WO2022033268A1 - 无人机信息处理方法及装置、终端 - Google Patents

无人机信息处理方法及装置、终端 Download PDF

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Publication number
WO2022033268A1
WO2022033268A1 PCT/CN2021/106685 CN2021106685W WO2022033268A1 WO 2022033268 A1 WO2022033268 A1 WO 2022033268A1 CN 2021106685 W CN2021106685 W CN 2021106685W WO 2022033268 A1 WO2022033268 A1 WO 2022033268A1
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Prior art keywords
uav
target
network element
information
identifier
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PCT/CN2021/106685
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English (en)
French (fr)
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侯云静
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大唐移动通信设备有限公司
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present disclosure relates to the field of mobile communication technologies, and in particular, to a method, device, and terminal for processing drone information.
  • Unmanned Aerial Vehicles is the abbreviation of unmanned aerial vehicle, which is an unmanned aircraft operated by radio remote control equipment and self-provided program control device. Compared with manned aircraft, UAV has the advantages of small size, low cost, convenient use, low requirements for the use environment, and strong survivability in harsh environments, so it is widely used in various fields, such as aerial photography, agriculture, plant protection, Micro selfie, express transportation, surveying and mapping, news reporting, power inspection and film and television shooting and other fields.
  • the UAV In the process of using the UAV, the UAV is positioned; in the prior art, the location service (Location Service, LCS) function is mainly used to realize the UAV positioning; Know the specific information of the target UAV being located, the specific information includes the UAV's Subscription Permanent Identifier (SUPI) or Subscription Permanent Identifier (Generic Public Subscription Identifier, GPSI), that is, the LCS function is applied to known UAVs. Therefore, in the prior art, it is difficult to locate the UAV with unknown specific information.
  • LCS Location Service
  • Embodiments of the present disclosure provide an unmanned aerial vehicle information processing method, device, and terminal to solve the problem in the prior art that it is difficult to locate a UAV with unknown specific information.
  • an embodiment of the present disclosure provides a method for processing UAV information, which is applied to the UAV flight enabling subsystem UFES, and the method includes:
  • the target UAV is a UAV close to the target position or a UAV including the target identifier or a UAV including the target identifier;
  • the control plane network elements include: the UFES, the unified data management UDM network element, the network Function opening NEF network element and at least one of access and mobility management function AMF network element;
  • an embodiment of the present disclosure further provides a method for processing drone information, which is applied to an AMF network element with access and mobility management functions, and the method includes:
  • the identification information includes at least one of a UAV identification and a terminal identification of the target UAV.
  • an embodiment of the present disclosure further provides a terminal, including a memory, a transceiver, and a processor:
  • a memory for storing a computer program
  • a transceiver for sending and receiving data under the control of the processor
  • a processor for reading the computer program in the memory and performing the following operations:
  • the target UAV is a UAV close to the target position or a UAV including the target identification or a UAV including the target identification;
  • the control plane network element includes: the UAV flight enabling subsystem UFES, the unified data at least one of the management UDM network element, the network function opening NEF network element, and the access and mobility management function AMF network element;
  • an embodiment of the present disclosure further provides a terminal, including a memory, a transceiver, and a processor:
  • a memory for storing a computer program
  • a transceiver for sending and receiving data under the control of the processor
  • a processor for reading the computer program in the memory and performing the following operations:
  • the identification information includes at least one of a UAV identification and a terminal identification of the target UAV.
  • an embodiment of the present disclosure further provides a device for processing information of an unmanned aerial vehicle, which is applied to the UAV flight enabling subsystem UFES, and the device includes:
  • a request receiving module configured to receive the first request sent by the client that carries the target location or the target identifier
  • the information acquisition module is used to acquire the target UAV information of the target UAV UAV from the network element of the control plane;
  • the target UAV is a UAV close to the target position or a UAV including the target identifier or a UAV including the target identifier;
  • the control plane network elements include: the UFES, the unified data management UDM network element, the network Function opening NEF network element and at least one of access and mobility management function AMF network element;
  • an information sending module configured to send the target UAV information to the client.
  • an embodiment of the present disclosure further provides an apparatus for processing information of an unmanned aerial vehicle, which is applied to an AMF network element with access and mobility management functions, and the apparatus includes:
  • a location acquisition module configured to receive the UAV UAV request sent by the UAV flight enabling subsystem UFES, and acquire the target location carried in the UAV request;
  • a target determination module configured to determine a target cell corresponding to the target location, and to determine a target UAV in the target cell;
  • An identification sending module configured to send identification information of the target UAV to the UFES; the identification information includes at least one of a UAV identification and a terminal identification of the target UAV.
  • an embodiment of the present disclosure further provides an electronic device, the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the computer program when the processor executes the computer program.
  • embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, implements the UAV as described in the first aspect above steps in an information processing method.
  • a first request sent by a client that carries a target location or a target identifier is received; the target UAV information of the target UAV UAV is obtained from the network element of the control plane; the target UAV information is sent to The client: obtains UAV information from the network element of the control plane, matches the target position, determines the target UAV corresponding to the target position, and realizes precise positioning of the unknown UAV.
  • FIG. 1 is a flowchart of a method for processing unmanned aerial vehicle information applied to UFES according to an embodiment of the disclosure
  • FIG. 2 is a schematic diagram of a first example of an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of a second example of an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a third example of an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of a fourth example of an embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of a fifth example of an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of a sixth example of an embodiment of the present disclosure.
  • FIG. 8 is a flowchart of an unmanned aerial vehicle information processing method applied to AMF according to an embodiment of the present disclosure
  • FIG. 9 is one of the structural block diagrams of the UAV information processing device provided by the embodiment of the present disclosure.
  • FIG. 10 is the second structural block diagram of the UAV information processing device provided by the embodiment of the present disclosure.
  • FIG. 11 is one of structural block diagrams of a terminal provided by an embodiment of the present disclosure.
  • FIG. 12 is the second structural block diagram of a terminal provided by an embodiment of the present disclosure.
  • Figure 13 schematically shows a block diagram of a computing processing device for performing methods according to the present disclosure.
  • Figure 14 schematically shows a memory unit for holding or carrying program code implementing the method according to the present disclosure.
  • the term "and/or" describes the association relationship of associated objects, and indicates that there can be three kinds of relationships. For example, A and/or B can indicate that A exists alone, A and B exist at the same time, and B exists alone these three situations.
  • the character “/” generally indicates that the associated objects are an "or" relationship.
  • the term “plurality” refers to two or more than two, and other quantifiers are similar.
  • Embodiments of the present disclosure provide a method, device, and terminal for processing drone information, which are used to implement switching of IAB nodes between CUs.
  • the method and the device are conceived based on the same application. Since the principles of the method and the device for solving the problem are similar, the implementation of the device and the method can be referred to each other, and repeated descriptions will not be repeated here.
  • the applicable system may be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) general packet Wireless service (general packet radio service, GPRS) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, Long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (New Radio, NR) system, etc.
  • GSM global system of mobile communication
  • CDMA code division multiple access
  • WCDMA wideband Code Division Multiple Access
  • general packet Wireless service general packet Radio service
  • GPRS general packet Wireless service
  • LTE long term evolution
  • LTE long term evolution
  • FDD frequency division duplex
  • TDD time division duplex
  • LTE-A Long term evolution advanced
  • the terminal device involved in the embodiments of the present disclosure may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing device connected to a wireless modem.
  • the name of the terminal device may be different.
  • the terminal device may be called user equipment (User Equipment, UE).
  • Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a radio access network (Radio Access Network, RAN).
  • RAN Radio Access Network
  • "telephone) and computers with mobile terminal equipment eg portable, pocket-sized, hand-held, computer-built or vehicle-mounted mobile devices, which exchange language and/or data with the radio access network.
  • Wireless terminal equipment may also be referred to as system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point , a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in the embodiments of the present disclosure.
  • the network device involved in the embodiments of the present disclosure may be a base station, and the base station may include a plurality of cells providing services for the terminal.
  • the base station may also be called an access point, or may be a device in the access network that communicates with wireless terminal equipment through one or more sectors on the air interface, or other names.
  • the network device can be used to exchange received air frames with Internet Protocol (IP) packets, and act as a router between the wireless terminal device and the rest of the access network, which can include the Internet. Protocol (IP) communication network.
  • IP Internet Protocol
  • the network devices may also coordinate attribute management for the air interface.
  • the network device involved in the embodiments of the present disclosure may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile Communications (GSM) or Code Division Multiple Access (Code Division Multiple Access, CDMA). ), it can also be a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or it can be an evolved network device in a long term evolution (LTE) system (evolutional Node B, eNB or e-NodeB), 5G base station (gNB) in 5G network architecture (next generation system), or Home evolved Node B (HeNB), relay node (relay node) , a home base station (femto), a pico base station (pico), etc., which are not limited in the embodiments of the present disclosure.
  • a network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.
  • MIMO transmission can be single-user MIMO (Single User MIMO, SU-MIMO) or multi-user MIMO. (Multiple User MIMO, MU-MIMO). According to the form and number of root antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, or diversity transmission, precoding transmission, or beamforming transmission.
  • FIG. 1 shows a schematic flowchart of a method for processing drone information provided by an embodiment of the present disclosure.
  • the method is applied to a UAV Flight Enablement Subsystem (UFES), and UFES is a network
  • UAV Flight Enablement Subsystem UFES
  • UAS Unmanned Aeriai System
  • functions such as Access and Mobility Management Function (Access and Mobility Management Function), Session Management Function (Session Management Function, SMF) or Policy Control Function (Policy Control Function, PCF) can be avoided to support UAS selection and other functions.
  • UAS Unmanned Aeriai System
  • UFES is responsible for selecting a UAS Service Provider (UAS Services Supplier, USS), and the USS provides a 3GPP UAV ID, retrieves UAV-related subscription information from Unified Data Management (UDM) and/or receives information from PCF UAV-related policies.
  • UAS Service Provider UAS Services Supplier, USS
  • UAV ID 3GPP UAV ID
  • UDM Unified Data Management
  • the USS is usually a third party that provides UAV flight system services
  • UAV flight system Unmanned Aerial System, UAS
  • UAV flight system usually includes a UAV Controller (UAV Controller) and an Unmanned Aerial Vehicle (Unmanned Aerial Vehicle, UAV).
  • the method includes:
  • Step 101 Receive a first request that carries a target location or a target identifier and is sent by the client.
  • the client can be a third party authorized entity (TPAE) or a UAS Traffic Management (UTM); TPAE is a function deployed by a third party.
  • TPAE is a third party authorized entity
  • UTM UAS Traffic Management
  • TPAE is a function deployed by a third party.
  • the client sends a positioning request (the first request) to UFES, and carries the target location in the positioning request; or the client is UTM, UTM sends a positioning request to UFES, and in the positioning request Carry the target identifier; optionally, the target identifier is the target UAV identifier to be located, such as UAV ID.
  • the UAV also acts as a UE from the perspective of the network.
  • Step 102 Obtain target UAV information of the target UAV UAV from the control plane network element;
  • the target UAV is a UAV close to the target position or a UAV including the target identifier; according to the UAV information, determine a UAV close to the target position or a UAV marked with the target identifier, that is, the target UAV; optionally , the target UAV is a UAV close to the target position, that is, the target UAV is a UAV with the smallest distance from the target position, or the target UAV is a UAV with a distance from the target position within a first preset distance range , the target UAV is the UAV corresponding to the target location.
  • the control plane network element includes at least one of the UFES, the unified data management UDM network element, the network function opening NEF network element, and the access and mobility management function AMF network element.
