WO2021102796A1

WO2021102796A1 - Position determination method for unmanned aerial vehicle base station, terminal, and computer readable storage medium

Info

Publication number: WO2021102796A1
Application number: PCT/CN2019/121593
Authority: WO
Inventors: 饶雄斌; 王乃博; 尹小俊; 范伟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2021-06-03
Also published as: CN113661725A

Abstract

A position determination method for an unmanned aerial vehicle base station, a terminal, and a computer readable storage medium. The method comprises: acquiring a patrol region of an unmanned aerial vehicle, and determining multiple patrol sub-regions on the basis of the patrol region; acquiring an interference data set of an environment of the patrol region, the interference data set comprising interference level sets collected at a pre-determined height and corresponding to the patrol sub-regions; determining a target interference level of a target patrol sub-region according to an interference level set corresponding to the target patrol sub-region, and determining a communication connection distance matching the target interference level, the target patrol sub-region being any one of the multiple patrol sub-regions; and determining a station deployment position of an unmanned aerial vehicle base station according to the communication connection distance and the multiple patrol sub-regions. Embodiments of the present application enable fast determination of a station deployment position of an unmanned aerial vehicle base station, thereby achieving automatic and smart position determination for unmanned aerial vehicle base stations.

Description

Method, terminal and computer readable storage medium for determining location of drone base station

Technical field

This application relates to the field of data processing technology, and in particular to a method for determining the location of a drone base station, a terminal, and a computer-readable storage medium.

Background technique

In recent years, UAV inspection technology has attracted more and more attention, and it can be applied to many inspection tasks. For example, the use of drone patrol technology to conduct power inspections to monitor the failure of transmission lines, etc.; the use of drone patrol technology to conduct forest patrols to monitor the pests and diseases of forest trees and the growth and coverage of forest vegetation. UAV inspections instead of human inspections can not only improve inspection efficiency, but also inspect areas that are difficult for people to reach, such as swamps in forests.

In the process of the UAV's patrol mission, it usually needs to collect telemetry data, such as image data, infrared data, etc., and transmit the collected telemetry data back to the UAV base station. The UAV base station then transmits the data back to the control center through wired communication to analyze and store the UAV telemetry data.

At present, the ISM frequency band is mainly used to realize the wireless communication between the UAV and the UAV base station, and the wireless communication using the ISM frequency band is susceptible to environmental interference, which will reduce the signal coverage of the UAV base station. Therefore, in order to achieve signal coverage in a larger inspection area (for example, an area formed by a power line, a forest area, etc.), it is often necessary to deploy UAV base stations in multiple places in the inspection area. However, drone patrol technology has just emerged. For a specific patrol area, how to select the location of the drone base station is currently lacking relevant technical guidance. In addition, due to the inconsistency of the signal coverage of the UAV base station with different interference in the area, the challenge of selecting the location of the UAV base station is greatly increased. Therefore, for the UAV patrol application scenario, how to select the location of the UAV base station is a current research hotspot.

Summary of the invention

The embodiment of the application discloses a method for determining the location of a drone base station, a terminal, and a computer-readable storage medium, which can quickly determine the location of the drone base station, and realize the automation and intelligence of determining the location of the drone base station.化.

The first aspect of the embodiments of the present application discloses a method for determining the location of a drone base station, the method including:

Acquire a patrol area of the drone, and determine multiple patrol sub-areas based on the patrol area;

Obtain an interference data set of the environment in which the patrol area is located, where the interference data set includes an interference level set collected at a preset height corresponding to each patrol sub-area, and the interference level set includes multiple sets of interference levels in a preset frequency band. Interference level on frequency;

Determine the target interference level of the target patrol sub-region according to the interference level set corresponding to the target patrol sub-region, and determine the communication connection distance matching the target interference level, the target patrol sub-region is the multiple patrol sub-regions Any of

The deployment location of the UAV base station is determined according to the communication connection distance and the multiple inspection sub-areas.

The second aspect of the embodiments of the present application discloses a terminal, which includes a memory and a processor,

The memory is used to store program instructions;

The processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:

The third aspect of the embodiments of the present application discloses a computer-readable storage medium in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented. .

In this embodiment of the application, the target interference level of each patrol sub-region is determined according to the interference level set collected at a preset height corresponding to each patrol sub-region, and the communication connection distance matching each target interference level is determined, according to the communication connection The distance and multiple patrol sub-areas determine the location of the UAV base station, so that the location of the UAV base station can be quickly determined, and the automation and intelligence of determining the location of the UAV base station can be realized.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative labor, other drawings can be obtained from these drawings.

FIG. 1 is a schematic diagram of the architecture of an unmanned aerial vehicle patrol system disclosed in an embodiment of the present application;

2 is a schematic flowchart of a method for determining the location of a drone base station disclosed in an embodiment of the present application;

Figure 3 is a schematic diagram of a linear patrol area disclosed in an embodiment of the present application;

4 is a schematic diagram of a sheet-shaped patrol area disclosed in an embodiment of the present application;

Fig. 5 is a height schematic diagram of collecting interference data disclosed in an embodiment of the present application;

FIG. 6 is a sub-flow chart of step S205 shown in FIG. 2;

FIG. 7 is a schematic diagram of a signal coverage area of a UAV base station disclosed in an embodiment of the present application.

FIG. 8 is another sub-flow chart of step S205 shown in FIG. 2;

Fig. 9 is a schematic structural diagram of a terminal disclosed in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

UAV automatic patrol technology can be widely used in many patrol tasks. For example, the use of drone inspection technology for power inspections, oil pipeline or natural gas pipeline inspections, forest inspections, and the use of drone inspection technology for inspections of airports, prisons, military bases, borders and other places. For the above-mentioned operation scenarios, due to the fixed content and location of the inspection, it is very suitable for automated drone inspections.

Please refer to FIG. 1, which is a schematic diagram of the architecture of an unmanned aerial vehicle patrol system provided by an embodiment of this application. As shown in Figure 1, when the UAV performs a patrol mission, it takes off from the drone's nest; with the help of real-time dynamic carrier differential positioning (Real-time kinematic, RTK) technology, the UAV follows the waypoint specified by the control center Perform patrol missions and collect corresponding telemetry data, such as image data, infrared data, interference data, etc.; the drone transmits the collected telemetry data back through the wireless communication connection between the drone and the ground drone base station Give the drone base station. The UAV base station transmits the telemetry data back to the control center through a wired backhaul network (such as optical fiber) to analyze and store the UAV telemetry data.

At present, the ISM (Industrial Scientific Medical) frequency band is mainly used to realize wireless communication between drones and drone base stations. The ISM frequency band is a frequency band that is mainly open to industrial, scientific, and medical institutions. Since the use of ISM frequency band for wireless communication needs to comply with a certain transmission power (generally less than 1W) and is susceptible to environmental interference, the communication distance between the drone and the drone base station is limited, or drones The signal coverage of the base station is limited. Therefore, in order to achieve signal coverage in a larger inspection area (for example, an area formed by a power line, a forest area, etc.), it is often necessary to deploy UAV base stations in multiple places in the inspection area. The deployment of UAV base stations needs to achieve the following two goals: 1. To achieve seamless signal switching in the inspection area, 2. Under the precondition of guarantee 1, the number of UAV base stations in the inspection area is as small as possible. Reduce deployment and operating costs. However, drone patrol technology has just emerged. For a specific patrol area, how to select the location of the drone base station is currently lacking relevant technical guidance. In addition, due to the inconsistency of the signal coverage of the UAV base station with different interference in the area, the challenge of selecting the location of the UAV base station is greatly increased.

Based on this, an embodiment of the present application provides a method for determining the location of a UAV base station, which includes the following steps: acquiring a patrol area of the UAV, and determining multiple patrol sub-areas based on the patrol area. The patrol area and the patrol sub-areas can be It is a linear area or a patch area; the interference data set of the environment of the inspection area is obtained, the interference data set includes the interference level set collected at the preset height corresponding to each inspection sub-area, and the interference level set Including the interference level on multiple frequencies in the preset frequency band; the preset height includes the first height and/or the second height, the first height can be the drone patrol height, and the second height can be the drone base station height . Determine the target interference level of the target patrol sub-area according to the interference level set corresponding to the target patrol sub-area, and determine the communication connection distance matching the target interference level, the target patrol sub-area is any one of the multiple patrol sub-areas; finally according to The communication connection distance and the multiple patrol sub-areas determine the deployment position of the UAV base station. Through the above method, the deployment location of the UAV base station in the inspection area can be quickly determined, so as to realize the automation and intelligence of determining the deployment location of the UAV base station, which will be described in detail below.

