WO2022067821A1

WO2022067821A1 - Communication method and apparatus, and unmanned aerial vehicle

Info

Publication number: WO2022067821A1
Application number: PCT/CN2020/119754
Authority: WO
Inventors: 尹小俊; 马宁; 朱伟伟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2022-04-07

Abstract

Embodiments of the present invention provide a communication method and apparatus, and an unmanned aerial vehicle. The method comprises: obtaining signal measurement values and reference communication coverage ranges of N neighbor cells, and obtaining position information of the unmanned aerial vehicle; according to the reference communication coverage ranges of the N neighbor cells, and the position information of the unmanned aerial vehicle, determining at least one first neighbor cell from the N neighbor cells, wherein the reference communication coverage range of the first neighbor cell does not cover the unmanned aerial vehicle; changing the signal measurement value of the at least one first neighbor cell to a target value, so that the amended signal measurement value of the first neighbor cell does not satisfy a cell handover condition, and the unmanned aerial vehicle would not hand over to the first neighbor cell, thereby ensuring reliability of communication between the unmanned aerial vehicle and a control terminal, and improving flight safety of the unmanned aerial vehicle.

Description

Communication method, device and drone

technical field

Embodiments of the present invention relate to the field of communication technologies, and in particular, to a communication method, a device, and an unmanned aerial vehicle.

Background technique

The UAV can communicate with the control terminal through the cellular communication network. Due to the limited coverage distance of the base station in the cellular communication network, the UAV will switch between cells during flight.

Since the neighbor relationship and network optimization of the cellular communication network are designed for the ground and buildings, in the open and low altitude, the UAV will receive the signal of the relatively distant base station. In this way, during the cell handover process, the UAV may switch to a base station 3Km away, and the network coverage of this base station is 600m. When the drone switches to the cell corresponding to this type of base station, the switching time is long, which will interrupt the image transmission and control of the drone and affect the flight safety of the drone.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a communication method, a device and an unmanned aerial vehicle, which are used to improve the stability of the connection between the unmanned aerial vehicle and the control terminal and the flight safety of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present application provides a communication method, which is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, including:

Obtain signal measurement values and reference communication coverage of N neighbor cells, where N is a positive integer greater than or equal to 1;

Obtain the location information of the drone;

According to the reference communication coverage of the N neighbor cells and the location information of the UAV, at least one first neighbor cell is determined from the N neighbor cells, and the reference communication coverage of the first neighbor cell is the drone is not covered;

Changing the signal measurements of the at least one first neighbor cell to a target value to inhibit handover of the drone from a serving cell to the first neighbor cell.

In the second aspect, an embodiment of the present application provides a communication method, and the method is applied to an unmanned aerial vehicle, including:

Obtain cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1;

Obtain the location information of the drone;

According to the location information of the neighbor cell and the location information of the UAV, determine L neighbor cells that the UAV is close to from the N neighbor cells;

Determine from the N neighbor cells the optimal M neighbor cells for signal measurement values;

When it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell, determining a target neighbor cell from the same neighbor cells;

The signal measurement values of other neighbor cells in the N neighbor cells other than the target neighbor cell are changed to target values to prohibit the UAV from handing over from the serving cell to the other neighbor cells.

In a third aspect, an embodiment of the present application provides a communication device, which is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, including:

an acquisition module for acquiring the signal measurement values and reference communication coverage of N neighbor cells, where N is a positive integer greater than or equal to 1; and acquiring the location information of the drone;

A first determination module, configured to determine at least one first neighbor cell from the N neighbor cells according to the reference communication coverage of the N neighbor cells and the location information of the UAV, and the first neighbor cell The UAV is not covered by the reference communication coverage of the neighbor cell;

A modification module, configured to modify the signal measurement value of the at least one first neighbor cell to a target value, so as to prohibit the UAV from handing over from the serving cell to the first neighbor cell.

In a fourth aspect, an embodiment of the present application provides a communication device, which is applied to an unmanned aerial vehicle, including:

an acquisition module for acquiring cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1; and acquiring location information of the drone;

a first determining module, configured to determine, from N neighbor cells, L neighbor cells that are close to the UAV according to the position information of the neighbor cell and the position information of the UAV;

a second determining module, configured to determine M neighbor cells with optimal signal measurement values from the N neighbor cells;

a third determining module, configured to determine a target neighbor cell from the same neighbor cells when it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell;

A changing module, configured to change the signal measurement values of other neighbor cells other than the target neighbor cell among the N neighbor cells to the target value, so as to prohibit the UAV from switching from the serving cell to the other neighbors community.

In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle, wherein the unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, and the unmanned aerial vehicle includes a memory and a memory;

the memory for storing computer programs;

The processor is used to execute the computer program, and is specifically used to execute the following steps:

Obtaining signal measurement values and reference communication coverage of N neighbor cells, where N is a positive integer greater than or equal to 1; and obtaining location information of the drone;

In a sixth aspect, an embodiment of the present application provides an unmanned aerial vehicle, including:

the drone includes memory and storage;

the memory for storing computer programs;

obtaining cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1; and obtaining location information of the drone;

In a seventh aspect, an embodiment of the present application provides a communication system, including: a drone, a control device, and a network device, where the drone and the control device communicate through the network device.

In an eighth aspect, embodiments of the present application provide a computer-readable storage medium, where the storage medium includes computer instructions, and when the instructions are executed by a computer, the computer can implement the first aspect or the second aspect. communication method.

In a ninth aspect, an embodiment of the present application provides a computer program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of a computer can read from the readable storage medium Taking the computer program, the at least one processor executes the computer program so that the computer implements the communication method of the first aspect or the second aspect.