  • the UFES can pre-store UAV information locally or store UAV information in a Network Exposure Function (NEF) network element, and then match the target location with the stored UAV information, Obtain the target UAV and obtain the UAV information of the target UAV;
  • the control plane network element includes a Unified Data Management (UDM) network element, the UFES requests the UAV information from the UDM network element, and compares the target location with the requested UAV information. Matching; when the network elements of the control plane include AMF network elements, the UFES obtains UAV information through the AMF network elements, and matches the target location with the obtained UAV information.
  • NEF Network Exposure Function
  • the UAV information includes at least one of a UVA identifier (UVA ID), flight path information, and tracking information; the tracking information includes the flight path of the UAV information.
  • UVA ID UVA identifier
  • the tracking information includes the flight path of the UAV information.
  • Step 103 Send the target UAV information to the client.
  • the target UAV information of the target UAV is sent to the client to complete the positioning operation of the target UAV at the target location.
  • the client receives the first request that carries the target location or the target identifier sent by the client; obtain the target UAV information of the target UAV UAV from the network element of the control plane; send the target UAV information to the The client is described above; the UAV information is obtained from the network element of the control plane, matched with the target position, and the target UAV corresponding to the target position is determined, so as to realize the precise positioning of the unknown UAV.
  • the embodiments of the present disclosure solve the problem in the prior art that it is difficult to locate the UAV with unknown specific information.
  • the UAV information includes at least one of a UAV identifier, flight path information, and tracking information; wherein the flight path information includes position points in the flight path, usually three-dimensional position information, and may also carry Time information of the location point.
  • the tracking information includes a preset flight path or historical flight path of the UAV, the position of the UAV, and the position of the UAV controller.
  • the position of the UAV, the position of the UAV controller includes the historical position and the current position.
  • the preset flight path includes a preset flight path that has not yet been executed.
  • the tracking information includes the UAV's preset flight path or historical flight path, the position of the UAV, the position of the UAV controller, etc.
  • Step 102 includes case one or case two:
  • Case 1 Obtain the UAV identifier and tracking information of the UAV from the network element of the control plane;
  • the UAV is positioned according to the UAV identifier, the target UAV whose position is the smallest distance from the target position or the target UAV whose distance from the target position is within a first preset distance is determined, and the target UAV is determined.
  • target UAV information
  • the network element of the control plane is the UDM, which is used to store parameters such as the LCS privacy settings and routing information of the UE; the UFES obtains the UAV identifier and tracking information from the UDM, and then locates the UAV according to the UAV identifier to obtain the current location and determines the current location. For the target UAV whose distance from the target position is the smallest, or the distance between the current position and the target position is within a first preset distance range, the target UAV information of the target UAV is searched.
  • an LCS mechanism may be used when locating the UAV according to the UAV identifier, and a locating process of the LCS mechanism will not be repeated in this embodiment of the present disclosure.
  • the UFES obtains the target UAV identifier of the target UAV with the smallest distance from the target position or the target UAV with the target position distance within the first preset distance range from the AMF, and calculates the target UAV according to the target UAV. identifier, and obtain the tracking information of the target UAV from the UDM network element.
  • the obtaining the UAV identifier and tracking information of the UAV from the control plane network element includes:
  • the control plane network element includes the UDM network element, obtain the UAV identifier and UAV tracking information from the UDM network element.
  • UFES obtains the UAV information of the UAV registered to the network from the UDM, then locates the UAV according to the UAV identifier to obtain the current position, obtains the information of the UAV located at the position provided by the TPAE by comparing the positions, and provides the information of the UAV
  • the positioning process mainly includes the following steps:
  • the TPAE sends a positioning request to the UFES, and the positioning request carries the position information of the requested target location and the requested time stamp.
  • the UFES sends a UAV information request to the UDM to obtain the UAV identifier and tracking information.
  • UDM sends UAV message reply to UFES.
  • the UFES obtains from the UDM the identities (including the UAV identities) of all UEs that have completed the UAV subscription and have been registered with the network, and the information of the serving AMF.
  • the UFES locates the UAV through the LCS network element.
  • the UAV identifier of the target UAV is determined.
  • the UFES performs the positioning process for the above-mentioned UEs, and compares the UE position with the position information provided by the TPAE. For example, if the distance is the smallest or meets the first preset distance range, the UFES requests the UE to provide the UAV identification and tracking information.
  • UFES obtains UAV tracking information from UDM.
  • UFES stores UAV identification and UAV tracking information in UDM and sends this information to TPAE.
  • control plane network element includes the UFES or the NEF network element, before acquiring the UAV identifier and tracking information of the UAV from the control plane network element, The method includes:
  • the UDM network element From the UDM network element, obtain the UAV information of the UAV or the NEF network element; that is, the UFES obtains the UAV information of the UAV registered to the network from the UDM in advance; or the NEF network element pre-stores the UAV information registered to the network. UAV information, and then UFES obtains the above information from the NEF network element.
  • Obtaining the UAV identifier and tracking information of the UAV from the control plane network element including:
  • the tracking information includes the UAV of the target location, and the UAV information of the UAV is acquired. Filter out UAVs that may appear at the location points provided by TPAE according to the tracking information, then obtain the location information of these UAVs, and return the information of UAVs that are close to the location provided by TPAE to TPAE according to the location information.
  • the positioning process mainly includes the following steps:
  • the TPAE sends a positioning request to the UFES, and the positioning request carries the position information of the requested target location and the requested time stamp.
  • the UFES sends a UAV information request to the UDM to obtain the UAV identifier and tracking information.
  • UDM sends UAV message reply to UFES.
  • the UFES or NEF network element obtains the identifiers (including UAV identifiers and tracking information) of all UEs that have completed the UAV subscription and have been registered with the network from the UDM.
  • the UAV identifier of the target UAV is determined.
  • UFES determines which UAV's flight path can cover the above location information.
  • UFES For UAVs whose flight path information (flight path) can cover the above-mentioned location information, UFES respectively calls the LCS function to obtain the location information of the UAV.
  • the UFES compares the location information of the UAV with the location information provided by the TPAE. If the two are close to each other, the UFES sends the UAV's identification and tracking information to the TPAE.
  • control plane network element includes the AMF network element and the UDM network element
  • the UAV identifier and tracking information of the UAV are obtained from the control plane network element ,include:
  • the UFES obtains the information of the AMF and the cell covering the target location from the Network Repository Function (NRF) network element, and then obtains the information of the UAV located in the cell from the AMF.
  • NRF Network Repository Function
  • the UAV identifier of the UAV UAV is determined by the AMF network element, including:
  • the discovery service request message can be described as follows: Nnrf_NFDiscovery request, requesting the information of the AMF covering the location.
  • the first response information includes: the AMF identifier of the AMF network element, or the AMF identifier and the the cell identifier corresponding to the target location;
  • a first service request carrying the target location is sent to the AMF network element; the first service request may be an event open service subscription request.
  • the second response information includes the UAV identifier or the terminal identifier corresponding to the target location; wherein, the terminal corresponding to the target location may It's a drone, and possibly some other form of terminal.
  • the UAV information of the drone UAV is determined; the terminal is determined according to the UAV identifier or the terminal identifier, and then the UAV information is determined.
  • the second response information includes the terminal identifier
  • the determining of the UAV information of the UAV UAV according to the second response information includes:
  • the UAV UAV corresponding to the terminal identifier and the UAV information of the UAV are determined.
  • the corresponding relationship is the corresponding relationship between the terminal identification and the UAV identification.
  • the terminal identification is such as 3GPP UAV ID
  • the UAV identification is such as CAA-level UAV ID.
  • the positioning process mainly includes the following steps:
  • the TPAE sends a positioning request to the UFES, and the positioning request carries the position information of the requested target position.
  • the UFES sends a discovery service request message (Nnrf_NFDiscovery request) to the NRF, and requests the NRF for the information of the AMF covering the location.
  • Nnrf_NFDiscovery request a discovery service request message
  • the NRF returns a discovery service response message (Nnrf_NFDiscovery response) to the UFES.
  • the discovery service response message carries the AMF identity, or the AMF identity and the cell identity corresponding to the target location.
  • the UFES sends an event exposure service subscription request message (Namf_EventExposure_Subscribe) to the AMF, the event exposure service subscription request message carries the target location, and requests the AMF to provide the identifier of the UE located at the target location.
  • an event exposure service subscription request message (Namf_EventExposure_Subscribe)
  • the AMF maps the location to a cell, and determines the UE located in the corresponding cell according to the locally stored context information.
  • the AMF returns the first request reply (Namf_EventExposure_Notify) message to the UFES, and the message carries the UE ID.
  • the UFES determines the UAVID corresponding to the UE obtained in step 5 according to the mapping relationship between the 3GPP UAV ID and the CAA-level UAV ID.
  • step 5 If the UFES determines in step 5 that there are multiple UAVs, execute this step, otherwise skip this step. UFES performs the LCS process for each UAV to obtain the precise position of each UAV, and the UAV whose position is closest to the target is the UAV requested by TPAE.
  • UFES uses UE ID to obtain UAV identity and tracking information from UDM.
  • the UFES sends the UAV remote identification and tracking information (including the CAA-level UAV ID of the UAV at the requested location) to the TPAE.
  • the second response information includes the UAV information
  • the UAV information is determined by the AMF network element according to the target location, or determined according to the cell identifier.
  • the AMF network element determines the UAV corresponding to the target location, or determines the target location as a cell and further determines the UAV included in the cell.
  • the positioning process mainly includes the following steps:
  • the TPAE sends a positioning request to the UFES, and the positioning request carries the position information of the requested target position.
  • the UFES sends a discovery service request message (Nnrf_NFDiscovery request) to the NRF, and requests the NRF for the information of the AMF covering the location.
  • Nnrf_NFDiscovery request a discovery service request message
  • the NRF returns a discovery service response message (Nnrf_NFDiscovery response) to UFES, and the discovery service response message carries the AMF identifier;
  • the NRF can also determine the cell information corresponding to the target location, and the NRF also returns the cell identification (ie, cell ID) to the AMF.
  • the cell identification ie, cell ID
  • the UFES sends the event exposure service subscription request message (Namf_EventExposure_Subscribe) to the AMF, and the event exposure service subscription request message carries the target location or cell ID, and requests the AMF to provide the target location or cell ID.
  • the AMF receives the target location, maps the location to a cell, and determines the UAV located in the corresponding cell.
  • AMF returns a Namf_EventExposure_Notify message to UFES with the UAV ID as the parameter.
  • UFES sends UAV information request to UDM, the parameter is UAV ID.
  • UDM returns UAV information, such as tracking information, to UFES.
  • the UFES sends a UAV reply to the TPAE, and the message includes the UAV information obtained from the UDM.
  • the obtaining the target UAV with the smallest distance from the target location from the control plane network element includes:
  • the AMF identifier send a UAV request carrying the target location to the AMF network element, and request the AMF network element to determine the target UAV according to the target location;
  • the positioning process mainly includes the following steps:
  • the TPAE sends a positioning request to the UFES, and the positioning request carries the position information of the requested target position.
  • the UFES sends a discovery service request message (Nnrf_NFDiscovery request) carrying the target location to the NRF.
  • Nnrf_NFDiscovery request a discovery service request message carrying the target location to the NRF.
  • the NRF determines the service area of the AMF to which the target location belongs according to the coverage information of the locally stored network functions, and then sends a discovery service response message (Nnrf_NFDiscovery response) to the UFES.
  • the parameters include the AMF ID, indicating that the target location belongs to the service of the AMF. area.
  • the UFES sends a positioning request to the AMF, and the positioning request carries the position information of the requested target position.
  • the AMF determines the information of the cells to which the location information belongs according to the location information, and then determines the information of the UAVs located in these cells according to the locally stored information.
  • the AMF calls the LCS mechanism respectively to obtain the positions of these UAVs.
  • the AMF may only return UAVs located closest to the target location.
  • the AMF returns a UAV reply to the UFES, the message includes the UAV ID.
  • the UFES sends a UAV information request to the UDM, and the message includes the UAV ID.
  • UDM returns UAV information to UFES.
  • the obtaining target UAV information of the target UAV UAV from the control plane network element includes:
  • Case A sending a first tracking information acquisition request to the UAV, and receiving the tracking information fed back by the UAV;
  • the second tracking information acquisition request is sent to the AMF network element, and the UAV tracking tracking information fed back by the AMF network element is received; wherein, the tracking information is obtained by the AMF network element according to the second tracking information request, trigger the radio access network RAN to send the first flight route request to the UE, and receive the tracking information fed back by the UE; or the tracking information is that the AMF network element obtains the request according to the second tracking information to the UAV A second flight route request is sent, and tracking information fed back by the UAV is received.
  • control plane network element includes the target UAV, and the UFES directly requests the UAV to provide flight path information to determine the flight path.
  • Situation B further includes Situation C and Situation D;
  • the AMF network element sends the first flight route request to the UE (the terminal corresponding to the UAV) through the radio access network RAN, and receives the tracking information fed back by the UE through the RAN;
  • the AMF network element sends a second flight route request to the UAV, and receives the tracking information fed back by the UAV.
  • the positioning process mainly includes the following steps:
  • the UFES receives a UAV positioning request from the client (UTM/TPAE), and the message carries the target location.
  • UFES obtains tracking information (flight information) from UAV, which can be obtained in the following three ways:
  • the UFES directly requests the UAV to provide flight route information.
  • step 2 includes two sub-steps:
  • UFES sends a flight information request to UAV (the first tracking information acquisition request);
  • the UAV replies to the inter-UFES flight information, which carries the flight information.
  • the UFES sends a flight route request message (a second tracking information acquisition request) to the AMF, carrying the UE identity.
  • AMF sends N2 message to RAN, carrying flight route request
  • the RAN sends a UE information request to the UE, carrying the flight route request;
  • the UE returns the UE information reply (flight route) to the RAN.
  • the RAN returns an N2 message (flight route) to the AMF.
  • AMF sends flight route to UFES.
  • the UFES sends a (second tracking information acquisition request) to the AMF, carrying the UE identifier.
  • AMF sends flight information request to UAV
  • AMF returns flight information to UFES.
  • step 2 Any one of the three situations in step 2 is completed, and you can continue to step 3.
  • UFES determines the UAV closest to the location provided by the third party based on the Fetion information of the UAV.
  • the UFES obtains the above UAV information from the UDM.
  • the UFES sends the information of the UAV to the client.
  • the first request that carries the target location or the target identifier sent by the client is received; the target UAV information of the target UAV UAV is obtained from the network element of the control plane; the target UAV information is sent to the The client is described above; the UAV information is obtained from the network element of the control plane, matched with the target position, and the target UAV corresponding to the target position is determined, so as to realize precise positioning of the unknown UAV.
  • the embodiments of the present disclosure solve the problem in the prior art that it is difficult to locate the UAV with unknown specific information.
  • FIG. 8 shows a schematic flowchart of a method for processing drone information provided by an embodiment of the present disclosure.
  • the method is applied to an access and mobility management function AMF network element, and the method includes:
  • Step 801 Receive a UAV UAV request sent by the UAV flight enabling subsystem UFES, and acquire the target position carried in the UAV request.
  • the AMF network element receives the UAV UAV request sent by UFES, and obtains the target location carried in the UAV request.
  • Step 802 Determine a target cell corresponding to the target location, and determine a target UAV in the target cell.
  • the AMF network element determines the information of the target cell to which the location information belongs according to the target position, and then determines the information of the UAV located in these target cells according to the locally stored information.
  • the target cell includes at least two target UAVs
  • the UAV whose location is closest to the target location may be selected as the target UAV.
  • Step 803 Send the identification information of the target UAV to the UFES; the identification information includes at least one of a UAV identification and a terminal identification of the target UAV.
  • the AMF returns a UAV reply to the UFES, and the message includes at least one of the UAV ID or the terminal identifier of the target UAV.
  • the message includes at least one of the UAV ID or the terminal identifier of the target UAV.
  • the method further includes:
  • the tracking information or flight route information is fed back to the UFES.
  • the AMF network element triggers the radio access network RAN to send a flight route request to the UE according to the second tracking information acquisition request, receives the tracking information fed back by the UE, and then feeds back the tracking information or the flight route information to the UFES .
  • the sending a flight route request to the UAV and receiving the tracking information fed back by the UAV according to the flight route request includes:
  • a UAV UAV request sent by the UAV flight enabling subsystem UFES is received, and a target position carried in the UAV request is obtained; a target cell corresponding to the target position is determined, and the target is determined The target UAV in the cell; send the identification information of the target UAV to the UFES; the identification information includes at least one of the UAV identification and the terminal identification of the target UAV; by matching the target cell with the target location, The target UAV in the target cell is determined, and the identification information of the target UAV is sent to the UFES to realize precise positioning of the unknown UAV.
  • the embodiments of the present disclosure solve the problem in the prior art that it is difficult to locate the UAV with unknown specific information.
  • an embodiment of the present disclosure further provides an apparatus for processing information of an unmanned aerial vehicle, which is applied to the UAV flight enabling subsystem UFES, and the apparatus includes:
  • a request receiving module 901 configured to receive a first request sent by a client that carries a target location or a target identifier
  • an information acquisition module 902 configured to acquire target UAV information of the target unmanned aerial vehicle UAV from a control plane network element;
  • the target UAV is a UAV close to the target position or a UAV including the target identifier or a UAV including the target identifier;
  • the control plane network elements include: the UFES, the unified data management UDM network element, the network Function opening NEF network element and at least one of access and mobility management function AMF network element;
  • An information sending module 903, configured to send the target UAV information to the client.
  • the target UAV is a UAV close to the target position, including:
  • the target UAV is a UAV with the smallest distance from the target position, or the target UAV is a UAV with a distance from the target position within a first preset distance range.
  • the UAV information includes at least one of a UAV identifier, flight path information, and tracking information;
  • the information acquisition module 902 includes:
  • the first acquisition submodule is used to acquire the UAV identifier and tracking information of the UAV from the network element of the control plane;
  • the first determination sub-module is used to locate the UAV according to the UAV identifier, and determine the target UAV whose position is the smallest distance from the target position or the target UAV whose distance from the target position is within a first preset distance range , and determine the target UAV information of the target UAV;
  • the second acquisition sub-module is used to acquire, from the network element of the control plane, the target UAV identifier of the target UAV with the smallest distance from the target position or the target UAV with the distance from the target position within the first preset distance range;
  • the third obtaining sub-module is configured to obtain the tracking information of the target UAV from the UDM network element according to the target UAV identifier.
  • the first acquisition submodule is used for:
  • control plane network element includes the UDM network element, obtain the UAV identifier and UAV tracking information from the UDM network element.
  • the information acquisition module 902 is configured to:
  • Obtaining the UAV identifier and tracking information of the UAV from the control plane network element including:
  • the tracking information includes the UAV of the target location, and the UAV information of the UAV is acquired.
  • the information acquisition module 902 includes:
  • the AMF determination submodule is used to determine the AMF network element whose service area includes the target location;
  • the UAV identification determination submodule is used to determine the UAV identification of the UAV UAV through the AMF network element;
  • a tracking information acquisition sub-module configured to acquire the tracking information of the UAV from the UDM network element according to the UAV identifier.
  • the UAV identification determination submodule is used for:
  • the first response information includes: the AMF identifier of the AMF network element, or the AMF identifier and the the cell identifier corresponding to the target location;
  • the second response information includes the UAV identifier or the terminal identifier corresponding to the target location;
  • UAV information of the drone UAV is determined according to the second response information.
  • the second response information includes the UAV information
  • the UAV information is determined by the AMF network element according to the target location, or determined according to the cell identifier.
  • the second response information includes the terminal identifier
  • the determining of the UAV information of the UAV UAV according to the second response information includes:
  • the UAV UAV corresponding to the terminal identifier and the UAV information of the UAV are determined.
  • the second acquisition sub-module is configured to:
  • the information acquisition module 902 includes:
  • a first request sending submodule configured to send a first tracking information acquisition request to the UAV, and receive tracking information or flight path information fed back by the UAV;
  • the second request sending sub-module is configured to send a second tracking information acquisition request to the AMF network element, and receive the UAV tracking tracking information fed back by the AMF network element; wherein, the tracking information is the AMF network element according to the the second tracking information acquisition request, trigger the radio access network RAN to send the first flight route request to the UE, and receive the tracking information fed back by the UE; or the tracking information is the AMF network element according to the second tracking information information acquisition request, send a second flight route request to the UAV, and receive the tracking information fed back by the UAV.
  • the request receiving module 901 receives the first request sent by the client that carries the target location or the target identifier; the information obtaining module 902 obtains the target UAV information of the target UAV UAV from the control plane network element; The information sending module 903 sends the target UAV information to the client; obtains the UAV information from the network element of the control plane, matches the target position, determines the target UAV corresponding to the target position, and realizes precise positioning of the unknown UAV.
  • an embodiment of the present disclosure further provides an apparatus for processing drone information, which is applied to an AMF network element with access and mobility management functions.
  • the apparatus includes:
  • a location acquisition module 1001 configured to receive a UAV UAV request sent by the UAV flight enabling subsystem UFES, and acquire the target location carried in the UAV request;
  • a target determination module 1002 configured to determine a target cell corresponding to the target position, and determine a target UAV in the target cell;
  • the identification sending module 1003 is configured to send the identification information of the target UAV to the UFES; the identification information includes at least one of a UAV identification and a terminal identification of the target UAV.
  • the device further includes:
  • an acquisition request receiving module configured to receive the second tracking information acquisition request sent by the UFES
  • a route request sending module configured to send a flight route request to the UAV, and receive the tracking information or flight route information fed back by the UAV according to the flight route request;
  • the tracking information or flight route information is fed back to the UFES.
  • the route request sending module includes:
  • a triggering submodule configured to trigger the radio access network RAN to send a first flight route request to the UE, and receive the tracking information fed back by the UE;
  • a sending submodule configured to send a second flight route request to the UAV, and receive the tracking information fed back by the UAV.
  • the location acquisition module 1001 receives the UAV UAV request sent by the UAV flight enabling subsystem UFES, and acquires the target location carried in the UAV request; the target determination module 1002 determines the location corresponding to the target location. the target cell, and determine the target UAV in the target cell; the identification sending module 1003 sends the identification information of the target UAV to the UFES; the identification information includes at least one of the UAV identification and the terminal identification of the target UAV By matching the target cell with the target location, the target UAV in the target cell is determined, and the identification information of the target UAV is sent to the UFES, so as to realize precise positioning of the unknown UAV.
  • an embodiment of the present disclosure further provides a terminal, including a memory 1120, a transceiver 1110, and a processor 1100:
  • the memory 1120 is used to store computer programs; the transceiver 1110 is used to send and receive data under the control of the processor 1100; the processor 1100 is used to read the computer program in the memory 1120 and perform the following operations:
  • the target UAV is a UAV close to the target position or a UAV including the target identification or a UAV including the target identification;
  • the control plane network element includes: the UAV flight enabling subsystem UFES, the unified data at least one of the management UDM network element, the network function opening NEF network element, and the access and mobility management function AMF network element;
  • the target UAV is a UAV close to the target position, including:
  • the target UAV is a UAV with the smallest distance from the target position, or the target UAV is a UAV with a distance from the target position within a first preset distance range.