The method for determining the location of a drone base station provided by the embodiment of the present application can be applied to a terminal with data processing functions, such as a computer terminal of a drone control center. Please refer to FIG. 2, which is a schematic flowchart of a method for determining the location of a UAV base station according to an embodiment of this application. The method for determining the location of the UAV base station described in the embodiments of the present application may include:

S201: The terminal obtains a patrol area of the drone, and determines multiple patrol sub-areas based on the patrol area.

In the embodiments of the present application, the patrol area is the area patrolled by the drone when performing a patrol task, and the patrol area can be divided into two types: linear area and sheet area. For example, when drones perform inspection tasks on power lines, oil pipelines, or natural gas pipelines, the inspection area is a linear area; when drones perform inspection tasks on forests, amusement parks, or airports, the inspection area is a patchy area.

In one embodiment, the terminal obtains the area input by the user through the flight control software configured by the terminal, and uses the area input by the user as the patrol area of the drone. In another embodiment, the terminal receives multiple reference coordinates of the drone patrol area input by the user, and adaptively generates the patrol area of the drone according to the multiple reference coordinates.

After obtaining the inspection area of the drone, the terminal divides the inspection area into multiple inspection sub-areas. As shown in Figure 3, for the linear patrol area, the linear patrol area is divided into a plurality of continuous linear patrol sub-areas; in one embodiment, the length of each linear patrol sub-areas is the same, for example, each The actual space length corresponding to the linear patrol sub-region is 10m. As shown in Figure 4, for the sheet-shaped inspection area, the sheet-shaped inspection area is divided into a plurality of continuous sheet-shaped inspection sub-areas; in one embodiment, the size of each sheet-shaped inspection sub-area is the same, for example, each The actual space size corresponding to the sheet patrol sub-area is 10m×10m.

S202. The terminal acquires an interference data set of the environment in which the patrol area is located, where the interference data set includes an interference level set collected at a preset height corresponding to each patrol sub-areas, and the interference level set is included in the pre- Set the interference level on multiple frequencies in the frequency band.

In the embodiment of this application, a drone with scanning capability is used to patrol the environment in the patrol area at a preset height, and the drone is used to scan and collect the corresponding patrol sub-areas in the preset height during the patrol process. The interference level set at altitude, the interference level set includes the interference level on multiple frequencies in the preset frequency band, the interference level is the interference intensity; the UAV records the correspondence between the interference level set and the patrol sub-area to obtain the patrol The interference data set of the environment of the area. The terminal obtains the interference data set of the environment in the inspection area from the UAV.

In an embodiment, the preset height includes a first height and/or a second height; the interference level set includes a first interference level set collected at the first height, and a second interference level collected at the second height At least one kind of concentration. Among them, the first height is higher than the second height. In one embodiment, as shown in FIG. 5, the first height is the patrol height of the drone, that is, the flying height of the drone when it performs a patrol task for the environment in which the patrol area is located; the second height is the drone Base station height. Specifically, a drone with sweeping capabilities is used to patrol the environment of the patrol area at the patrol height of the drone, and the drone is used to scan and collect the corresponding drones in each patrol sub-area during the patrol process. The first set of interference levels at the patrol height. UAVs with scanning capabilities are used to patrol the environment of the patrol area at the height of the UAV base station, and the UAV is used to scan and collect the corresponding patrol sub-areas at the height of the UAV base station during the patrol process. The second interference level set. The terminal obtains the first interference level set and/or the second interference level set from the drone.

As shown in Figure 3, when the patrol area and the patrol sub-area are linear areas, the corresponding relationship between the recorded interference level set and the patrol sub-area is

and / or

Among them, x _i refers to the distance between the i-th linear patrol sub-area and the reference point, specifically it can be the distance from the center point of the i-th linear patrol sub-area to the reference point; the reference point can be the leftmost point in Figure 3 The center point of the side patrol sub-area can also be the leftmost point in Figure 3. The smaller the value of i, the closer the corresponding linear patrol sub-areas is to the reference point; the value range of i is [1, N], and N is the number of linear patrol sub-areas. Hereinafter, the i-th patrol sub-area is referred to as the patrol sub-area i for short, and the rest of the situation can be deduced by analogy, and will not be repeated in the following.

Is the first interference level set collected at the first height corresponding to the linear patrol sub-region i, and the first interference level set includes the interference levels on multiple frequencies in the preset frequency band, namely

The preset frequency band is the available frequency band of the UAV patrol system (including UAV and UAV base station). For example, the preset frequency band is the 2.4G frequency band, the bandwidth of the 2.4G frequency band is 83M, and the drone obtains a corresponding interference level every 1 MHz, then the first interference level set includes 83 interference level values, that is, K=83. For another example, if the preset frequency band is 2.4G+5.8G dual frequency, then

among them,

Is the interference level on the 2.4G frequency band,

It is the interference level on the 5.8G frequency band. The value of G can be 125.

Is the second interference level set collected at the second height corresponding to the linear patrol sub-area i, and the second interference level set includes the interference levels on multiple frequencies in the preset frequency band, namely

Explanation and

Similar, not repeat them here.

As shown in Figure 4, when the patrol area and the patrol sub-area are flake areas, the corresponding relationship between the recorded interference level set and the patrol sub-area is

and / or

Among them, (x _i , y _i ) refers to the coordinates of the i-th flake patrol sub-area, which can be the center point coordinates of the flake patrol sub-area i; the coordinates can be the actual spatial position coordinates of the center point, or it can be The coordinates of the relative coordinate origin are determined under the coordinate system with the point in the upper left corner of FIG. 4 as the coordinate origin. The smaller the value of i, the closer the corresponding patch patrol sub-region is to the coordinate origin. The value range of i is [1, N], and N is the number of flake patrol sub-areas.

Is the first interference level set collected at the first height corresponding to the patch patrol sub-region i, and the first interference level set includes the interference levels on multiple frequencies in the preset frequency band, that is,

Is the second set of interference levels collected at the second height corresponding to the patch patrol sub-region i, and the second set of interference levels includes interference levels on multiple frequencies in the preset frequency band, that is,

with

For the explanation, please refer to the previous description, which will not be repeated here.

S203: The terminal determines the target interference level of the target patrol sub-region according to the interference level set corresponding to the target patrol sub-region, where the target patrol sub-region is any one of the multiple patrol sub-regions.

In the embodiment of the present application, for each target patrol sub-region, the terminal determines the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region, and/or, according to the target patrol sub-region The corresponding second interference level set determines the target interference level of the target patrol sub-region at the second height. In an embodiment, the target interference level is a minimum interference level, a maximum interference level, or an average interference level in a concentration of interference levels.

In another embodiment, the spectrum bandwidth of the channel sent by the drone base station to the drone during the drone patrol is the first bandwidth. The specific method for the terminal to determine the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region is: determining the first target spectrum with the bandwidth of the first bandwidth from the preset frequency band, where , The multiple frequency points in the first target spectrum are continuous and in the same frequency band, and the first interference level corresponding to the target patrol sub-region is concentrated on the average interference level corresponding to the first target spectrum, relative to other bandwidths in the preset frequency band The average interference level corresponding to the frequency spectrum of the first bandwidth is the lowest or the highest. Obtain the first interference level corresponding to the target patrol sub-region and set the average interference level corresponding to the first target spectrum, and use the average interference level as the target interference level of the target patrol sub-region at the first height.

The frequency spectrum bandwidth of the UAV transmission channel to the UAV base station during the UAV patrol is the second bandwidth. The specific method for the terminal to determine the target interference level of the target patrol sub-region at the second height according to the second interference level set corresponding to the target patrol sub-region is: determining a second target spectrum with a bandwidth of the second bandwidth from a preset frequency band, where , The multiple frequency points in the second target spectrum are continuous and in the same frequency band, and the second interference level corresponding to the target patrol sub-area concentrates on the average interference level corresponding to the second target spectrum, relative to other bandwidths in the preset frequency band The average interference level corresponding to the frequency spectrum of the second bandwidth is the lowest or the highest. The second interference level corresponding to the target patrol sub-region is acquired and the average interference level corresponding to the second target spectrum is collected, and the average interference level is used as the target interference level of the target patrol sub-region at the second height.

