WO2019028738A1 - 无人机接入方法及装置 - Google Patents

无人机接入方法及装置 Download PDF

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Publication number
WO2019028738A1
WO2019028738A1 PCT/CN2017/096818 CN2017096818W WO2019028738A1 WO 2019028738 A1 WO2019028738 A1 WO 2019028738A1 CN 2017096818 W CN2017096818 W CN 2017096818W WO 2019028738 A1 WO2019028738 A1 WO 2019028738A1
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WIPO (PCT)
Prior art keywords
drone
random access
access
base station
message
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Application number
PCT/CN2017/096818
Other languages
English (en)
French (fr)
Inventor
洪伟
Original Assignee
北京小米移动软件有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Priority to PCT/CN2017/096818 priority Critical patent/WO2019028738A1/zh
Priority to CN201780000840.XA priority patent/CN108521888B/zh
Priority to US16/634,146 priority patent/US11460839B2/en
Publication of WO2019028738A1 publication Critical patent/WO2019028738A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W74/00—Wireless channel access
    • H04W74/08—Non-scheduled access, e.g. ALOHA
    • H04W74/0833—Random access procedures, e.g. with 4-step access
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
    • G06F21/44—Program or device authentication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2221/00—Indexing scheme relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/21—Indexing scheme relating to G06F21/00 and subgroups addressing additional information or applications relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F2221/2103—Challenge-response

Definitions

  • the present disclosure relates to the field of communications, and in particular, to a method and apparatus for accessing a drone.
  • the drone is referred to as the Unmanned Aerial Vehicle (UAV), which is a non-manned aerial vehicle operated by radio remote control equipment and its own program control device.
  • UAV Unmanned Aerial Vehicle
  • the cellular network needs to provide a service for the drone that satisfies the demand, but after the drone is flying, the height is higher than that of the ordinary terminal, and there is little occlusion. It may cause great interference to the terminals of neighboring cells.
  • embodiments of the present disclosure provide a method and an apparatus for accessing a drone.
  • a drone access method is provided, the method being used in a base station, the method comprising:
  • the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • a second message indicating that access is permitted is sent to the drone.
  • the random access preliminary response includes the random access preamble.
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device number.
  • the second message includes the terminal indication information.
  • the method further includes:
  • the method further includes:
  • a third message indicating that access is not permitted is sent to the drone.
  • a drone access method is provided, the method being used in a drone, the method comprising:
  • the base station Sending a first message to the base station, where the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • the random access preliminary response includes the random access preamble; and determining, according to the random access initial response, that the base station responds to the random access request, includes:
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device.
  • the second message includes the terminal indication information
  • the determining, according to the second message, that the base station allows access by the drone includes:
  • the method further includes:
  • a drone access device the device being used in a base station, the device comprising:
  • a first receiving module configured to receive a random access request sent by the drone, where the random access request includes a random access preamble
  • a first sending module configured to send a random access initial response to the drone when determining the random access request in response to the drone
  • the second receiving module is configured to receive the first message sent by the UAV, the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • a second transmitting module configured to send a second message to the drone indicating that access is permitted when determining to allow access by the drone.
  • the random access preliminary response includes the random access preamble.
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device number.
  • the second message includes the terminal indication information.
  • the device further includes:
  • the determining module is configured to determine whether the interference level of the local cell to the neighboring cell is less than a set threshold
  • the first determining module is configured to determine that the access of the drone is allowed if the interference level is less than the set threshold
  • the second determining module is configured to determine that the access of the drone is not allowed if the interference level is greater than or equal to the set threshold.
  • the device further includes:
  • a third sending module configured to send, to the drone, a third message indicating that access is not allowed when determining that the access of the drone is not allowed.
  • a drone access device for a drone comprising:
  • the first sending module is configured to send a random access request to the base station, where the random access request includes a random access preamble;
  • the first receiving module is configured to receive a random access initial response sent by the base station
  • a first determining module configured to determine, according to the random access initial response, that the base station responds to the random access request
  • a second sending module configured to send a first message to the base station, where the first message includes terminal indication information, where the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • a second receiving module configured to receive a second message sent by the base station to indicate that access is allowed
  • a second determining module configured to determine, according to the second message, that the base station allows access by the drone
  • An access module configured to access the base station.
  • the random access initial response includes the random access preamble;
  • the first determining module includes:
  • the first determining submodule is configured to determine, according to the random access preliminary response, the random access preamble, to determine, by the base station, the random access request.
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device.
  • the second message includes the terminal indication information
  • the second determining module includes:
  • a second determining submodule configured to determine, according to the second message that the terminal indication information, the base station to allow access by the drone.
  • the device further includes:
  • a third receiving module configured to receive a third message sent by the base station to indicate that access is not allowed
  • a third determining module configured to determine, according to the third message, that the base station does not allow access by the drone.
  • a non-transitory computer readable storage medium having stored thereon a computer program for performing the drone access method of the first aspect described above.
  • a non-transitory computer readable storage medium having stored thereon a computer program for performing the drone access method of the second aspect described above.
  • a drone access device the device being used in a base station, the device comprising:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • a second message indicating that access is permitted is sent to the drone.
  • a drone access device the device being used in a drone, the device comprising:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the base station Sending a first message to the base station, where the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • the base station may receive a random access request sent by the drone, where the random access request includes a random access preamble, and when determining the random access request of the responding drone, to the drone Sending a random access initial response, receiving a first message sent by the drone, the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone, and determining to allow access of the drone At this time, a second message indicating that access is permitted is sent to the drone, thereby realizing control of the access of the drone during the random access phase, thereby avoiding interference that may be generated by the drone.
  • the base station may further send a random access preliminary response including the random access preamble of the unmanned mobile device to the drone, so that the drone receives the random random access preamble that is transmitted by itself.
  • the base station can quickly determine the random access request of the base station in response to the drone, thereby improving the efficiency and reliability of the drone access.
  • the terminal indication information received by the base station may include a drone type identifier, and/or a drone identification number, and/or a drone device number, and the drone type identifier, the drone
  • the identification number and the drone device number can be used to indicate that the terminal requesting access is a drone, which enriches the indication mode of the drone and improves the efficiency of the drone access.
  • the base station may further send a second message indicating that the access is permitted to the drone, where the second message includes the terminal indication information, so that the drone receives the terminal indication information that is sent by itself.
  • the second message can quickly determine that the base station allows the access of the drone, and improves the efficiency and reliability of the drone access.
  • the base station may further determine whether the interference level of the local cell to the neighboring cell is less than a set threshold, and if yes, determine that the access of the drone is allowed; if not, determine that the access of the drone is not allowed.
  • the method determines whether to allow the access of the UAV according to the interference degree of the cell to the neighboring cell, thereby avoiding that the cell may cause a large interference to the neighboring cell.
  • the base station when determining that the access of the drone is allowed, may send a second message indicating that access is permitted to the drone; when it is determined that the access of the drone is not allowed, the base station may The human machine sends a third message indicating that access is not allowed, thereby realizing control of the access of the drone during the random access phase, thereby avoiding interference that may be generated by the drone.
  • the unmanned aerial vehicle may send a random access request to the base station, where the random access request includes a random access preamble, and receives a random access initial response sent by the base station, according to a random access initial response sent by the base station.
  • the base station Determining that the base station responds to the random access request of the UAV, and sends a first message to the base station, where the first message includes terminal indication information, where the terminal indication information is used to indicate that the terminal requesting access is a UAV, and the receiving base station sends the Determining, by the second message sent by the base station, the base station to allow the access of the UAV according to the second message sent by the base station, and accessing the base station, so that the base station learns that the terminal requesting access is a drone according to the indication information of the terminal, And according to the specific situation to determine whether to allow the access of the drone, thereby achieving the control of the drone access in the random access phase, thereby avoiding the interference that the drone may cause.
  • the unmanned aerial vehicle may further receive a preliminary response of the random access including the random access preamble of the unmanned mobile station, so that the drone can quickly determine the base station response according to the random access preamble.
  • the random access request of the human machine improves the efficiency and reliability of the drone access.
  • the terminal indication information sent by the drone to the base station may include a drone type identifier, and/or a drone identification number, and/or a drone device number, and the drone type identifier,
  • the UAV identification number and the UAV device number can be used to indicate that the terminal requesting access is a drone, which enriches the indication mode of the UAV and improves the efficiency of UAV access.
  • the UAV may further receive a second message that is sent by the base station to indicate that access is permitted, and the second message includes terminal indication information, so that the UAV can quickly determine the base station permission according to the indication information of the terminal.
  • the access of the drone improves the efficiency and reliability of the drone access.
  • the UAV can also receive the third message sent by the base station to indicate that the access is not allowed, and determine that the base station does not allow the access of the UAV according to the third message, thereby implementing random access.
  • the drone is controlled to be connected, thereby avoiding the possible interference of the drone.
  • FIG. 1 is a flowchart of a drone access method according to an exemplary embodiment
  • FIG. 2 is a scene diagram of a drone access method according to an exemplary embodiment
  • FIG. 3 is a flowchart of another drone access method according to an exemplary embodiment
  • FIG. 4 is a flowchart of a drone access method according to an exemplary embodiment
  • FIG. 5 is a block diagram of a drone access device according to an exemplary embodiment
  • FIG. 6 is a block diagram of another drone access device, according to an exemplary embodiment
  • FIG. 7 is a block diagram of another drone access device according to an exemplary embodiment
  • FIG. 8 is a block diagram of a drone access device according to an exemplary embodiment
  • FIG. 9 is a block diagram of another drone access device, according to an exemplary embodiment.
  • FIG. 10 is a block diagram of another drone access device according to an exemplary embodiment
  • FIG. 11 is a block diagram of another drone access device, according to an exemplary embodiment.
  • FIG. 12 is a schematic structural diagram of a drone access device according to an exemplary embodiment.
  • the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • the indication information may also be referred to as second information without departing from the scope of the present disclosure.
  • the second information may also be referred to as indication information.
  • the word "if” as used herein may be interpreted as "when” or "when” or "in response to determination.”
  • FIG. 1 is a flowchart of a drone access method according to an exemplary embodiment
  • FIG. 2 is a scene diagram of a drone access method according to an exemplary embodiment
  • the access method can be applied to a base station, which is a base station to which the drone requests access.
  • the drone access method includes the following steps 110-140:
  • step 110 a random access request sent by the drone is received, and the random access request includes a random access preamble (ie, a Preamble code).
  • a random access preamble ie, a Preamble code
  • the drone is a cellular network drone, that is, the drone can accept the service provided by the cellular network.
  • the random access is a necessary process for establishing a wireless link between the UAV and the cellular network, and the data interoperation between the base station and the UAV can be performed normally only after the random access is completed.
  • the unmanned opportunity selects a Preamble code, adds the Preamble code to the random access request, and transmits the random access request to the base station.
  • the random access may be a contention based random access
  • the random access request may be a random access preamble (RAP) in a contention based random access procedure.
  • RAP random access preamble
  • step 120 when determining a random access request in response to the drone, a random access preliminary response is sent to the drone.
  • the base station when receiving the random access request of the UAV, may also receive a random access request of another terminal, and if it determines that the random access request of the UAV is determined, the base station will The initial response of the random access is returned to the drone, so that the drone can know that the base station has made a preliminary response to the random access request according to the initial response of the random access.
  • the random access initial response may be a random access response (RAR) in a contention based random access procedure.
  • RAR random access response
  • step 130 the first message sent by the drone is received.
  • the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone.
  • the first message may be message 3 in a contention based random access procedure.
  • step 140 when it is determined that access to the drone is permitted, a second message indicating that access is permitted is sent to the drone.
  • the base station learns that the terminal requesting access is a drone, and determines whether to allow access of the drone according to a specific situation. If access is allowed, a second message indicating that access is allowed is sent to the drone. If access is not allowed, a third message indicating that access is not allowed is sent to the drone.
  • the second message or the third message may implement the indication function by using Contention Resolution signaling in the contention-based random access procedure.
  • a drone and a base station are included.
  • the UAV requests access to the base station, it first selects a Preamble code, adds the Preamble code to the random access request, and then sends the random access request to the base station.
  • the base station receives the random access request of the drone and determines to respond to the random access request of the drone, the base station sends a random access initial response to the drone.
  • the UAV determines that the base station responds to the random access request that the base station has responded to, and sends a first message including the terminal indication information to the base station, where the terminal indication information is used to indicate the request for access.
  • the terminal is a drone.
  • the base station After receiving the first message, the base station, according to the terminal indication information in the first message, knows that the terminal that requests the access is a drone, and determines whether to allow the access of the drone according to the interference degree of the current network.
  • a second message is sent to the drone indicating that access is permitted.
  • the drone After receiving the second message indicating that access is permitted, the drone determines that the base station allows the drone to access according to the second message and accesses the base station.
  • the random access request includes a random access preamble by receiving a random access request sent by the drone, and sending a random to the drone when determining the random access request of the responding drone
  • Receiving a preliminary response receiving a first message sent by the drone, the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone, and when determining to allow access of the drone,
  • a second message indicating that access is permitted is sent to the drone, thereby enabling control of the access of the drone during the random access phase, thereby avoiding interference that may be generated by the drone.
  • the random access preliminary response may include a random access preamble of the drone.
  • the base station when determining the random access request of the UAV, may add the random preamble included in the random access request to the random access initial response, and then connect the random preamble with the random preamble.
  • the initial response is sent to the drone, so that the drone can determine the base station responding to the random access request of the drone according to the random access preliminary response including the random preamble.
  • the random access initial response including the random access preamble of the unmanned aerial vehicle is transmitted to the drone, so that the drone receives the random access preamble consistent with the random access preamble transmitted by itself.
  • the base station can quickly determine the random access request of the base station in response to the drone, thereby improving the efficiency and reliability of the drone access.
  • the terminal indication information may include a drone type identifier, and/or a drone identification number, and/or a drone device number.
  • the function of the terminal indication information is to inform the base station that the terminal requested to access is a drone, whether it is one or more of a drone type identifier, a drone identification number, and a drone device number. Both can be used to indicate that the terminal requesting access is a drone.
  • the terminal indication information may include a drone type identifier, and/or a drone identification number, and/or a drone device number, and the drone type identifier, the drone identification number,
  • the UAV device number can be used to indicate that the terminal requesting access is a drone, which enriches the indication mode of the UAV and improves the efficiency of UAV access.
  • the second message includes terminal indication information.
  • the base station when determining that the access of the UAV is permitted, may add the terminal indication information included in the first message to the second message, and then send the second message to which the terminal indication information is added to the unmanned
  • the machine is convenient for the drone to determine that the base station allows the access of the drone according to the second message including the terminal indication information.