  • the UAV information includes at least one of a UAV identifier, flight path information, and tracking information;
  • the target UAV information of the target UAV UAV is obtained from the control plane network element, including:
  • the UAV is positioned according to the UAV identifier, the target UAV whose position is the smallest distance from the target position or the target UAV whose distance from the target position is within a first preset distance is determined, and the target UAV is determined.
  • target UAV information
  • the obtaining the UAV identifier and tracking information of the UAV from the control plane network element includes:
  • control plane network element includes the UDM network element, obtain the UAV identifier and UAV tracking information from the UDM network element.
  • the terminal before acquiring the UAV identifier and tracking information of the UAV from the control plane network element, the terminal include:
  • Obtaining the UAV identifier and tracking information of the UAV from the control plane network element including:
  • the tracking information includes the UAV of the target location, and the UAV information of the UAV is acquired.
  • the control plane network element includes the AMF network element and the UDM network element
  • the obtaining the UAV identifier and tracking information of the UAV from the control plane network element includes:
  • the determining of the UAV identifier of the UAV UAV by the AMF network element includes:
  • the first response information includes: the AMF identifier of the AMF network element, or the AMF identifier and the the cell identifier corresponding to the target location;
  • the second response information includes the UAV identifier or the terminal identifier corresponding to the target location;
  • UAV information of the drone UAV is determined according to the second response information.
  • the second response information includes the UAV information
  • the UAV information is determined by the AMF network element according to the target location, or determined according to the cell identifier.
  • the second response information includes the terminal identifier
  • the determining of the UAV information of the UAV UAV according to the second response information includes:
  • the UAV UAV corresponding to the terminal identifier and the UAV information of the UAV are determined.
  • the obtaining the target UAV with the smallest distance from the target location from the control plane network element includes:
  • the obtaining target UAV information of the target UAV UAV from the control plane network element includes:
  • the radio access network RAN sends the first flight route request to the UE, and receives the tracking information fed back by the UE; or the tracking information is that the AMF network element sends the second tracking information to the UAV according to the second tracking information acquisition request. flight route request and receive tracking information fed back by the UAV.
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1100 and various circuits of memory represented by memory 1120 are linked together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface 1140 provides the interface.
  • Transceiver 1110 may be a number of elements, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1100 in performing operations.
  • the processor 1100 may be a central processor (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (Comple11 Programmable Logic Device). , CPLD), the processor can also use a multi-core architecture.
  • CPU central processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • CPLD complex programmable logic device
  • the processor can also use a multi-core architecture.
  • a first request sent by a client that carries a target location or a target identifier is received; the target UAV information of the target UAV UAV is obtained from the network element of the control plane; the target UAV information is sent to The client: obtains UAV information from the network element of the control plane, matches the target position, determines the target UAV corresponding to the target position, and realizes precise positioning of the unknown UAV.
  • an embodiment of the present disclosure further provides a terminal, including a memory 1220, a transceiver 1212, and a processor 1200:
  • the memory 1220 is used to store computer programs; the transceiver 1212 is used to send and receive data under the control of the processor 1200; the processor 1200 is used to read the computer program in the memory 1220 and perform the following operations:
  • the identification information includes at least one of a UAV identification and a terminal identification of the target UAV.
  • the terminal further includes:
  • the tracking information or flight route information is fed back to the UFES.
  • the sending a flight route request to the UAV and receiving the tracking information fed back by the UAV according to the flight route request includes:
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1200 and various circuits of memory represented by memory 1220 are linked together.
  • the bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein.
  • the bus interface 1240 provides the interface.
  • Transceiver 1210 may be a number of elements, including a transmitter and a receiver, that provide means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like.
  • the processor 1200 is responsible for managing the bus architecture and general processing, and the memory 1220 may store data used by the processor 1200 in performing operations.
  • the processor 1200 may be a central processor (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (Comple12 Programmable Logic Device). , CPLD), the processor can also use a multi-core architecture.
  • CPU central processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • CPLD complex programmable logic device
  • a UAV UAV request sent by the UAV flight enabling subsystem UFES is received, and a target position carried in the UAV request is obtained; a target cell corresponding to the target position is determined, and the target is determined The target UAV in the cell; the identification information of the target UAV is sent to the UFES; the identification information includes at least one of the UAV identification and the terminal identification of the target UAV; by matching the target cell with the target location, The target UAV in the target cell is determined, and the identification information of the target UAV is sent to the UFES to realize precise positioning of the unknown UAV.
  • each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium.
  • the technical solutions of the present disclosure essentially or the parts that contribute to the prior art, or all or part of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present disclosure.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
  • Embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is used to cause the processor to execute the drone information processing method.
  • the computer-readable storage medium can be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic storage (eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (eg, CD , DVD, BD, HVD, etc.), and semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state disk (SSD)), etc.
  • magnetic storage eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.
  • optical storage eg, CD , DVD, BD, HVD, etc.
  • semiconductor memory such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state disk (SSD)
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.
  • Figure 13 illustrates a computing processing device that can implement methods in accordance with the present disclosure.
  • the computing processing device traditionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020 .