For example, assuming that the spectrum bandwidth that the patrol system can use is B _rc and _Buav , _Buav is the spectrum bandwidth from the UAV base station to the UAV, that is, the first bandwidth, and B _rc is the UAV transmission channel to The spectrum bandwidth of the UAV base station, that is, the second bandwidth. Before determining the location of the UAV base station, it is necessary to process the collected interference data. For the patrol sub-area i, the effective interference level (ie the target interference level) on the side of the drone (ie at the first height) can be determined according to Equation 1, which is as follows:

Among them, the meaning of Formula 1 is to select a frequency spectrum with a bandwidth of _Buav from the preset frequency band, so that the average interference level corresponding to this frequency spectrum is the lowest. In addition, when selecting the frequency spectrum, it is necessary to ensure that the selected _Buav frequency points are continuous and in the same frequency band.

For the patrol sub-area i, the effective interference level (ie the target interference level) at the UAV base station side (ie at the second height) can be determined according to Equation 2, which is as follows:

Among them, the meaning of Formula 2 is to select a spectrum with a bandwidth of B _rc from the preset frequency band, so that the average interference level corresponding to this spectrum is the lowest. In addition, when selecting the frequency spectrum, it is necessary to ensure that the selected B _rc frequency points are continuous and in the same frequency band.

The reason why the lowest average interference level can be selected is that the UAV and UAV base station can adaptively select the frequency. In actual work, the uplink and downlink between the UAV and UAV base station can be selected to the best Therefore, when calculating the interference level, the frequency band where the UAV and UAV base station work can be selected to the best frequency spectrum interference level as the basis for calculating the subsequent communication distance.

S204. The terminal determines a communication connection distance matching the target interference level.

In the embodiment of this application, for each target patrol sub-area, the terminal determines the target interference level with the target patrol sub-area at the first height (on the drone side)

Matched first communication connection distance

And/or determine the target interference level with the target patrol sub-area at the second height (on the drone base station side)

Matching second communication connection distance

In an embodiment, the terminal may determine the interference level with the target according to the preset mapping relationship between the interference level and the communication connection distance.

Matched first communication connection distance

And/or determine the level of interference with the target

Matching second communication connection distance

In another embodiment, the terminal can calculate the level of interference with the target according to a preset formula for calculating the effective communication connection distance.

Matched first communication connection distance

And/or determine the level of interference with the target

Matching second communication connection distance

Among them, the specific calculation formula is shown in formula three, which is as follows:

20log ₁₀ (d)=P _t +G _t +G _r -P _min -(II ₀ )-32.4-20log ₁₀ (f _MHz )-S

Among them, P _t is the transmit power, G _t is the transmit antenna gain, and G _r is the receive antenna gain. I ₀ is the noise floor level under non-interference conditions, which is approximately -110dBm/MHz under ideal conditions; P _min is the sensitivity corresponding to the required transmission rate of the communication link under non-interference conditions; f _MHz is the center frequency of communication; S is the shadowing attenuation of the communication link in the environment, and S can be obtained by offline statistics. I is the noise floor level of environmental interference (i.e. calculated above

or

), replace I with

Can be calculated and

Matched first communication connection distance

Replace I with

Can be calculated and

Matching second communication connection distance

In another embodiment, the preset frequency band includes a first frequency band and a second frequency band. The first interference level set corresponding to the target patrol sub-region includes interference levels on multiple frequencies in the first frequency band and interference levels on multiple frequencies in the second frequency band. Obtain the maximum interference level of the interference levels on the multiple frequencies in the first frequency band, and determine the first target distance matching the maximum interference level according to the foregoing mapping relationship or Equation 3. Obtain the maximum interference level of the interference levels on the multiple frequencies in the second frequency band, and determine the second target distance matching the maximum interference level according to the foregoing mapping relationship or Equation 3. The minimum value of the first target distance and the second target distance is determined as the first communication connection distance that matches the interference level of the target patrol sub-region at the first height (or the drone side). In the same way, a similar processing method is used to process the second interference level set corresponding to the target patrol sub-region, and the second interference level matching the target patrol sub-region at the second height (or the drone base station side) can be obtained. 2. Communication connection distance.

S205: The terminal determines the deployment position of the UAV base station according to the communication connection distance and the multiple patrol sub-areas.

In an embodiment, the patrol area and the patrol sub-area are linear areas, and the communication connection distance corresponding to each target patrol sub-area includes: a first communication connection distance that matches the target interference level of the target patrol sub-area at the first height (Or the UAV side communication connection distance), and the second communication connection distance (or UAV base station side communication connection distance) that matches the target interference level of the target patrol sub-area at the second height. As shown in Fig. 3, the multiple patrol sub-areas divided into the patrol area are arranged from near to far according to the actual spatial position relationship and the distance from the reference point. The reference point can be the center point of the first patrol sub-area, or the leftmost point in FIG. 3. Step S205 mainly includes the following steps as shown in FIG. 6:

S511. Determine the to-be-selected patrol sub-areas.

In the embodiment of the present application, the to-be-selected patrol sub-region is a patrol whose distance to the first reference patrol sub-region is less than or equal to the first communication connection distance corresponding to the first reference patrol sub-region among the multiple patrol sub-regions Among the sub-regions, the patrol sub-region furthest from the first reference patrol sub-region; the first reference patrol sub-region is the patrol sub-region closest to the reference point among the multiple patrol sub-regions, that is, the center row In the first patrol sub-area. This step is used to try to select a patrol sub-area as the deployment position of the UAV base station, and the selected patrol sub-area needs to meet the above conditions.

S512: Detect whether the to-be-selected patrol sub-area meets a first preset condition. If the to-be-selected patrol sub-area does not meet the first preset condition, step S513 to step S514 are executed; if the to-be-selected patrol sub-area satisfies the first preset condition, then step S515 to step S515 are executed. Step S517.

In the embodiment of this application, satisfying the first preset condition means that the distance between the patrol sub-region to be selected and the first patrol sub-region to be compared is less than or equal to the first communication connection corresponding to the first patrol sub-region to be compared The distance is less than or equal to the second communication connection distance corresponding to the patrol sub-region to be selected; the first patrol sub-region to be compared is the patrol sub-region to be selected and the patrol sub-region in front of the patrol sub-region to be selected Any one of. This step is used to determine whether the selected patrol sub-area to be selected is appropriate as the location of the UAV base station. Specifically, it is used to determine when the UAV base station is arranged in the patrol sub-area to be selected, the UAV will follow the patrol When flying at an altitude above any of the first patrol sub-area to be compared, whether the UAV base station is within the coverage area of the UAV signal, and whether the UAV is within the coverage area of the UAV base station signal; if so, confirm The selected patrol sub-area to be selected is appropriate, otherwise, it is not appropriate.

S513: Acquire a patrol sub-areas that is one digit before the patrol sub-areas currently to be selected among the plurality of patrol sub-areas.

S514: Determine the patrol sub-areas that is one digit before the current patrol sub-areas to be selected as the new patrol sub-areas to be selected, and execute step S512.

Steps S513 and S514 are used for when the to-be-selected patrol sub-area selected in step S511 is not suitable, try to select the patrol sub-area that is one place in front of the currently to-be-selected patrol sub-area as the deployment position of the UAV base station. And use the method in step S512 to detect whether the newly selected to-be-selected patrol sub-region is suitable.

S515. Determine the to-be-selected patrol sub-area as the deployment location of the UAV base station.

S516: Determine a second reference patrol sub-area.

In the embodiment of the present application, the second reference patrol sub-areas is the multiple patrol sub-areas, among the patrol sub-areas that are behind the to-be-selected patrol sub-areas and meet the second preset condition, and are the closest to the to-be-selected patrol sub-areas. Far patrol sub-areas. Wherein, satisfying the second preset condition means that the distance between the second reference patrol sub-region and the patrol sub-region to be selected is less than or equal to the second communication connection distance corresponding to the patrol sub-region to be selected, and the second to be compared The distance between the patrol sub-region and the patrol sub-region to be selected is less than or equal to the first communication connection distance corresponding to the second patrol sub-region to be compared; the second patrol sub-region to be compared is the patrol sub-region to be selected to the second reference Any one of the multiple patrol sub-areas of the patrol sub-area.

This step is used to determine the maximum backward coverage capability of the UAV base station arranged in the to-be-selected patrol sub-area. The above second preset condition also refers to: when the UAV base station is arranged in the to-be-selected patrol sub-area When the drone is flying over any second patrol sub-area to be compared according to the patrol height, the drone base station is within the coverage area of the drone signal, and the drone is within the coverage area of the drone base station signal . The determined patrol sub-area is the patrol sub-area that is farthest from the to-be-selected patrol sub-area among the patrol sub-areas that satisfy the second preset condition.

S517. Remove the second reference patrol sub-areas and the patrol sub-areas in front of the second reference patrol sub-areas from the multiple patrol sub-areas, and execute step S511.

This step is used to remove the patrol sub-areas that can be covered by the UAV base station arranged at that location after determining the location of a UAV base station, and then focus on the remaining patrol sub-areas to be covered In the interval, use the same method to determine the location of the next UAV base station; until multiple UAV base stations are determined to cover the entire inspection area, seamless signal switching in the inspection area is realized.

In order to better understand the above processing process, the following description is combined with specific formulas. Based on the relevant description in step S202 to step S204, information can be obtained

Wherein, x _i refers to the distance between the center point of the patrol sub-region i and the reference point, and the reference point may be the center point of the first patrol sub-region. The embodiment of the present application adopts a greedy algorithm to gradually obtain the deployment location set of UAV base stations in the inspection area, so that the communication signal can cover the entire inspection area and minimize the number of UAV base stations arranged in the inspection area. The communication signal can cover the entire inspection area means that when the drone is flying over any area in the inspection area according to the inspection height, the drone can continuously receive the signal of the drone base station arranged in the inspection area, and it is arranged in the inspection area. The UAV base station in the inspection area can also continuously receive the UAV signal.

The input information of the greedy algorithm is

The output information is the set of station locations S of the UAV base station. Among them, S={s ₁ ,...,s _m }, m is the smallest, that is, the number of elements contained in S is the smallest; s _i (1≤i≤m) indicates that the patrol sub-area s _i is selected and needs to be in the patrol sub-area s A UAV base station is arranged in _i.

The specific processing flow of the greedy algorithm is as follows:

Step 1: Determine the location of the UAV base station from left to right according to the sequence shown in Figure 3. First try to place the first UAV base station as the j-th patrol subarea, where j is required Satisfy the conditions shown in Equation 4, which is as follows:

The meaning of formula 4 is: the j-th patrol sub-area is the drone of the multiple patrol sub-areas whose distance from the first-ranked patrol sub-area is less than or equal to that of the first-ranked patrol sub-area Among the patrol sub-areas of the side communication connection distance, the patrol sub-area that is the farthest from the first-ranked patrol sub-area.

Perform a test on j to verify whether the following inequality is satisfied:

among them,

Means for all (for all). The meaning of inequality (1) is: check whether the distance between the patrol sub-area j and the patrol sub-area t is less than or equal to the UAV side communication connection distance corresponding to the patrol sub-area t, that is, check when the UAV base station is arranged in In the patrol sub-area j, when the UAV flies over the patrol sub-area t according to the patrol height, whether the UAV base station is within the coverage of the UAV signal. The meaning of inequality (2) is to check whether the distance between the patrol sub-area j and the patrol sub-area t is less than or equal to the UAV base station side communication connection distance corresponding to the patrol sub-area j, that is, to check when the UAV base station is arranged In the patrol sub-area j, when the UAV flies over the patrol sub-area t according to the patrol height, whether the UAV is within the coverage of the UAV base station signal. Wherein, the patrol sub-region t is any one of j patrol sub-regions ranked first to j-th ranked among the multiple patrol sub-regions.

If for j, the inequalities (1) and (2) are satisfied, then the patrol sub-area j is determined as the deployment position of the UAV base station, that is, s ₁ =j. If the inequality (1) or (2) is not satisfied for j, adjust j so that j=j-1; and recheck whether the inequality (1) and (2) are satisfied for the adjusted j. Repeat the above steps until you find a j that satisfies inequalities (1) and (2).

Step 2: After obtaining j that satisfies inequalities (1) and (2), determine the maximum backward coverage capability of the UAV base station arranged in the patrol sub-area j, that is, find the following 3 expressions Conditional inspection sub-area e ₁ .

Among them, st is the meaning of satisfying, and the meaning of the above three expressions is to find the patrol sub-region e ₁ that is the farthest from the patrol sub-region j among the patrol sub-regions satisfying inequalities (3) and (4), which is Patrol the sub-area k. Meaning inequality (3) is: in any row to the first row e ₁ j-th bit position for the plurality of sub-regions in a patrol inspection subregion t, the distance between the sub-area inspection and inspection subregions t j, Less than or equal to the UAV side communication connection distance corresponding to the patrol sub-area t, that is, when the UAV base station is arranged in the patrol sub-area j, and the UAV flies over the patrol sub-area t according to the patrol height, The base station is in the coverage area of the UAV signal. The meaning of inequality (4) is: _{the distance between the patrol sub-area e i} and the patrol sub-area j is less than or equal to the UAV base station side communication connection distance corresponding to the patrol sub-area j, that is, when the UAV base station is arranged in the patrol In sub-area j, when the UAV flies over the patrol sub-area e ₁ according to the patrol height, the UAV is within the coverage area of the UAV base station signal.

After steps 1 and 2, the greedy algorithm is used to find the location of the first UAV base station as the patrol sub-area j, and after the UAV base station is arranged in the patrol sub-area j, the UAV base station is found range that can cover a plurality of rows of sub-regions in the tour e ₁ patrol to a first sub-region ranked e ₁ bit. As shown in Figure 7, the signal coverage of the first UAV base station is shown.

Step 3: Determine the location of the second UAV base station. The patrol sub-areas 1 to e ₁ covered by the first UAV base station are excluded from the patrol area (including the patrol sub-areas 1 to N), and the patrol sub-areas e ₁ +1 to N is the coverage that needs to be considered Area, similarly perform steps 1 and 2 to find the station location s ₂ of the second UAV base station and the patrol sub-areas e ₁ +1 to e ₂ covered by the second UAV base station.

Step 4: Repeat the above steps until all the locations of the UAV base stations in the inspection area are found, and the set of locations {s ₁ ,...,s _m } is obtained.

In another embodiment, the patrol area and the patrol sub-area are slab areas, and the communication connection distance corresponding to each target patrol sub-area includes: a first communication connection that matches the target interference level of the target patrol sub-area at the first height The distance (or the UAV side communication connection distance), and/or the second communication connection distance (or the UAV base station side communication connection distance) that matches the target interference level of the target patrol sub-area at the second height. As shown in Figure 4, the multiple patrol sub-areas divided into the patrol area are arranged from near to far according to the actual spatial position relationship and the distance from the reference point. The reference point may be the point in the upper left corner of FIG. 4. Step S205 mainly includes the following steps as shown in FIG. 8:

S521: Determine a target area set. Wherein, the target area set includes the patrol sub-areas closest to the reference point among the multiple patrol sub-areas.

S522: Detect whether there is a to-be-selected location that meets a third preset condition in the patrol sub-areas included in the target area set. If there is a location to be selected that meets the third preset condition, step S523 to step S525 are executed; if there is no location to be selected that meets the third preset condition, the process ends.

In the embodiment of this application, for the situation that bidirectional signal transmission needs to be considered in the patrol system, meeting the third preset condition means: the distance between the location to be selected and the target location point is less than or equal to the patrol where the target location point is located The first communication connection distance corresponding to the subarea, and is less than or equal to the second communication connection distance corresponding to the patrol subarea where the location to be selected is located; the target location point is any location point in the patrol subarea included in the target area set . At this time, step S522 is used to determine whether there is a position point in the patrol sub-area included in the target area set, so that when the UAV base station is arranged at the position point, the UAV flies over the patrol sub-area included in the target area set according to the patrol height. When any point in the area is over the sky, the UAV base station is in the coverage area of the UAV signal, and the UAV is within the coverage area of the UAV base station signal.

In the patrol system, only one-way signal transmission from the UAV to the UAV base station needs to be considered. Satisfying the third preset condition means: the distance between the location to be selected and the target location point is less than or equal to the target location The first communication connection distance corresponding to the patrol sub-area where the point is located. At this time, step S522 is used to determine whether there is a position point in the patrol sub-area included in the target area set, so that when the UAV base station is arranged at the position point, the UAV flies over the patrol sub-area included in the target area set according to the patrol height. When any point in the area is over the sky, the UAV base station is within the coverage of the UAV signal.

In the patrol system, only the one-way signal transmission from the UAV base station to the UAV needs to be considered, and the third preset condition is satisfied: the distance between the location to be selected and the target location point is less than or equal to the location to be selected The second communication connection distance corresponding to the patrol sub-area where the location is located. At this time, step S522 is used to determine whether there is a position point in the patrol sub-area included in the target area set, so that when the UAV base station is arranged at the position point, the UAV flies over the patrol sub-area included in the target area set according to the patrol height. When any point in the area is over the sky, the UAV is within the coverage of the UAV base station signal.

S523: Determine the patrol sub-areas to be added. Wherein, the patrol sub-areas to be added is the patrol sub-areas that is closest to the center point of the patrol sub-areas included in the target area set, except for the patrol sub-areas included in the target area set, among the multiple patrol sub-areas.

S524: Add the to-be-added patrol sub-areas to the target area set to obtain an updated target area set.

S525: Detect whether there is a position to be selected that meets the third preset condition in the tour sub-areas included in the updated target area set. If yes, perform step S523; if not, perform step S526 to step S527.

S526: Determine the location to be selected in the patrol sub-areas included in the target area set before the update that meets the third preset condition as the deployment location of the UAV base station.

Steps S523 to S526 are used to expand the target area set when there is a to-be-selected location point that meets the third preset condition in the patrol sub-areas included in the current target area set, and further determine that the expanded target area set includes Whether there is a to-be-selected location point that meets the third preset condition in the patrol subarea of, until the target area set continues to be expanded, so that there is no patrol subarea included in the expanded target area set that meets the third preset condition Until the location point is selected; at this time, the location point to be selected in the patrol sub-areas included in the target area set before the last expansion, which meets the third preset condition, is determined as the deployment location of the UAV base station. Through the above method, the coverage of the UAV base station can be maximized, so that the number of UAV base stations in the inspection area is minimized.

S527: Remove the patrol sub-areas included in the target area set before the update from the multiple patrol sub-areas, and execute step 521.

This step is used to remove the patrol sub-areas that can be covered by the UAV base station arranged at that location after determining the location of a UAV base station, and then focus on the remaining patrol sub-areas to be covered. The same method is adopted to determine the location of the next UAV base station; until the multiple UAV base stations determined can cover the entire inspection area, the signal seamless switching of the inspection area can be realized.

Among them, (x _i , y _i ) refers to the coordinates of the center position point of the patrol sub-area i, and any position in the patrol sub-area i can be determined based on the coordinates of the center position point and the side length information of the patrol sub-area i The coordinates of the point. The embodiment of the present application adopts a greedy algorithm to gradually obtain the deployment location set of UAV base stations in the inspection area, so that the communication signal can cover the entire inspection area and minimize the number of UAV base stations arranged in the inspection area. The communication signal can cover the entire inspection area means that when the drone is flying over any point in the inspection area according to the inspection height, the drone can continuously receive the signal of the drone base station arranged in the inspection area, and / Or the UAV base station arranged in the inspection area can also continuously receive the UAV signal.

The input information of the greedy algorithm is

The output information is the set of station locations S of the UAV base station. _{Wherein, S = {s 1, ...} , s m}, m minimum, i.e., the minimum number of elements included in S; s _i (1≤i≤m) indicates the position of the point in the tour area s _i is selected, it is necessary patrol A UAV base station is arranged at the location point _{si in the area.}

The specific processing flow of the greedy algorithm is as follows:

Step 1: Determine the location of the first UAV base station. Initialize the set of areas covered by the first UAV base station

(Empty set). Add the patrol sub-area 1 (or the patrol sub-area in the upper left corner of Figure 4) with the center position point coordinates (x ₁ , y _{1) to the area set Z, that is, Z=Z∪{1}; then detect the area} Whether there is a station location point s _{1 in the} set Z, so that the UAV base station is placed at the location point s ₁ to realize the coverage of all the location points in the area set Z.

Specifically, for the situation where two-way signal transmission needs to be considered in the patrol system, it is detected whether there is s ₁ (s ₁ ∈ Z) that satisfies the conditions shown in inequalities (5) and (6); for the patrol system, only drones need to be considered In the case of one-way signal transmission to the UAV base station, it is detected whether there is s ₁ (s ₁ ∈ Z) that satisfies the condition shown in inequality (5); for the patrol system, only the UAV base station to the UAV need to be considered. In the case of one-way signal transmission, it is detected whether there is s ₁ (s ₁ ∈ Z) that satisfies the condition shown in inequality (6). Inequalities (5) and (6) are as follows:

Among them, the meaning of inequality (5) is: for any location point t in the area set Z, _{the distance between the station location point s 1} and the location point t is less than or equal to the UAV side communication corresponding to the location point t The connection distance (that is, the UAV side communication connection distance corresponding to the patrol sub-area where the position point t is located), that is, when the UAV base station is arranged at the position point s ₁ , the UAV flies at the position point t according to the patrol height When overhead, the UAV base station is within the coverage of the UAV signal. The meaning of inequality (6) is: for any location point t in the area set Z, _{the distance between the station location point s 1} and the location point t is less than or equal to the UAV base station side communication corresponding _{to the location point s 1} The connection distance (that is, the communication connection distance of the drone base station side corresponding to the patrol sub-area where the _{position point s 1} _{is located), that is, when the drone base station is arranged at the position point s 1} , the drone flies at the position point according to the patrol height When the air is above t, the UAV is within the coverage of the UAV base station signal.

If there is s ₁ εZ that satisfies the above-mentioned conditions, step 2 is executed.

Step 2: Calculate the center position point of the zone set Z

The calculation method is as follows:

Among them, |Z| represents the number of elements in the zone set Z. Further, look for the distance from the position in the area set (ie {1,...,N}/Z) other than the area set Z in the inspection area

The calculation method for the nearest patrol sub-area j is as follows:

Try to add the patrol sub-area j to the area set Z, that is, Z=Z∪{j}; and use the method described in step 1 to check whether there is a station location point in the expanded area set Z that meets the above conditions. If it exists, continue to use the method described in step 2 to expand the zone set Z. Repeat the above steps until there is no station location point that meets the above conditions in the expanded zone set Z. At this time, the deployment location points that meet the above conditions in the zone set Z before the last expansion are determined as the deployment location of the UAV base station. Through the above method, the coverage of the UAV base station can be maximized, so that the number of UAV base stations in the inspection area is minimized.

Step 3: Determine the location of the second UAV base station. Remove the area set Z covered by the first UAV base station from the inspection area (including inspection sub-areas 1 to N), and take the area set {1,...,N}/Z ₁ as the area to be considered for coverage , Similarly perform steps 1 and 2 to find the location s ₂ of the second UAV base station and the set of areas covered by the second UAV base station.

The method for determining the deployment position of a drone base station provided by the embodiment of the application fully considers the situation that the environmental interference levels of different locations in the patrol area are usually inconsistent, so that the drone is deployed according to the location determined in the above manner. The applicability of the base station is better; in addition, the above-mentioned greedy algorithm is used to determine the location of the UAV base station, which can reduce the UAV base station's cost as much as possible while ensuring the continuous signal of the patrol system (seamless coverage). Therefore, it effectively reduces the deployment and operating costs of UAV base stations in UAV automatic patrol application scenarios. In addition, the embodiments of the present application respectively propose corresponding station location determination methods for two application scenarios of linear patrol areas and sheet patrol areas, so that the methods described in the embodiments of the present application are more practical.

