CN114449508B - Communication method, device and equipment of low airspace flight equipment - Google Patents
Communication method, device and equipment of low airspace flight equipment Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a communication method, a device and equipment of low-altitude flight equipment, which are used for realizing the communication of the low-altitude flight equipment through a 5G base station additionally arranged on the ground. The method comprises the following steps: determining that a navigation route of the flight equipment is positioned in a pre-established low-altitude flight orbit; and receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data characterizes data transmitted between the flight device and other flight devices except the flight device and/or the Internet of things device.
Description
Technical Field
The present invention relates to the field of wireless communications technologies, and in particular, to a method, an apparatus, and a device for communicating low airspace flight devices.
Background
Low-altitude flight is flight between 100m and 1000m from the ground, and long-distance targets are difficult to see in low-altitude flight, the position of an airplane needs to be determined by using landmarks near the route, and the altitude needs to be raised to obtain landmark information when no obvious landmarks are around the airplane.
The main characteristics of low-altitude flight are low flying speed, high maneuverability and high flexibility, but the radio equipment of the airplane can be affected to different degrees during low-altitude flight. In particular, in medium-and long-wave radio pilot equipment, the accuracy is obviously reduced. At present, ground-air communication (ground and air communication) mainly adopts very high frequency and ultra-high frequency, communication coverage basically does not take low-altitude space into consideration, low-altitude communication has a plurality of blind areas due to the influence of geographic positions and environments, communication coverage radius is greatly reduced, and the low-altitude space is in a nearly signal-free state.
Disclosure of Invention
The invention provides a communication method, a device and equipment of low-altitude flight equipment, which are used for realizing the communication of the low-altitude flight equipment through a 5G base station additionally arranged on the ground.
In a first aspect, a communication method for low airspace flight device provided by an embodiment of the present invention includes:
determining that a navigation route of the flight equipment is positioned in a pre-established low-altitude flight orbit;
and receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data characterizes data transmitted between the flight device and other flight devices except the flight device and/or the Internet of things device.
As an alternative embodiment, further comprising:
determining that at least one of the flying devices is configured with a satellite terminal;
and receiving and transmitting communication data of the flight equipment provided with the satellite terminal through the satellite equipment.
As an alternative embodiment, the communication data comprises voice data and/or traffic data.
As an optional implementation manner, the elevation angle of the antenna corresponding to the 5G base station added on the ground faces the low airspace, and the elevation angle is greater than a threshold value.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by a base station; or alternatively, the first and second heat exchangers may be,
the low-altitude flight trajectory is pre-established by a satellite device.
As an alternative embodiment, determining that the navigational route of the flying device is located after the pre-established low-altitude flight trajectory further includes:
acquiring a navigation route of flight equipment to be navigated;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
and when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
The control method for the navigation of the low-altitude flight orbit, which is established in advance, can ensure that the flight equipment can realize low-altitude flight without generating interference to the flight equipment in the middle or high-altitude field. By utilizing the pre-established low-altitude flight orbit, the low-altitude aircraft can navigate on the established low-altitude flight orbit without acquiring landmark information to realize navigation, and can realize ground-air communication while ensuring navigation.
As an alternative embodiment, the low-altitude flight trajectory is determined to meet the voyage requirement by:
transmitting a detection signal to the low-altitude flight orbit by using a 5G base station, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal; or alternatively, the first and second heat exchangers may be,
transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the arrival of the flying device at the end of the route of travel is detected by:
determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the 5G base station; or alternatively, the first and second heat exchangers may be,
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
In a second aspect, a communication device of low airspace flight device provided by an embodiment of the present invention includes:
The low-altitude flight unit is used for determining that the navigation route of the flight equipment is located in a pre-established low-altitude flight orbit;
the low-altitude flight communication unit is used for receiving and sending communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data represent data transmitted between the flight device and other flight devices except the flight device and/or the Internet of things device.
As an alternative embodiment, the method further comprises the step of:
determining that at least one of the flying devices is configured with a satellite terminal;
and receiving and transmitting communication data of the flight equipment provided with the satellite terminal through the satellite equipment.