  • the memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has storage space 1030 for program code 1031 for performing any of the method steps in the above-described methods.
  • the storage space 1030 for program codes may include various program codes 1031 for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products.
  • These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 14 .
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 13 .
  • the program code may, for example, be compressed in a suitable form.
  • the storage unit includes computer readable code 1031', ie code readable by a processor such as 1010, for example, which, when executed by a computing processing device, causes the computing processing device to perform any of the methods described above. of the various steps.
  • processor-executable instructions may also be stored in a processor-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory result in the manufacture of means comprising the instructions product, the instruction means implements the functions specified in the flow or flow of the flowchart and/or the block or blocks of the block diagram.
  • processor-executable instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process that Execution of the instructions provides steps for implementing the functions specified in the flowchart or blocks and/or the block or blocks of the block diagrams.

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Abstract

无人机信息处理方法及装置、终端。所述方法包括：接收客户端发送的携带有目标位置或者目标标识的第一请求；从控制面网元中，获取目标无人机UAV的目标UAV信息；其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：所述UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；将所述目标UAV信息发送至所述客户端。本申请实施例解决了现有技术中，难以实现对未知具体信息的UAV进行定位的问题。

Description

无人机信息处理方法及装置、终端
相关申请的交叉引用
本公开要求在2020年08月13日提交中国专利局、申请号为202010814541.3、名称为“无人机信息处理方法及装置、终端”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及移动通信技术领域，尤其涉及一种无人机信息处理方法及装置、终端。
背景技术
无人机(Unmanned Aerial Vehicles，UAV)是无人驾驶飞机的简称，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞行器。与载人飞机相比，UAV具有体积小、造价低、使用方便、对使用环境要求低、恶劣环境中生存能力较强等优点，因此被广泛应用于各个领域，例如在航拍、农业、植保、微型自拍、快递运输、测绘、新闻报道、电力巡检以及影视拍摄等领域。在UAV使用的过程中，对UAV进行定位；现有技术中，主要利用位置服务业务(Location Service，LCS)功能实现UAV定位；然而，LCS功能应用过程中对应用场景的要求较高，需要已知被定位的目标UAV的具体信息，具体信息包括UAV的签约永久标识(Subscription Permanent Identifier，SUPI)或订阅永久标识符(Generic Public Subscription Identifier，GPSI)，也即LCS功能是应用于对已知UAV进行定位的场景，因此，现有技术中，难以实现对未知具体信息的UAV进行定位。
概述
本公开实施例提供一种无人机信息处理方法及装置、终端，以解决现有技术中，难以实现对未知具体信息的UAV进行定位的问题。
第一方面，本公开实施例提供了一种无人机信息处理方法，应用于无人机飞行使能子系统UFES，所述方法包括：
接收客户端发送的携带有目标位置或者目标标识的第一请求；
从控制面网元中，获取目标无人机UAV的目标UAV信息；
其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：所述UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
将所述目标UAV信息发送至所述客户端。
第二方面，本公开实施例还提供一种无人机信息处理方法，应用于接入和移动性管理功能AMF网元，所述方法包括：
接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
第三方面，本公开实施例还提供一种终端，包括存储器，收发机，处理器：
存储器，用于存储计算机程序；收发机，用于在所述处理器的控制下收发数据；处理器，用于读取所述存储器中的计算机程序并执行以下操作：
接收客户端发送的携带有目标位置或者目标标识的第一请求；
从控制面网元中，获取目标无人机UAV的目标UAV信息；
其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：无人机飞行使能子系统UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
将所述目标UAV信息发送至所述客户端。
第四方面，本公开实施例还提供一种终端，包括存储器，收发机，处理器：
存储器，用于存储计算机程序；收发机，用于在所述处理器的控制下收发数据；处理器，用于读取所述存储器中的计算机程序并执行以下操作：
接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
第五方面，本公开实施例还提供一种无人机信息处理装置，应用于无人机飞行使能子系统UFES，所述装置包括：
请求接收模块，用于接收客户端发送的携带有目标位置或者目标标识的第一请求；
信息获取模块，用于从控制面网元中，获取目标无人机UAV的目标UAV信息；
其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：所述UFES、统一 数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
信息发送模块，用于将所述目标UAV信息发送至所述客户端。
第六方面，本公开实施例还提供一种无人机信息处理装置，应用于接入和移动性管理功能AMF网元，所述装置包括：
位置获取模块，用于接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
目标确定模块，用于确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
标识发送模块，用于向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
第七方面，本公开实施例还提供一种电子设备，该电子设备包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述第一方面所述的无人机信息处理方法中的步骤。
第八方面，本公开实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上第一方面所述的无人机信息处理方法中的步骤。
在本公开实施例中，接收客户端发送的携带有目标位置或者目标标识的第一请求；从控制面网元中，获取目标无人机UAV的目标UAV信息；将所述目标UAV信息发送至所述客户端；通过控制面网元中获取UAV信息，与目标位置进行匹配，确定目标位置对应的目标UAV，实现对未知UAV进行精确定位。
上述说明仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图简述
为了更清楚地说明本公开实施例的技术方案，下面将对本公开实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例的应用于UFES的无人机信息处理方法的流程图；
图2为本公开实施例的第一示例的示意图；
图3为本公开实施例的第二示例的示意图；
图4为本公开实施例的第三示例的示意图；
图5为本公开实施例的第四示例的示意图；
图6为本公开实施例的第五示例的示意图；
图7为本公开实施例的第六示例的示意图；
图8本公开实施例的应用于AMF的无人机信息处理方法的流程图；
图9为本公开实施例提供的无人机信息处理装置的结构框图之一；
图10为本公开实施例提供的无人机信息处理装置的结构框图之二；
图11为本公开实施例提供的终端的结构框图之一；
图12为本公开实施例提供的终端的结构框图之二；
图13示意性地示出了用于执行根据本公开的方法的计算处理设备的框图；并且
图14示意性地示出了用于保持或者携带实现根据本公开的方法的程序代码的存储单元。
详细描述
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开实施例中术语“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
本公开实施例中术语“多个”是指两个或两个以上，其它量词与之类似。
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，并不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开实施例提供了一种无人机信息处理方法及装置、终端，用以实现IAB节点在CU之间进行切换。
其中，方法和装置是基于同一申请构思的，由于方法和装置解决问题的原理相似，因此装置和方法的实施可以相互参见，重复之处不再赘述。
此外，本公开实施例提供的技术方案可以适用于多种系统，尤其是5G系统。例如适用的系统可以是全球移动通讯(global system of mobile communication，GSM)系统、码分多址(code division multiple access，CDMA)系统、宽带码分多址(Wideband Code Division Multiple Access，WCDMA)通 用分组无线业务(general packet radio service，GPRS)系统、长期演进(long term evolution，LTE)系统、LTE频分双工(frequency division duplex，FDD)系统、LTE时分双工(time division duplex，TDD)系统、高级长期演进(long term evolution advanced，LTE-A)系统、通用移动系统(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)系统、5G新空口(New Radio,NR)系统等。这多种系统中均包括终端设备和网络设备。系统中还可以包括核心网部分，例如演进的分组系统(Evloved Packet System,EPS)、5G系统(5GS)等。
本公开实施例涉及的终端设备，可以是指向用户提供语音和/或数据连通性的设备，具有无线连接功能的手持式设备、或连接到无线调制解调器的其他处理设备等。在不同的系统中，终端设备的名称可能也不相同，例如在5G系统中，终端设备可以称为用户设备(User Equipment，UE)。无线终端设备可以经无线接入网(Radio Access Network，RAN)与一个或多个核心网(Core Network，CN)进行通信，无线终端设备可以是移动终端设备，如移动电话(或称为“蜂窝”电话)和具有移动终端设备的计算机，例如，可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置，它们与无线接入网交换语言和/或数据。例如，个人通信业务(Personal Communication Service，PCS)电话、无绳电话、会话发起协议(Session Initiated Protocol，SIP)话机、无线本地环路(Wireless Local Loop，WLL)站、个人数字助理(Personal Digital Assistant，PDA)等设备。无线终端设备也可以称为系统、订户单元(subscriber unit)、订户站(subscriber station)，移动站(mobile station)、移动台(mobile)、远程站(remote station)、接入点(access point)、远程终端设备(remote terminal)、接入终端设备(access terminal)、用户终端设备(user terminal)、用户代理(user agent)、用户装置(user device)，本公开实施例中并不限定。
本公开实施例涉及的网络设备，可以是基站，该基站可以包括多个为终端提供服务的小区。根据具体应用场合不同，基站又可以称为接入点，或者可以是接入网中在空中接口上通过一个或多个扇区与无线终端设备通信的设备，或者其它名称。网络设备可用于将收到的空中帧与网际协议(Internet Protocol，IP)分组进行相互更换，作为无线终端设备与接入网的其余部分之间的路由器，其中接入网的其余部分可包括网际协议(IP)通信网络。网络设备还可协调对空中接口的属性管理。例如，本公开实施例涉及的网络设备可以是全球移动通信系统(Global System for Mobile communications，GSM)或码分多址接入(Code Division Multiple Access，CDMA)中的网络设备(Base Transceiver Station，BTS)，也可以是带宽码分多址接入(Wide-band Code Division Multiple Access，WCDMA)中的网络设备(NodeB)，还可以是长 期演进(long term evolution，LTE)系统中的演进型网络设备(evolutional Node B，eNB或e-NodeB)、5G网络架构(next generation system)中的5G基站(gNB)，也可以是家庭演进基站(Home evolved Node B，HeNB)、中继节点(relay node)、家庭基站(femto)、微微基站(pico)等，本公开实施例中并不限定。在一些网络结构中，网络设备可以包括集中单元(centralized unit，CU)节点和分布单元(distributed unit，DU)节点，集中单元和分布单元也可以地理上分开布置。
网络设备与终端设备之间可以各自使用一或多根天线进行多输入多输出(Multi Input Multi Output,MIMO)传输，MIMO传输可以是单用户MIMO(Single User MIMO,SU-MIMO)或多用户MIMO(Multiple User MIMO,MU-MIMO)。根据根天线组合的形态和数量，MIMO传输可以是2D-MIMO、3D-MIMO、FD-MIMO或massive-MIMO，也可以是分集传输或预编码传输或波束赋形传输等。
图1示出了本公开实施例提供的一种无人机信息处理方法的流程示意图，可选地，所述方法应用于UAV飞行使能子系统(UAV Flight Enablement Subsystem，UFES)，UFES是网络为支持无人机而引入的新的网络功能，是当前网络向第三方开放的唯一接口，第三方例如无人机系统(Unmanned Aeriai System，UAS)服务提供者，用以降低对网络的影响，例如可避免接入及移动性管理功能(Access and Mobility Management Function)，会话管理功能(Session Management Function，SMF)或策略控制功能(Policy Control Function，PCF)等网络支持UAS选择等功能。
具体地，UFES负责选择UAS服务提供者(UAS Services Supplier，USS)，并USS提供3GPP UAV ID，从统一数据管理(Unified Data Management，UDM)检索与UAV相关的签约信息和/或从PCF接收与UAV相关的策略。
其中，USS通常是提供无人机飞行系统服务的第三方，无人机飞行系统(Unmanned Aerial System，UAS)通常包括一个无人机控制器(UAV Controller)和一个无人机(Unmanned Aerial Vehicle，UAV)。
如图1所示，所述方法包括：
步骤101，接收客户端发送的携带有目标位置或者目标标识的第一请求。
其中，客户端可以是第三方授权实体(Third party authorized entity，TPAE)或无人机交通管理系统(UAS Traffic Management，UTM)；TPAE是第三方部署的功能。以客户端为TPAE为例，客户端向UFES发送定位请求(第一请求)，并在定位请求中携带针对的目标位置；或客户端为UTM，UTM向UFES发送定位请求，并在定位请求中携带目标标识；可选地，目标标识为被定位的目标UAV标识，例如UAV ID。
可以理解的是，本公开实施例中，UAV对于网络角度而言，也作为UE。
步骤102，从控制面网元中，获取目标无人机UAV的目标UAV信息；
其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV；根据UAV信息，确定与目标位置接近的UAV或标识有所述目标标识的UAV，即目标UAV；可选地，目标UAV为与所述目标位置接近的UAV即所述目标UAV为与所述目标位置距离最小的UAV，或所述目标UAV为与所述目标位置距离在第一预设距离范围内的UAV，目标UAV即与目标位置的对应的UAV。
所述控制面网元包括：所述UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种。
比如，控制面网元包括UFES时，UFES可以在本地预先存储UAV信息或在网络能力开放(Network Exposure Function，NEF)网元中存储UAV信息，然后将目标位置与所存储的UAV信息进行匹配，得到目标UAV并获取目标UAV的UAV信息；控制面网元包括统一数据管理(Unified Data Management，UDM)网元时，UFES从UDM网元时请求UAV信息，将目标位置与所请求的UAV信息进行匹配；控制面网元包括AMF网元时，UFES通过AMF网元获取UAV信息，将目标位置与所获取的UAV信息进行匹配。
可选地，UAV信息包括UVA标识(UVA ID)、飞行路径信息以及跟踪信息中的至少一种；跟踪信息中包括UAV信息的飞行路径。
步骤103，将所述目标UAV信息发送至所述客户端。
确定目标UAV后，将目标UAV的目标UAV信息发送至客户端，完成对目标位置的目标UAV的定位操作。
本公开实施例中，接收客户端发送的携带有目标位置或者目标标识的第一请求；从控制面网元中，获取目标无人机UAV的目标UAV信息；将所述目标UAV信息发送至所述客户端；通过控制面网元中获取UAV信息，与目标位置进行匹配，确定目标位置对应的目标UAV，实现对未知UAV进行精确定位。本公开实施例解决了现有技术中，难以实现对未知具体信息的UAV进行定位的问题。
在一个可选实施例中，所述UAV信息包括UAV标识、飞行路径信息以及跟踪信息中的至少一种；其中，飞行路径信息包括飞行路径中的位置点，通常为三维位置信息，还可能携带位置点的时间信息。跟踪信息中包括UAV预设的飞行路径或历史飞行路径、UAV的位置以及UAV控制器的位置等。UAV的位置、UAV控制器的位置包括历史位置以及当前位置。预设的飞行路径包括预先设定的还未执行的飞行路径。
追踪信息包括UAV预设的飞行路径或历史飞行路径，UAV的位置，UAV控制器的位置等。
步骤102包括情况一或情况二：
情况一，从控制面网元中，获取UAV的UAV标识以及跟踪信息；
根据所述UAV标识对所述UAV进行定位，确定位置与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV，并确定所述目标UAV的目标UAV信息；
控制面网元为UDM，UDM用于存储UE的LCS隐私设置和路由信息等参数；UFES从UDM中获取UAV标识以及跟踪信息，然后根据UAV标识对所述UAV进行定位得到当前位置，确定当前位置与所述目标位置距离最小，或当前位置与所述目标位置距离在第一预设距离范围内的目标UAV，然后查找目标UAV的目标UAV信息。可选地，根据UAV标识对所述UAV进行定位时可采用LCS机制，本公开实施例在此不再赘述LCS机制的定位过程。
情况二，从控制面网元中，获取与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV的目标UAV标识；
根据所述目标UAV标识，从所述UDM网元中获取所述目标UAV的跟踪信息。
控制面网元为AMF时，UFES从AMF中获取与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV的目标UAV标识，并根据目标UAV标识，从所述UDM网元中获取所述目标UAV的跟踪信息。
在一个可选实施例中，上述情况一中，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
若所述控制面网元包括所述UDM网元，从所述UDM网元中，获取UAV标识以及UAV的跟踪信息。UFES从UDM中获取注册到网络的UAV的UAV信息，然后根据UAV标识对所述UAV进行定位得到当前位置，通过比对位置获得位于TPAE提供的位置的UAV的信息，并将该UAV的信息提供给TAPE，作为第一示例，如图2所示，定位过程主要包括如下步骤：
1.TPAE向UFES发送定位请求，定位请求中携带所请求的目标位置的位置信息以及请求的时间戳。
2.UFES向UDM发送UAV信息请求，用以获取UAV标识以及跟踪信息。
3.UDM向UFES发送UAV信息回复。
UFES从UDM获取所有完成UAV签约且已注册到网络的UE的标识(包括UAV标识)，和服务AMF的信息。
4.UFES通过LCS网元，对UAV进行定位。
5.目标UAV的UAV标识确定。
UFES针对上述UE分别执行定位过程，并比对UE位置和TPAE提供的位置信息，比如距离最小或满足第一预设距离范围，则UFES请求UE提供 UAV标识和跟踪(tracking)信息。
6.UFES从UDM中获取UAV跟踪信息。
7.UFES将UAV信息回复给TPAE。
UFES将UAV标识和UAV跟踪信信息存储在UDM中，并将该信息发送给TPAE。
在一个可选实施例中，上述情况一中，若所述控制面网元包括所述UFES或所述NEF网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息之前，所述方法包括：
从所述UDM网元中，获取UAV的UAV信息或所述NEF网元中；即UFES预先从UDM中获取注册到网络的UAV的UAV信息；或NEF网元中预先存储注册到网络的UAV的UAV信息，然后UFES从NEF网元中获取上述信息。
所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
根据所述UAV信息，确定跟踪信息包括所述目标位置的UAV，获取所述UAV的UAV信息。根据跟踪信息筛选出可能出现在TPAE提供的位置点的UAV，然后获取这些UAV的位置信息，根据这些位置信息，将与TPAE提供的位置接近的UAV的信息返回给TPAE。
作为第二示例，如图3所示，定位过程主要包括如下步骤：
1.TPAE向UFES发送定位请求，定位请求中携带所请求的目标位置的位置信息以及请求的时间戳。
2.UFES向UDM发送UAV信息请求，用以获取UAV标识以及跟踪信息。
3.UDM向UFES发送UAV信息回复。
UFES或NEF网元从UDM获取所有完成UAV签约且已注册到网络的UE的标识(包括UAV标识以及跟踪信息)。
4.目标UAV的UAV标识确定。
UFES根据跟踪信息中的飞行路径(flight path)，判断哪些UAV的flight path可覆盖上述位置信息。
5.UAV定位。
对于飞行路径信息(flight path)可覆盖上述位置信息的UAV，UFES分别调用LCS功能，获取UAV的位置信息。
6.UFES将UAV信息回复给TPAE。
UFES比对UAV的位置信息和TPAE提供的位置信息，如果二者临近，则UFES将UAV的标识和tracking information发送给TPAE。
在一个可选实施例中，上述情况一中，若所述控制面网元包括所述AMF网元以及所述UDM网元，所述从控制面网元中，获取UAV的UAV标识以 及跟踪信息，包括：
确定服务区域包括所述目标位置的AMF网元；
通过所述AMF网元，确定无人机UAV的UAV标识；
根据所述UAV标识，从所述UDM网元中获取所述UAV的跟踪信息。
UFES从网络存储功能(Network Repository Function，NRF)网元获得覆盖目标位置的AMF和小区的信息，然后从AMF获得位于该小区的UAV的信息。
具体地，所述通过所述AMF网元，确定无人机UAV的UAV标识，包括：
向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；发现服务请求消息可采用如下描述：Nnrf_NFDiscovery request，请求覆盖该位置的AMF的信息。
接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的第一响应信息；所述第一响应信息包括：AMF网元的AMF标识，或所述AMF标识以及与所述目标位置对应的小区标识；
根据所述AMF标识，向所述AMF网元发送携带有所述目标位置的第一服务请求；第一服务请求可以是事件开放服务订阅请求。
接收所述AMF网元发送的携带有第二响应信息的第一请求回复；所述第二响应信息包括UAV标识或与所述目标位置对应的终端标识；其中，所述目标位置对应的终端可能是无人机，也可能是其他形式的终端。
根据所述第二响应信息，确定无人机UAV的UAV信息；根据UAV标识或终端标识确定终端，然后确定UAV信息。
可选地，若所述第二响应信息包括所述终端标识，
所述根据所述第二响应信息，确定无人机UAV的UAV信息，包括：
根据预设对应关系，确定与所述终端标识对应的无人机UAV，以及所述UAV的UAV信息。对应关系为终端标识与UAV标识之间的对应关系，终端标识例如3GPP UAV ID，UAV标识例如CAA-level UAV ID。
作为第三示例，如图4所示，定位过程主要包括如下步骤：
1.TPAE向UFES发送定位请求，定位请求中携带所请求的目标位置的位置信息。
2.UFES向NRF发送发现服务请求消息(Nnrf_NFDiscovery request)，向NRF请求覆盖该位置的AMF的信息。
3.NRF向UFES返回发现服务响应消息(Nnrf_NFDiscovery response)发现服务响应消息中携带AMF标识，或所述AMF标识以及与所述目标位置对应的小区标识。
4.UFES向AMF发送事件开放服务订阅请消息 (Namf_EventExposure_Subscribe)，事件开放服务订阅请消息中携带目标位置，请求AMF提供位于目标位置的UE的标识。
5.AMF如果接收到位置，AMF将该位置映射为小区，并根据本地存储的上下文信息确定位于相应小区内的UE。AMF向UFES返回第一请求回复(Namf_EventExposure_Notify)消息，消息中携带UE ID可选地，UFES根据3GPP UAV ID与CAA-level UAV ID之间的映射关系，决定在步骤5获取的UE对应的UAVID。
6.获取UAV位置。
若UFES在步骤5确定有多个UAV，则执行该步骤，否则跳过该步骤。UFES针对每个UAV执行LCS过程，获取每个UAV的精确位置，将位置最接近目标的UAV即为TPAE请求的UAV。
7.接收UAV信息请求。
8.执行UAV信息回复。
UFES使用UE ID从UDM获取UAV标识以及跟踪信息。
9.UFES向TPAE发送UAV远端标识和跟踪信息(包括位于所请求位置的UAV的CAA-level UAV ID)。
在一个可选实施例中，若所述第二响应信息包括所述UAV信息，
所述UAV信息为所述AMF网元根据所述目标位置确定的，或根据所述小区标识确定的。AMF网元确定目标位置对应的UAV，或将目标位置确定为小区(cell)并进一步确定小区包括的UAV。
作为第四示例，如图5所示，定位过程主要包括如下步骤：
1.TPAE向UFES发送定位请求，定位请求中携带所请求的目标位置的位置信息。
2.UFES向NRF发送发现服务请求消息(Nnrf_NFDiscovery request)，向NRF请求覆盖该位置的AMF的信息。
3.NRF向UFES返回发现服务响应消息(Nnrf_NFDiscovery response)发现服务响应消息中携带AMF标识；
NRF还可确定目标位置对应的小区信息，NRF还向AMF返回小区标识(即cell ID)。
4.UFES向AMF发送事件开放服务订阅请消息(Namf_EventExposure_Subscribe)，事件开放服务订阅请消息中携带目标位置或cell ID，请求AMF提供位于目标位置或cell ID对应的小区内的UE的标识。
5.AMF接收到目标位置，将该位置映射为小区，并确定位于相应小区内的UAV。AMF向UFES返回Namf_EventExposure_Notify消息，参数为UAV ID。
6.UFES向UDM发送UAV信息请求，参数为UAV ID。
7.UDM向UFES返回UAV的信息，例如跟踪信息等。
8.UFES向TPAE发送UAV回复，消息包括从UDM获取的UAV信息。
在一个可选实施例中，上述情况二中，若所述控制面网元包括所述AMF网元，所述从控制面网元中，获取与所述目标位置距离最小的目标UAV，包括：
向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的AMF标识；
根据所述AMF标识，向所述AMF网元的发送携带有所述目标位置的UAV请求，请求AMF网元根据目标位置确定目标UAV；
接收所述AMF网元发送的携带有目标UAV标识的UAV响应；所述目标UAV标识为所述AMF网元根据所述目标位置确定的。
作为第五示例，如图6所示，定位过程主要包括如下步骤：
1.TPAE向UFES发送定位请求，定位请求中携带所请求的目标位置的位置信息。
2.UFES向NRF发送携带有目标位置的发现服务请求消息(Nnrf_NFDiscovery request)。
3.NRF根据本地存储的网络功能的覆盖信息，确定目标位置所属的AMF的服务区域，然后向UFES发送发现服务响应消息(Nnrf_NFDiscovery response)，参数包括AMF ID，表明目标位置从属于该AMF的服务区域。
4.UFES向AMF发送定位请求，定位请求中携带所请求的目标位置的位置信息。
5.AMF根据位置信息确定该位置信息所属的小区的信息，然后根据本地存储的信息确定位于这些小区内的UAV的信息。
如果有至少两个UAV，则AMF分别调用LCS机制，获取这些UAV的位置。可选地，AMF可仅返回位置最接近目标位置的UAV。
6.AMF向UFES返回UAV回复，消息包括UAV ID。
7.UFES向UDM发送UAV信息请求，消息包括UAV ID。
8.UDM向UFES返回UAV的信息。
9.UFES向TPAE返回UAV的信息。
在一个可选实施例中，所述从控制面网元中，获取目标无人机UAV的目标UAV信息包括：
情况A，向所述UAV发送第一跟踪信息获取请求，并接收所述UAV反馈的跟踪信息；和/或
情况B，向AMF网元发送第二跟踪信息获取请求，并接收所述AMF网 元反馈的UAV追的跟踪信息；其中，所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；或所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
情况A中，控制面网元包括目标UAV，UFES直接请求UAV提供飞行路线信息，以确定飞行路径。
情况B又进一步包括情况C和情况D；
情况C中，AMF网元通过无线接入网RAN向UE(UAV对应的终端)发送第一飞行路线请求，并接收所述UE通过RAN反馈的跟踪信息；
情况D中，AMF网元向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
作为第六示例，如图7所示，定位过程主要包括如下步骤：
1.UFES从客户端(UTM/TPAE)接收到UAV定位请求，消息中携带目标位置。
2.UFES从UAV获取跟踪信息(飞行信息)，可通过下述3种方式获取：
情况A，UFES直接请求UAV提供飞行路线信息。
此时步骤2包括两个子步骤：
分别为：1.UFES向UAV发送飞行信息请求(第一跟踪信息获取请求)；
2.UAV向UFES间飞行信息回复，其中携带飞行信息。
情况C，包括：
1.UFES通过向AMF发送飞行路线请求消息(第二跟踪信息获取请求)，携带UE标识。
2.AMF向RAN发送N2消息，携带飞行路线请求；
3.RAN向UE发送UE信息请求，携带飞行路线请求；
4.UE向RAN返回UE信息回复(飞行路线)。
5.RAN向AMF返回N2消息(飞行路线)。
6.AMF向UFES发送飞行路线。
情况D，包括：
1.UFES向AMF发送(第二跟踪信息获取请求)，携带UE标识。
2.AMF向UAV发送飞行信息请求；
3.UAV向AMF返回飞信信息；
4.AMF将飞行信息返回给UFES。
第2步的三种情况中任一种执行完成，可继续执行第3步。
3.UFES根据UAV的飞信信息，确定距离第三方提供位置最近的UAV。
4.UFES从UDM获取上述UAV的信息。
5.UFES将UAV的信息发送给客户端。
本公开实施例中，接收客户端发送的携带有目标位置或者目标标识的第一请求；从控制面网元中，获取目标无人机UAV的目标UAV信息；将所述目标UAV信息发送至所述客户端；通过控制面网元中获取UAV信息，与目标位置进行匹配，确定目标位置对应的目标UAV，实现对未知UAV进行精确定位。本公开实施例解决了现有技术中，难以实现对未知具体信息的UAV进行定位的问题。
图8示出了本公开实施例提供的一种无人机信息处理方法的流程示意图，可选地，所述方法应用于接入和移动性管理功能AMF网元，所述方法包括：
步骤801，接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置。
AMF网元接收UFES发送的无人机UAV请求，并获取UAV请求中携带的目标位置，
步骤802，确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV。
AMF网元根据目标位置确定该位置信息所属的目标小区的信息，然后根据本地存储的信息确定位于这些目标小区内的UAV的信息。
可选地，若目标小区内包括至少两个目标UAV，则可选择位置与目标位置最接近的UAV作为目标UAV。
步骤803，向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
AMF向UFES返回UAV回复，消息包括UAV ID或目标UAV的终端标识中的至少一种。具体执行过程可参考上述第五示例，为避免重复，在此不再赘述。
在一个可选实施例中，所述方法还包括：
接收所述UFES发送的第二跟踪信息获取请求；
向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息或者飞行路线信息；
向所述UFES反馈所述跟踪信息或者飞行路线信息。
其中，AMF网元根据所述第二跟踪信息获取请求，触发无线接入网RAN向UE发送飞行路线请求，并接收所述UE反馈的跟踪信息，然后向UFES反馈所述跟踪信息或者飞行路线信息。
具体地，所述向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息，包括：
触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息，如上述第六示例中的情况C；
或向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息，如上述第六示例中的情况D。
本公开实施例中，接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种；通过将目标小区与目标位置进行匹配，确定目标小区内的目标UAV，并向所述UFES发送所述目标UAV的标识信息，实现对未知UAV进行精确定位。本公开实施例解决了现有技术中，难以实现对未知具体信息的UAV进行定位的问题。
以上介绍了本公开实施例提供的无人机信息处理方法，下面将结合附图介绍本公开实施例提供的无人机信息处理装置及终端。
参见图9，本公开实施例还提供了一种无人机信息处理装置，应用于无人机飞行使能子系统UFES，所述装置包括：
请求接收模块901，用于接收客户端发送的携带有目标位置或者目标标识的第一请求；
信息获取模块902，用于从控制面网元中，获取目标无人机UAV的目标UAV信息；
其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：所述UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
信息发送模块903，用于将所述目标UAV信息发送至所述客户端。
可选地，本公开实施例中，所述目标UAV为与所述目标位置接近的UAV，包括：
所述目标UAV为与所述目标位置距离最小的UAV，或所述目标UAV为与所述目标位置距离在第一预设距离范围内的UAV。
可选地，本公开实施例中，所述UAV信息包括UAV标识、飞行路径信息以及跟踪信息中的至少一种；
所述信息获取模块902，包括：
第一获取子模块，用于从控制面网元中，获取UAV的UAV标识以及跟踪信息；
第一确定子模块，用于根据所述UAV标识对所述UAV进行定位，确定位置与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV，并确定所述目标UAV的目标UAV信息；
或
第二获取子模块，用于从控制面网元中，获取与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV的目标UAV标识；
第三获取子模块，用于根据所述目标UAV标识，从所述UDM网元中获取所述目标UAV的跟踪信息。
可选地，本公开实施例中，所述第一获取子模块用于：
若所述控制面网元包括所述UDM网元，从所述UDM网元中，获取UAV标识以及UAV的跟踪信息。
可选地，本公开实施例中，若所述控制面网元包括所述UFES或所述NEF网元，所述信息获取模块902用于：
在从控制面网元中，获取UAV的UAV标识以及跟踪信息之前，从所述UDM网元或所述NEF网元中，获取UAV的UAV信息；
所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
根据所述UAV信息，确定跟踪信息包括所述目标位置的UAV，获取所述UAV的UAV信息。
可选地，本公开实施例中，若所述控制面网元包括所述AMF网元以及所述UDM网元，所述信息获取模块902包括：
AMF确定子模块，用于确定服务区域包括所述目标位置的AMF网元；
UAV标识确定子模块，用于通过所述AMF网元，确定无人机UAV的UAV标识；
跟踪信息获取子模块，用于根据所述UAV标识，从所述UDM网元中获取所述UAV的跟踪信息。
可选地，本公开实施例中，所述UAV标识确定子模块用于：
向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的第一响应信息；所述第一响应信息包括：AMF网元的AMF标识，或所述AMF标识以及与所述目标位置对应的小区标识；
根据所述AMF标识，向所述AMF网元发送携带有所述目标位置的第一服务请求；
接收所述AMF网元发送的携带有第二响应信息的第一请求回复；所述第二响应信息包括UAV标识或与所述目标位置对应的终端标识；
根据所述第二响应信息，确定无人机UAV的UAV信息。
可选地，本公开实施例中，若所述第二响应信息包括所述UAV信息，
所述UAV信息为所述AMF网元根据所述目标位置确定的，或根据所述小区标识确定的。
可选地，本公开实施例中，若所述第二响应信息包括所述终端标识，
所述根据所述第二响应信息，确定无人机UAV的UAV信息，包括：
根据预设对应关系，确定与所述终端标识对应的无人机UAV，以及所述UAV的UAV信息。
可选地，本公开实施例中，若所述控制面网元包括所述AMF网元，所述第二获取子模块用于：
向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的AMF标识；
根据所述AMF标识，向所述AMF网元的发送携带有所述目标位置的UAV请求；
接收所述AMF网元发送的携带有目标UAV标识的UAV响应；所述目标UAV标识为所述AMF网元根据所述目标位置确定的。
可选地，本公开实施例中，所述信息获取模块902包括：
第一请求发送子模块，用于向所述UAV发送第一跟踪信息获取请求，并接收所述UAV反馈的跟踪信息或者飞行路径信息；和/或
第二请求发送子模块，用于向AMF网元发送第二跟踪信息获取请求，并接收所述AMF网元反馈的UAV追的跟踪信息；其中，所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；或所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
在本公开实施例中，请求接收模块901接收客户端发送的携带有目标位置或者目标标识的第一请求；信息获取模块902从控制面网元中，获取目标无人机UAV的目标UAV信息；信息发送模块903将所述目标UAV信息发送至所述客户端；通过控制面网元中获取UAV信息，与目标位置进行匹配，确定目标位置对应的目标UAV，实现对未知UAV进行精确定位。
参见图10，本公开实施例还提供了一种无人机信息处理装置，应用于接入和移动性管理功能AMF网元，所述装置包括：
位置获取模块1001，用于接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
目标确定模块1002，用于确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
标识发送模块1003，用于向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
可选地，本公开实施例中，所述装置还包括：
获取请求接收模块，用于接收所述UFES发送的第二跟踪信息获取请求；
路线请求发送模块，用于向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息或者飞行路线信息；
向所述UFES反馈所述跟踪信息或者飞行路线信息。
可选地，本公开实施例中，所述路线请求发送模块包括：
触发子模块，用于触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；
或发送子模块，用于向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
本公开实施例中，位置获取模块1001接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；目标确定模块1002确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；标识发送模块1003向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种；通过将目标小区与目标位置进行匹配，确定目标小区内的目标UAV，并向所述UFES发送所述目标UAV的标识信息，实现对未知UAV进行精确定位。
参见图11，本公开实施例还提供了一种终端，包括存储器1120，收发机1110，处理器1100：
存储器1120，用于存储计算机程序；收发机1110，用于在所述处理器1100的控制下收发数据；处理器1100，用于读取所述存储器1120中的计算机程序并执行以下操作：
接收客户端发送的携带有目标位置或者目标标识的第一请求；
从控制面网元中，获取目标无人机UAV的目标UAV信息；
其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：无人机飞行使能子系统UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
将所述目标UAV信息发送至所述客户端。
可选地，本公开实施例中，所述目标UAV为与所述目标位置接近的UAV，包括：
所述目标UAV为与所述目标位置距离最小的UAV，或所述目标UAV为与所述目标位置距离在第一预设距离范围内的UAV。
可选地，本公开实施例中，所述UAV信息包括UAV标识、飞行路径信息以及跟踪信息中的至少一种；
所述从控制面网元中，获取目标无人机UAV的目标UAV信息，包括：
从控制面网元中，获取UAV的UAV标识以及跟踪信息；
根据所述UAV标识对所述UAV进行定位，确定位置与所述目标位置距 离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV，并确定所述目标UAV的目标UAV信息；
或
从控制面网元中，获取与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV的目标UAV标识；
根据所述目标UAV标识，从所述UDM网元中获取所述目标UAV的跟踪信息。
可选地，本公开实施例中，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
若所述控制面网元包括所述UDM网元，从所述UDM网元中，获取UAV标识以及UAV的跟踪信息。
可选地，本公开实施例中，若所述控制面网元包括所述UFES或所述NEF网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息之前，所述终端包括：
从所述UDM网元或所述NEF网元中，获取UAV的UAV信息；
所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
根据所述UAV信息，确定跟踪信息包括所述目标位置的UAV，获取所述UAV的UAV信息。
可选地，本公开实施例中，若所述控制面网元包括所述AMF网元以及所述UDM网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
确定服务区域包括所述目标位置的AMF网元；
通过所述AMF网元，确定无人机UAV的UAV标识；
根据所述UAV标识，从所述UDM网元中获取所述UAV的跟踪信息。
可选地，本公开实施例中，所述通过所述AMF网元，确定无人机UAV的UAV标识，包括：
向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的第一响应信息；所述第一响应信息包括：AMF网元的AMF标识，或所述AMF标识以及与所述目标位置对应的小区标识；
根据所述AMF标识，向所述AMF网元发送携带有所述目标位置的第一服务请求；
接收所述AMF网元发送的携带有第二响应信息的第一请求回复；所述第二响应信息包括UAV标识或与所述目标位置对应的终端标识；
根据所述第二响应信息，确定无人机UAV的UAV信息。
可选地，本公开实施例中，若所述第二响应信息包括所述UAV信息，
所述UAV信息为所述AMF网元根据所述目标位置确定的，或根据所述小区标识确定的。
可选地，本公开实施例中，若所述第二响应信息包括所述终端标识，
所述根据所述第二响应信息，确定无人机UAV的UAV信息，包括：
根据预设对应关系，确定与所述终端标识对应的无人机UAV，以及所述UAV的UAV信息。
可选地，本公开实施例中，若所述控制面网元包括所述AMF网元，所述从控制面网元中，获取与所述目标位置距离最小的目标UAV，包括：
向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的AMF标识；
根据所述AMF标识，向所述AMF网元的发送携带有所述目标位置的UAV请求；
接收所述AMF网元发送的携带有目标UAV标识的UAV响应；所述目标UAV标识为所述AMF网元根据所述目标位置确定的。
可选地，本公开实施例中，所述从控制面网元中，获取目标无人机UAV的目标UAV信息，包括：
向所述UAV发送第一跟踪信息获取请求，并接收所述UAV反馈的跟踪信息或者飞行路径信息；和/或
向AMF网元发送第二跟踪信息获取请求，并接收所述AMF网元反馈的UAV追的跟踪信息；其中，所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；或所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
其中，在图11中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器1100代表的一个或多个处理器和存储器1120代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口1140提供接口。收发机1110可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。处理器1100负责管理总线架构和通常的处理，存储器1120可以存储处理器1100在执行操作时所使用的数据。
处理器1100可以是中央处埋器(CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable  Gate Array，FPGA)或复杂可编程逻辑器件(Comple11 Programmable Logic Device，CPLD)，处理器也可以采用多核架构。
在本公开实施例中，接收客户端发送的携带有目标位置或者目标标识的第一请求；从控制面网元中，获取目标无人机UAV的目标UAV信息；将所述目标UAV信息发送至所述客户端；通过控制面网元中获取UAV信息，与目标位置进行匹配，确定目标位置对应的目标UAV，实现对未知UAV进行精确定位。
参见图12，本公开实施例还提供了一种终端，包括存储器1220，收发机1212，处理器1200：
存储器1220，用于存储计算机程序；收发机1212，用于在所述处理器1200的控制下收发数据；处理器1200，用于读取所述存储器1220中的计算机程序并执行以下操作：
接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
可选地，本公开实施例中，所述终端还包括：
接收所述UFES发送的第二跟踪信息获取请求；
向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息或者飞行路线信息；
向所述UFES反馈所述跟踪信息或者飞行路线信息。
可选地，本公开实施例中，所述向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息，包括：
触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；
或向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
其中，在图12中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器1200代表的一个或多个处理器和存储器1220代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口1240提供接口。收发机1210可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括无线信道、有线信道、光缆等传输介质。处理器1200负责管理总线架构和通常的处理，存储器1220可以存储处理器1200在执行操作时所使用的数据。
处理器1200可以是中央处埋器(CPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或复杂可编程逻辑器件(Comple12 Programmable Logic Device，CPLD)，处理器也可以采用多核架构。
本公开实施例中，接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种；通过将目标小区与目标位置进行匹配，确定目标小区内的目标UAV，并向所述UFES发送所述目标UAV的标识信息，实现对未知UAV进行精确定位。
需要说明的是，本公开实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
在此需要说明的是，本公开实施例提供的上述装置，能够实现各装置对应的方法实施例所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。
本公开的实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行无人机信息处理方法。
所述计算机可读存储介质可以是处理器能够存取的任何可用介质或数据存储设备，包括但不限于磁性存储器(例如软盘、硬盘、磁带、磁光盘(MO)等)、光学存储器(例如CD、DVD、BD、HVD等)、以及半导体存储器(例如ROM、EPROM、EEPROM、非易失性存储器(NAND FLASH)、固态硬盘(SSD))等。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本领域内的技术人员应明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
例如，图13示出了可以实现根据本公开的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图14所述的便携式或者固定存储单元。该存储单元可以具有与图13的计算处理设备中的存储器1020类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所描述的方法中的各个步骤。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机可执行指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机可执行指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些处理器可执行指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的处理器可读存储器中，使得存储在该处理器可读存储 器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些处理器可执行指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本公开进行各种改动和变型而不脱离本公开的精神和范围。这样，倘若本公开的这些修改和变型属于本公开权利要求及其等同技术的范围之内，则本公开也意图包含这些改动和变型在内。

Claims (32)

  1. 一种无人机信息处理方法，应用于无人机飞行使能子系统UFES，其特征在于，所述方法包括：
    接收客户端发送的携带有目标位置或者目标标识的第一请求；
    从控制面网元中，获取目标无人机UAV的目标UAV信息；
    其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：所述UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
    将所述目标UAV信息发送至所述客户端。
  2. 根据权利要求1所述的无人机信息处理方法，其特征在于，所述目标UAV为与所述目标位置接近的UAV，包括：
    所述目标UAV为与所述目标位置距离最小的UAV，或所述目标UAV为与所述目标位置距离在第一预设距离范围内的UAV。
  3. 根据权利要求2所述的无人机信息处理方法，其特征在于，所述UAV信息包括UAV标识、飞行路径信息以及跟踪信息中的至少一种；
    所述从控制面网元中，获取目标无人机UAV的目标UAV信息，包括：
    从控制面网元中，获取UAV的UAV标识以及跟踪信息；
    根据所述UAV标识对所述UAV进行定位，确定位置与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV，并确定所述目标UAV的目标UAV信息；或
    从控制面网元中，获取与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV的目标UAV标识；
    根据所述目标UAV标识，从所述UDM网元中获取所述目标UAV的跟踪信息。
  4. 根据权利要求3所述的无人机信息处理方法，其特征在于，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
    若所述控制面网元包括所述UDM网元，从所述UDM网元中，获取UAV标识以及UAV的跟踪信息。
  5. 根据权利要求3所述的无人机信息处理方法，其特征在于，若所述控制面网元包括所述UFES或所述NEF网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息之前，所述方法包括：
    从所述UDM网元或所述NEF网元中，获取UAV的UAV信息；
    所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
    根据所述UAV信息，确定跟踪信息包括所述目标位置的UAV，获取所述UAV的UAV信息。
  6. 根据权利要求3所述的无人机信息处理方法，其特征在于，若所述控制面网元包括所述AMF网元以及所述UDM网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
    确定服务区域包括所述目标位置的AMF网元；
    通过所述AMF网元，确定无人机UAV的UAV标识；
    根据所述UAV标识，从所述UDM网元中获取所述UAV的跟踪信息。
  7. 根据权利要求6所述的无人机信息处理方法，其特征在于，所述通过所述AMF网元，确定无人机UAV的UAV标识，包括：
    向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
    接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的第一响应信息；所述第一响应信息包括：AMF网元的AMF标识，或所述AMF标识以及与所述目标位置对应的小区标识；
    根据所述AMF标识，向所述AMF网元发送携带有所述目标位置的第一服务请求；
    接收所述AMF网元发送的携带有第二响应信息的第一请求回复；所述第二响应信息包括UAV标识或与所述目标位置对应的终端标识；
    根据所述第二响应信息，确定无人机UAV的UAV信息。
  8. 根据权利要求7所述的无人机信息处理方法，其特征在于，若所述第二响应信息包括所述UAV信息，所述UAV信息为所述AMF网元根据所述目标位置确定的，或根据所述小区标识确定的。
  9. 根据权利要求7所述的无人机信息处理方法，其特征在于，若所述第二响应信息包括所述终端标识，所述根据所述第二响应信息，确定无人机UAV的UAV信息，包括：
    根据预设对应关系，确定与所述终端标识对应的无人机UAV，以及所述UAV的UAV信息。
  10. 根据权利要求3所述的无人机信息处理方法，其特征在于，若所述控制面网元包括所述AMF网元，所述从控制面网元中，获取与所述目标位置距离最小的目标UAV，包括：
    向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
    接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的AMF标识；
    根据所述AMF标识，向所述AMF网元的发送携带有所述目标位置的 UAV请求；
    接收所述AMF网元发送的携带有目标UAV标识的UAV响应；所述目标UAV标识为所述AMF网元根据所述目标位置确定的。
  11. 根据权利要求1所述的无人机信息处理方法，其特征在于，所述从控制面网元中，获取目标无人机UAV的目标UAV信息，包括：
    向所述UAV发送第一跟踪信息获取请求，并接收所述UAV反馈的跟踪信息或者飞行路径信息；和/或
    向AMF网元发送第二跟踪信息获取请求，并接收所述AMF网元反馈的UAV追的跟踪信息；其中，所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；或所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
  12. 一种无人机信息处理方法，应用于接入和移动性管理功能AMF网元，其特征在于，所述方法包括：
    接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
    确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
    向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
  13. 根据权利要求12所述的无人机信息处理方法，其特征在于，所述方法还包括：
    接收所述UFES发送的第二跟踪信息获取请求；
    向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息或者飞行路线信息；
    向所述UFES反馈所述跟踪信息或者飞行路线信息。
  14. 根据权利要求13所述的无人机信息处理方法，其特征在于，所述向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息，包括：
    触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；或
    向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
  15. 一种终端，其特征在于，所述终端包括存储器，收发机，以及处理器；
    所述存储器用于存储计算机程序；所述收发机用于在所述处理器的控制下收发数据；所述处理器用于读取所述存储器中的计算机程序并执行以下操作：
    接收客户端发送的携带有目标位置或者目标标识的第一请求；
    从控制面网元中，获取目标无人机UAV的目标UAV信息；
    其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：人机飞行使能子系统UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
    将所述目标UAV信息发送至所述客户端。
  16. 根据权利要求15所述的终端，其特征在于，所述目标UAV为与所述目标位置接近的UAV，包括：
    所述目标UAV为与所述目标位置距离最小的UAV，或所述目标UAV为与所述目标位置距离在第一预设距离范围内的UAV。
  17. 根据权利要求16所述的终端，其特征在于，所述UAV信息包括UAV标识、飞行路径信息以及跟踪信息中的至少一种；
    所述从控制面网元中，获取目标无人机UAV的目标UAV信息，包括：
    从控制面网元中，获取UAV的UAV标识以及跟踪信息；
    根据所述UAV标识对所述UAV进行定位，确定位置与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV，并确定所述目标UAV的目标UAV信息；或
    从控制面网元中，获取与所述目标位置距离最小的目标UAV或与所述目标位置距离在第一预设距离范围内的目标UAV的目标UAV标识；
    根据所述目标UAV标识，从所述UDM网元中获取所述目标UAV的跟踪信息。
  18. 根据权利要求17所述的终端，其特征在于，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
    若所述控制面网元包括所述UDM网元，从所述UDM网元中，获取UAV标识以及UAV的跟踪信息。
  19. 根据权利要求17所述的终端，其特征在于，若所述控制面网元包括所述UFES或所述NEF网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息之前，所述终端包括：
    从所述UDM网元或所述NEF网元中，获取UAV的UAV信息；
    所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
    根据所述UAV信息，确定跟踪信息包括所述目标位置的UAV，获取所述UAV的UAV信息。
  20. 根据权利要求17所述的终端，其特征在于，若所述控制面网元包括所述AMF网元以及所述UDM网元，所述从控制面网元中，获取UAV的UAV标识以及跟踪信息，包括：
    确定服务区域包括所述目标位置的AMF网元；
    通过所述AMF网元，确定无人机UAV的UAV标识；
    根据所述UAV标识，从所述UDM网元中获取所述UAV的跟踪信息。
  21. 根据权利要求20所述的终端，其特征在于，所述通过所述AMF网元，确定无人机UAV的UAV标识，包括：
    向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
    接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的第一响应信息；所述第一响应信息包括：AMF网元的AMF标识，或所述AMF标识以及与所述目标位置对应的小区标识；
    根据所述AMF标识，向所述AMF网元发送携带有所述目标位置的第一服务请求；
    接收所述AMF网元发送的携带有第二响应信息的第一请求回复；所述第二响应信息包括UAV标识或与所述目标位置对应的终端标识；
    根据所述第二响应信息，确定无人机UAV的UAV信息。
  22. 根据权利要求21所述的终端，其特征在于，若所述第二响应信息包括所述UAV信息，
    所述UAV信息为所述AMF网元根据所述目标位置确定的，或根据所述小区标识确定的。
  23. 根据权利要求21所述的终端，其特征在于，若所述第二响应信息包括所述终端标识，
    所述根据所述第二响应信息，确定无人机UAV的UAV信息，包括：
    根据预设对应关系，确定与所述终端标识对应的无人机UAV，以及所述UAV的UAV信息。
  24. 根据权利要求17所述的终端，其特征在于，若所述控制面网元包括所述AMF网元，所述从控制面网元中，获取与所述目标位置距离最小的目标UAV，包括：
    向网络存储功能NRF网元发送携带有所述目标位置的发现服务请求消息；
    接收所述NRF网元发送的发现服务响应消息，获取所述发现服务响应消息中携带的AMF标识；
    根据所述AMF标识，向所述AMF网元的发送携带有所述目标位置的UAV请求；
    接收所述AMF网元发送的携带有目标UAV标识的UAV响应；所述目标UAV标识为所述AMF网元根据所述目标位置确定的。
  25. 根据权利要求15所述的终端，其特征在于，所述从控制面网元中，获取目标无人机UAV的目标UAV信息，包括：
    向所述UAV发送第一跟踪信息获取请求，并接收所述UAV反馈的跟踪信息或者飞行路径信息；和/或
    向AMF网元发送第二跟踪信息获取请求，并接收所述AMF网元反馈的UAV追的跟踪信息；其中，所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；或所述跟踪信息为所述AMF网元根据所述第二跟踪信息获取请求，向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
  26. 一种终端，其特征在于，所述终端包括存储器，收发机，以及处理器；
    所述存储器用于存储计算机程序；所述收发机用于在所述处理器的控制下收发数据；所述处理器用于读取所述存储器中的计算机程序并执行以下操作：
    接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
    确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
    向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
  27. 根据权利要求26所述的终端，其特征在于，所述终端还包括：
    接收所述UFES发送的第二跟踪信息获取请求；
    向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息或者飞行路线信息；
    向所述UFES反馈所述跟踪信息或者飞行路线信息。
  28. 根据权利要求27所述的终端，其特征在于，所述向UAV发送飞行路线请求，并接收所述UAV根据所述飞行路线请求反馈的跟踪信息，包括：
    触发无线接入网RAN向UE发送第一飞行路线请求，并接收所述UE反馈的跟踪信息；
    或向UAV发送第二飞行路线请求，并接收所述UAV反馈的跟踪信息。
  29. 一种无人机信息处理装置，应用于无人机飞行使能子系统UFES，其特征在于，所述装置包括：
    请求接收模块，用于接收客户端发送的携带有目标位置或者目标标识的第一请求；
    信息获取模块，用于从控制面网元中，获取目标无人机UAV的目标UAV信息；
    其中，目标UAV为与所述目标位置接近的UAV或包括所述目标标识的UAV或包括所述目标标识的UAV；所述控制面网元包括：所述UFES、统一数据管理UDM网元、网络功能开放NEF网元以及与接入和移动性管理功能AMF网元中的至少一种；
    信息发送模块，用于将所述目标UAV信息发送至所述客户端。
  30. 一种无人机信息处理装置，应用于接入和移动性管理功能AMF网元，其特征在于，所述装置包括：
    位置获取模块，用于接收无人机飞行使能子系统UFES发送的无人机UAV请求，获取所述UAV请求中携带的目标位置；
    目标确定模块，用于确定与所述目标位置对应目标小区，并确定所述目标小区内的目标UAV；
    标识发送模块，用于向所述UFES发送所述目标UAV的标识信息；所述标识信息包括UAV标识以及所述目标UAV的终端标识中的至少一种。
  31. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行权利要求1至14中任一项所述的方法。
  32. 一种计算机程序产品，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要求1至14中任一项所述的无人机信息处理方法。
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