Please refer to FIG. 9, which is a schematic structural diagram of a terminal provided by an embodiment of the application. The terminal described in the embodiment of the present application includes: a processor 901, a communication interface 902, and a memory 903. Among them, the processor 901, the communication interface 902, and the memory 903 may be connected through a bus or in other ways. The embodiment of the present application takes the connection through a bus as an example.

The processor 901 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. The processor 901 may also be a multi-core CPU or a core in a multi-core NP for implementing communication identification binding. The processor 901 may be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

The communication interface 902 can be used for the exchange of sending and receiving information or signaling, as well as the reception and transmission of signals. The memory 903 may mainly include a storage program area and a storage data area. The storage program area may store an operating system and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area may store Data (such as image data, text data) created according to the use of the device, etc., and may include application storage programs, etc. In addition, the memory 903 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

The memory 903 is also used to store program instructions. The processor 901 is configured to execute program instructions stored in the memory 903. When the program instructions are executed, the processor 901 is configured to:

The methods executed by the processor in the embodiments of the present application are all described from the perspective of the processor. It can be understood that the processor in the embodiments of the present application requires the cooperation of other hardware structures to execute the foregoing methods. The embodiments of the present application do not describe and limit the specific implementation process in detail.

In an embodiment, the interference level set includes at least one of a first interference level set collected at a first height and a second interference level set collected at a second height. In an embodiment, the first height is higher than the second height. In an embodiment, the first height is a drone patrol height, and the second height is a drone base station height.

In an embodiment, the processor 901 determines the target interference level of the target patrol sub-areas according to the interference level set corresponding to the target patrol sub-areas, and determines the communication connection distance matching the target interference level, specifically using Yu: Determine the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region, and determine to match the target interference level at the first height And/or, determine the target interference level of the target patrol sub-region at the second height according to the second interference level set corresponding to the target patrol sub-region, and determine the target interference level with the target patrol sub-region at the second height The target interference level at the second height matches the second communication connection distance.

In an embodiment, the target interference level is a minimum interference level, a maximum interference level, or an average interference level in a concentration of interference levels.

In an embodiment, the spectrum bandwidth of the channel sent by the drone base station to the drone during the drone patrol is the first bandwidth; the processor 901 determines the first interference level set according to the first interference level set corresponding to the target patrol sub-region When the target patrol sub-region has a target interference level at the first height, it is specifically used to: determine a spectrum with a bandwidth of the first bandwidth from the preset frequency band, wherein the first interference corresponding to the target patrol sub-region The average interference level corresponding to the frequency spectrum in the level set is the lowest or the highest; obtain the average interference level corresponding to the frequency spectrum in the first interference level set corresponding to the target patrol sub-region, and use the average interference level as the target patrol sub-region The target interference level of the area at the first height.

In one embodiment, the spectrum bandwidth of the UAV transmission channel to the UAV base station during the UAV patrol is the second bandwidth; the processor 901 determines the second interference level set according to the second interference level set corresponding to the target patrol sub-area. When the target patrol sub-region has a target interference level at the second height, it is specifically used to: determine a frequency spectrum with a bandwidth of the second bandwidth from the preset frequency band, wherein the second interference corresponding to the target patrol sub-region The average interference level corresponding to the frequency spectrum in the level set is the lowest or the highest; obtains the average interference level corresponding to the frequency spectrum in the second interference level set corresponding to the target patrol sub-region, and uses the average interference level as the target patrol sub-region The target interference level of the area at the second height.

In an embodiment, the patrol area and the plurality of patrol sub-areas are linear areas, and the multiple patrol sub-areas are arranged according to the actual spatial position relationship and the distance from the reference point from near to far; the processing When the device 901 determines the location of the UAV base station according to the communication connection distance and the multiple patrol sub-areas, it is specifically used to: determine the to-be-selected patrol sub-areas, and the to-be-selected patrol sub-areas is the same as the first Among the patrol sub-regions where the distance between the reference patrol sub-regions is less than or equal to the first communication connection distance corresponding to the first reference patrol sub-region, the patrol sub-region furthest from the first reference patrol sub-region, so The first reference patrol sub-region is the patrol sub-region closest to the reference point among the multiple patrol sub-regions; it is detected whether the to-be-selected patrol sub-region satisfies a first preset condition; if so, the to-be-selected patrol sub-region is The fixed patrol sub-area is determined as the deployment location of the UAV base station.

Wherein, satisfying the first preset condition means that the distance between the patrol sub-region to be selected and the first patrol sub-region to be compared is less than or equal to the first patrol sub-region to be compared. The communication connection distance is less than or equal to the second communication connection distance corresponding to the to-be-selected patrol sub-area, and the first to-be-compared patrol sub-area is the to-be-selected patrol sub-area and is in the to-be-selected patrol Any one of the patrol sub-areas in front of the sub-areas.

In an embodiment, the processor 901 is further configured to: if the to-be-selected patrol sub-areas does not meet the first preset condition, obtain the current to-be-selected patrol among the plurality of patrol sub-areas. The patrol sub-area of the previous position of the sub-area; the patrol sub-area that is one digit before the current to-be-selected patrol sub-area is determined as the new patrol-to-be-selected sub-area.

In an embodiment, after the processor 901 determines the to-be-selected patrol sub-area as the deployment position of the UAV base station, it is further configured to: determine a second reference patrol sub-area, and the second reference patrol The sub-region is the patrol sub-region that is the farthest from the patrol sub-region to be selected among the patrol sub-regions that are behind the to-be-selected patrol sub-region and meets the second preset condition; and the second reference patrol sub-region is The area and the patrol sub-areas in front of the second reference patrol sub-areas are removed from the plurality of patrol sub-areas, and the step of determining the to-be-selected patrol sub-areas is performed.

Wherein, satisfying the second preset condition refers to: the distance between the second reference patrol sub-area and the to-be-selected patrol sub-area is less than or equal to the second communication corresponding to the to-be-selected patrol sub-area Connection distance, and the distance between the second patrol sub-region to be compared and the patrol sub-region to be selected is less than or equal to the first communication connection distance corresponding to the second patrol sub-region to be compared, and the second to-be-compared The patrol sub-region is any one of multiple patrol sub-regions from the to-be-selected patrol sub-region to the second reference patrol sub-region.

In an embodiment, the patrol area and the plurality of patrol sub-areas are sheet-shaped areas, and the multiple patrol sub-areas are arranged according to the actual spatial position relationship and the distance from the reference point from near to far; the processing When the device 901 determines the deployment position of the UAV base station according to the communication connection distance and each patrol sub-areas, it is specifically used to determine a target area set, the target area set including the distance reference points in the multiple patrol sub-areas The nearest patrol sub-area; detect whether there is a to-be-selected position in the patrol sub-areas included in the target area set that meets the third preset condition; if so, determine the to-be-added patrol sub-area, and the to-be-added patrol sub-area is Among the plurality of patrol sub-areas, except for the patrol sub-areas included in the target area set, the patrol sub-areas closest to the center point of the patrol sub-areas included in the target area set; according to the to-be-selected The location and patrol sub-area to be added determine the location of the UAV base station.

Wherein, satisfying the third preset condition means that the distance between the location to be selected and the target location point is less than or equal to the first communication connection distance corresponding to the patrol sub-region where the target location point is located, And/or less than or equal to the second communication connection distance corresponding to the patrol sub-region where the location to be selected is located, and the target location point is any location point in the patrol sub-region included in the target area set.

In an embodiment, when the processor 901 determines the deployment position of the drone base station according to the location to be selected and the patrol sub-areas to be added, it is specifically configured to: add the patrol sub-areas to be added to all the drone base stations. In the target area set, an updated target area set is obtained; it is detected whether there is a to-be-selected location that meets the third preset condition in the patrol sub-areas included in the updated target area set; The position to be selected in the patrol sub-areas included in the target area set of the target area set that meets the third preset condition is determined as the deployment position of the UAV base station.

In an embodiment, after the processor 901 determines the position to be selected in the patrol sub-areas included in the target area set before the update that satisfies the third preset condition as the deployment position of the UAV base station, further It is used to: remove the tour sub-areas included in the target area set before the update from the plurality of tour sub-areas, and execute the step of determining the target area set.

In specific implementation, the processor 901, the communication interface 902, and the memory 903 described in the embodiments of the present application can execute the implementation described in the method for determining the location of a drone base station provided in the embodiments of the present application. Go into details again.

An embodiment of the present application also provides a computer-readable storage medium in which a computer program is stored. When the computer program is executed by a processor, the location of the drone base station described in the above method embodiment is implemented. Determine the method.

The embodiment of the present application also provides a computer program product containing instructions, which when running on a computer, causes the computer to execute the method for determining the location of the drone base station described in the foregoing method embodiment.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited by the described sequence of actions. Because according to this application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium can include: Flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The method and terminal for determining the location of the UAV base station provided by the embodiments of the application are described in detail above. Specific examples are used in this article to illustrate the principles and implementation of the application. The description of the above embodiments is only used To help understand the methods and core ideas of this application; at the same time, for those of ordinary skill in the art, according to the ideas of this application, there will be changes in the specific implementation and scope of application. In summary, this specification The content should not be construed as a limitation on this application.

Claims

A method for determining the location of a UAV base station, characterized in that the method includes:

Acquire a patrol area of the drone, and determine multiple patrol sub-areas based on the patrol area;

Obtain an interference data set of the environment in which the patrol area is located, where the interference data set includes an interference level set collected at a preset height corresponding to each patrol sub-area, and the interference level set includes multiple sets of interference levels in a preset frequency band. Interference level on frequency;

Determine the target interference level of the target patrol sub-region according to the interference level set corresponding to the target patrol sub-region, and determine the communication connection distance matching the target interference level, the target patrol sub-region is the multiple patrol sub-regions Any of

The deployment location of the UAV base station is determined according to the communication connection distance and the multiple inspection sub-areas.
The method according to claim 1, wherein the interference level set includes at least one of a first interference level set collected at a first height and a second interference level set collected at a second height .
The method of claim 2, wherein the first height is higher than the second height.
The method according to claim 2, wherein the first height is a drone patrol height, and the second height is a drone base station height.
The method according to any one of claims 2-4, wherein the target interference level of the target patrol sub-region is determined according to the interference level set corresponding to the target patrol sub-region, and the interference level with the target is determined The matching communication connection distance includes:

Determine the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region, and determine the first interference level that matches the target interference level at the first height A communication connection distance; and/or,

Determine the target interference level of the target patrol sub-region at the second height according to the second interference level set corresponding to the target patrol sub-region, and determine the first interference level that matches the target interference level at the second height 2. Communication connection distance.
The method according to claim 5, wherein the target interference level is a minimum interference level, a maximum interference level or an average interference level in a concentration of interference levels.
The method according to claim 5, wherein the spectrum bandwidth of the channel sent by the drone base station to the drone during the drone patrol is the first bandwidth;

The determining the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region includes:

Determining a spectrum with a bandwidth of the first bandwidth from within the preset frequency band, wherein the average interference level corresponding to the spectrum in the first interference level set corresponding to the target patrol sub-region is the lowest or the highest;

Obtain the first interference level corresponding to the target patrol sub-region and set the average interference level corresponding to the frequency spectrum, and use the average interference level as the target interference level of the target patrol sub-region at the first height.
The method according to claim 5, wherein the spectrum bandwidth of the UAV transmission channel to the UAV base station during the UAV patrol is the second bandwidth;

The determining the target interference level of the target patrol sub-region at the second height according to the second interference level set corresponding to the target patrol sub-region includes:

Determining a frequency spectrum with a bandwidth of the second bandwidth from the preset frequency band, wherein the second interference level set corresponding to the target patrol sub-region has the lowest or the highest average interference level corresponding to the frequency spectrum;

The average interference level corresponding to the frequency spectrum is acquired in the second interference level corresponding to the target patrol sub-region, and the average interference level is used as the target interference level of the target patrol sub-region at the second height.
The method according to any one of claims 5-8, wherein the patrol area and the multiple patrol sub-areas are linear areas, and the multiple patrol sub-areas are referenced according to actual spatial position relationships and distances. The distances of the points are arranged from near to far;

The determining the deployment position of the UAV base station according to the communication connection distance and the multiple inspection sub-areas includes:

Determine the to-be-selected patrol sub-region, where the to-be-selected patrol sub-region is a patrol sub-region whose distance from the first reference patrol sub-region is less than or equal to the first communication connection distance corresponding to the first reference patrol sub-region Wherein, the patrol sub-region furthest from the first reference patrol sub-region, and the first reference patrol sub-region is the patrol sub-region closest to the reference point among the plurality of patrol sub-regions;

Detecting whether the to-be-selected patrol sub-area meets a first preset condition;

If yes, determine the to-be-selected patrol sub-area as the deployment location of the UAV base station;

Wherein, satisfying the first preset condition means that the distance between the patrol sub-region to be selected and the first patrol sub-region to be compared is less than or equal to the first patrol sub-region to be compared. The communication connection distance is less than or equal to the second communication connection distance corresponding to the to-be-selected patrol sub-area, and the first to-be-compared patrol sub-area is the to-be-selected patrol sub-area and is in the to-be-selected patrol Any one of the patrol sub-areas in front of the sub-areas.
The method according to claim 9, wherein the method further comprises:

If not, acquiring the patrol sub-areas that is one digit before the patrol sub-areas currently to be selected among the multiple patrol sub-areas;

The patrol sub-region that is one position before the patrol sub-region currently to be selected is determined as the new patrol sub-region to be selected.
The method according to claim 9, characterized in that, after the determination of the to-be-selected patrol sub-area as the deployment position of the UAV base station, the method further comprises:

Determine a second reference patrol sub-area, the second reference patrol sub-area is a patrol sub-area that is behind the to-be-selected patrol sub-area and meets a second preset condition, and is the shortest distance from the to-be-selected patrol sub-area Far patrol sub-areas;

Removing the second reference patrol sub-areas and the patrol sub-areas in front of the second reference patrol sub-areas from the plurality of patrol sub-areas, and execute the step of determining the to-be-selected patrol sub-areas;

Wherein, satisfying the second preset condition refers to: the distance between the second reference patrol sub-area and the to-be-selected patrol sub-area is less than or equal to the second communication corresponding to the to-be-selected patrol sub-area Connection distance, and the distance between the second patrol sub-region to be compared and the patrol sub-region to be selected is less than or equal to the first communication connection distance corresponding to the second patrol sub-region to be compared, and the second to-be-compared The patrol sub-region is any one of multiple patrol sub-regions from the to-be-selected patrol sub-region to the second reference patrol sub-region.
The method according to any one of claims 5 to 8, wherein the patrol area and the multiple patrol sub-areas are sheet-shaped areas, and the multiple patrol sub-areas are referenced according to actual spatial position relationships and distances. The distances of the points are arranged from near to far;

The determining the deployment position of the UAV base station according to the communication connection distance and each patrol sub-area includes:

Determining a target area set, where the target area set includes a patrol sub-areas closest to a reference point among the plurality of patrol sub-areas;

Detecting whether there is a position to be selected that meets a third preset condition in the inspection sub-areas included in the target area set;

If yes, determine the patrol sub-areas to be added, the patrol sub-areas to be added are those in the plurality of patrol sub-areas excluding the patrol sub-areas included in the target area set, and the patrol included in the target area set The patrol sub-area with the nearest center point of the sub-area;

Determine the deployment position of the UAV base station according to the position to be selected and the patrol sub-area to be added;

Wherein, satisfying the third preset condition means that the distance between the location to be selected and the target location point is less than or equal to the first communication connection distance corresponding to the patrol sub-region where the target location point is located, And/or less than or equal to the second communication connection distance corresponding to the patrol sub-region where the location to be selected is located, and the target location point is any location point in the patrol sub-region included in the target area set.
The method according to claim 12, wherein the determining the deployment position of the UAV base station according to the to-be-selected position and the to-be-added patrol sub-area comprises:

Adding the to-be-added patrol sub-areas to the target area set to obtain an updated target area set;

Detecting whether there is a to-be-selected location that meets the third preset condition in the patrol sub-areas included in the updated target area set;

If not, determine the location to be selected in the patrol sub-areas included in the target area set before the update that satisfies the third preset condition as the deployment location of the UAV base station.
The method according to claim 13, wherein the location to be selected in the patrol sub-areas included in the target area set before the update that satisfies the third preset condition is determined as the deployment station of the UAV base station After the location, the method further includes:

The patrol sub-areas included in the target area set before the update is removed from the multiple patrol sub-areas, and the step of determining the target area set is executed.
A terminal, characterized by comprising: a memory and a processor,

The memory is used to store program instructions;

The processor is configured to execute program instructions stored in the memory, and when the program instructions are executed, the processor is configured to:

Acquire a patrol area of the drone, and determine multiple patrol sub-areas based on the patrol area;

Obtain an interference data set of the environment in which the patrol area is located, where the interference data set includes an interference level set collected at a preset height corresponding to each patrol sub-area, and the interference level set includes multiple sets of interference levels in a preset frequency band. Interference level on frequency;

Determine the target interference level of the target patrol sub-region according to the interference level set corresponding to the target patrol sub-region, and determine the communication connection distance matching the target interference level, the target patrol sub-region is the multiple patrol sub-regions Any of

The deployment location of the UAV base station is determined according to the communication connection distance and the multiple inspection sub-areas.
The terminal according to claim 15, wherein the interference level set includes at least one of a first interference level set collected at a first height and a second interference level set collected at a second height .
The terminal according to claim 16, wherein the first height is higher than the second height.
The terminal according to claim 16, wherein the first height is a drone patrol height, and the second height is a drone base station height.
The terminal according to any one of claims 16-18, wherein the processor determines the target interference level of the target patrol sub-region according to the interference level set corresponding to the target patrol sub-region, and determines the target interference level with the target patrol sub-region. When the interference level matches the communication connection distance, it is specifically used for:

Determine the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region, and determine the first interference level that matches the target interference level at the first height A communication connection distance; and/or,

Determine the target interference level of the target patrol sub-region at the second height according to the second interference level set corresponding to the target patrol sub-region, and determine the first interference level that matches the target interference level at the second height 2. Communication connection distance.
The terminal according to claim 19, wherein the target interference level is a minimum interference level, a maximum interference level or an average interference level in a concentration of interference levels.
The terminal according to claim 19, wherein the frequency spectrum bandwidth of the channel sent by the drone base station to the drone during the drone patrol is the first bandwidth;

When the processor determines the target interference level of the target patrol sub-region at the first height according to the first interference level set corresponding to the target patrol sub-region, it is specifically configured to:

Determining a spectrum with a bandwidth of the first bandwidth from within the preset frequency band, wherein the average interference level corresponding to the spectrum in the first interference level set corresponding to the target patrol sub-region is the lowest or the highest;

Obtain the first interference level corresponding to the target patrol sub-region and set the average interference level corresponding to the frequency spectrum, and use the average interference level as the target interference level of the target patrol sub-region at the first height.
The terminal according to claim 19, wherein the frequency spectrum bandwidth of the UAV transmission channel to the UAV base station during the UAV patrol is the second bandwidth;

When the processor determines the target interference level of the target patrol sub-region at the second height according to the second interference level set corresponding to the target patrol sub-region, it is specifically configured to:

Determining a frequency spectrum with a bandwidth of the second bandwidth from the preset frequency band, wherein the second interference level set corresponding to the target patrol sub-region has the lowest or the highest average interference level corresponding to the frequency spectrum;

The average interference level corresponding to the frequency spectrum is acquired in the second interference level corresponding to the target patrol sub-region, and the average interference level is used as the target interference level of the target patrol sub-region at the second height.
The terminal according to any one of claims 19-22, wherein the patrol area and the multiple patrol sub-areas are linear areas, and the multiple patrol sub-areas are referenced according to actual spatial position relationships and distances. The distances of the points are arranged from near to far;

When the processor determines the deployment position of the UAV base station according to the communication connection distance and the multiple inspection sub-areas, it is specifically configured to:

Determine the to-be-selected patrol sub-region, where the to-be-selected patrol sub-region is a patrol sub-region whose distance from the first reference patrol sub-region is less than or equal to the first communication connection distance corresponding to the first reference patrol sub-region Wherein, the patrol sub-region furthest from the first reference patrol sub-region, and the first reference patrol sub-region is the patrol sub-region closest to the reference point among the plurality of patrol sub-regions;

Detecting whether the to-be-selected patrol sub-area meets a first preset condition;

If yes, determine the to-be-selected patrol sub-area as the deployment location of the UAV base station;

Wherein, satisfying the first preset condition means that the distance between the patrol sub-region to be selected and the first patrol sub-region to be compared is less than or equal to the first patrol sub-region to be compared. The communication connection distance is less than or equal to the second communication connection distance corresponding to the to-be-selected patrol sub-area, and the first to-be-compared patrol sub-area is the to-be-selected patrol sub-area and is in the to-be-selected patrol Any one of the patrol sub-areas in front of the sub-areas.
The terminal according to claim 23, wherein the processor is further configured to:

If not, acquiring the patrol sub-areas that is one digit before the patrol sub-areas currently to be selected among the multiple patrol sub-areas;

The patrol sub-region that is one position before the patrol sub-region currently to be selected is determined as the new patrol sub-region to be selected.
The terminal according to claim 23, wherein after the processor determines the to-be-selected patrol sub-area as the deployment location of the UAV base station, it is further configured to:

Determine a second reference patrol sub-area, the second reference patrol sub-area is a patrol sub-area that is behind the to-be-selected patrol sub-area and meets a second preset condition, and is the shortest distance from the to-be-selected patrol sub-area Far patrol sub-areas;

Removing the second reference patrol sub-areas and the patrol sub-areas in front of the second reference patrol sub-areas from the plurality of patrol sub-areas, and execute the step of determining the to-be-selected patrol sub-areas;

Wherein, satisfying the second preset condition refers to: the distance between the second reference patrol sub-area and the to-be-selected patrol sub-area is less than or equal to the second communication corresponding to the to-be-selected patrol sub-area Connection distance, and the distance between the second patrol sub-region to be compared and the patrol sub-region to be selected is less than or equal to the first communication connection distance corresponding to the second patrol sub-region to be compared, and the second to-be-compared The patrol sub-region is any one of multiple patrol sub-regions from the to-be-selected patrol sub-region to the second reference patrol sub-region.
The terminal according to any one of claims 19 to 22, wherein the patrol area and the plurality of patrol sub-areas are sheet-shaped areas, and the multiple patrol sub-areas are referenced according to actual spatial position relationships and distances. The distances of the points are arranged from near to far;

When the processor determines the deployment position of the UAV base station according to the communication connection distance and each patrol sub-area, it is specifically used for:

Determining a target area set, where the target area set includes a patrol sub-areas closest to a reference point among the plurality of patrol sub-areas;

Detecting whether there is a position to be selected that meets a third preset condition in the inspection sub-areas included in the target area set;

If yes, determine the patrol sub-areas to be added, the patrol sub-areas to be added are those in the plurality of patrol sub-areas excluding the patrol sub-areas included in the target area set, and the patrol included in the target area set The patrol sub-area with the nearest center point of the sub-area;

Determine the deployment position of the UAV base station according to the position to be selected and the patrol sub-area to be added;

Wherein, satisfying the third preset condition means that the distance between the location to be selected and the target location point is less than or equal to the first communication connection distance corresponding to the patrol sub-region where the target location point is located, And/or less than or equal to the second communication connection distance corresponding to the patrol sub-region where the location to be selected is located, and the target location point is any location point in the patrol sub-region included in the target area set.
The terminal according to claim 26, wherein the processor is specifically configured to: when determining the deployment position of the UAV base station according to the position to be selected and the patrol sub-area to be added:

Adding the to-be-added patrol sub-areas to the target area set to obtain an updated target area set;

Detecting whether there is a to-be-selected location that meets the third preset condition in the patrol sub-areas included in the updated target area set;

If not, determine the location to be selected in the patrol sub-areas included in the target area set before the update that satisfies the third preset condition as the deployment location of the UAV base station.
The terminal according to claim 27, wherein the processor determines the location to be selected in the patrol sub-areas included in the target area set before the update that satisfies the third preset condition as the UAV base station After distributing the station position, it is also used for:

The patrol sub-areas included in the target area set before the update is removed from the multiple patrol sub-areas, and the step of determining the target area set is executed.
A computer-readable storage medium in which a computer program is stored, characterized in that: when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented .