10-22 |
| CN107968692A (en) | 2018-04-27 |
| WO2019095738A1 (en) | 2019-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107968692B (en) | Unmanned aerial vehicle communication method and communication device and unmanned aerial vehicle | |
| US11039451B2 (en) | Resource pool determining method and related device | |
| US20210099847A1 (en) | Terminal device, method, and recording medium | |
| JP7265091B2 (en) | Operation method of second stage SCI-related UE in wireless communication system | |
| US11558883B2 (en) | Method for transmitting and receiving signal by terminal in wireless communication system | |
| US11564279B2 (en) | Method of operating UE in relation to as configuration in wireless communication system | |
| US20220322327A1 (en) | Method and device for operating ue associated with sidelink rlm and rlf in wireless communication system | |
| WO2021058478A1 (en) | Position signaling within a wireless communication system | |
| US20230224951A1 (en) | Operation method of relay ue in wireless communication system | |
| US20230309009A1 (en) | Operating method related to selection of relay ue in wireless communication system | |
| US20230309064A1 (en) | Operating method of relay ue related to bwp in wireless communication system | |
| US11096239B2 (en) | Method of operating UE in relation to release of PC5 unicast link in wireless communication system | |
| US20230300905A1 (en) | Method for operating ue related to sidelink timer in wireless communication system | |
| US20220232542A1 (en) | Method for transmitting sidelink signal in wireless communication system | |
| US20200152048A1 (en) | Method and apparatus for controlling controllable device | |
| US11903084B2 (en) | Sidelink discovery-related operation method in wireless communication system | |
| US20230299909A1 (en) | Ue operation method related to sidelink ptrs in wireless communication system | |
| US20230328732A1 (en) | Sidelink communication method considering height information and apparatus therefor | |
| US11622400B2 (en) | Method of operating UE in relation to release of sidelink RRC connection in wireless communication system | |
| US20240097855A1 (en) | Sidelink operating method of csi-rs transmission-related ue in wireless communication system | |
| US20230217507A1 (en) | Operating method of ue related to relay in wireless communication system | |
| WO2023206024A1 (en) | Method and device for configuring unmanned aerial vehicle, and system and storage medium | |
| WO2023206026A1 (en) | Method, apparatus and system for configuring unmanned aerial vehicle, and storage medium | |
| US20230082892A1 (en) | Method for operating ue related to cbr in wireless communication system | |
| US20230090566A1 (en) | Operation method of ue receiving v2x-related message in wireless communication system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |