KR20220020497A - Method and apparatus for unmanned aerial vehicle - Google Patents

Abstract

As an operating method of a control node in a communication system, the present invention may comprise: a step of setting a first time interval for receiving the identification information of one or more participating nodes and a second time interval for transmitting a message generated based on the identification information; a step of transmitting the setting information of the first time interval to one or more participating nodes; a step of receiving the identification information from one or more participating nodes in the first time interval; and a step of transmitting the message to a ground node in the second time interval. Therefore, the present invention is capable of effectively controlling the participating drones.

Description

Operation method and apparatus of unmanned aerial vehicle {METHOD AND APPARATUS FOR UNMANNED AERIAL VEHICLE}

The present invention relates to a technology for transmitting identification information of unmanned aerial vehicles in a communication network, and more particularly, to efficiently transmit identification information of each unmanned aerial vehicle to a ground identifier (or base station) in an environment in which unmanned aerial vehicles are clustered. It relates to a method and apparatus.

The unmanned aerial vehicle may refer to an airplane (Unmanned aerial vehicle/Uninhabited aerial vehicle (UAV)) capable of flying and maneuvering by induction of radio waves without a pilot. Recently, in addition to military uses such as reconnaissance and attack, unmanned aerial vehicles are increasingly being used in various civilian and commercial fields such as video shooting, unmanned delivery service, and disaster observation.

Recently, at major events such as the Olympics, the number of cases of simultaneously operating hundreds or thousands of drones is increasing. When drones are simultaneously operated in an environment in which drones are clustered at a high density as described above, it may be required to transmit identification information of each drone using a wireless communication method. In this case, hundreds or thousands of drones may simultaneously access the wireless communication transmission channel. When clustered drones transmit their respective radio identification signals to another network node (eg, an identifier on the ground or a base station), there may be interference between the radio signals of each drone. In this case, it may be difficult to operate the drones at the same time because it is not possible to smoothly receive the wireless identification signals of the drones on the ground.

Meanwhile, resources may be allocated to wireless identification signals by a method such as scheduling, but, for example, in sequential transmission, it may take a lot of time to transmit identification information of a plurality of drones. Accordingly, drones may not be smoothly operated in real time.

An object of the present invention to solve the above problems is that the control vehicle (or control node) receives the identification information of the participating unmanned aerial vehicles (or participating nodes) in an environment in which the unmanned aerial vehicle is clustered, and the control node receives the identification information It is to provide a method and an apparatus for efficiently transmitting a message including these to a terrestrial node.

As a method of operating a control node in a communication system according to a first embodiment for achieving the above object, transmitting a message generated based on a first time interval for receiving identification information of one or more participating nodes and identification information setting a second time interval for, transmitting setting information of the first time interval to one or more participating nodes, receiving identification information from one or more participating nodes in the first time interval, and a second time interval It may include transmitting the message to the terrestrial node in the interval.

Here, the setting information includes a first parameter indicating the length of the entire time interval including the first time interval and the second time interval, a second parameter used to determine the length of the first time interval within the entire time interval, and a third parameter used to determine a sub-time interval assigned to each of the one or more participating nodes within the first time interval.

Here, when the message is generated by concatenating identification information of one or more participating nodes, the second time interval may be configured as a transmission interval for transmitting the message.

Here, when the message is generated by reconstructing identification information of one or more participating nodes, the second time interval may consist of a processing interval for reconstructing identification information and a transmission interval for transmitting the message.

Here, the size of the message generated by reconstructing the identification information is smaller than the size of the message generated by concatenating the identification information, and the size of the message generated by reconstructing the identification information depends on the similarity of identification information between one or more participating terminals. may vary.

Here, the transmission rate of the identification information may be determined based on the sub-time interval, the size of the identification information, and the required reception quality.

Here, the identification information may include one or more of ID (identifier) of the participating node, latitude, longitude, altitude, speed, direction, time, and flight status.

Here, the control node and one or more participating nodes form one drone group, and the control node may control the operation of one or more participating nodes belonging to the drone group.

A method of operating a first participating node in a communication system according to a second embodiment for achieving the object, setting information of a first time interval used for transmission of identification information of a plurality of participating nodes including the first participating node receiving from the control node, identifying a sub-time interval assigned to the first participating node within the first time interval based on the setting information, and first identification information of the first participating node in the sub-time interval may include the step of transmitting to the control node.

As a control node in the communication system according to the third embodiment for achieving the object, it includes a processor, a memory in electronic communication with the processor, and instructions stored in the memory, , when the instructions are executed by the processor, the instructions cause the control node to include a first time interval for receiving identification information of one or more participating nodes and a second time interval for transmitting a message generated based on the identification information. setting, sending configuration information of a first time interval to one or more participating nodes, receiving identification information from one or more participating nodes in a first time interval, and sending a message to a ground node in a second time interval can be implemented to cause

According to the present invention, it is possible to effectively control the participating drones by using the group control drone in an environment in which the drones clustered in high density are operated. In addition, identification information data can be efficiently transmitted through the group-controlled drone. In addition, the group control drone can uniformly control the operation of the participating drones, and thus, the efficiency of the system can be increased.

In addition, the amount of data to be transmitted can be reduced by processing the similar information between the identification information so that the similar information among the identification information is not transmitted repeatedly during the process of generating the message by the group control drone. Accordingly, it is possible to minimize the time delay. In addition, the transmission channel occupancy time can be reduced, so that the efficiency of swarm drone control can be increased.

On the other hand, the group control drone allows each drone to transmit identification information in a group without sequentially transmitting, so that the time delay can be minimized.

In addition, according to the environment of the swarm drone, the group control drone can transmit identification information by adjusting the values of related parameters to maximize the network transmission rate, minimize the outage probability, and minimize the time delay. Since the group control drone can transmit by increasing the transmission rate, it is possible to reduce the channel occupancy time and transmit wireless identification information smoothly so that no data is lost.

1 is a conceptual diagram illustrating a first embodiment of a communication network.
2 is a block diagram of communication nodes constituting a communication network.
3 is a conceptual diagram illustrating the operation of drones clustered at high density in a communication network.
4A is a flowchart illustrating a method in which a control vehicle transmits identification information of participating unmanned aerial vehicles.
4B is a block diagram illustrating a configuration of a group control drone for transmitting identification information group.
5 is a conceptual diagram illustrating a channel occupancy time for each transmission stage when a group control drone receives identification information from a drone group g and transmits it to a ground node.
6 is a conceptual diagram illustrating grouping of high-density drones into one or more groups.
7 is a conceptual diagram illustrating an operation of a group-controlled drone that transmits radio identification information of drones to a ground identifier in a group divided into two stages.
8A and 8B are exemplary graphs illustrating channel occupancy times when one or more drones transmit identification information.
Fig. 9 is a conceptual diagram showing an embodiment of the configuration of identification information data.
10A and 10B are conceptual diagrams illustrating the structure of a message in which identification information data is concatenated or reconstructed.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate the overall understanding, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

A communication network to which embodiments according to the present invention are applied will be described. The communication system may be a 4G communication network (eg, a long-term evolution (LTE) communication network), a 5G communication network (eg, a new radio (NR) communication network), and the like. A 4G communication network and a 5G communication network may be classified as a terrestrial network.

The communication network may operate based on LTE technology and/or NR technology. The communication network may support communication not only in a frequency band of 6 GHz or less, but also in a frequency band of 6 GHz or more. A 4G communication network can support communication in a frequency band of 6 GHz or less. A 5G communication network can support communication in a frequency band of 6 GHz or higher as well as a frequency band of 6 GHz or less. A communication network to which embodiments according to the present invention are applied is not limited to the content described below, and embodiments according to the present invention may be applied to various communication networks. Here, a communication network may be used in the same sense as a communication system.

1 is a conceptual diagram illustrating a first embodiment of a communication system.

1, the communication system 100 is a plurality of communication nodes (110-1, 110-2, 110-3, 120-1, 120-2, 130-1, 130-2, 130-3, 130-4, 130-5, 130-6). In addition, the communication system 100 is a core network (core network) (eg, S-GW (serving-gateway), P-GW (packet data network (PDN)-gateway), MME (mobility management entity)) may include more. When the communication system 100 is a 5G communication system (eg, a new radio (NR) system), the core network is an access and mobility management function (AMF), a user plane function (UPF), a session management function (SMF), etc. may include

The plurality of communication nodes 110 to 130 may support a communication protocol (eg, an LTE communication protocol, an LTE-A communication protocol, an NR communication protocol, etc.) defined in a 3rd generation partnership project (3GPP) standard. A plurality of communication nodes 110 to 130 are CDMA (code division multiple access) technology, WCDMA (wideband CDMA) technology, TDMA (time division multiple access) technology, FDMA (frequency division multiple access) technology, OFDM (orthogonal frequency division) technology multiplexing) technology, Filtered OFDM technology, CP (cyclic prefix)-OFDM technology, DFT-s-OFDM (discrete Fourier transform-spread-OFDM) technology, OFDMA (orthogonal frequency division multiple access) technology, SC (single carrier)-FDMA Technology, Non-orthogonal Multiple Access (NOMA) technology, GFDM (generalized frequency division multiplexing) technology, FBMC (filter bank multi-carrier) technology, UFMC (universal filtered multi-carrier) technology, SDMA (Space Division Multiple Access) technology, etc. can support Each of the plurality of communication nodes may have the following structure.

2 is a block diagram showing a first embodiment of communication nodes constituting a communication system.

Referring to FIG. 2 , the communication node 200 may include at least one processor 210 , a memory 220 , and a transceiver 230 connected to a network to perform communication. In addition, the communication node 200 may further include an input interface device 240 , an output interface device 250 , a storage device 260 , and the like. Each of the components included in the communication node 200 may be connected by a bus 270 to communicate with each other.

However, each of the components included in the communication node 200 may not be connected to the common bus 270 but to the processor 210 through an individual interface or an individual bus. For example, the processor 210 may be connected to at least one of the memory 220 , the transceiver 230 , the input interface device 240 , the output interface device 250 , and the storage device 260 through a dedicated interface. .

The processor 210 may execute a program command stored in at least one of the memory 220 and the storage device 260 . The processor 210 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Each of the memory 220 and the storage device 260 may be configured as at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory 220 may be configured as at least one of a read only memory (ROM) and a random access memory (RAM).

Referring back to FIG. 1 , the communication system 100 includes a plurality of base stations 110 - 1 , 110 - 2 , 110 - 3 , 120 - 1 and 120 - 2 , and a plurality of terminals 130 - 1, 130-2, 130-3, 130-4, 130-5, 130-6). Each of the first base station 110-1, the second base station 110-2, and the third base station 110-3 may form a macro cell. Each of the fourth base station 120-1 and the fifth base station 120-2 may form a small cell. The fourth base station 120-1, the third terminal 130-3, and the fourth terminal 130-4 may belong to the cell coverage of the first base station 110-1. The second terminal 130-2, the fourth terminal 130-4, and the fifth terminal 130-5 may belong to the cell coverage of the second base station 110-2. The fifth base station 120-2, the fourth terminal 130-4, the fifth terminal 130-5, and the sixth terminal 130-6 may belong to the cell coverage of the third base station 110-3. there is. The first terminal 130-1 may belong to the cell coverage of the fourth base station 120-1. The sixth terminal 130-6 may belong to the cell coverage of the fifth base station 120-2.

Here, each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 is a NodeB (NB), an evolved NodeB (eNB), gNB, an advanced base station (ABS), HR - BS (high reliability-base station), BTS (base transceiver station), radio base station (radio base station), radio transceiver (radio transceiver), access point (access point), access node (node), RAS (radio access station) ), MMR-BS (mobile multihop relay-base station), RS (relay station), ARS (advanced relay station), HR-RS (high reliability-relay station), HNB (home NodeB), HeNB (home eNodeB), It may be referred to as a road side unit (RSU), a radio remote head (RRH), a transmission point (TP), a transmission and reception point (TRP), and the like.

Each of the plurality of terminals 130-1, 130-2, 130-3, 130-4, 130-5, 130-6 includes a user equipment (UE), a terminal equipment (TE), an advanced mobile station (AMS), HR-MS (high reliability-mobile station), terminal, access terminal, mobile terminal, station, subscriber station, mobile station, portable It may be referred to as a portable subscriber station, a node, a device, an on board unit (OBU), an unmanned aerial vehicle, a drone, and the like.

Meanwhile, each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 may operate in different frequency bands or may operate in the same frequency band. Each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 may be connected to each other through an ideal backhaul link or a non-ideal backhaul link. , information can be exchanged with each other through an ideal backhaul link or a non-ideal backhaul link. Each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 may be connected to the core network through an ideal backhaul link or a non-ideal backhaul link. Each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 transmits a signal received from the core network to the corresponding terminals 130-1, 130-2, 130-3, 130 -4, 130-5, 130-6), and a signal received from the corresponding terminal (130-1, 130-2, 130-3, 130-4, 130-5, 130-6) is transmitted to the core network can be sent to

In addition, each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 transmits MIMO (eg, single user (SU)-MIMO, multi user (MU)- MIMO, massive MIMO, etc.), coordinated multipoint (CoMP) transmission, carrier aggregation (CA) transmission, transmission in an unlicensed band, direct communication between terminals (device to device communication, D2D) (or , Proximity Services (ProSe)), Internet of Things (IoT) communication, dual connectivity (DC), and the like may be supported. Here, each of the plurality of terminals 130-1, 130-2, 130-3, 130-4, 130-5, 130-6 is the base station 110-1, 110-2, 110-3, and 120-1. , 120-2) and corresponding operations, and operations supported by the base stations 110-1, 110-2, 110-3, 120-1, and 120-2 may be performed. For example, the second base station 110 - 2 may transmit a signal to the fourth terminal 130 - 4 based on the SU-MIMO method, and the fourth terminal 130 - 4 uses the SU-MIMO method. A signal may be received from the second base station 110 - 2 . Alternatively, the second base station 110-2 may transmit a signal to the fourth terminal 130-4 and the fifth terminal 130-5 based on the MU-MIMO scheme, and the fourth terminal 130-4. and each of the fifth terminals 130 - 5 may receive a signal from the second base station 110 - 2 by the MU-MIMO method.

Each of the first base station 110-1, the second base station 110-2, and the third base station 110-3 may transmit a signal to the fourth terminal 130-4 based on the CoMP scheme, and the fourth The terminal 130-4 may receive signals from the first base station 110-1, the second base station 110-2, and the third base station 110-3 by the CoMP method. Each of the plurality of base stations 110-1, 110-2, 110-3, 120-1, and 120-2 is a terminal 130-1, 130-2, 130-3, 130-4 belonging to its own cell coverage. , 130-5, 130-6) and the CA method can transmit and receive signals. Each of the first base station 110-1, the second base station 110-2, and the third base station 110-3 controls D2D between the fourth terminal 130-4 and the fifth terminal 130-5. and each of the fourth terminal 130-4 and the fifth terminal 130-5 may perform D2D under the control of the second base station 110-2 and the third base station 110-3, respectively. .

Meanwhile, the communication system may support three types of frame structures. The type 1 frame structure may be applied to a frequency division duplex (FDD) communication system, the type 2 frame structure may be applied to a time division duplex (TDD) communication system, and the type 3 frame structure may be applied to an unlicensed band-based communication system (eg, For example, it may be applied to a licensed assisted access (LAA) communication system.

Unmanned aerial vehicles such as drones have been developed for military use, but as the possibility of their use in various fields has increased recently, they are being rapidly distributed and researched in the industrial and civilian markets. In particular, drones are being used in various fields such as weather management, lifesaving and video shooting. In addition, as drones are gradually popularized and generalized for hobby or leisure use, efforts to preoccupy the drone industry are actively continuing.

As the communication method of drones, Bluetooth, cellular, Wi-Fi, and satellite communication were mainly used, but recently, LTE and 5G mobile communication have been newly applied.

In order to create a safe drone ecosystem, major countries in the United States and Europe are suggesting ways to identify drones in flight. In the United States, as a technology to remotely identify a drone, the drone's identification information is transmitted via Internet access to Remote ID (Remote Identification) USS (UAS (UAS (Remote Identification) Unmanned Aircraft Systems (Unmanned Aircraft Systems) Service Suppliers) and a method of transmitting (eg, broadcasting) identification information using wireless communication are proposed. Remote ID USS can provide drone ID and information about the location of the drone while the drone is operating in national airspace.

The identification information includes, for example, a drone ID (identification) and a latitude, longitude, altitude, and time according to the drone ID. In drone identification information technology, either the Internet method or the wireless transmission method may be selectively supported, or both methods may be supported depending on the type of drone and the operation scenario of the drone.

When controlling and adjusting a drone flying within the line of sight, for example, when the distance between the drone and the remote controller is within 400 feet, it may be easier to control the drone if the drone’s Wi-Fi internet access function is supported. there is. However, if it is necessary to coordinate flight of the drone outside the line of sight, for example, if the distance between the drone and the remote controller is more than 400 feet, the output of the Wi-Fi connection function alone is limited and the communication range to control the drone is limited. It is limited, and if the communication range is widened, interference problems with devices may occur. Therefore, a smooth drone service function can be supported only when all wireless communication network access functions (eg, 5G, broadcasting) are supported.

When using wireless communication, the drone must transmit identification information to a ground node (a terrestrial identifier) at least once per second. When an environment that supports the technology to remotely identify a drone is ready, the user can check the ID, location, altitude, etc. of the currently flying drone by accessing the Internet or receiving the radio identification information broadcast by the drone. .

If the drone service is supported so that an external database can be accessed using the drone ID information, for example, the user can check the identity including the real name of the pilot through this, and additional information such as insurance coverage. can Therefore, crimes caused by drone operation can be prevented, and post-organization can be smoothly supported in the event of an accident caused by a drone.

Recently, at major events such as the Olympics, cases of simultaneously operating hundreds or thousands of drones are increasing. When drones are simultaneously operated in an environment where drones are clustered at a high density as described above, a technology for transmitting identification information of each drone through a wireless communication method by simultaneously accessing hundreds or thousands of drones to a wireless communication transmission channel may be required.

When clustered drones each transmit radio identification signals to a network node, interference may occur between the respective radio identification signals. The network node may be a terrestrial node, a terrestrial identifier, a base station, or the like. Because the network node (hereinafter referred to as the ground node) cannot smoothly receive the wireless identification signals of the drones due to interference, it may be difficult to simultaneously operate hundreds or thousands of drones.

In order to reduce interference in a swarm drone environment, identification information may be transmitted by allocating a resource of a wireless transmission channel to each drone by a method such as scheduling. However, since the identification information of the drones must be transmitted sequentially, as the number of drones increases, it takes a lot of time and time delay increases, so it is difficult to smoothly operate a plurality of drones.

In the following embodiments, a method and apparatus for transmitting identification information of drones as a group in a high-density drone operation environment in order to solve this problem will be described.

As an unmanned aerial vehicle to be described in the drawings to be described later is sufficient as long as a device having a function of flying unmanned, the unmanned aerial vehicle is not limited to a drone, and the unmanned aerial vehicle and the drone may be used interchangeably. In addition, the terrestrial node may include a network node, a terrestrial identifier, and the like, and the terrestrial node may include wired and wireless networks. The terrestrial node may be a network end node that transmits status/control/collection information occurring between the network node and the drones in the middle, for example, a base station (eNodeB, ng-eNB) or an access point (AP). . The control node representing the drone group may include a group-controlled unmanned aerial vehicle, a group-controlled drone, a representative drone, a control vehicle, and the like, and these terms may be used interchangeably. In addition, the participating node includes drones within a group, participating unmanned aerial vehicles, participating vehicles, and the like, and these terms may be used interchangeably. Also, coefficients and parameters may be used interchangeably.

On the other hand, the method of operating a drone in the drawings is a simplified reconfiguration focusing on procedures necessary to explain the embodiments of the present invention, and detailed procedures or subsequent procedures may be omitted.

3 is a conceptual diagram illustrating the operation of drones clustered at high density in a communication network.

Referring to FIG. 3 , a group flying drone group 301 formed by drones flying in a group may include N drones (drones #1, #2, .., #N).

The group control drone (#N) can coordinate the flight of N-1 drones. Communication between the drones and the ground controller 320 may be performed using a Wi-Fi method, a direct communication method such as Bluetooth, or a communication method through a wireless network such as LTE/5G.

When a drone system is operated using a wireless network such as LTE/5G, it may be possible to control and control a drone flying in a wide range outside the line of sight.

The drones 302 in the drone group performing swarm flight may perform wireless transmission of, for example, wireless identification information once per second according to regulations. In this case, wireless transmission may be performed in a broadcasting manner. The ground identifier 330 may receive wireless identification signals of drones of the drone group 301 . The identification signal may include identification information, and the identification information may include a drone ID, location information of the drone, and the like. The ground identifier 330 may obtain a drone ID, location information, and the like from the received wireless identification signal.

A channel occupancy time for the drones in FIG. 3 to transmit identification information may be described in more detail with reference to FIGS. 8A and 8B . 8A and 8B are exemplary graphs illustrating channel occupancy times when one or more drones transmit identification information.

Specifically, FIGS. 8A and 8B show a channel for transmitting identification information when N drones (drones #1, #2,.., #N-1) transmit identification information of each drone to a network node. This is an example graph for occupancy time. The network node may be, for example, a group-controlled drone (#N) or a terrestrial identifier.

(701)라고 가정할 수 있다. 각 드론들이 식별 정보 데이터를 전송할 시, 드론들 간의 간섭을 회피하기 위해서 CSMA/CA(Carrier Sense Multiple Access/Collision Avoidance) 또는 채널 스케쥴링을 이용하여 전송할 수 있다. 8A is an example of a channel occupancy time when each participating drone sequentially individually transmits identification information to a group control drone. In FIG. 8A, the transmission time required for participating drones (drones #1, #2,.., #N-1) to select a stable modulation method and transmit each identification information to the group control drone from a distance, respectively

(701) can be assumed. When each drone transmits identification information data, it may be transmitted using CSMA/CA (Carrier Sense Multiple Access/Collision Avoidance) or channel scheduling to avoid interference between drones.

에서 각 식별 정보 데이터들을 순차적으로 전송하는 것을 보여준다. Each drone can sequentially transmit each identification information data to a ground identifier through a wireless channel. The graph shows that N-1 drones from drones #1 to N-1 are transmitted through a wireless transmission channel for each time interval.

shows that each identification information data is transmitted sequentially.

, 703)을 할당 받을 수 있다. 드론 #1은

시간 축 상으로 0 ~ Ts까지의 시간 구간 동안 식별 정보(711)를 전송할 수 있다. 순차적으로 드론 #2, 드론 #3, .. 드론 #N-1 은 식별 정보를 Ts ~ 2Ts 시간 구간, 2Ts ~ 3Ts,

, Each of the drones is a time interval 701, 702, Ts, which is a sub-time interval from the group control drone

, 703) can be assigned. Drone #1

Identification information 711 may be transmitted during a time period ranging from 0 to Ts on the time axis. In sequence, drone #2, drone #3, .. drone #N-1 transmits identification information for Ts ~ 2Ts time interval, 2Ts ~ 3Ts,

,

(N-1) Each of the identification information 712, the identification information 713, and the identification information 720 in the Ts ~ NTs time interval may be transmitted to a network node (eg, a terrestrial identifier).

시간축 상의 0에서 NTs 시간 구간까지의 시간이 소요될 수 있다. 드론들의 개수가 증가할수록 전체 드론들이 식별 정보를 전송하기 위해 소모하는 시간은 드론 수에 비례하여 계속 증가할 수 있다. Since the N drones must sequentially transmit identification data,

It may take a time from 0 to NTs on the time axis. As the number of drones increases, the time consumed by all drones to transmit identification information may continue to increase in proportion to the number of drones.

8B illustrates an embodiment in which drones transmit identification information by sharing a channel in order to shorten the transmission time of identification information. As the number of drones increases, the number of drones simultaneously accessing the transmission channel increases, so that the interference signal may continue to increase. Accordingly, as the number of drones increases, the data transmission rate may decrease.

4A is a flowchart illustrating a method in which a control vehicle transmits identification information of participating unmanned aerial vehicles.

Referring to FIG. 4A , in the method for transmitting identification information of drones according to embodiments, the group control drone (or control node) receives identification information from one or more drones (or participating nodes) in the group ( S420 ) and step 2 (S430) in which the group-controlled drone transmits a message (or drone identification data) including identification information to the ground node.

The operation shown in FIG. 4A may be performed by the apparatus shown in FIG. 4B . 4B is a block diagram of a group control drone for transmitting identification information group.

The group control drone 1100 includes an identification information data receiver 1110 , an identification information data demodulator 1120 , a switch unit 1130 , a data connection unit 1140 , a data reconstruction unit 1150 , and a data transmitter 1160 ). may include

N-1)으로 표현될 수 있다. Returning to FIG. 4A , operation of a drone group composed of one or more drones may be started, and in this case, a group control drone may be selected from among one or more participating drones ( S410 ). One drone group may consist of N drones, and among them, an N-th drone may be selected as a group control drone. The group control drone may be expressed as drone #N (n=N). Drones in the group, except for group-controlled drones, are drone #n (n= 1, 2,

It can be expressed as N-1).

In relation to the operation of the first step ( S410 ) of the group-controlled drone of FIG. 4A , drone groups in a high-density swarm drone environment will be described with reference to FIG. 6 .

6 is a conceptual diagram of grouping high-density drones into one or more groups.

6 shows an example in which drones clustered at high density are grouped into one or more groups, group #1 (520) and group #2 (530). Each group control drone 521 and 531 may be selected from each drone group according to the drone operation environment.

The selected group control drone 521 may select the drones 522 and 523 centered on itself to create a group #1, which is a swarm drone group. In addition, the selected group control drone 531 may select drones 532 , 533 , and 534 centered on itself to create group #2, which is a swarm drone group.

As another example, the group-controlled drone 521 may group drones that meet the conditions by first including them in one group, and then select a group-controlled drone to represent the drones. That is, the group control drone 521 may be selected from one or more participating drones according to a preset condition, and may be changed to another participating drone in the middle according to the flight environment. As an example of a condition for selecting a group control drone, there may be a remaining battery level, a channel quality between the drone and a ground controller, and the like. 6 illustrates that the number of drone groups is two, the number of drone groups may be variously set to one or more depending on the operating environment.

Returning to FIG. 4A , the group-controlled drone may allocate a channel occupation time to the drone group, returning to FIG. 4A ( S411 ). One group may consist of N drones, and among them, the N-th drone may be selected as the group control drone.

The group control drone may set a first time interval (ie, a time interval allocated to the first step) and a second time interval for receiving identification information of drones in one or more groups. The group control drone may transmit a message including configuration information of the first time period and the second time period to one or more participating drones.

The setting information may include parameters for setting the first time period and the second time period. In more detail, the setting information includes a first parameter indicating the length of the entire time interval including the first time interval and the second time interval, and a first parameter used to determine the length of the first time interval within the entire time interval. two parameters, and a third parameter used to determine a sub-time interval assigned to each of the one or more participating drones within the first time interval. Accordingly, the group control drone may transmit a message including configuration information including the first to third parameters to the participating drones.

This will be described with reference to FIG. 5 . 5 shows the channel occupancy time for each transmission step when the group control drone receives identification information from the drone group g (step 1) and transmits it to the ground node (step 2).

5 shows the occupancy time of each transmission step (eg, the first step and the second step of FIG. 4A and FIG. 7 ) when the identification information is transmitted from the drone group g. The first step 1010 is a step in which the group-controlled drone receives identification information from participating drones, and the second step 1020 is the group-controlled drone concatenates or reconstructs (1021) data of the identification information and transmits it to the ground node. It may be a step of doing (1022).

(또는 제 1 시간 구간)로 표현될 수 있다. 제 2 단계(1020)의 전송에 소요되는 시간은

(또는 제 2 시간 구간)로 표현될 수 있다. 제 1 시간 구간과 제 2 시간 구간을 포함하는 전체 시간 구간의 길이를 지시하는 제 1 파라미터를 듀레이션(duration)이라고 하면, 제 1 시간 구간과 제 2 시간 구간을 포함하는 듀레이션은 전송 주기 T(1023)로 설정될 수 있다. If the entire transmission period of the identification information is T, the time required for the transmission of the first step 1010 is

(or the first time interval). The time required for the transmission of the second step 1020 is

(or the second time interval). If the first parameter indicating the length of the entire time section including the first time section and the second time section is called duration, the duration including the first time section and the second time section is the transmission period T 1023 ) can be set.

를 제 1 단계의 채널점유 시간을 할당하는 계수로 설정할 수 있으며, 그 값을

을 만족하는 범위 내의 값으로 설정할 수 있다.

는 전체 시간 구간 내에서 제 1 시간 구간의 길이를 결정하기 위해 사용되는 제 2 파라미터일 수 있다. 제 1 단계(1010)에서 드론 그룹 g의 드론 #n이 그룹제어 드론에게 식별 정보를 전송하기 위해 점유하는 시간은 다음과 같이 정의될 수 있다.Here, the group control drone is

can be set as a coefficient for allocating the channel occupancy time of the first step, and the

can be set to a value within a range that satisfies .

may be a second parameter used to determine the length of the first time interval within the entire time interval. The time occupied by drone #n of drone group g in the first step 1010 to transmit identification information to the group control drone may be defined as follows.

은 그룹 g의 드론 #n의 채널할당 계수로

을 만족할 수 있고,

을 만족할 수 있다.

는 제 1 시간 구간 내에서 참여 드론들이 그룹제어 드론에게 식별 정보를 전송하기 위해 필요한 개별 채널 점유시간일 수 있다.

는 각각의 드론에게 할당되는 서브-시간 구간을 결정하기 위해 사용되는 제 3 파라미터일 수 있다. 그룹제어 드론은 참여 드론 #n 에 대해 채널점유 시간을 할당하는 단계에서 시간 계수(

)을 결정할 수 있다. 시간 계수(

) 그룹 전송시 고려할 네트워크 전송률, 아웃티지 확률 등을 최적화 할 수 있는 값을 설정할 수 있다.here,

is the channel allocation coefficient of drone #n of group g.

can be satisfied,

can be satisfied with

may be an individual channel occupancy time required for participating drones to transmit identification information to the group control drone within the first time interval.

may be a third parameter used to determine a sub-time interval allocated to each drone. In the step of allocating the channel occupancy time to the participating drone #n, the group control drone counts the time (

) can be determined. time factor (

) You can set a value that can optimize the network transmission rate, outage probability, etc. to be considered during group transmission.

와

을 설정 정보에 포함시켜 참여 드론들에게 메시지로 전송할 수 있다. The group control drone allocates the channel occupancy time in the first step to the drone group g, which is a group of participating drones, by a time coefficient.

Wow

can be included in the setting information and transmitted as a message to participating drones.

Next, in the second step 1020 of FIG. 5 , number 1022 indicates the channel occupancy time when the group control drone transmits the collected identification information to the ground node. The second step 1020 may include a time interval 1021 in which the group control drone concatenates or reconstructs identification information data and a time interval 1022 in which it is transmitted to a ground node.

If the group control drone generates a transmission message by simply concatenating identification information data, there is no need for a separate data processing time interval for data reconstruction, so the second step 1020 is a transmission interval 1022 for transmitting the message. ) can be done only with

(또는 제 2 시간 구간)로 표현될 수 있다.If the entire transmission period of the identification information is T, the time required for the transmission of the second step 1020 is

(or the second time interval).

In the second step, the data processing time (Tp) consumed by the group control drone to generate a message to be transmitted to the ground node by reconstructing the data of the identification information may be as follows.

는 데이터 재구성 처리 시간 계수로

일 수 있다.

는

와 비례 관계일 수 있다.

은 데이터 재구성 시 식별정보 데이터 변환율을 의미할 수 있고, 식별정보 변환율은 데이터 특성에서 영향을 받을 수 있다. here,

is the data reconstruction processing time coefficient

can be

Is

may be proportional to

may mean an identification information data conversion rate when data is reconstructed, and the identification information conversion rate may be affected by data characteristics.

로 정의할 수 있다. 한편, 그룹제어 드론이 데이터 재구성 동작을 수행하지 않을 시 데이터 재구성 처리 시간 계수(

)는

의 값을 가질 수 있다. As an example in which identification information is converted according to data characteristics, the altitude and speed information included in the identification information of participating drones can be defined and converted as relative values compared to the altitude and speed information included in the identification information of the group control drone. The time information may be used as the same value for each drone within the transmission period. And, the flight state may be converted into a method of transmitting only specific information. The time 1022 consumed by the group control drone to transmit the generated identification information message to the ground node after the data reconstruction 1021 is

can be defined as On the other hand, when the group control drone does not perform the data reconstruction operation, the data reconstruction processing time coefficient (

)Is

can have a value of

, N-1)) 각각에 서브-시간 구간의 채널점유 시간을 할당할 수 있다(도 4a에서 드론#n(n= 1, 2,

N-1)에 채널점유 시간 할당 단계, S412). 즉, 드론 그룹의 참여 드론들은 그룹제어 드론으로부터 설정 정보가 포함된 메시지를 수신하여, 설정정보에 포함된 파라미터들의 값을 기반으로 드론 그룹에게 할당된 채널 점유 시간 등에 대한 정보를 획득할 수 있다. Referring back to FIG. 4A , the group control drone includes one or more participating drones (drone #n (n = 1, 2,

, N-1))), a channel occupancy time of a sub-time section may be allocated to each (drone #n (n = 1, 2,

Allocating channel occupation time to N-1), S412). That is, the participating drones of the drone group may receive a message including configuration information from the group control drone, and may acquire information about the channel occupancy time, etc. allocated to the drone group based on the values of parameters included in the configuration information.

N-1)의 식별 정보 전송(S413)). Each of the participating drones may transmit identification information to the group control drone (#N) according to the acquired channel occupancy time (drone #n (n = 1, 2,

Identification information transmission of N-1) (S413)).

Information included in the identification information of each participating drone may be described with reference to FIG. 9 . 9 is an example showing the configuration of identification information data.

In FIG. 9 , the identification information 810 includes drone ID (drone identification) 801, location information (eg, latitude and longitude, 802, 803), altitude 804, speed 805, direction 806, Although the time 807, flight state 808, and other information 809 are all illustrated as being included, the present invention is not limited thereto, and the identification information may be configured in a form including one or more of these.

Returning to FIG. 4A , the group control drone may receive identification information of the participating drones #n, and may demodulate the received identification information (S414). The identification information data receiving unit 1110 of FIG. 4B may provide the received identification information data signal to the identification data demodulating unit 1120 to demodulate the received signals.

The first step (S420) from the step (S410) of selecting the group control drone in FIG. 4A to the operation (S414) of the group control drone receiving and demodulating identification information from the participating drones (S414) is the first step (S613) of FIG. ) can be described in correspondence with the drawings.

7 is a conceptual diagram illustrating an operation of a group-controlled drone that transmits radio identification information of drones to a ground identifier in a group divided into two stages.

N-1))과 그룹제어 드론#n(n=N)은 제 1 단계에서 드론#1부터 #N-1이 순차적으로 그룹제어 드론에게 식별 정보들을 송신(610)할 수 있다(S613). 좀 더 자세하게, 하나 이상의 참여 드론들(#1, #2,

#N-2, #N-1)은 그룹제어 드론으로부터 설정정보가 포함된 메시지를 수신할 수 있다. 참여 드론들은 설정정보에 포함된 파라미터들로부터 채널 점유 시간에 대한 정보를 획득할 수 있다. 이와 같이, 각각의 참여 드론들은 채널점유 시간을 할당 받은 후(예를 들어, 도 4a의 S412번), 참여 드론들은 각각의 식별 정보들을 그룹제어 드론(601)에게 전송할 수 있다(예를 들어, 도 4a의 S413번). 각각의 참여 드론들이 그룹제어 드론에게 식별 정보들을 전송할 시 각 채널 상태는

로 표현될 수 있다. In FIG. 7 , for example, the number of drone groups is G (not shown), and among them, the number of drones (or participating drones) in group #g may be expressed as N. Participating drones of group g (drone #n (n = 1, 2,

N-1)) and the group-controlled drone #n (n=N) may sequentially transmit identification information 610 from drones #1 to #N-1 to the group-controlled drone in the first step ( S613 ). In more detail, one or more participating drones (#1, #2,

#N-2, #N-1) may receive a message including configuration information from the group-controlled drone. Participating drones may acquire information on channel occupancy time from parameters included in the setting information. In this way, after each participating drone is allocated a channel occupancy time (eg, S412 in FIG. 4A ), the participating drones may transmit respective identification information to the group control drone 601 (eg, S413 of FIG. 4A). When each participating drone transmits identification information to the group control drone, the state of each channel is

can be expressed as

N-1)) 간의 무선채널은 A2A (Air to Air) 채널모델로 나타낼 수 있다. 참여 드론(#n)들이 식별 정보를 그룹제어 드론을 거쳐 지상 노드까지 송신하기 위해 채널을 점유하는 주기는 T_n (미도시)일 수 있다. 그룹제어 드론과 그룹 내 드론들(#n) 간의 거리가 멀지 않으면, 드론들은 16QAM, 64QAM 등의 높은 차수의 변조방식을 이용하여 식별 정보들을 짧은 시간에 그룹제어 드론에게 전송 할 수 있다. The group control drone 601 and the participating drones in the group (drone #n (n = 1, 2,

The radio channels between N-1)) can be represented by an A2A (Air to Air) channel model. The period in which the participating drones (#n) occupy the channel to transmit identification information to the ground node via the group control drone may be T _n (not shown). If the distance between the group-controlled drone and the drones in the group (#n) is not far, the drones can transmit identification information to the group-controlled drone in a short time by using a high-order modulation method such as 16QAM or 64QAM.

The transmission rate of identification information is based on a sub-time interval (eg, each sub-time interval in which each drone transmits identification information in the first step in FIG. 7), the size of identification information, and required reception quality, etc. can be decided.

The data transfer rate of the identification information in the first step of FIG. 7 will be described in more detail with reference to FIG. 5 .

The data transmission rate of the identification information in the first step will be described in relation to the first to third parameters and the reception quality required for wireless transmission. In relation to reception quality, when drone #1 of group g transmits identification information to the group control drone, the signal-to-interference-and-noise ratio (SINR) can be expressed as follows.

는 AWGN(가산성 백색 가우시안 잡음, Additive White Gaussian Noise)의 평균잡음전력을 의미할 수 있다. (l, k)는 해당 참여 드론과 동일한 시간에 채널을 점유한 다른 참여 드론들의 신호를 나타낼 수 있다. 채널 점유 시간을 반영 시 식별 정보의 데이터 전송률은 다음과 같을 수 있다.P is the average signal strength of the drone

may mean the average noise power of AWGN (Additive White Gaussian Noise). (l, k) may represent signals of other participating drones occupying the channel at the same time as the corresponding participating drone. When reflecting the channel occupancy time, the data rate of identification information may be as follows.

,

와 데이터 재구성 처리 시간 계수

, 식별 정보 변환율

는 그룹제어 드론이 참여 드론들의 식별 정보를 수신 시 예를 들어, 네트워크 전송률 최대화, 아웃티지 확률 최소화, 시간지연 최소화 등의 목적에 따라 다양한 구성으로 정의될 수 있다.time allocation factor

,

and data reconstruction processing time coefficient

, identification information conversion rate

When the group control drone receives identification information of participating drones, for example, may be defined in various configurations according to the purpose of maximizing network transmission rate, minimizing outage probability, and minimizing time delay.

Accordingly, the group control drone may sequentially receive identification information from participating drones #1 to N _g -1 according to a set data rate. Also, participating drones may transmit identification information to the group-controlled drone according to a set transmission rate.

Referring back to FIG. 4A , the group control drone may determine whether to process (hereinafter, reconstruct) the collected identification information data (S415). At this time, when the group control drone (switch unit 1130 of FIG. 4B ) reconstructs identification information data to generate an identification information message, it compares the reduction in the data length of the message and the processing time required to reconstruct the data to process the data. You can choose a method. The group-controlled drone (the switch unit 1130 of FIG. 4B ) may select an operation to be performed by determining whether to perform an operation of concatenating data or performing an operation of reconstructing data.

In order to transmit the identification information to the ground node, the group control drone may generate a first identification information message (hereinafter, a first message) by simply concatenating the data of the identification information, and reconstruct the data of the identification information to identify the second identification An information message (hereinafter, a second message) may be generated.

)(예를 들어, 도 10a)은 다음과 같을 수 있다.The data amount (

) (eg, FIG. 10A ) may be as follows.

는 제 1 참여 드론(#n)의 개별 식별정보 데이터량을 나타낼 수 있고, 드론의 개수 N과 드론의 식별정보 데이량의 곱으로 드론들의 총 식별정보 데이터량

를 나타낼 수 있다. 식별정보를 단순히 연접하여 생성한 데이터량은 드론들의 개별 식별정보 데이터량의 합과 동일할 수 있다(도 10a의 식별정보 구조 참조). here,

may represent the amount of individual identification information data of the first participating drone (#n), and the total amount of identification information data of drones is the product of the number N of drones and the amount of identification information data of the drones.

can indicate The amount of data generated by simply concatenating the identification information may be equal to the sum of the individual identification information data amount of the drones (refer to the identification information structure of FIG. 10A ).

When the group control drone (the switch unit 1130 of FIG. 4B ) decides to reconstruct data, the characteristics of the identification information collected by the data reconstructor 1150 may be analyzed. By analyzing the characteristics of N pieces of identification information, including N-1 identification information collected from N-1 participating drones and identification information of group control drones (for example, refer to the identification information structure of FIG. 9 ), data can be reconstructed. For example, the altitude and speed information included in the identification information may be defined as a relative value compared to the altitude and speed information included in the identification information of the group control drone, and the time information is the same value for each drone within the transmission section. can be used as And, the flight status may adopt a method of transmitting only specific information.

)은 다음과 같을 수 있다. Accordingly, the group control drone can reconstruct the identification information data by processing the similar information in the data reconstruction unit 1150 , thereby reducing the amount of data to generate a message to be transmitted. For example, the structure of the identification information of FIG. 10B may be the same. Data amount of identification information message generated by data reconstruction (

) can be

은 데이터 재구성 시 식별정보 데이터 변환율을 나타낼 수 있고, 식별정보 변환율은 데이터 특성에 따라 달라질 수 있다. 식별 정보들 간에 유사한 정보를 많이 포함할 수록 많은 식별 정보를 변환하여야 하므로, 식별 정보 변환율의 값이 커질 수 있다. 그룹제어 드론이 식별 정보들을 재구성함으로써 생성한 제2 메시지의 크기는 식별 정보들을 연접함으로써 생성한 제1 메시지의 크기보다 작을 수 있다. here,

may indicate an identification information data conversion rate when data is reconstructed, and the identification information conversion rate may vary depending on data characteristics. The more similar information is included between identification information, the more identification information needs to be converted, so the value of the identification information conversion rate may increase. The size of the second message generated by the group control drone reconstructing the identification information may be smaller than the size of the first message generated by concatenating the identification information.

) 또는 제2 메시지(

)를 데이터 송신부(1160)를 통하여 무선통신 등의 방식으로 지상 노드(미도시)에 전송할 수 있다. The group control drone uses a first message (

) or the second message (

) may be transmitted to a terrestrial node (not shown) through wireless communication or the like through the data transmitter 1160 .

Returning to FIG. 4A , the size of the second message generated by reconstructing the identification information may be smaller than the size of the first message generated by concatenating the identification information. The size of the second message may vary depending on the similarity of identification information of participating drones. As there is more identical or similar data between identification information, the size of a message generated by reconstructing identification information may be reduced. The group control drone may process the same or similar data from the identification information separately to prevent repeated transmission. Accordingly, the channel occupancy time can be shortened.

The group control drone may decide to reconstruct (or process) data, and the group control drone may allocate a channel occupancy time to a section for data processing. The second time interval may be configured to include a time interval for reconstructing identification information data and a interval for transmitting the generated second message (drone identification information data reconstruction step, S416).

When the group control drone decides not to reconstruct the data, it simply performs an operation of concatenating (or assembling) (S419). In this case, since the group control drone does not need a time period for data processing, a channel occupancy time may not be separately allocated for data processing. Even if the channel occupancy time is set, a small amount of resources may be allocated for simple data concatenation. Accordingly, the group-controlled drone may set most or all of the second time period as the time period for transmitting the generated first message. Since it does not take much time to generate a message by concatenating data, a section for data processing may not be separately allocated, and a short time may be allocated even if it is set.

을 통해 지상용 식별기(622)로 메시지(620)를 전송할 수 있다. The operation of the second step ( S430 ) in FIG. 4A will be further described with reference to the diagram of the second step ( S623 ) of FIG. 7 . Referring to the drawing, the group-controlled drone 621 receives a message 620 based on the received identification information of the drones #1-#N-1 and the identification information of the group-controlled drone (drone #N) itself. may be transmitted to the terrestrial identifier 622 . At this time, the group control drone of the group

The message 620 may be transmitted to the terrestrial identifier 622 through .

The structure of a message generated by concatenating or reconstructing identification information data by the group control drone will be described with reference to FIGS. 10A and 10B . 10A and 10B are conceptual views illustrating the structure of a message in which the group control drone concatenates or reconstructs identification information data in the second step.

The group control drone simply concatenates (or assembles) the identification information 901-902 of the participating drones and the group-controlled drone drone #1-#N as shown in FIG. 10A, or the drone #1-#N as shown in FIG. 10B. By analyzing the data characteristics of the data can be reconstructed (903).

The group-controlled drone may perform computational operations to reconstruct data. The group control drone may reconstruct the identification information so that the length of the data of the generated message is reduced compared to the total length of the data of the received identification information.

드론#N-1)의 식별 정보들을 연접한 데이터 길이(910)라고 할 수 있다. 도면에서 참여 드론들(드론#1, 드론#2,

드론#N-1)의 식별 정보들을 재구성한 데이터 길이(930)는 연접한 데이터 길이(910)보다 현저히 줄어든 것을 보여준다. 식별 정보 간의 유사한 부분을 데이터 처리하여 메시지를 생성하기 위한 데이터 처리 시간(도 4b의 데이터 재구성부(1150)에서의 데이터 처리시간

)이 많이 소모될 수 있다.As shown in FIG. 10B , the group-controlled drone may generate a message by reconstructing data in consideration of similarities between identification information according to data characteristics of the received identification information. The group-controlled drone can process the overlapping part with similarity between the identification information of the participating drones to prevent repeated transmission of the same data. Accordingly, the length 930 of the data reconstructed by the group control drone may be shorter than the length 910 of the collected identification information data. For example, the collected identification information data is used by participating drones (drone #1, drone #2,

It can be said that the data length 910 concatenated with the identification information of the drone #N-1). Participating drones in the drawing (Drone #1, Drone #2,

It shows that the data length 930 reconstructed from the identification information of the drone #N-1) is significantly reduced than the concatenated data length 910 . Data processing time for generating a message by data processing a similar part between identification information (data processing time in the data reconstruction unit 1150 of FIG. 4B )

) can be consumed a lot.

Returning to FIG. 5 , the data rate of identification information in the second step will be described in relation to the first to third parameters and the reception quality required for wireless transmission. The transmission rate of the generated identification information message may be determined based on the size of identification information and required reception quality.

When the group control drone transmits the identification information of the participating drones to the ground node, the signal-to-interference-and-noise ratio (SINR) can be expressed as follows.

는 그룹제어 드론의 송신신호 세기이며

는 AWGN의 평균잡음전력을 나타낼 수 있다. L은 그룹제어 드론과 동일한 시간에 채널을 점유한 다른 드론 그룹의 그룹제어 드론의 인덱스(index)를 나타낼 수 있다. 채널점유시간을 반영 시 그룹제어 드론이 식별정보 메시지를 지상 노드에 전송하는 식별정보 데이터 전송률은 다음과 같을 수 있다. here,

is the transmit signal strength of the group control drone

may represent the average noise power of AWGN. L may indicate an index of a group-controlled drone of another drone group occupying a channel at the same time as the group-controlled drone. When the channel occupancy time is reflected, the identification information data transmission rate at which the group control drone transmits the identification information message to the ground node may be as follows.

,

와 데이터 재구성 처리 시간 계수

, 식별정보 변환율

는 그룹제어 드론이 참여 드론들의 식별정보를 수신 또는 전송 시 예를 들어, 네트워크 전송률 최대화, 아웃티지 확률 최소화, 시간지연 최소화 등의 목적에 따라 다양한 구성으로 정의될 수 있다.time allocation factor

,

and data reconstruction processing time coefficient

, identification information conversion rate

When the group control drone receives or transmits identification information of participating drones, for example, it can be defined in various configurations depending on the purpose of maximizing network transmission rate, minimizing outage probability, and minimizing time delay.

Referring back to FIG. 4A , in the flowchart, the group control drone may transmit a message generated by concatenating or reconfiguring data of identification information of drones participating in the group to the ground node ( S417 ). The group control drone ends the transmission of the identification information message. The operation method for the group-controlled drone of FIGS. 4A and 4B according to the embodiments is to transmit a message generated by concatenating or reconfiguring data by receiving identification information from participating drones to a ground node, FIGS. 1 to 3, The method of operating the group control drone and participating drones described with reference to FIGS. 5 to 10 may be included. A detailed description of one or more methods/operations described with reference to 1 to 3 and FIGS. 5 to 10 will be omitted.

The methods according to the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the computer-readable medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software.

Examples of computer-readable media include hardware devices specially configured to store and carry out program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as at least one software module to perform the operations of the present invention, and vice versa.

Although it has been described with reference to the above embodiments, it will be understood by those skilled in the art that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. will be able

Claims (17)

A method of operating a control node in a communication system, comprising:
establishing a first time interval for receiving identification information of one or more participating nodes and a second time interval for transmitting a message generated based on the identification information;
transmitting configuration information of the first time interval to the one or more participating nodes;
receiving the identification information from the one or more participating nodes in the first time interval; and
and transmitting the message to a terrestrial node in the second time interval. The method according to claim 1,
The setting information includes a first parameter indicating the length of an entire time interval including the first time interval and the second time interval, a first parameter used to determine the length of the first time interval within the entire time interval at least one of two parameters and a third parameter used to determine a sub-time interval assigned to each of the one or more participating nodes within the first time interval. The method according to claim 1,
When the message is generated by concatenating the identification information of the one or more participating nodes, the second time interval is configured as a transmission interval for transmitting the message. The method according to claim 1,
When the message is generated by reconstructing the identification information of the one or more participating nodes, the second time interval consists of a processing interval for reconstructing the identification information and a transmission interval for transmitting the message. how it works. 5. The method according to claim 4,
The size of the message generated by reconstructing the identification information is smaller than the size of the message generated by concatenating the identification information, and the size of the message generated by reconstructing the identification information is the identification between the one or more participating terminals. A method of operating a control node, which depends on the degree of similarity of information. 3. The method according to claim 2,
The method of operating a control node, wherein the transmission rate of the identification information may be set based on the parameters, and the transmission rate of the identification information is determined based on the sub-time interval, the size of the identification information, and a required reception quality. The method according to claim 1,
The identification information includes at least one of ID (identifier) of the participating node, latitude, longitude, altitude, speed, direction, time, and flight status, the operating method of the control node. The method according to claim 1,
The method of operating a control node, wherein the control node and the one or more participating nodes form one drone group, and the control node controls the operation of the one or more participating nodes belonging to the drone group. A method of operating a first participating node in a communication system, comprising:
receiving, from a control node, setting information of a first time interval used for transmission of identification information of a plurality of participating nodes including the first participating node;
identifying a sub-time interval allocated to the first participating node within the first time interval based on the setting information; and
and transmitting first identification information of the first participating node to the control node in the sub-time interval. 10. The method of claim 9,
The setting information includes a first parameter indicating the length of the entire time interval including the first time interval and the second time interval, and a second used to determine the length of the first time interval within the entire time interval. parameter, and a third parameter used to determine a sub-time interval assigned to the first participating node within the first time interval, wherein the second time interval is determined by the control node for the identification A method of operation of a first participating node, which is a time interval used to transmit a message containing information. 10. The method of claim 9,
a transmission rate of the first identification information may be set based on the parameters, wherein the first identification information transmission rate is determined based on the sub-time interval, a size of the first identification information, and a required reception quality; How participating nodes work. 10. The method of claim 9,
The first identification information includes at least one of an identifier (identifier), latitude, longitude, altitude, speed, direction, time, and flight status of the first participating node, the operating method of the first participating node. As a control node in a communication system,
processor;
a memory in electronic communication with the processor; and
including instructions stored in the memory;
When the instructions are executed by the processor, the instructions cause the control node to:
establishing a first time interval for receiving identification information of one or more participating nodes and a second time interval for transmitting a message generated based on the identification information;
transmitting configuration information of the first time interval to the one or more participating nodes;
receive the identification information from the one or more participating nodes in the first time interval; And
and cause to transmit the message to a terrestrial node in the second time interval. 14. The method of claim 13,
The setting information includes a first parameter indicating the length of an entire time interval including the first time interval and the second time interval, a first parameter used to determine the length of the first time interval within the entire time interval a control node comprising at least one of two parameters and a third parameter used to determine a sub-time interval assigned to each of the one or more participating nodes within the first time interval. 14. The method of claim 13,
when the message is generated by concatenating the identification information of the one or more participating nodes, the second time interval is configured as a transmission interval for transmitting the message. 14. The method of claim 13,
when the message is generated by reconstructing the identification information of the one or more participating nodes, the second time interval consists of a processing interval for reconstructing the identification information and a transmission interval for transmitting the message. 17. The method of claim 16,
The size of the message generated by reconstructing the identification information is smaller than the size of the message generated by concatenating the identification information, and the size of the message generated by reconstructing the identification information is the identification between the one or more participating terminals. A control node, which depends on the degree of similarity of information.

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