As an alternative embodiment, the communication data comprises voice data and/or traffic data.
As an optional implementation manner, the elevation angle of the antenna corresponding to the 5G base station added on the ground faces the low airspace, and the elevation angle is greater than a threshold value.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by a base station; or alternatively, the first and second heat exchangers may be,
the low-altitude flight trajectory is pre-established by a satellite device.
As an alternative embodiment, the method further comprises determining that the sailing route of the flying device is located after the pre-established low-altitude flight trajectory, and the control unit is configured to:
Acquiring a navigation route of flight equipment to be navigated;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
and when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
As an alternative embodiment, the control unit is specifically configured to determine that the low-altitude flight trajectory meets the voyage requirement by:
transmitting a detection signal to the low-altitude flight orbit by using a 5G base station, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal; or alternatively, the first and second heat exchangers may be,
transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the control unit is specifically configured to detect that the flying device has reached the end of the route of travel by:
Determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the 5G base station; or alternatively, the first and second heat exchangers may be,
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
In a third aspect, an embodiment of the present invention further provides a communication device of a low airspace flight device, where the communication device includes a processor and a memory, where the memory is configured to store a program executable by the processor, and the processor is configured to read the program in the memory and perform the following steps:
determining that a navigation route of the flight equipment is positioned in a pre-established low-altitude flight orbit;
and receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data characterizes data transmitted between the flight device and other flight devices except the flight device and/or the Internet of things device.
As an alternative embodiment, the processor is specifically further configured to perform:
Determining that at least one of the flying devices is configured with a satellite terminal;
and receiving and transmitting communication data of the flight equipment provided with the satellite terminal through the satellite equipment.
As an alternative embodiment, the communication data comprises voice data and/or traffic data.
As an optional implementation manner, the elevation angle of the antenna corresponding to the 5G base station added on the ground faces the low airspace, and the elevation angle is greater than a threshold value.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by a base station; or alternatively, the first and second heat exchangers may be,
the low-altitude flight trajectory is pre-established by a satellite device.
As an alternative embodiment, the processor is specifically further configured to perform:
acquiring a navigation route of flight equipment to be navigated;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
and when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
As an alternative embodiment, the processor is specifically configured to determine that the low-altitude flight trajectory meets voyage requirements by:
transmitting a detection signal to the low-altitude flight orbit by using a 5G base station, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal; or alternatively, the first and second heat exchangers may be,
transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the processor is specifically configured to detect that the flying device has reached the end of the route of travel by:
determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the 5G base station; or alternatively, the first and second heat exchangers may be,
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
In a fourth aspect, embodiments of the present application also provide a computer storage medium having stored thereon a computer program for carrying out the steps of the method of the first aspect described above when executed by a processor.
These and other aspects of the application will be more readily apparent from the following description of the embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an implementation of a communication method of a low airspace flight device according to an embodiment of the present application;
FIG. 2 is a schematic communication diagram of a low airspace aircraft according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for controlling low-altitude flight according to an embodiment of the present application;
fig. 4 is a flight schematic diagram of a low-altitude flight orbit established based on a 5G base station according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a low-altitude orbit created based on satellites according to an embodiment of the present application;
Fig. 6 is a schematic diagram of a base station for low-altitude flight control according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a satellite device for low-altitude flight control according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a low-altitude flight control apparatus according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a communication device of a low airspace flight device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the embodiment of the invention, the term "and/or" describes the association relation of the association objects, which means that three relations can exist, for example, a and/or B can be expressed as follows: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The application scenario described in the embodiment of the present invention is for more clearly describing the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention, and as a person of ordinary skill in the art can know that the technical solution provided by the embodiment of the present invention is applicable to similar technical problems as the new application scenario appears. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The low-altitude flight control method provided by the embodiment of the invention can be applied to a base station and satellite equipment. The base station may be a gNB, a macro base station, a micro base station, a CU (Central Unit), a DU (Distributed Unit), or the like in 5G.
In the embodiment 1, with the gradual development of low altitudes below 3000 meters, general aviation aircrafts are more and more, and are used as main users of low-altitude airspace, including police, agriculture and forestry, livestock, sports and other small-sized low-speed aircrafts, and the main characteristics of the general aviation aircrafts are low flying speed, slow flying speed, high maneuverability and strong flexibility; however, low-altitude communication has been a worldwide problem, and navigation accidents have occurred because low-altitude flying aircraft are "blind, invisible, and unaware of where they are. The existing air-ground communication of the air traffic control mainly adopts very high frequency and ultra high frequency, and the coverage area of the very high frequency (Very high frequency, VHF) voice communication is about 3300 m above airspace in the eastern area and 6600 m above the western main air way. The communication coverage does not take the low-altitude space into consideration basically, and the low-altitude communication has a plurality of blind areas due to the influence of the geographic position and the environment, compared with the hollow communication, the communication coverage radius of the low-altitude communication is greatly reduced, and the low-altitude space is in a nearly signal-free state generally.
In order to solve the difficulty of low-altitude communication, an embodiment of the present invention provides a communication method of low-airspace flight equipment, as shown in fig. 1, a specific implementation flow of the method is as follows:
step 100, determining that a navigation route of the flight equipment is located in a pre-established low-altitude flight orbit;
and 101, receiving and transmitting communication data of at least one flying device through a 5G base station additionally arranged on the ground, wherein the communication data represents data transmitted between the flying device and other flying devices except the flying device and/or Internet of things devices.
In implementation, the 5G base station in this embodiment may be disposed on the ground or may be disposed on the top of a building, so as to increase the distance of communication and increase the height of signal coverage.
As an optional implementation manner, this embodiment may use satellite communication to realize low-spatial-domain communication in addition to low-spatial-domain communication by using a 5G base station, which is specifically as follows:
determining that at least one of the flying devices is configured with a satellite terminal;
and receiving and transmitting communication data of the flight equipment provided with the satellite terminal through the satellite equipment.
The gap of the low-airspace communication mode is filled by combining the 5G base station additionally arranged on the ground with satellite communication.
In some embodiments, the communication data includes voice data and/or traffic data. Wherein the voice data includes, but is not limited to, data for making a voice call, and the service data includes, but is not limited to, network data, etc.
In some embodiments, the elevation angle of the antenna corresponding to the 5G base station added to the ground faces the low airspace, and the elevation angle is greater than a threshold. The antenna is upward in elevation angle and large in pitching angle, so that the antenna can communicate with aircrafts below 400 meters in airspace.
In some embodiments, the low-altitude flight trajectory is pre-established by a base station; alternatively, the low-altitude flight trajectory is pre-established by a satellite device.
As shown in fig. 2, this embodiment also provides a communication schematic diagram of a low airspace aircraft, where the communication manner of the low airspace aircraft may be implemented by combining multiple communication methods, and a 5G base station is added on the ground, so that the antenna is designed to have an upward elevation angle and a large pitching angle, to communicate with an aircraft below 400 meters in airspace, and to fix the aircraft orbit. The method comprises the steps of adding base station settings on a building, so that the communication distance can be increased, and the signal coverage height can be increased. After the future satellite terminal is miniaturized and light-weighted, the satellite terminal can be loaded on a low-altitude aircraft, so that the requirements of internet surfing communication and the like can be met in a low-altitude area. The method can supplement the 5G communication mode to fill the blank of the low-space-domain communication mode.
In order to solve the difficulties and defects of low-altitude communication and flight, the embodiment of the invention also provides a control method for navigating in a pre-established low-altitude flight orbit, which can ensure that the low-altitude flight of the flight equipment is realized without generating interference to the flight equipment in the middle or high-altitude field. Navigation is realized without obtaining landmark information, and ground-air communication can be realized while navigation is ensured.
The core of the design of the embodiment is to establish a low-altitude flight orbit in advance through the communication equipment, and carry out low-altitude navigation on the flight orbit according to the navigation route of the flight equipment.
As shown in fig. 3, the embodiment of the invention provides a method for controlling low-altitude flight, and the implementation flow of the method is as follows:
step 300, acquiring a navigation route of the flying equipment to be navigated;
in some embodiments, the navigational route is part or all of the route of the low-altitude flight trajectory. The navigation route includes, but is not limited to, at least one of a start point, an end point, a neutral point, a path, a travel time, and a travel distance.
The low-altitude flight trajectory in this embodiment includes a fixed course in the low-altitude area including at least one of a start point, an end point, a mid-point, and a course.
In some embodiments, the communication device in this embodiment includes, but is not limited to, at least one of a base station, a satellite device, where the base station includes, but is not limited to, a gNB in 5G, a macro base station, a micro base station, a CU or DU, and the like.
In some embodiments, the flying device in this embodiment includes, but is not limited to, an electronic device that has a communication function and can fly, such as an airplane, an aircraft with a specific shooting function, and the like.
In some embodiments, the low-altitude flight trajectory is pre-established by a base station; alternatively, the low-altitude flight trajectory is pre-established by a satellite device.
Step 301, when it is detected that a low-altitude flight orbit meets a navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
in some embodiments, the present embodiment determines that the low-altitude flight trajectory meets the voyage requirement by any one of:
mode 1 a) a base station is utilized to send a detection signal to the low-altitude flight orbit, and the low-altitude flight orbit is determined to meet the navigation requirement according to the feedback signal of the detection signal;
mode 1 b) transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
Wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
In some embodiments, the navigation instruction carries planned path information, wherein the planned path information is obtained by re-planning the navigation route according to obstacle and interference information in the low-altitude flight orbit.
And 302, when the flying device is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flying device so as to instruct the flying device to stop.
In some embodiments, the present embodiment detects that the flying device has reached the end of the route of travel by any one of:
mode 2 a) determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by a base station;
in some embodiments, the base station and the flight device in the present embodiment may implement communication using a ground communication network, for example, 5G communication may be performed between the base station and the flight device, the flight device may send location information to the base station in real time, and the base station determines that the flight device has reached the end point of the navigation route according to the location information and the distance from the location information to the end point of the navigation route.
Mode 2 b) determining that the flying device has reached the end of the route is detected based on location information of the flying device received by a satellite device, wherein the location information is transmitted by the flying device to the satellite device via a satellite antenna.
In some embodiments, the satellite device and the flight device in this embodiment may implement communications by using a satellite, for example, satellite antennas may be used between the satellite and the flight device to implement satellite communications, the flight device may send location information to the satellite device in real time, and the satellite device determines that the flight device has reached the end of the route according to the location information and the distance from the location information to the end of the route.
Including but not limited to phased array antennas.
In some embodiments, the transmission of the communication data may also be implemented after the sending of the navigation instruction to the flight device and before the sending of the navigation instruction to the flight device. The communication data specifically refers to service data between the flight equipment and the internet of things equipment, so that communication between the flight equipment and the internet of things equipment is realized, and various service requirements are met.
In some embodiments, the transmission of communication data is performed using a base station and the flying device; and/or, transmitting communication data by using a satellite device and the flying device; wherein the communication data characterizes traffic data transmitted between the flying device and an internet of things device other than the flying device.
It should be noted that, the fifth generation mobile communication technology (5 th Generation Mobile Communication Technology, abbreviated as 5G) is a new generation broadband mobile communication technology with high speed, low delay and large connection characteristics, and is a network infrastructure for realizing man-machine object interconnection. 5G is as a novel mobile communication network, not only is the problem of person-to-person communication solved, but also the problem of person-to-object communication is solved, and the application requirements of the Internet of things such as mobile medical treatment, internet of vehicles, intelligent home, industrial control, environmental monitoring and the like are met, wherein the user is provided with augmented reality, virtual reality, ultra-high definition (3D) video and the like to be more immersive and extreme business experience. Finally, 5G is permeated into various fields of various industries of economy and society, and becomes a key novel infrastructure for supporting digitization, networking and intelligent transformation of economy and society.
As shown in fig. 4, according to the flight schematic diagram of the low-altitude flight orbit established based on the 5G base station provided by the embodiment of the invention, the 5G fixed-point base station is additionally arranged on the ground based on the 5G communication characteristic, so that the real-time communication of the low-altitude flight equipment is realized, and the flight orbit of the low-altitude flight equipment is fixed.
At present, communication is carried out on the ground by using a microwave relay communication system, and an average reference circuit is assumed to pass through 54 relay switches of about 46km per span every 2500km due to line-of-sight propagation. In this embodiment, the communication satellite is used for relay, and the communication with the ground distance of more than 1 ten thousand kilometers can be communicated through 1 hop of the communication satellite (from ground to star, and then from star to ground is 1 hop, and two relays are included).
Compared with other communication modes, satellite communication has the following characteristics:
point 1, communication distance is far: in the satellite beam coverage area, the communication distance is 13000 kilometers at the farthest;
point 2, not limited by any complex geographic conditions between the two points of communication;
the 3 rd point is not influenced by any natural disasters and artificial events between the two communication points;
the 4 th point has high communication quality and high system reliability, and is commonly used for a support system in a submarine cable repair period;
the farther the 5 th point is, the farther the communication distance is, the lower the relative cost is;
at the 6 th point, the transmission and data interaction of television programs, broadcast programs and news can be realized in a large area range;
the 7 th point has large mobility and can realize satellite mobile communication and emergency communication;
the 8 th point and the signal configuration are flexible, and hundreds, thousands or even tens of thousands of speech channels and medium-high speed data channels can be provided between the two points;
9 th point, easy to realize multiple address transmission;
and the 10 th point is easy to realize various service functions.
As shown in fig. 5, the present embodiment provides a flight schematic diagram of a low-altitude flight orbit established based on a satellite, and the present embodiment may configure a satellite antenna on a low-altitude aircraft, and apply the advantages of satellite communications to better ensure the form of fixed orbit traffic of the low-altitude flight orbit, and meet the requirements of multiple service communications.
Based on the same inventive concept, the embodiment of the present invention further provides a base station for low-altitude flight control, and since the base station is the base station in the method in the embodiment of the present invention, and the principle of the base station for solving the problem is similar to that of the method, the implementation of the base station can refer to the implementation of the method, and the repetition is omitted.
As shown in fig. 6, the apparatus includes a processor 600 and a memory 601, the memory 601 is used for storing a program executable by the processor 600, and the processor 600 is used for reading the program in the memory 601 and executing the following steps:
acquiring a navigation route of a flying device to be navigated, wherein the navigation route is positioned on a low-altitude flight orbit pre-established through a communication device;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
And when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by the base station itself.
As an alternative embodiment, the processor 600 is specifically configured to determine that the low-altitude flight trajectory meets the voyage requirement by:
the base station sends a detection signal to the low-altitude flight orbit, and determines that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the processor 600 is specifically configured to detect that the flying device has reached the end of the route of travel by:
and determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the base station.
As an alternative embodiment, after the sending of the departure instruction to the flying device and before the sending of the stopping instruction to the flying device, the processor 600 is specifically further configured to perform:
The base station itself and the flying device transmit communication data; wherein the communication data characterizes traffic data transmitted between the flying device and an internet of things device other than the flying device.
Based on the same inventive concept, the embodiment of the present invention further provides a low-altitude flight control satellite device, and because the satellite device is the satellite device in the method in the embodiment of the present invention, and the principle of solving the problem of the satellite device is similar to that of the method, the implementation of the satellite device can refer to the implementation of the method, and the repetition is omitted.
As shown in fig. 7, the device comprises a processor 700 and a memory 701, wherein the memory 701 is used for storing a program executable by the processor 700, and the processor 700 is used for reading the program in the memory 701 and executing the following steps:
acquiring a navigation route of a flying device to be navigated, wherein the navigation route is positioned on a low-altitude flight orbit pre-established through a communication device;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
And when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by the satellite device itself.
As an alternative embodiment, the low-altitude flight trajectory is determined to meet the voyage requirement by:
the satellite equipment sends a detection signal to the low-altitude flight orbit, and determines that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the arrival of the flying device at the end of the route of travel is detected by:
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
As an optional implementation manner, after the sending of the navigation instruction to the flying device and before the sending of the navigation stopping instruction to the flying device, the satellite device further includes:
The satellite equipment and the flight equipment transmit communication data;
wherein the communication data characterizes traffic data transmitted between the flying device and an internet of things device other than the flying device.
Based on the same inventive concept, the embodiment of the present invention further provides a communication device of the low airspace flight device, and because the device is the device in the method in the embodiment of the present invention, and the principle of the device for solving the problem is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
As shown in fig. 8, the apparatus includes:
a determining low-altitude flight unit 800 for determining that a navigation route of the flight apparatus is located in a pre-established low-altitude flight trajectory;
the low-altitude flight communication unit 801 is configured to receive and send communication data of at least one flight device through a 5G base station added on the ground, where the communication data characterizes data transmitted between the flight device and other flight devices and/or internet of things devices except the flight device.
As an alternative embodiment, the method further comprises the step of:
determining that at least one of the flying devices is configured with a satellite terminal;
And receiving and transmitting communication data of the flight equipment provided with the satellite terminal through the satellite equipment.
As an alternative embodiment, the communication data comprises voice data and/or traffic data.
As an optional implementation manner, the elevation angle of the antenna corresponding to the 5G base station added on the ground faces the low airspace, and the elevation angle is greater than a threshold value.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by a base station; or alternatively, the first and second heat exchangers may be,
the low-altitude flight trajectory is pre-established by a satellite device.
As an alternative embodiment, the method further comprises determining that the sailing route of the flying device is located after the pre-established low-altitude flight trajectory, and the control unit is configured to:
acquiring a navigation route of flight equipment to be navigated;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
and when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
As an alternative embodiment, the control unit is specifically configured to determine that the low-altitude flight trajectory meets the voyage requirement by:
transmitting a detection signal to the low-altitude flight orbit by using a 5G base station, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal; or alternatively, the first and second heat exchangers may be,
transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the control unit is specifically configured to detect that the flying device has reached the end of the route of travel by:
determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the 5G base station; or alternatively, the first and second heat exchangers may be,
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
Based on the same inventive concept, the embodiment of the present invention further provides a communication device of the low airspace flight device, and since the communication device is the communication device in the method in the embodiment of the present invention, and the principle of the communication device for solving the problem is similar to that of the method, the implementation of the communication device can refer to the implementation of the method, and the repetition is omitted.
As shown in fig. 9, the communication device includes a processor 900 and a memory 901, the memory 901 is used for storing a program executable by the processor 900, and the processor 900 is used for reading the program in the memory 901 and executing the following steps:
determining that a navigation route of the flight equipment is positioned in a pre-established low-altitude flight orbit;
and receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data characterizes data transmitted between the flight device and other flight devices except the flight device and/or the Internet of things device.
As an alternative embodiment, the processor 900 is specifically further configured to perform:
determining that at least one of the flying devices is configured with a satellite terminal;
and receiving and transmitting communication data of the flight equipment provided with the satellite terminal through the satellite equipment.
As an alternative embodiment, the communication data comprises voice data and/or traffic data.
As an optional implementation manner, the elevation angle of the antenna corresponding to the 5G base station added on the ground faces the low airspace, and the elevation angle is greater than a threshold value.
As an alternative embodiment, the low-altitude flight trajectory is pre-established by a base station; or alternatively, the first and second heat exchangers may be,
the low-altitude flight trajectory is pre-established by a satellite device.
As an alternative embodiment, the processor 900 is specifically further configured to perform:
acquiring a navigation route of flight equipment to be navigated;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
and when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
As an alternative embodiment, the processor 900 is specifically configured to determine that the low-altitude flight trajectory meets the voyage requirement by:
Transmitting a detection signal to the low-altitude flight orbit by using a 5G base station, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal; or alternatively, the first and second heat exchangers may be,
transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
As an alternative embodiment, the processor 900 is specifically configured to detect that the flying device has reached the end of the route of travel by:
determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the 5G base station; or alternatively, the first and second heat exchangers may be,
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
Based on the same inventive concept, embodiments of the present invention also provide a computer storage medium having stored thereon a computer program for realizing the following steps when executed by a processor:
Determining that a navigation route of the flight equipment is positioned in a pre-established low-altitude flight orbit;
and receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data characterizes data transmitted between the flight device and other flight devices except the flight device and/or the Internet of things device.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A method of communicating low airspace flight devices, the method comprising:
determining that a navigation route of the flight equipment is positioned in a pre-established low-altitude flight orbit; the low-altitude flight orbit is pre-established through a base station; or, the low-altitude flight orbit is pre-established through satellite equipment; the low-altitude flight orbit comprises a fixed route in a low-altitude space, and comprises at least one of a starting point, an ending point, a middle point and a route;
receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data represents data transmitted between the flight device and other flight devices except the flight device and the Internet of things device; the communication data comprises voice data and service data;
determining that at least one of the flying devices is configured with a satellite terminal; the communication data of the flight equipment provided with the satellite terminal is received and transmitted through the satellite equipment;
and after sending a navigation instruction to the flight equipment and before sending a navigation stopping instruction to the flight equipment, transmitting service data between the flight equipment and the Internet of things equipment.
2. The method of claim 1, wherein the elevation angle of the antenna corresponding to the ground-based additional 5G base station is oriented in a low airspace, and the elevation angle is greater than a threshold.
3. The method of claim 1, wherein determining that the navigational route of the flying device is located after the pre-established low altitude flight trajectory further comprises:
acquiring a navigation route of flight equipment to be navigated;
when the low-altitude flight orbit meets the navigation requirement and the flight equipment reaches the starting point of the navigation route, sending a navigation starting instruction to the flight equipment so as to instruct the flight equipment to navigate according to the navigation route;
and when the flight equipment is detected to reach the end point of the navigation route, sending a navigation stopping instruction to the flight equipment so as to instruct the flight equipment to stop.
4. A method according to claim 3, wherein the low-altitude flight trajectory is determined to meet voyage requirements by:
transmitting a detection signal to the low-altitude flight orbit by using a 5G base station, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal; or alternatively, the first and second heat exchangers may be,
transmitting a detection signal to the low-altitude flight orbit by using satellite equipment, and determining that the low-altitude flight orbit meets navigation requirements according to a feedback signal of the detection signal;
Wherein the feedback signal characterizes whether the low-altitude flight orbit has at least one of obstacle and interference.
5. A method according to claim 3, characterized in that the arrival of the flying device at the end of the route of travel is detected by:
determining that the flying equipment reaches the end point of the navigation route according to the position information of the flying equipment received by the 5G base station; or alternatively, the first and second heat exchangers may be,
and determining that the flying device reaches the end point of the navigation route according to the position information of the flying device received by the satellite device, wherein the position information is sent to the satellite device by the flying device through a satellite antenna.
6. A communication device for low airspace flying apparatus, comprising:
the low-altitude flight unit is used for determining that the navigation route of the flight equipment is located in a pre-established low-altitude flight orbit; the low-altitude flight orbit is pre-established through a base station; or, the low-altitude flight orbit is pre-established through satellite equipment; the low-altitude flight orbit comprises a fixed route in a low-altitude space, and comprises at least one of a starting point, an ending point, a middle point and a route;
The low-altitude flight communication unit is used for receiving and transmitting communication data of at least one flight device through a 5G base station additionally arranged on the ground, wherein the communication data represents data transmitted between the flight device and other flight devices except the flight device and/or Internet of things devices; the communication data comprises voice data and service data;
a satellite communication unit for determining that at least one of the flying devices is configured with a satellite terminal; the communication data of the flight equipment provided with the satellite terminal is received and transmitted through the satellite equipment;
and the service communication unit is used for transmitting service data between the flight equipment and the Internet of things equipment after sending the navigation instruction to the flight equipment and before sending the navigation stopping instruction to the flight equipment.
7. A communication device for a low airspace flight device, comprising a processor and a memory, the memory being for storing a program executable by the processor, the processor being for reading the program in the memory and performing the steps of the method according to any one of claims 1 to 5.
8. A computer storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the method according to any of claims 1-5.
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