  • the second message includes terminal indication information, so that the drone receives the second message that is consistent with the terminal indication information sent by itself. It can quickly determine that the base station allows the access of the drone, and improves the efficiency and reliability of the drone access.
  • FIG. 3 is a flowchart of another method for accessing a drone according to an exemplary embodiment.
  • the method for accessing the drone may be applied to a base station, which is a base station that the drone requests to access.
  • the UAV access method includes the following steps 310-390:
  • step 310 receiving a random access request sent by the drone, the random access request includes random access Enter the preamble. This step is the same as step 110 above, and will not be described again here.
  • step 320 upon determining a random access request in response to the drone, a random access preliminary response is sent to the drone. This step is the same as step 120 above, and will not be described again here.
  • step 330 the first message sent by the drone is received.
  • the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone. This step is the same as step 130 above, and will not be described again here.
  • step 340 it is determined whether the interference level of the local cell to the neighboring cell is less than a set threshold; if yes, step 350 is performed; if not, step 370 is performed.
  • step 350 it is determined that access to the drone is permitted.
  • step 360 a second message indicating that access is permitted is sent to the drone, and the process ends.
  • step 370 it is determined that access by the drone is not allowed.
  • step 380 a third message indicating that access is not allowed is sent to the drone, and the flow ends.
  • FIG. 4 is a flowchart of a drone access method, which can be applied to a drone, which is a terminal requesting access to a base station, according to an exemplary embodiment. As shown in FIG. 4, the drone access method includes the following steps 410-470:
  • step 410 a random access request is sent to the base station, and the random access request includes a random access preamble.
  • the Preamble code when the UAV requests to access the base station, the Preamble code may be selected, and the Preamble code is added to the random access request, and the random access request is sent to the base station.
  • the random access may be a contention based random access
  • the random access request may be a random access preamble in a contention based random access procedure.
  • step 420 a random access initial response sent by the base station is received.
  • the random access initial response may be a random access response in a contention based random access procedure.
  • step 430 the base station is determined to respond to the random access request of the drone according to the random access initial response sent by the base station.
  • step 440 the first message is sent to the base station, where the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone.
  • the first message may be message 3 in a contention based random access procedure.
  • step 450 a second message sent by the base station indicating that access is permitted is received.
  • the second message may be contention resolution signaling in a contention based random access procedure.
  • step 460 the base station is allowed to access the drone according to the second message sent by the base station.
  • step 470 the base station is accessed.
  • the random access request is sent to the base station, where the random access request includes a random access preamble, and the random access initial response sent by the base station is received, and the base station is determined according to the random access initial response sent by the base station.
  • the receiving base station sends an indication for allowing
  • the second message that is accessed according to the second message sent by the base station, determines that the base station allows the access of the unmanned mobile station, and accesses the base station, so that the base station learns that the terminal requesting access is a drone according to the terminal indication information, and according to the specific situation It is determined whether the access of the drone is allowed, thereby realizing the control of the access of the drone during the random access phase, thereby avoiding the interference that the drone may cause.
  • the random access preliminary response includes a random access preamble.
  • the method may include: determining, according to a random access preliminary response sent by the base station, a random access preamble of the UAV, determining, by the base station, the random access request of the base station.
  • the initial response of the random access including the random access preamble of the unmanned mobile station sent by the base station is enabled, so that the drone can quickly determine the random connection of the base station to the unmanned aerial vehicle according to the random access preamble.
  • Incoming requests increase the efficiency and reliability of drone access.
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device.
  • the terminal indication information may include a drone type identifier, and/or a drone identification number, and/or a drone device number, and the drone type identifier, the drone identification number,
  • the UAV device number can be used to indicate that the terminal requesting access is a drone, which enriches the indication mode of the UAV and improves the efficiency of UAV access.
  • the second message includes terminal indication information.
  • the method may include: determining, according to the second message including the terminal indication information of the drone, that the base station allows access by the drone.
  • the second message that is sent by the base station to indicate that the access is allowed is included, and the second message includes the terminal indication information, so that the drone can quickly determine that the base station allows the connection of the drone according to the indication information of the terminal. Into, improve the efficiency and reliability of drone access.
  • the drone access method further includes the following steps:
  • the third message may be contention resolution signaling in a contention based random access procedure.
  • the present disclosure also provides an embodiment of the drone access device.
  • FIG. 5 is a block diagram of a drone access device for a base station, which is a base station to which a drone requests access, and is used to perform the unmanned display shown in FIG. 1 according to an exemplary embodiment.
  • the machine access method, as shown in FIG. 5, the UAV access device may include:
  • the first receiving module 51 is configured to receive a random access request sent by the drone, where the random access request includes a random access preamble;
  • the first sending module 52 is configured to send a random access initial response to the drone when determining the random access request in response to the drone;
  • the second receiving module 53 is configured to receive a first message sent by the drone, the first message packet
  • the terminal indication information is used to indicate that the terminal requesting access is a drone
  • the second sending module 54 is configured to, when determining to allow access by the drone, send a second message to the drone indicating that access is permitted.
  • the random access request includes a random access preamble by receiving a random access request sent by the drone, and sending a random to the drone when determining the random access request of the responding drone
  • Receiving a preliminary response receiving a first message sent by the drone, the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone, and when determining to allow access of the drone,
  • a second message indicating that access is permitted is sent to the drone, thereby enabling control of the access of the drone during the random access phase, thereby avoiding interference that may be generated by the drone.
  • the random access preliminary response includes the random access preamble.
  • the random access initial response including the random access preamble of the unmanned aerial vehicle is transmitted to the drone, so that the drone receives the random access preamble consistent with the random access preamble transmitted by itself.
  • the base station can quickly determine the random access request of the base station in response to the drone, thereby improving the efficiency and reliability of the drone access.
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device number.
  • the terminal indication information may include a drone type identifier, and/or a drone identification number, and/or a drone device number, and the drone type identifier, the drone identification number,
  • the UAV device number can be used to indicate that the terminal requesting access is a drone, which enriches the indication mode of the UAV and improves the efficiency of UAV access.
  • the second message includes the terminal indication information.
  • the second message includes terminal indication information, so that the drone receives the second message that is consistent with the terminal indication information sent by itself. It can quickly determine that the base station allows the access of the drone, and improves the efficiency and reliability of the drone access.
  • the UAV access device may include:
  • the determining module 61 is configured to determine whether the interference level of the local cell to the neighboring cell is less than a set threshold
  • the first determining module 62 is configured to determine that the access of the drone is allowed if the interference level is less than the set threshold;
  • the second determining module 63 is configured to determine that the access of the drone is not allowed if the interference level is greater than or equal to the set threshold.
  • FIG. 7 is a block diagram of another UAV access device for a base station, which is a base station to which a drone requests access, and establishes the base station shown in FIG. 5 or FIG. 6 according to an exemplary embodiment.
  • the UAV access device may include:
  • the third sending module 71 is configured to send a third message for indicating that access is not allowed to the drone when it is determined that the access of the drone is not allowed.
  • FIG. 8 is a block diagram of a drone access device for a drone, the drone is a terminal requesting access to a base station, and is configured to perform the process shown in FIG. 4, according to an exemplary embodiment.
  • the UAV access method, as shown in FIG. 8, the UAV access device may include:
  • the first sending module 81 is configured to send a random access request to the base station, where the random access request includes a random access preamble;
  • the first receiving module 82 is configured to receive a random access initial response sent by the base station
  • the first determining module 83 is configured to determine, according to the random access initial response, that the base station responds to the random access request;
  • the second sending module 84 is configured to send a first message to the base station, where the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • the second receiving module 85 is configured to receive a second message sent by the base station to indicate that access is allowed;
  • the second determining module 86 is configured to determine, according to the second message, that the base station allows access by the drone;
  • the access module 87 is configured to access the base station.
  • the random access request is sent to the base station, where the random access request includes a random access preamble, and the random access initial response sent by the base station is received, and the base station is determined according to the random access initial response sent by the base station.
  • the receiving base station sends an indication for allowing
  • the second message that is accessed according to the second message sent by the base station, determines that the base station allows the access of the unmanned mobile station, and accesses the base station, so that the base station learns that the terminal requesting access is a drone according to the terminal indication information, and according to the specific situation It is determined whether the access of the drone is allowed, thereby realizing the control of the access of the drone during the random access phase, thereby avoiding the interference that the drone may cause.
  • the first determining module 83 may include:
  • the first determining sub-module 91 is configured to determine that the base station responds to the random access request according to the random access preliminary response including the random access preamble.
  • the initial response of the random access including the random access preamble of the unmanned mobile station sent by the base station is enabled, so that the drone can quickly determine the random connection of the base station to the unmanned aerial vehicle according to the random access preamble.
  • Incoming requests increase the efficiency and reliability of drone access.
  • the terminal indication information includes a drone type identifier, and/or a drone identification number, and/or a drone device.
  • the terminal indication information may include a drone type identifier, and/or a drone identification number, and/or a drone device number, and the drone type identifier, the drone identification number,
  • the UAV device number can be used to indicate that the terminal requesting access is a drone, which enriches the indication mode of the UAV and improves the efficiency of UAV access.
  • FIG. 10 is a block diagram of another drone access device for a drone, which is a terminal requesting access to a base station, and is built in FIG. 8 according to an exemplary embodiment. Based on the device The second message includes the terminal indication information. As shown in FIG. 10, the second determining module 86 may include:
  • the second determining sub-module 101 is configured to determine that the base station allows access by the drone according to the second message including the terminal indication information.
  • the second message that is sent by the base station to indicate that the access is allowed is included, and the second message includes the terminal indication information, so that the drone can quickly determine that the base station allows the connection of the drone according to the indication information of the terminal. Into, improve the efficiency and reliability of drone access.
  • FIG. 11 is a block diagram of another drone access device for a drone, which is a terminal requesting access to a base station, and is built in FIG. 8 according to an exemplary embodiment.
  • the device may further include:
  • the third receiving module 111 is configured to receive a third message sent by the base station to indicate that access is not allowed;
  • the third determining module 112 is configured to determine, according to the third message, that the base station does not allow access by the drone.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, ie may be located in one Places, or they can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the objectives of the present disclosure. Those of ordinary skill in the art can understand and implement without any creative effort.
  • the present disclosure also provides a computer readable storage medium storing a computer program for performing the drone access method illustrated in FIG. 1 or FIG.
  • the present disclosure also provides a computer readable storage medium storing a computer program for performing the drone access method illustrated in FIG.
  • the present disclosure also provides a UAV access device, the device is used in a base station, and the device includes:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;
  • a second message indicating that access is permitted is sent to the drone.
  • FIG. 12 is a schematic structural diagram of a UAV access device according to an exemplary embodiment.
  • Apparatus 1200 can be provided as a base station.
  • apparatus 1200 includes a processing component 1222, a wireless transmit/receive component 1224, an antenna component 1226, and a signal processing portion specific to the wireless interface.
  • the processing component 1222 can further include one or more processors.
  • One of the processing components 1222 can be configured to perform a method of transmitting a downlink control channel as described above.
  • the present disclosure also provides a drone access device for a drone, the device comprising:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the base station Sending a first message to the base station, where the first message includes terminal indication information, and the terminal indication information is used to indicate that the terminal requesting access is a drone;

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Abstract

一种无人机接入方法及装置，所述方法用于基站，包括：接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。因此，本公开实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。

Description

无人机接入方法及装置 技术领域
本公开涉及通信领域，尤其涉及一种无人机接入方法及装置。
背景技术
无人驾驶飞机简称为无人机(Unmanned Aerial Vehicle，UAV)，该无人机是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞行器。
随着无人机技术的不断发展，无人机也得到了广泛应用。相关技术中，为了进一步拓展无人机的应用范围，蜂窝网络需要为无人机提供满足需求的服务，但是，无人机在飞起来之后，由于高度比普通的终端要高，并且少有遮挡，可能会对相邻小区的终端造成很大的干扰。
发明内容
为克服相关技术中存在的问题，本公开实施例提供一种无人机接入方法及装置。
根据本公开实施例的第一方面，提供一种无人机接入方法，所述方法用于基站，所述方法包括：
接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
可选地，所述随机接入初步响应包括所述随机接入前导码。
可选地，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号。
可选地，所述第二消息包括所述终端指示信息。
可选地，所述方法还包括：
判断本小区对相邻小区的干扰程度是否小于设定阈值；
若所述干扰程度小于设定阈值，则确定允许无人机的接入；
若所述干扰程度大于或等于设定阈值，则确定不允许无人机的接入。
可选地，所述方法还包括：
在确定不允许所述无人机的接入时，向所述无人机发送用于指示不允许接入的第三消息。
根据本公开实施例的第二方面，提供一种无人机接入方法，所述方法用于无人机，所述方法包括：
向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
接收所述基站发送的随机接入初步响应；
根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
接收所述基站发送的用于指示允许接入的第二消息；
根据所述第二消息确定所述基站允许所述无人机的接入；
接入所述基站。
可选地，所述随机接入初步响应包括所述随机接入前导码；所述根据所述随机接入初步响应，确定所述基站响应所述随机接入请求，包括：
根据所述随机接入初步响应包括所述随机接入前导码，确定所述基站响应所述随机接入请求。
可选地，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备。
可选地，所述第二消息包括所述终端指示信息；所述根据所述第二消息确定所述基站允许所述无人机的接入，包括：
根据所述第二消息包括所述终端指示信息，确定所述基站允许所述无人机的接入。
可选地，所述方法还包括：
接收所述基站发送的用于指示不允许接入的第三消息；
根据所述第三消息确定所述基站不允许所述无人机的接入。
根据本公开实施例的第三方面，提供一种无人机接入装置，所述装置用于基站，所述装置包括：
第一接收模块，被配置为接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
第一发送模块，被配置为在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
第二接收模块，被配置为接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
第二发送模块，被配置为在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
可选地，所述随机接入初步响应包括所述随机接入前导码。
可选地，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号。
可选地，所述第二消息包括所述终端指示信息。
可选地，所述装置还包括：
判断模块，被配置为判断本小区对相邻小区的干扰程度是否小于设定阈值；
第一确定模块，被配置为若所述干扰程度小于设定阈值，则确定允许无人机的接入；
第二确定模块，被配置为若所述干扰程度大于或等于设定阈值，则确定不允许无人机的接入。
可选地，所述装置还包括：
第三发送模块，被配置为在确定不允许所述无人机的接入时，向所述无人机发送用于指示不允许接入的第三消息。
根据本公开实施例的第四方面，提供一种无人机接入装置，所述装置用于无人机，所述装置包括：
第一发送模块，被配置为向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
第一接收模块，被配置为接收所述基站发送的随机接入初步响应；
第一确定模块，被配置为根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
第二发送模块，被配置为向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
第二接收模块，被配置为接收所述基站发送的用于指示允许接入的第二消息；
第二确定模块，被配置为根据所述第二消息确定所述基站允许所述无人机的接入；
接入模块，被配置为接入所述基站。
可选地，所述随机接入初步响应包括所述随机接入前导码；所述第一确定模块包括：
第一确定子模块，被配置为根据所述随机接入初步响应包括所述随机接入前导码，确定所述基站响应所述随机接入请求。
可选地，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备。
可选地，所述第二消息包括所述终端指示信息；所述第二确定模块，包括：
第二确定子模块，被配置为根据所述第二消息包括所述终端指示信息，确定所述基站允许所述无人机的接入。
可选地，所述装置还包括：
第三接收模块，被配置为接收所述基站发送的用于指示不允许接入的第三消息；
第三确定模块，被配置为根据所述第三消息确定所述基站不允许所述无人机的接入。
根据本公开实施例的第五方面，提供一种非临时计算机可读存储介质，所述存储介质上存储有计算机程序，所述计算机程序用于执行上述第一方面的无人机接入方法。
根据本公开实施例的第六方面，提供一种非临时计算机可读存储介质，所述存储介质上存储有计算机程序，所述计算机程序用于执行上述第二方面的无人机接入方法。
根据本公开实施例的第七方面，提供一种无人机接入装置，所述装置用于基站，所述装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
根据本公开实施例的第八方面，提供一种无人机接入装置，所述装置用于无人机，所述装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
接收所述基站发送的随机接入初步响应；
根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
接收所述基站发送的用于指示允许接入的第二消息；
根据所述第二消息确定所述基站允许所述无人机的接入；
接入所述基站。
本公开的实施例提供的技术方案可以包括以下有益效果：
本公开实施例中，基站可以通过接收无人机发送的随机接入请求，该随机接入请求包括随机接入前导码，在确定响应无人机的随机接入请求时，向该无人机发送随机接入初步响应，接收无人机发送的第一消息，第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机，在确定允许无人机的接入时，向无人机发送用于指示允许接入的第二消息，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
本公开实施例中，基站还可以通过向无人机发送包括无人机的随机接入前导码的随机接入初步响应，使得无人机接收到与自己发送的随机接入前导码一致的随机接入初步响应，可以快速确定基站响应无人机的随机接入请求，提高了无人机接入的效率和可靠性。
本公开实施例中，基站接收到的终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号，且无人机类型标识、无人机身份识别号、无人机设备号均可以用于指示请求接入的终端为无人机，这样丰富了无人机的指示方式，提高了无人机接入的效率。
本公开实施例中，基站还可以通过向无人机发送用于指示允许接入的第二消息，该第二消息包括终端指示信息，使得无人机接收到与自己发送的终端指示信息一致的第二消息，可以快速确定基站允许无人机的接入，提高了无人机接入的效率和可靠性。
本公开实施例中，基站还可以通过判断本小区对相邻小区的干扰程度是否小于设定阈值，若是，确定允许无人机的接入；若否，则确定不允许无人机的接入，从而 实现了根据本小区对相邻小区的干扰程度来决定是否允许无人机的接入，进而避免了本小区可能会对相邻小区造成很大的干扰。
本公开实施例中，基站在确定允许无人机的接入时，可以向无人机发送用于指示允许接入的第二消息；在确定不允许无人机的接入时，可以向无人机发送用于指示不允许接入的第三消息，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
本公开实施例中，无人机可以通过向基站发送随机接入请求，该随机接入请求包括随机接入前导码，接收基站发送的随机接入初步响应，根据基站发送的随机接入初步响应，确定该基站响应无人机的随机接入请求，向基站发送第一消息，该第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机，接收基站发送的用于指示允许接入的第二消息，根据基站发送的第二消息确定该基站允许无人机的接入，接入基站，使得基站根据终端指示信息获知请求接入的终端为无人机，并根据具体情况确定是否允许无人机的接入，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
本公开实施例中，无人机还可以通过接收基站发送的包括无人机的随机接入前导码的随机接入初步响应，使得无人机可以根据该随机接入前导码快速确定基站响应无人机的随机接入请求，提高了无人机接入的效率和可靠性。
本公开实施例中，无人机向基站发送的终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号，且无人机类型标识、无人机身份识别号、无人机设备号均可以用于指示请求接入的终端为无人机，这样丰富了无人机的指示方式，提高了无人机接入的效率。
本公开实施例中，无人机还可以通过接收基站发送的用于指示允许接入的第二消息，该第二消息包括终端指示信息，使得无人机根据该终端指示信息可以快速确定基站允许无人机的接入，提高了无人机接入的效率和可靠性。
本公开实施例中，无人机还可以通过接收基站发送的用于指示不允许接入的第三消息，并根据第三消息确定基站不允许无人机的接入，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并 不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1是根据一示例性实施例示出的一种无人机接入方法的流程图；
图2是根据一示例性实施例示出的一种无人机接入方法的场景图；
图3是根据一示例性实施例示出的另一种无人机接入方法的流程图；
图4是根据一示例性实施例示出的一种无人机接入方法的流程图；
图5是根据一示例性实施例示出的一种无人机接入装置的框图；
图6是根据一示例性实施例示出的另一种无人机接入装置的框图；
图7是根据一示例性实施例示出的另一种无人机接入装置的框图；
图8是根据一示例性实施例示出的一种无人机接入装置的框图；
图9是根据一示例性实施例示出的另一种无人机接入装置的框图；
图10是根据一示例性实施例示出的另一种无人机接入装置的框图；
图11是根据一示例性实施例示出的另一种无人机接入装置的框图；
图12是根据一示例性实施例示出的一种无人机接入装置的一结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和 /或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，指示信息也可以被称为第二信息，类似地，第二信息也可以被称为指示信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
图1是根据一示例性实施例示出的一种无人机接入方法的流程图，图2是根据一示例性实施例示出的一种无人机接入方法的场景图；该无人机接入方法可以应用在基站上，该基站是无人机请求接入的基站。如图1所示，该无人机接入方法包括以下步骤110-140：
在步骤110中，接收无人机发送的随机接入请求，该随机接入请求包括随机接入前导码(即Preamble码)。
本公开实施例中，无人机是蜂窝网络无人机，即该无人机能够接受蜂窝网络(Cellular network)提供的服务。
本公开实施例中，随机接入是无人机和蜂窝网络之间建立无线链路的必经过程，只有在随机接入完成之后，基站和无人机之间才能正常进行数据互操作。在无人机请求接入基站时，无人机会选取一个Preamble码，并将该Preamble码添加到随机接入请求中，再将该随机接入请求发送至基站。
本公开实施例中，随机接入可以是基于竞争的随机接入，随机接入请求可以是基于竞争的随机接入过程中的随机接入前导(Random Access Preamble，RAP)。
在步骤120中，在确定响应无人机的随机接入请求时，向该无人机发送随机接入初步响应。
本公开实施例中，基站接收到无人机的随机接入请求的同时，可能还接收到其他终端的随机接入请求，此时若确定响应无人机的随机接入请求时，基站就会向无人机返回随机接入初步响应，便于无人机根据该随机接入初步响应获知基站已经对随机接入请求做出了初步响应。
本公开实施例中，随机接入初步响应可以是基于竞争的随机接入过程中的随机接入响应(Random Access Response，RAR)。
在步骤130中，接收无人机发送的第一消息，第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机。
本公开实施例中，第一消息可以是基于竞争的随机接入过程中的消息3。
在步骤140中，在确定允许无人机的接入时，向无人机发送用于指示允许接入的第二消息。
本公开实施例中，基站获知请求接入的终端为无人机，会根据具体情况来决定是否允许无人机的接入。若允许接入，则向无人机发送用于指示允许接入的第二消息。若不允许接入，则向无人机发送用于指示不允许接入的第三消息。
本公开实施例中，第二消息或第三消息均可以利用基于竞争的随机接入过程中的竞争解决(Contention Resolution)信令来实现其指示功能。
在一实例性场景中，如图2所示，包括无人机和基站。无人机请求接入基站时，首先会选取一个Preamble码，并将该Preamble码添加到随机接入请求中，再将该随机接入请求发送至基站。基站接收到无人机的随机接入请求，并确定响应该无人机的随机接入请求时，会向无人机发送随机接入初步响应。无人机接收到随机接入初步响应后，确定基站响应了自己提出的随机接入请求，此时会向基站发送包括终端指示信息的第一消息，该终端指示信息用于指示请求接入的终端为无人机。基站接收到第一消息，并根据第一消息中的终端指示信息获知请求接入的终端为无人机后，会根据当前网络的干扰程度判断是否允许无人机的接入，当确定允许接入无人机时，会向无人机发送用于指示允许接入的第二消息。无人机接收到用于指示允许接入的第二消息后，会根据第二消息确定基站允许无人机接入，并接入该基站。
由上述实施例可见，通过接收无人机发送的随机接入请求，该随机接入请求包括随机接入前导码，在确定响应无人机的随机接入请求时，向该无人机发送随机接入初步响应，接收无人机发送的第一消息，第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机，在确定允许无人机的接入时，向无人机发送用于指示允许接入的第二消息，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
在一实施例中，上述步骤120中，随机接入初步响应可以包括无人机的随机接入前导码。
本公开实施例中，基站在确定无人机的随机接入请求时，可以将随机接入请求包括的随机前导码添加到随机接入初步响应中，再将该添加了随机前导码的随机接入初步响应发送至无人机，便于无人机根据随机接入初步响应包括随机前导码，确定基站响应无人机的随机接入请求。
由上述实施例可见，通过向无人机发送包括无人机的随机接入前导码的随机接入初步响应，使得无人机接收到与自己发送的随机接入前导码一致的随机接入初步响应，可以快速确定基站响应无人机的随机接入请求，提高了无人机接入的效率和可靠性。
在一实施例中，上述步骤130中，终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号。
本公开实施例中，终端指示信息的功能就是告知基站请求接入的终端为无人机，不管是无人机类型标识、无人机身份识别号、无人机设备号中的一种或多种均能用于指示请求接入的终端为无人机。
由上述实施例可见，终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号，且无人机类型标识、无人机身份识别号、无人机设备号均可以用于指示请求接入的终端为无人机，这样丰富了无人机的指示方式，提高了无人机接入的效率。
在一实施例中，上述步骤140中，第二消息包括终端指示信息。
本公开实施例中，基站在确定允许无人机的接入时，可以将第一消息包括的终端指示信息添加到第二消息中，再将添加了终端指示信息的第二消息发送至无人机，便于无人机根据第二消息包括终端指示信息，确定基站允许无人机的接入。
由上述实施例可见，通过向无人机发送用于指示允许接入的第二消息，该第二消息包括终端指示信息，使得无人机接收到与自己发送的终端指示信息一致的第二消息，可以快速确定基站允许无人机的接入，提高了无人机接入的效率和可靠性。
图3是根据一示例性实施例示出的另一种无人机接入方法的流程图，该无人机接入方法可以应用在基站上，该基站是无人机请求接入的基站。如图3所示，该无人机接入方法包括以下步骤310-390：
在步骤310中，接收无人机发送的随机接入请求，该随机接入请求包括随机接 入前导码。该步骤和上述步骤110相同，在这里不再赘述。
在步骤320中，在确定响应无人机的随机接入请求时，向该无人机发送随机接入初步响应。该步骤和上述步骤120相同，在这里不再赘述。
在步骤330中，接收无人机发送的第一消息，第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机。该步骤和上述步骤130相同，在这里不再赘述。
在步骤340中，判断本小区对相邻小区的干扰程度是否小于设定阈值；若是，则执行步骤350；若否，则执行步骤370。
在步骤350中，确定允许无人机的接入。
在步骤360中，向无人机发送用于指示允许接入的第二消息，流程结束。
在步骤370中，确定不允许无人机的接入。
在步骤380中，向无人机发送用于指示不允许接入的第三消息，流程结束。
由上述实施例可见，通过判断本小区对相邻小区的干扰程度是否小于设定阈值，若是，确定允许无人机的接入，并向无人机发送用于指示允许接入的第二消息；若否，则确定不允许无人机的接入，并向无人机发送用于指示不允许接入的第三消息，从而实现了根据本小区对相邻小区的干扰程度来决定是否允许无人机的接入，进而避免了本小区可能会对相邻小区造成很大的干扰。
图4是根据一示例性实施例示出的一种无人机接入方法的流程图，该无人机接入方法可以应用在无人机上，该无人机是请求接入基站的终端。如图4所示，该无人机接入方法包括以下步骤410-470：
在步骤410中，向基站发送随机接入请求，该随机接入请求包括随机接入前导码。
本公开实施例中，无人机请求接入基站时，可以选取一个Preamble码，并将该Preamble码添加到随机接入请求中，再将该随机接入请求发送至基站。
本公开实施例中，随机接入可以是基于竞争的随机接入，随机接入请求可以是基于竞争的随机接入过程中的随机接入前导。
在步骤420中，接收基站发送的随机接入初步响应。
本公开实施例中，随机接入初步响应可以是基于竞争的随机接入过程中的随机接入响应。
在步骤430中，根据基站发送的随机接入初步响应，确定该基站响应无人机的随机接入请求。
在步骤440中，向基站发送第一消息，该第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机。
本公开实施例中，第一消息可以是基于竞争的随机接入过程中的消息3。
在步骤450中，接收基站发送的用于指示允许接入的第二消息。
本公开实施例中，第二消息可以是基于竞争的随机接入过程中的竞争解决信令。
在步骤460中，根据基站发送的第二消息确定该基站允许无人机的接入。
在步骤470中，接入基站。
由上述实施例可见，通过向基站发送随机接入请求，该随机接入请求包括随机接入前导码，接收基站发送的随机接入初步响应，根据基站发送的随机接入初步响应，确定该基站响应无人机的随机接入请求，向基站发送第一消息，该第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机，接收基站发送的用于指示允许接入的第二消息，根据基站发送的第二消息确定该基站允许无人机的接入，接入基站，使得基站根据终端指示信息获知请求接入的终端为无人机，并根据具体情况确定是否允许无人机的接入，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
在一实施例中，上述步骤420中，随机接入初步响应包括随机接入前导码。
在此方式下，执行步骤430时，可以包括：根据基站发送的随机接入初步响应包括无人机的随机接入前导码，确定该基站响应无人机的随机接入请求。
由上述实施例可见，通过接收基站发送的包括无人机的随机接入前导码的随机接入初步响应，使得无人机可以根据该随机接入前导码快速确定基站响应无人机的随机接入请求，提高了无人机接入的效率和可靠性。
在一实施例中，上述步骤440中，终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备。
由上述实施例可见，终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号，且无人机类型标识、无人机身份识别号、无人机设备号均可以用于指示请求接入的终端为无人机，这样丰富了无人机的指示方式，提高了无人机接入的效率。
在一实施例中，上述步骤450中，第二消息包括终端指示信息。
在此方式下，执行步骤460时，可以包括：根据第二消息包括无人机的终端指示信息，确定基站允许无人机的接入。
由上述实施例可见，通过接收基站发送的用于指示允许接入的第二消息，该第二消息包括终端指示信息，使得无人机根据该终端指示信息可以快速确定基站允许无人机的接入，提高了无人机接入的效率和可靠性。
在一实施例中，执行步骤440后，该无人机接入方法还包括以下步骤：
(1)接收基站发送的用于指示不允许接入的第三消息；
(2)根据第三消息确定基站不允许无人机的接入。
本公开实施例中，第三消息可以是基于竞争的随机接入过程中的竞争解决信令。
由上述实施例可见，通过接收基站发送的用于指示不允许接入的第三消息，并根据第三消息确定基站不允许无人机的接入，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
与前述无人机接入方法实施例相对应，本公开还提供了无人机接入装置的实施例。
图5是根据一示例性实施例示出的一种无人机接入装置的框图，该装置用于基站，该基站是无人机请求接入的基站，并用于执行图1所示的无人机接入方法，如图5所示，该无人机接入装置可以包括：
第一接收模块51，被配置为接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
第一发送模块52，被配置为在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
第二接收模块53，被配置为接收所述无人机发送的第一消息，所述第一消息包 括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机
第二发送模块54，被配置为在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
由上述实施例可见，通过接收无人机发送的随机接入请求，该随机接入请求包括随机接入前导码，在确定响应无人机的随机接入请求时，向该无人机发送随机接入初步响应，接收无人机发送的第一消息，第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机，在确定允许无人机的接入时，向无人机发送用于指示允许接入的第二消息，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
可选地，所述随机接入初步响应包括所述随机接入前导码。
由上述实施例可见，通过向无人机发送包括无人机的随机接入前导码的随机接入初步响应，使得无人机接收到与自己发送的随机接入前导码一致的随机接入初步响应，可以快速确定基站响应无人机的随机接入请求，提高了无人机接入的效率和可靠性。
可选地，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号。
由上述实施例可见，终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号，且无人机类型标识、无人机身份识别号、无人机设备号均可以用于指示请求接入的终端为无人机，这样丰富了无人机的指示方式，提高了无人机接入的效率。
可选地，所述第二消息包括所述终端指示信息。
由上述实施例可见，通过向无人机发送用于指示允许接入的第二消息，该第二消息包括终端指示信息，使得无人机接收到与自己发送的终端指示信息一致的第二消息，可以快速确定基站允许无人机的接入，提高了无人机接入的效率和可靠性。
图6是根据一示例性实施例示出的另一种无人机接入装置的框图，该装置用于基站，该基站是无人机请求接入的基站，并建立图5所示装置的基础上，如图6所示，该无人机接入装置可以包括：
判断模块61，被配置为判断本小区对相邻小区的干扰程度是否小于设定阈值；
第一确定模块62，被配置为若所述干扰程度小于设定阈值，则确定允许无人机的接入；
第二确定模块63，被配置为若所述干扰程度大于或等于设定阈值，则确定不允许无人机的接入。
由上述实施例可见，通过判断本小区对相邻小区的干扰程度是否小于设定阈值，若是，确定允许无人机的接入；若否，则确定不允许无人机的接入，从而实现了根据本小区对相邻小区的干扰程度来决定是否允许无人机的接入，进而避免了本小区可能会对相邻小区造成很大的干扰。
图7是根据一示例性实施例示出的另一种无人机接入装置的框图，该装置用于基站，该基站是无人机请求接入的基站，并建立图5或图6所示装置的基础上，如图7所示，该无人机接入装置可以包括：
第三发送模块71，被配置为在确定不允许所述无人机的接入时，向所述无人机发送用于指示不允许接入的第三消息。
由上述实施例可见，通过在确定不允许所述无人机的接入时，向所述无人机发送用于指示不允许接入的第三消息，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
图8是根据一示例性实施例示出的一种无人机接入装置的框图，该装置用于无人机上，该无人机是请求接入基站的终端，并用于执行图4所示的无人机接入方法，如图8所示，该无人机接入装置可以包括：
第一发送模块81，被配置为向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
第一接收模块82，被配置为接收所述基站发送的随机接入初步响应；
第一确定模块83，被配置为根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
第二发送模块84，被配置为向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
第二接收模块85，被配置为接收所述基站发送的用于指示允许接入的第二消息；
第二确定模块86，被配置为根据所述第二消息确定所述基站允许所述无人机的接入；
接入模块87，被配置为接入所述基站。
由上述实施例可见，通过向基站发送随机接入请求，该随机接入请求包括随机接入前导码，接收基站发送的随机接入初步响应，根据基站发送的随机接入初步响应，确定该基站响应无人机的随机接入请求，向基站发送第一消息，该第一消息包括终端指示信息，终端指示信息用于指示请求接入的终端为无人机，接收基站发送的用于指示允许接入的第二消息，根据基站发送的第二消息确定该基站允许无人机的接入，接入基站，使得基站根据终端指示信息获知请求接入的终端为无人机，并根据具体情况确定是否允许无人机的接入，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
图9是根据一示例性实施例示出的另一种无人机接入装置的框图，该装置用于无人机上，该无人机是请求接入基站的终端，并建立在图8所示装置的基础上，所述随机接入初步响应包括所述随机接入前导码，如图9所示，所述第一确定模块83可以包括：
第一确定子模块91，被配置为根据所述随机接入初步响应包括所述随机接入前导码，确定所述基站响应所述随机接入请求。
由上述实施例可见，通过接收基站发送的包括无人机的随机接入前导码的随机接入初步响应，使得无人机可以根据该随机接入前导码快速确定基站响应无人机的随机接入请求，提高了无人机接入的效率和可靠性。
可选地，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备。
由上述实施例可见，终端指示信息可以包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号，且无人机类型标识、无人机身份识别号、无人机设备号均可以用于指示请求接入的终端为无人机，这样丰富了无人机的指示方式，提高了无人机接入的效率。
图10是根据一示例性实施例示出的另一种无人机接入装置的框图，该装置用于无人机上，该无人机是请求接入基站的终端，并建立在图8所示装置的基础上，所 述第二消息包括所述终端指示信息，如图10所示，所述第二确定模块86可以包括：
第二确定子模块101，被配置为根据所述第二消息包括所述终端指示信息，确定所述基站允许所述无人机的接入。
由上述实施例可见，通过接收基站发送的用于指示允许接入的第二消息，该第二消息包括终端指示信息，使得无人机根据该终端指示信息可以快速确定基站允许无人机的接入，提高了无人机接入的效率和可靠性。
图11是根据一示例性实施例示出的另一种无人机接入装置的框图，该装置用于无人机上，该无人机是请求接入基站的终端，并建立在图8所示装置的基础上，如图11所示，所述装置还可以包括：
第三接收模块111，被配置为接收所述基站发送的用于指示不允许接入的第三消息；
第三确定模块112，被配置为根据所述第三消息确定所述基站不允许所述无人机的接入。
由上述实施例可见，通过接收基站发送的用于指示不允许接入的第三消息，并根据第三消息确定基站不允许无人机的接入，从而实现了在随机接入阶段就开始控制无人机的接入，进而避免了无人机可能产生的干扰。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
相应地，本公开还提供了一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序用于执行图1或图3所示的无人机接入方法。
相应地，本公开还提供了一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序用于执行图4所示的无人机接入方法。
相应地，本公开还提供了一种无人机接入装置，所述装置用于基站，所述装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
如图12所示，图12是根据一示例性实施例示出的一种无人机接入装置的一结构示意图。装置1200可以被提供为一基站。参照图12，装置1200包括处理组件1222、无线发射/接收组件1224、天线组件1226、以及无线接口特有的信号处理部分，处理组件1222可进一步包括一个或多个处理器。
处理组件1222中的其中一个处理器可以被配置为用于执行上述任一所述的下行控制信道的发送方法。
相应地，本公开还提供了无人机接入装置，所述装置用于无人机，所述装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
接收所述基站发送的随机接入初步响应；
根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
接收所述基站发送的用于指示允许接入的第二消息；
根据所述第二消息确定所述基站允许所述无人机的接入；
接入所述基站。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (26)

  1. 一种无人机接入方法，其特征在于，所述方法用于基站，所述方法包括：
    接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
    在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
    接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
    在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
  2. 根据权利要求1所述的方法，其特征在于，所述随机接入初步响应包括所述随机接入前导码。
  3. 根据权利要求1所述的方法，其特征在于，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号。
  4. 根据权利要求1或3所述的方法，其特征在于，所述第二消息包括所述终端指示信息。
  5. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    判断本小区对相邻小区的干扰程度是否小于设定阈值；
    若所述干扰程度小于设定阈值，则确定允许无人机的接入；
    若所述干扰程度大于或等于设定阈值，则确定不允许无人机的接入。
  6. 根据权利要求1或5所述的方法，其特征在于，所述方法还包括：
    在确定不允许所述无人机的接入时，向所述无人机发送用于指示不允许接入的第三消息。
  7. 一种无人机接入方法，其特征在于，所述方法用于无人机，所述方法包括：
    向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
    接收所述基站发送的随机接入初步响应；
    根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
    向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
    接收所述基站发送的用于指示允许接入的第二消息；
    根据所述第二消息确定所述基站允许所述无人机的接入；
    接入所述基站。
  8. 根据权利要求7所述的方法，其特征在于，所述随机接入初步响应包括所述随机接入前导码；所述根据所述随机接入初步响应，确定所述基站响应所述随机接入请求，包括：
    根据所述随机接入初步响应包括所述随机接入前导码，确定所述基站响应所述随机接入请求。
  9. 根据权利要求7所述的方法，其特征在于，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备。
  10. 根据权利要求7或9所述的方法，其特征在于，所述第二消息包括所述终端指示信息；所述根据所述第二消息确定所述基站允许所述无人机的接入，包括：
    根据所述第二消息包括所述终端指示信息，确定所述基站允许所述无人机的接入。
  11. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    接收所述基站发送的用于指示不允许接入的第三消息；
    根据所述第三消息确定所述基站不允许所述无人机的接入。
  12. 一种无人机接入装置，其特征在于，所述装置用于基站，所述装置包括：
    第一接收模块，被配置为接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
    第一发送模块，被配置为在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
    第二接收模块，被配置为接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
    第二发送模块，被配置为在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
  13. 根据权利要求12所述的装置，其特征在于，所述随机接入初步响应包括所述随机接入前导码。
  14. 根据权利要求12所述的装置，其特征在于，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备号。
  15. 根据权利要求12或14所述的装置，其特征在于，所述第二消息包括所述终端指示信息。
  16. 根据权利要求12所述的装置，其特征在于，所述装置还包括：
    判断模块，被配置为判断本小区对相邻小区的干扰程度是否小于设定阈值；
    第一确定模块，被配置为若所述干扰程度小于设定阈值，则确定允许无人机的接入；
    第二确定模块，被配置为若所述干扰程度大于或等于设定阈值，则确定不允许无人机的接入。
  17. 根据权利要求12或16所述的装置，其特征在于，所述装置还包括：
    第三发送模块，被配置为在确定不允许所述无人机的接入时，向所述无人机发送用于指示不允许接入的第三消息。
  18. 一种无人机接入装置，其特征在于，所述装置用于无人机，所述装置包括：
    第一发送模块，被配置为向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
    第一接收模块，被配置为接收所述基站发送的随机接入初步响应；
    第一确定模块，被配置为根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
    第二发送模块，被配置为向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
    第二接收模块，被配置为接收所述基站发送的用于指示允许接入的第二消息；
    第二确定模块，被配置为根据所述第二消息确定所述基站允许所述无人机的接入；
    接入模块，被配置为接入所述基站。
  19. 根据权利要求18所述的装置，其特征在于，所述随机接入初步响应包括所述随机接入前导码；所述第一确定模块包括：
    第一确定子模块，被配置为根据所述随机接入初步响应包括所述随机接入前导码，确定所述基站响应所述随机接入请求。
  20. 根据权利要求18所述的装置，其特征在于，所述终端指示信息包括无人机类型标识、和/或无人机身份识别号、和/或无人机设备。
  21. 根据权利要求18或20所述的装置，其特征在于，所述第二消息包括所述终端指示信息；所述第二确定模块，包括：
    第二确定子模块，被配置为根据所述第二消息包括所述终端指示信息，确定所述基站允许所述无人机的接入。
  22. 根据权利要求18所述的装置，其特征在于，所述装置还包括：
    第三接收模块，被配置为接收所述基站发送的用于指示不允许接入的第三消息；
    第三确定模块，被配置为根据所述第三消息确定所述基站不允许所述无人机的接入。
  23. 一种非临时计算机可读存储介质，所述存储介质上存储有计算机程序，其特征在于，所述计算机程序用于执行上述权利要求1-6任一所述的无人机接入方法。
  24. 一种非临时计算机可读存储介质，所述存储介质上存储有计算机程序，其特征在于，所述计算机程序用于执行上述权利要求7-11任一所述的无人机接入方法。
  25. 一种无人机接入装置，其特征在于，所述装置用于基站，所述装置包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    接收无人机发送的随机接入请求，所述随机接入请求包括随机接入前导码；
    在确定响应所述无人机的所述随机接入请求时，向所述无人机发送随机接入初步响应；
    接收所述无人机发送的第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
    在确定允许所述无人机的接入时，向所述无人机发送用于指示允许接入的第二消息。
  26. 一种无人机接入装置，其特征在于，所述装置用于无人机，所述装置包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    向基站发送随机接入请求，所述随机接入请求包括随机接入前导码；
    接收所述基站发送的随机接入初步响应；
    根据所述随机接入初步响应，确定所述基站响应所述随机接入请求；
    向所述基站发送第一消息，所述第一消息包括终端指示信息，所述终端指示信息用于指示请求接入的终端为无人机；
    接收所述基站发送的用于指示允许接入的第二消息；
    根据所述第二消息确定所述基站允许所述无人机的接入；
    接入所述基站。
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