In the communication method, device and UAV provided by the embodiments of the present application, the signal measurement values and reference communication coverage of N neighbor cells are obtained by acquiring, and the position information of the UAV is obtained; according to the reference communication coverage of N neighbor cells range and position information of the drone, determine at least one first neighbor cell from the N neighbor cells, the reference communication coverage of the first neighbor cell does not cover the drone, and measure the signal of the at least one first neighbor cell The value is changed to the target value, so that the modified signal measurement value of the first neighbor cell does not meet the cell switching conditions, so that the UAV will not switch to the first neighbor cell, thereby ensuring the communication reliability between the UAV and the control terminal, The stability and flight safety of the connection between the drone and the control terminal of the drone are improved.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic diagram of a communication system to which the application is applicable;

FIG. 2 is a schematic diagram of an application scenario of an embodiment of the present application;

FIG. 3 is a schematic flowchart of a communication method provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of a communication method provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a scenario between an unmanned aerial vehicle and a cell involved in an embodiment of the present application;

FIG. 6 is a schematic flowchart of a communication method provided by an embodiment of the present application;

7 is a schematic diagram of another scenario between an unmanned aerial vehicle and a cell involved in an embodiment of the present application;

8 is a schematic diagram of another scenario between an unmanned aerial vehicle and a cell involved in an embodiment of the present application;

9 is a schematic diagram of another scenario between an unmanned aerial vehicle and a cell involved in an embodiment of the present application;

10 is a schematic flowchart of a communication method provided by an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a communication device provided by an embodiment of the present application;

FIG. 12 is a schematic structural diagram of a communication device provided by an embodiment of the present application;

13 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application;

14 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application;

15 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application;

FIG. 16 is a schematic structural diagram of a communication system provided by an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be understood that, in this embodiment of the present invention, "B corresponding to A" means that B is associated with A. In one implementation, B may be determined from A. However, it should also be understood that determining B according to A does not mean that B is only determined according to A, and B may also be determined according to A and/or other information.

In the description of this application, unless stated otherwise, "plurality" means two or more.

In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with basically the same function and effect. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like are not necessarily different.

In order to better understand the embodiments of the present application, the following first describes the system architecture to which the embodiments of the present application are applicable.

FIG. 1 is a schematic diagram of a communication system to which the application is applied. In the communication system shown in FIG. 1 , the communication system 100 includes one network device 110 and three terminal devices 120 as an example for description. It can be understood that the communication system 100 may include multiple network devices, and the coverage of each network device may include other numbers of terminal devices, which are not limited in this embodiment of the present application.

The network device 110 may be a device that communicates with a terminal device 120 (or referred to as a communication terminal, terminal). The network device 110 may provide communication coverage for a particular geographic area, and may communicate with terminal devices located within the coverage area.

The communication system 100 may be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) system, General packet radio service (GPRS), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system , Advanced Long Term Evolution (LTE-A) system, New Radio (NR) system, evolution system of NR system, LTE-based access to unlicensed spectrum (LTE-based access to unlicensed spectrum, LTE- U) system, NR-based access to unlicensed spectrum (NR-U) system on unlicensed frequency bands, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access, WiMAX) communication systems, wireless local area networks (WLAN), wireless fidelity (WiFi), next-generation communication systems or other communication systems, etc.

Optionally, the NR system may also be referred to as a 5G system or a 5G network.

Generally speaking, traditional communication systems support a limited number of connections and are easy to implement. However, with the development of communication technology, mobile communication systems will not only support traditional communication, but also support, for example, device to device (device to device, D2D) communication, machine to machine (M2M) communication, machine type communication (MTC), and vehicle to vehicle (V2V) communication, etc., the embodiments of the present application can also be applied to these communications system.

Optionally, the network device 110 may be a base station (Base Transceiver Station, BTS) in a GSM system or a CDMA system, a base station (NodeB, NB) in a WCDMA system, or an evolved base station in an LTE system (Evolutional Node B, eNB or eNodeB), or a wireless controller in a cloud radio access network (Cloud Radio Access Network, CRAN), or the network device can be a mobile switching center, relay station, access point, in-vehicle equipment, Wearable devices, hubs, switches, bridges, routers, network-side devices in 5G networks, or network devices in the future evolved Public Land Mobile Network (PLMN), etc.

When the communication system is an NR system, the network device 110 may be a (radio access network, (R)AN) device in the NR system, and the (R)AN device in the NR system may be: 3GPP access networks such as access points (APs) of WiFi networks, next-generation base stations (collectively referred to as new-generation radio access network nodes (NG-RAN nodes), wherein the next-generation base stations include new air interface base stations ( NR nodeB, gNB), new generation evolved base station (NG-eNB), central unit (CU) and distributed unit (distributed unit, DU) separate form of gNB, etc.), new radio controller (new radio controller) , NR controller), radio remote module, micro base station, relay (relay), transceiver point (transmission receive point, TRP), transmission point (transmission point, TP) or other nodes.

The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device. For the convenience of description, in all the embodiments of this application, the above-mentioned apparatuses for providing wireless communication functions for terminal equipment are collectively referred to as network equipment.

In this embodiment of the present application, the terminal device 120 may be any terminal, for example, the terminal device 120 may be a user equipment of machine type communication. The terminal device 120 may also be referred to as a user equipment (UE), a mobile station (mobile station, MS), a mobile terminal (mobile terminal), a terminal (terminal), an unmanned aerial vehicle, and the like.

The terminal device 120 may communicate with one or more core networks via the RAN. Therefore, the terminal device 120 may also be referred to as a wireless terminal. A wireless terminal may be a device that provides voice and/or data connectivity to a user and has a wireless connection. A functional handheld device, or other processing device connected to a wireless modem.

For example, the terminal device 120 may be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a Wireless communication-enabled handheld devices, computing devices or other processing devices connected to wireless modems, in-vehicle devices or wearable devices, virtual reality (VR) end devices, augmented reality (AR) end devices, industrial controls Wireless terminals in (industrial control), wireless terminals in self-driving, wireless terminals in remote medical, wireless terminals in smart grid, and transportation safety wireless terminals, wireless terminals in smart cities, wireless terminals in smart homes, etc. There is no specific limitation in the embodiments of the present application.

In another example, terminal equipment 120 includes, but is not limited to, connections via wired lines, such as via Public Switched Telephone Networks (PSTN), Digital Subscriber Line (DSL), digital cables, direct cable connections; and/or or another data connection/network; and/or via a wireless interface, such as for cellular networks, Wireless Local Area Networks (WLAN), digital television networks such as DVB-H networks, satellite networks, AM-FM broadcasts and/or a device of another terminal device that is configured to receive/send communication signals; and/or an Internet of Things (IoT) device. A terminal device arranged to communicate via a wireless interface may be referred to as a "wireless communication terminal", "wireless terminal" or "mobile terminal". Examples of mobile terminals include, but are not limited to, satellite or cellular telephones; Personal Communications System (PCS) terminals that may combine cellular radio telephones with data processing, facsimile, and data communications capabilities; may include radio telephones, pagers, Internet/Intranet PDAs with networking access, web browsers, memo pads, calendars, and/or Global Positioning System (GPS) receivers; and conventional laptop and/or palmtop receivers or others including radiotelephone transceivers electronic device.

Optionally, the network device 110 and the terminal device 120 can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; can also be deployed on water; and can also be deployed on aircraft, balloons and artificial satellites in the air. The embodiments of the present application do not limit the application scenarios of the network device 110 and the terminal device 120 .

Optionally, communication between the network device 110 and the terminal device 120 and between the two terminal devices 120 may be performed through a licensed spectrum (licensed spectrum), or may be communicated through an unlicensed spectrum (unlicensed spectrum), or both spectrum and unlicensed spectrum for communication. Communication between the network device 110 and the terminal device 120 and between the terminal device and the terminal device can be performed through the frequency spectrum below 7 gigahertz (gigahertz, GHz), or through the frequency spectrum above 7 GHz, and can also use the frequency spectrum below 7 GHz at the same time. spectrum and the spectrum above 7GHz for communication. The embodiments of the present application do not limit the spectrum resources used between the network device 110 and the terminal device 120 .

Unlicensed spectrum is the spectrum allocated by countries and regions that can be used for radio equipment communication. This spectrum is generally considered to be shared spectrum, that is, communication equipment in different communication systems can meet the regulatory requirements set by the country or region on the spectrum. To use this spectrum, there is no need to apply for an exclusive spectrum license from the government.

In order to enable various communication systems that use unlicensed spectrum for wireless communication to coexist amicably on this spectrum, some countries or regions have stipulated regulatory requirements that must be met when using unlicensed spectrum. For example, an electronic device (or a communication device) follows the principle of Listen Before Talk (LBT), that is, before an electronic device transmits a signal on a channel of an unlicensed spectrum, it needs to perform channel listening, or in other words, Perform idle channel detection (Clear Channel Assessment, CCA), only when the channel detection result is that the channel is idle, the electronic device can send the signal; if the channel detection result of the electronic device on the channel of the unlicensed spectrum is that the channel is busy, then Electronic equipment cannot perform signaling. In order to ensure fairness, in a transmission, the duration of signal transmission by an electronic device using an unlicensed spectrum channel cannot exceed the maximum channel occupancy time (Maximum Channel Occupancy Time, MCOT).

Optionally, direct terminal (Device to Device, D2D) communication may be performed between the terminal devices 120 . In this application, the signal or channel transmitted by the terminal direct connection communication may be referred to as a sidelink signal or a sidelink channel, and a transmission opportunity for transmitting the sidelink signal or sidelink channel may be referred to as a sidelink transmission opportunity.

Optionally, the communication system 100 may further include other network entities such as a network controller and a mobility management entity, which are not limited in this embodiment of the present application.

It should be understood that, in the embodiments of the present application, a device having a communication function in the network/system may be referred to as a communication device. Taking the communication system 100 shown in FIG. 1 as an example, the communication device may include a network device 110 and a terminal device 120 with a communication function, and the network device 110 and the terminal device 120 may be the specific devices described above, which will not be repeated here. ; The communication device may also include other devices in the communication system 100, such as other network entities such as a network controller, a mobility management entity, etc., which are not limited in this embodiment of the present application.

FIG. 2 is a schematic diagram of an application scenario of an embodiment of the present application. As shown in FIG. 2 , the terminal device in the embodiment of the present application may be an unmanned aerial vehicle and a control terminal for controlling the unmanned aerial vehicle. The remote control or computer in 2, where the remote control provides real-time manual remote control of aircraft flight, and the computer can download the route avionics to the drone to complete the automatic flight. It should be noted that the control terminal in the embodiment of the present application includes but is not limited to the remote controller and the computer shown in FIG. 2 .

The UAV communicates with the control terminal through the cellular communication network. For example, the control terminal sends the control information of the UAV to the UAV through the cellular communication network, so that the UAV performs the actions corresponding to the control information. For example, the above control information is: Control information for controlling the flight of the drone, after receiving the control information, the drone will fly according to the control information. In addition, the UAV can send the collected data (such as image data) to the control terminal through the cellular communication network.

As shown in Figure 2, when the drone moves in the direction indicated by the arrow in Figure 2, the drone is far away from the current serving cell and close to the target cell. The signal measured by the drone in the current serving cell is getting worse and worse, and the target cell The signal is getting stronger and stronger. In order to prevent the UAV from disconnecting the communication connection with the control terminal, the UAV needs to switch from the current serving cell to the target cell.

The LTE handover process usually includes 4 steps:

Step 1, measurement and reporting phase: the drone measures the neighboring cells, and reports the results to the network device of the serving cell, and the network device of the serving cell determines whether the handover condition is met.

Step 2, the handover preparation phase: when the network device of the serving cell judges that all the current handover conditions are satisfied, it starts to select the target cell for the UAV. The process of selecting a target cell may trigger signaling exchanges between cells.

Step 3, handover execution phase: after the target cell is selected, the network equipment of the serving cell informs the drone when to perform handover and other messages that need to be obtained when accessing the target cell. Since there is no establishment between the drone and the target cell, the drone will use the random access procedure to access the target cell.

Step 4, the handover completion stage: the network equipment of the serving cell releases resources and links, and deletes user information.

Among them, the measurement results that need to be reported by the UAV during LTE handover include Reference Signal Receiving Power (RSRP) and Reference Signal Receiving Quality (RSRQ), etc. The reporting is divided into periodic reporting and event-triggered reporting. Periodic reporting is configured by network devices, and the drone directly reports the measurement results. The event-triggered report is the result of triggering the UAV to report the measurement result when the UAV determines that the switching event is satisfied.

Event-triggered reporting is divided into events of the same frequency system and events between different systems. Among them, the same-frequency handover reporting events include:

Event A1, the serving cell is better than the absolute threshold; this event can be used to turn off some inter-cell measurements.

Event A2, the serving cell is worse than the absolute threshold; this event can be used to start measurement between certain cells, because handover and other operations may occur after this event occurs.

Event A3, the neighbor cell is better than the serving cell; the occurrence of this event can be used to decide whether the terminal equipment should be handed over to the neighbor cell.

Event A4, the neighbor cell is better than the absolute threshold.

Event A5, the serving cell is worse than an absolute threshold and the neighbor cell is better than an absolute threshold; this event can also be used to support handover.

In event A6, the service quality of the neighboring cell is better than that of the serving cell, and the network device automatically selects a better secondary component carrier (Secondary Component Carrier, SCC) cell to provide a high-quality secondary service cell (Secondary Cell, Scell), triggering handover, A6 is used in carrier aggregation.

The embodiments of the present application mainly relate to the above-mentioned events A3 and A5. The following describes the events A3 and A5 in detail:

Event A3: The quality of the neighbor cell is higher than the serving cell by a threshold, which is used for intra-frequency/inter-frequency coverage-based handover.

Event entry condition: Mn-Offset-Hys>Ms;

Event leaving condition: Mn-Offset+Hys<Ms;

Wherein: Offset=a3-offset+Ofs+Ocs-Ofn-Ocn.

Mn: The measurement result of the neighbor cell, regardless of the calculation of any offset.

Ofn: The frequency-specific offset of the adjacent cell (ie offsetFreq is defined in measObjectEUTRA as the frequency corresponding to the adjacent cell).

Ocn: The cell-specific offset for the adjacent cell (that is, the cell Individual Offset is defined in meas Object EUTRA as the frequency corresponding to the adjacent cell), and if it is not configured for the adjacent cell, it is set to zero.

Ms: is the measurement result of the serving cell without calculating any offset.

Ofs: is the frequency-specific offset on the serving frequency (ie offset Freq is defined in the meas Object EUTRA to correspond to the serving frequency).

Ocs: Cell-specific offset for the serving cell (ie, cell Individual Offset is defined in meas Object EUTRA to correspond to the serving frequency), and is set to 0, if not configured for the serving cell.

Hys: The hysteresis parameter of the event (that is, hysteres is the parameter defined for the event in report Config EUTRA).

a3-Offset: is the offset parameter of the event (that is, a3-Offset is the parameter defined for the event in reportConfigEUTRA).

Ofn, Ocn, Ofs, Ocs, Hys, and Off are all in dB.

Event A5: The quality of the serving cell is lower than an absolute threshold 1 (Serving<threshold1) and the quality of the neighbor cell is higher than an absolute threshold 2 (Serving>threshold2). For intra-/inter-frequency coverage based handover. Can be used for load balancing, similar to cell reselection for moving to low priority.

Event entry condition: Ms+Hys<Thresh1&Mn+Offset-Hys>Threah2;

Event leaving condition: Ms-Hys>Thresh1 or Mn+Offset+Hys<Thresh2;

Wherein, Offset=Ofn+Ocn.

As can be seen from the above, network parameters (ie, various measurement offsets) and measurement values reported by the terminal equipment (eg, signal measurement values of the serving cell and each neighbor cell) determine the handover.

However, because the neighbor relationship and network optimization of the cellular communication network are designed for the ground and buildings, in the open and low altitude, the UAV will receive the signal of the relatively far base station. In this way, during the cell handover process, the UAV may switch to a base station 3Km away, and the network coverage of this base station is 600m. When the drone switches to the cell corresponding to this type of base station, the communication between the drone and the control terminal will be interrupted, affecting the flight safety of the drone.

It can be seen from the cell handover conditions introduced above that the cell handover is related to the measurement value reported by the terminal device. Based on this, the embodiment of the present application changes the signal measurement value reported by the terminal device to prevent the UAV from switching to a remote device. The isolated station ensures the reliability of communication between the UAV and the control terminal, and improves the flight safety of the UAV.

The technical solutions of the embodiments of the present application will be described in detail below through some embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

FIG. 3 is a schematic flowchart of a communication method provided by an embodiment of the present application. As shown in FIG. 3 , the method of the embodiment of the present application is applied to an unmanned aerial vehicle, including:

S301. Obtain signal measurement values and reference communication coverage of N neighbor cells.

The N is a positive integer greater than or equal to 1.

The signal measurement value of the neighbor cell may be RSRP (Reference Signal Receiving Power, reference signal received power), and/or RSRQ (Reference Signal Receiving Quality, reference signal received quality).

The above-mentioned reference communication coverage of the neighbor cell may be understood as the network coverage of the neighbor cell.

Among them, the ways in which the UAV obtains the signal measurement value of the neighbor cell include but are not limited to the following:

In the first method, the drone measures the signal quality of the neighbor cell to obtain the signal measurement value of the neighbor cell. Specifically, the network device sends measurement control information to the UAV. The measurement control information mainly includes when the UAV starts to measure, what the measurement period, frequency, and standard are, and the measurement type, where the measurement type includes the same-frequency measurement. , inter-frequency measurement, etc., as well as neighbor cell information, such as a neighbor cell list, where the neighbor cell list includes the identifier of the neighbor cell to be measured. The measurement control information can be carried in an RRC message and sent to the UAV. The UAV measures the signal quality of neighbor cells according to the measurement control information sent by the network equipment.

It should be noted that as the UAV moves, the number of neighbor cells that the UAV can measure will change. For example, the UAV can measure the signal quality of 4 neighbor cells in the first time. Time can measure the signal quality of 5 neighbor cells. In addition, as the drone moves, the neighbor cells that the drone can measure are also changing.

In the second method, the control terminal of the UAV measures the signal quality of each neighbor cell of the UAV, and sends the measured signal measurement value to the UAV. Specifically, because the distance between the UAV and its control terminal is relatively short, after receiving the measurement control information sent by the network device, the UAV can send the measurement control information to the control terminal of the UAV. The control terminal measures the signal quality of the neighbor cell of the UAV according to the measurement control information.

In the third way, the UAV can also obtain signal measurement values of neighboring cells measured by other UAVs in the same serving cell. For example, the serving cells of UAV 1 and UAV 2 are both cell 1. UAV 1 measures the signal quality of the neighbor cells and sends the measured signal measurement values of the neighbor cells to UAV 2.

Among them, the ways for the UAV to obtain the reference communication coverage of the neighbor cell include but are not limited to the following:

Manner 1: The reference communication coverage of each cell is stored in the first server. The drone is in communication connection with the first server, and the drone sends first information to the first server, where the first information carries the identifier of the neighbor cell. In this way, the first server queries the reference communication coverage of the neighbor cell according to the identifier of the neighbor cell carried in the first information. The first server sends second information to the drone, where the second information carries the queried reference communication coverage of the neighbor cell.

Optionally, the first server also stores the location information of the neighbor cell, so that the first server can also obtain the location information of the neighbor cell according to the identifier of the neighbor cell carried in the first information. At this time, the above-mentioned second information may also carry the location information of the queried neighbor cell.

In the second way, the UAV can obtain the reference communication coverage of the neighbor cell from other terminal devices. For example, other terminal devices send the reference communication coverage and serving cell identification of their respective serving cells to the UAV. According to the neighbor cell list sent by the network device, the drone compares the identification of the serving cell of other terminal equipment with the identification of each neighbor cell in the neighbor cell list, and determines whether the serving cell of other terminal equipment is the neighbor cell of the drone , and if so, take the reference communication coverage of the serving cell of other terminal equipment as the reference communication coverage of the neighbor cell of the drone.

S302. Acquire location information of the drone.

Specifically, the UAV includes a positioning module, and the UAV can obtain the position information of the UAV at the current moment from its own positioning module. The position information of the UAV may be the position information of the UAV in the geodetic coordinate system, the position information of the UAV in the space coordinate system, or the position information of the UAV in the plane coordinate system. information, the above coordinate systems can be converted to each other.

S303. Determine at least one first neighbor cell from the N neighbor cells according to the reference communication coverage of the N neighbor cells and the location information of the UAV.

In this embodiment of the present application, the reference communication coverage of N neighbor cells can be obtained according to the method of S301 above, and the location information of the drone can be obtained according to the method of S302 above. Next, according to the reference communication coverage of the N neighbor cells and the location information of the UAV, a first neighbor cell is determined from the N neighbor cells, and the reference communication coverage of the first neighbor cell does not cover the UAV. Specifically, the UAV determines the distance between the UAV and each neighbor cell according to the position information of the UAV and the position information of each neighbor cell. For each neighbor cell, when the distance between the UAV and the neighbor cell is greater than the reference communication coverage of the neighbor cell, the neighbor cell is determined as the first neighbor cell, and then the reference communication is determined from the N neighbor cells. The coverage does not cover at least one first neighbor cell of the drone.

S304. Change the signal measurement value of at least one first neighbor cell to a target value, so as to prohibit the UAV from handing over from the serving cell to the first neighbor cell.

It can be seen from the above that in the open and low altitude, the drone will receive the signal of the relatively distant first neighbor cell. In this way, during the cell handover process, the UAV may be handed over to a first neighbor cell 3Km away, and the reference communication coverage of this first neighbor cell is 600m. When the drone switches to this type of first neighbor cell, the communication between the drone and the control terminal will be interrupted, affecting the flight safety of the drone.

In order to avoid this situation, in this embodiment of the present application, the determined signal measurement value of the first neighbor cell (ie, the lone station) that is far away from the UAV is changed to the target value, so as to prohibit the UAV from switching from the serving cell to the target value. the first neighbor cell. The target value can prohibit the serving cell handover event from meeting the entry condition, and the serving cell handover event can be used to determine whether the serving cell satisfies the handover condition, so that the serving cell of the drone will not be switched from the serving cell to first neighbor cell. Serving cell handover events may include event A3 and/or event A5.

Taking the switching conditions corresponding to event A3 and event A5 as an example, the target value M'n satisfies the following conditions:

M'n+Offset-Hys<Threah2 and M'n-Offset+Hys<Ms.

It can be seen from the above that there are two ways for the UAV to report the signal measurement value of the neighbor cell:

Method 1: Periodic reporting. After the UAV modifies the signal measurement value of the first neighbor cell to the target value, when the period time arrives, the target value is sent to the network device. The network device determines whether the target value satisfies the cell handover condition according to the target value, for example, whether the target value satisfies Mn+Offset-Hys>Threah2 or Mn-Offset-Hys>Ms. When it is determined that the target value does not meet the cell handover conditions, the entire cell handover process ends, and the drone will not be handed over to the first neighbor cell.

Method 2: Based on the reporting of the event, after the UAV modifies the signal measurement value of the first neighbor cell to the target value, it determines whether the modified signal measurement value of the first neighbor cell meets the event entry conditions, for example, determines whether the target value is The event entry conditions in Event A3 and Event A5 are met: Mn+Offset-Hys>Threah2 or Mn-Offset-Hys>Ms. When the UAV determines that the modified signal measurement value of the first neighbor cell (that is, the target value) does not meet the event entry conditions, it will not trigger the UAV to send the signal measurement value of the first neighbor cell to the network device, thereby prohibiting The drone switches to the first neighbor cell. In the second method, event-based measurement reporting can reduce the number of UAV measurement reports, save the UAV's communication resources, and at the same time ensure that the UAV can switch in time.

In some embodiments, the above S304 may be to modify the signal measurement value of one or more first neighbor cells in the first neighbor cells to the target value, or to modify the signal measurement value of all the first neighbor cells in the N neighbor cells The value is modified to the target value.

In the communication method provided by the embodiment of the present application, the signal measurement values and reference communication coverage of N neighbor cells are obtained, and the position information of the drone is obtained; location information, determine at least one first neighbor cell from the N neighbor cells, the reference communication coverage of the first neighbor cell does not cover the drone, and change the signal measurement value of the at least one first neighbor cell to the target value, The modified signal measurement value of the first neighbor cell does not meet the cell switching conditions, so that the UAV will not be switched to the first neighbor cell, thereby ensuring the communication reliability between the UAV and the control terminal, and improving the reliability of the UAV. flight safety.

On the basis of the foregoing embodiment, the method of the embodiment of the present application will be further described below with reference to whether there is a second neighbor cell in the N neighbor cells.

Scenario 1, if the N neighbors are smaller than N and include at least one second neighbor cell, wherein the reference communication coverage of the second neighbor cell covers the drone, as shown in FIG. 4 , the method of the embodiment of the present application includes:

S401. Obtain signal measurement values and reference communication coverage of N neighbor cells.

S402. Acquire location information of the drone.

S403. Determine at least one first neighbor cell from the N neighbor cells according to the reference communication coverage of the N neighbor cells and the location information of the UAV.

For the specific execution process of the above S401 to S403, reference is made to the specific description of the above S301 to S303, which will not be repeated here.

S404. If the N neighbor cells include at least one second neighbor cell, determine whether the at least one second neighbor cell includes a second target neighbor cell whose signal measurement value satisfies the first preset condition. If yes, execute S405, if not, execute S406.

S405. Modify the signal measurement value of at least one first neighbor cell to a target value.

S406. Do not modify the signal measurement value of the first neighbor cell.

For example, referring to Fig. 5, the N neighbor cells include M first neighbor cells and N-M second neighbor cells, where M is a positive integer greater than or equal to 1 and less than N. The network of the first neighbor cell does not cover the drone, and the network of the second neighbor cell covers the drone. According to the signal measurement value of each second neighbor cell, it is determined whether there is a second target neighbor cell whose signal measurement value satisfies the first preset condition in the N-M second neighbor cells. If it is determined that there is a second target neighbor cell whose signal measurement value satisfies the first preset condition among the N-M second neighbor cells, the signal measurement value of at least one first neighbor cell in the M first neighbor cells is modified to the target value . If it is determined that there is no second target neighbor cell whose signal measurement value satisfies the first preset condition in the N-M second neighbor cells, the signal measurement value of the M first neighbor cells is not modified.

In some embodiments, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes at least one second neighbor cell whose signal measurement value is greater than the signal measurement value of the serving cell of the UAV. Specifically, it is determined whether there is at least one second neighbor cell whose signal measurement value is greater than the signal measurement value of the serving cell of the drone in the N-M second neighbor cells, and if there is, the signal measurement value is greater than the serving cell of the drone. The signal measurement value of the second neighbor cell is used as the second target neighbor cell.

In some embodiments, when the signal measurement value of each second neighbor cell in the at least one second neighbor cell is smaller than the signal measurement value of the serving cell of the UAV, the signal measurement value satisfies the second preset condition of the first preset condition. The target neighbor cells include at least one second neighbor cell whose signal measurement value is greater than the first signal threshold. Optionally, the above-mentioned first signal threshold refers to a threshold value at which the signal quality of the neighbor cell can support the current service of the UAV.

To sum up, in the method of the embodiment of the present application, if the N neighbor cells include at least one second neighbor cell whose network covers the UAV, it is determined that there is at least one signal measurement value in the at least one second neighbor cell that is greater than the unmanned one. When the signal measurement value of the serving cell of the mobile phone is the second target neighbor cell, the signal measurement value of at least one first neighbor cell is modified to the target value. Alternatively, when it is determined that the signal measurement value of each second neighbor cell in the at least one second neighbor cell is smaller than the signal measurement value of the serving cell of the UAV, but it is determined that there is at least one signal measurement value in the at least one second neighbor cell When the second target neighbor cell is greater than the first signal threshold, the signal measurement value of at least one first neighbor cell is modified to the target value. That is to say, when judging that there is at least one second target neighbor cell that can support the current service of the drone in the at least one second neighbor cell, in order to prevent the drone from switching to the first neighbor cell, the first neighbor cell's The signal measurement value is modified to the target value, thereby avoiding the problem that the UAV switches to an isolated station with a long distance, resulting in the disconnection of the communication between the UAV and the control terminal.

Scenario 2, if the number of N neighbors is less than excluding the second neighbor cell, as shown in FIG. 6 , the method of the embodiment of the present application includes:

S601. Obtain signal measurement values and reference communication coverage of N neighbor cells.

S602. Acquire location information of the drone.

S603. Determine a first neighbor cell from the N neighbor cells according to the reference communication coverage of the N neighbor cells and the location information of the UAV.

For the specific execution process of the above S601 to S603, reference is made to the specific description of the above S301 to S303, which will not be repeated here.

S604. If the N neighbor cells do not include the second neighbor cell, determine whether the at least one first neighbor cell includes a first target neighbor cell whose signal measurement value satisfies the second preset condition. If yes, execute S605; otherwise, execute S606.

S605. Modify the signal measurement value of the first neighbor cell except the first target neighbor cell in the at least one first neighbor cell to the target value.

For example, as shown in FIG. 7, the N neighbor cells do not include the second neighbor cell, that is, the N neighbor cells are all the first neighbor cells that are not covered by the network of the UAV. The UAV firstly determines, according to the signal measurement value of each first neighbor cell, whether there is a first target neighbor cell whose signal measurement value satisfies the second preset condition in the N first neighbor cells. If it is determined that there is a first target neighbor cell whose signal measurement value satisfies the second preset condition among the N first neighbor cells, at least one other first neighbor cell except the first target neighbor cell among the N first neighbor cells The signal measurement value of is modified to the target value, so as to prohibit the UAV from switching to other first neighbor cells other than the first target neighbor cell.

In some embodiments, the first target neighbor cell whose signal measurement value satisfies the second preset condition includes a first neighbor in the at least one first neighbor cell whose signal measurement value is greater than the signal measurement value of the current serving cell of the UAV community. Specifically, it is judged whether there is a first neighbor cell whose signal measurement value is greater than the signal measurement value of the serving cell of the UAV in the N first neighbor cells, and if there is, the signal measurement value of which is larger than the signal of the serving cell of the UAV is determined. The first neighbor cell of the measured value is used as the first target neighbor cell.

In some embodiments, when the signal measurement value of each of the at least one first neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes: A first neighbor cell whose signal measurement value is greater than a first signal threshold in at least one first neighbor cell. Optionally, the above-mentioned first signal threshold refers to a threshold value at which the signal quality of the neighbor cell can support the current service of the UAV.

To sum up, in the method of the embodiment of the present application, if the N neighbor cells do not include the second neighbor cell, it is determined that there is at least one signal measurement value in the N first neighbor cells that is greater than the signal measurement value of the serving cell of the UAV. When the value is the first target neighbor cell, the signal measurement values of other first neighbor cells of the N first neighbor cells except the first target neighbor cell are modified to the target value. Or, it is determined that the signal measurement value of each first neighbor cell in the N first neighbor cells is smaller than the signal measurement value of the serving cell of the UAV, but it is determined that there is at least one signal measurement value in the N first neighbor cells When the first target neighbor cell is greater than the first signal threshold, the signal measurement value of the N first neighbor cells divided by the first target neighbor cell is modified to the target value. That is to say, in this embodiment of the present application, it is first determined whether there is a first target neighbor cell that can support the current service of the drone in the N first neighbor cells. The first target neighbor cell does not switch to other first neighbor cells except the first target neighbor cell, because the signal quality of other first neighbor cells except the first target neighbor cell is poor and cannot support unmanned In view of this, the UAV can modify the signal measurement values of other first neighbor cells except the first target neighbor cell in the N first neighbor cells to the target value, thereby avoiding the UAV Switching to another first neighbor cell with a long distance and poor signal quality causes the problem of disconnection of the communication between the drone and the control terminal.

In some embodiments, when there is no first target neighbor cell that satisfies the second preset condition among the N first neighbor cells, the following steps of S606 are performed.

S606. Determine, from at least one first neighbor cell, a first preset number of first neighbor cells with optimal signal measurement values and a second preset number of first neighbor cells closest to the drone.

Specifically, the signal measurement values of each first neighbor cell are sorted in descending order or from small to large, and a first preset number of first neighbor cells with optimal signal measurement values are obtained. In the same way, according to the location information of each first neighbor cell and the location information of the drone, determine the distance between each first neighbor cell and the drone, and follow the determined distances from large to small or from small to large. Sort the order of the first neighbor cells to obtain the second preset number of first neighbor cells that are closest to the UAV.

S607. If the first preset number of first neighbor cells with the optimal signal measurement value and the second preset number of first neighbor cells closest to the drone include the same first neighbor cell, assign at least one first neighbor cell to the first neighbor cell. The signal measurement values of other first neighbor cells in the cell other than the same first neighbor cell are changed to the target value.

For example, referring to FIG. 8 , the N first neighbor cells include N1 (that is, the first preset number is N1) first neighbor cells with optimal signal measurement values, and N2 (that is, the second preset number is N2) ) are the first neighbor cells closest to the UAV. As shown in FIG. 8 , if the N1 first neighbor cells and the N2 first neighbor cells have the same first neighbor cell, the other first neighbor cells in the N first neighbor cells except the same first neighbor cell The signal measurement value of the neighbor cell is changed to the target value to prevent the UAV from switching to another first neighbor cell with a long distance and poor signal quality during cell handover, which will cause the communication between the UAV and the control terminal to be interrupted.

S608. If the first preset number of first neighbor cells with the optimal signal measurement value and the second preset number of first neighbor cells closest to the drone do not include the same first neighbor cell, assign at least one first neighbor cell to the first neighbor cell. The signal measurement values of the first neighbor cells in the neighbor cells other than the first preset number of first neighbor cells and the second preset number of first neighbor cells are changed to the target value.

Continuing to refer to the above example, as shown in FIG. 9 , if the N1 first neighbor cells and the N2 first neighbor cells do not have the same first neighbor cell, divide N1 first neighbor cells from the N first neighbor cells The signal measurement value of N-N1-N2 first neighbor cells other than N2 first neighbor cells is changed to the target value to prevent the drone from switching to the first neighbor cell with far distance or poor signal quality when the cell is switched. The communication between the UAV and the control terminal is interrupted due to the neighbor cell.

FIG. 10 is a schematic flowchart of a communication method provided by an embodiment of the present application. As shown in FIG. 10 , the method of the embodiment of the present application includes:

S801. Obtain cell location information and signal measurement values of N neighbor cells.

Among them, N is a positive integer greater than or equal to 1.

Obtaining the cell location information and signal measurement value of the neighbor cell in this step is the same as the above S301, and the specific description of the above S301 is referred to, which will not be repeated here.

Optionally, the above N neighbor cells are intra-frequency cells, or inter-frequency cells, or cells of the same system, or cells of different systems.

S802. Acquire location information of the drone.

Obtaining the location information of the UAV in this step is the same as the above S302, and the specific description of the above S302 is referred to, and details are not repeated here.

S803. According to the location information of the neighbor cells and the location information of the UAV, determine L neighbor cells that are close to the UAV from the N neighbor cells.

In some embodiments, the movement direction of the drone can be determined according to the position information of the drone at different times, and then according to the movement direction of the drone and the position information of the neighbor cells, it is determined from the N neighbor cells that no L neighbor cells close to the man-machine, where L is a positive integer greater than or equal to 1 and less than or equal to N.

In some embodiments, in the above-mentioned S803, according to the position information of the neighbor cell and the position information of the drone, from the N neighbor cells, obtain L neighbor cells that the drone is close to, including steps A and B:

Step A, according to the location information of the neighbor cells and the location information of the UAV, obtain the sum of the K nearest distance differences between each neighbor cell and the UAV in the N neighbor cells.

Step B: According to the sum of the K nearest distance differences between each neighbor cell in the N neighbor cells and the UAV, L neighbor cells with the smallest sum of distance differences are obtained.

Specifically, the location information of the UAV at different recent times and the location information of each neighbor cell in the N neighbor cells are acquired. For each neighbor cell, according to the location information of the neighbor cell and the location information of the UAV at different times, the distance between the UAV and the neighbor cell at different times is calculated. According to the distance between the UAV and the neighbor cell at different times, the difference between the distances between the UAV and the neighbor cell at adjacent times is calculated. For example, the distance between the drone and the neighbor cell at the first moment is D1, and the distance between the drone and the neighbor cell at the second moment is D2, where the first moment is the moment before the second moment, and then it can be determined that the adjacent The difference between the distance between the drone and the neighbor cell at the first moment and the second moment is D2-D1. If D2-D1 is a negative number, it means that the drone is approaching the neighbor cell. If D2-D1 is an integer, it means that The drone is moving away from this neighbor cell.

For example, taking the neighbor cell 1 as an example, the position information of the UAV at the most recent time [t ₁ , t ₂ , t ₃ , . . . , t _k , t _k+1 ] is recorded as [s ₁ , s ₂ , s ₃ , ..., _sk , _sk+1 ], where _sk represents the location information of the UAV at time t _k , and the location information of the neighbor cell 1 is s ₀ . According to the position information [s ₁ , s ₂ , s ₃ , ..., s _k , s of the UAV at the most recent time [t ₁ , t ₂ , t ₃ , ...., t _k , t _k+1 ] _k+1 ], and the location information s ₀ of neighbor cell 1, calculated at different times [t ₁ , t ₂ , t ₃ , ....., t _k , t _k+1 ], neighbor cell 1 and UAV The distance between them is denoted as [d ₁ , d ₂ , d ₃ , ..., d _k , d _k+1 ]. Determine the distance between neighbor cell 1 and UAV at different moments [d ₁ , d ₂ , d ₃ , ..., d _k , d _k+1 ] The difference between two distances at adjacent moments, such as L ₁ =d ₂ -d ₁ , L ₂ =d ₃ -d ₂ , and so on, L _k =d _k+1 -d _k , and then obtain the K nearest distance difference between the neighbor cell 1 and the UAV, denoted as [L ₁ , L ₂ , L ₃ , ..., L _k ]. Next, sum up the nearest K distance differences [L ₁ , L ₂ , L ₃ , . . . , L _k ] between the neighbor cell 1 and the UAV to obtain a sum value E ₁ . Referring to the above method, the sum of the nearest K distance differences between each of the N neighbor cells and the UAV can be obtained, denoted as [E ₁ ,E ₂ ,E ₃ ,...,E _N ], from Set [E ₁ , E ₂ , E ₃ , , E _N ] to obtain the smallest L sum values, and use the neighbor cells corresponding to the L sum values as L neighbor cells.

S804. Determine M neighbor cells with optimal signal measurement values from the N neighbor cells.

Specifically, the signal measurement value of each neighbor cell in the neighbor cells is obtained according to the above S801, and the signal measurement values of the N neighbor cells are sorted according to the order from large to small or from small to large, and the M with the optimal signal measurement value is obtained. a neighbor cell.

S805. When it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell, determine the target neighbor cell from the same neighbor cells.

Specifically, according to the above steps, L neighbor cells that the drone is approaching and M neighbor cells with the best signal measurement values are obtained, and then it is determined whether the L neighbor cells and the M neighbor cells have the same neighbor cell. If it is determined that the same neighbor cell exists in the L neighbor cells and the M neighbor cells, at least one target neighbor cell is determined from the same neighbor cell.

In an example, the above-mentioned target neighbor cell is a neighbor cell with an optimal signal measurement value among the same neighbor cells of the L neighbor cells and the M neighbor cells.

In another example, the above-mentioned target neighbor cell is the neighbor cell with the smallest sum of K nearest distance differences with the UAV among the same neighbor cells of the L neighbor cells and the M neighbor cells.

S807. Change the signal measurement values of other neighbor cells except the target neighbor cell among the N neighbor cells to the target value, so as to prohibit the UAV from handing over from the serving cell to other target neighbor cells.

Specifically, the target neighbor cell is the neighbor cell of the UAV that the UAV is gradually approaching among the N neighbor cells, and its signal quality is relatively good. During the actual handover, the UAV is expected to switch to the target neighbor cell. In view of this , in order to prevent the UAV from switching to other neighbor cells other than the target neighbor cell during the cell handover process, causing the problem that the communication between the UAV and the control terminal is interrupted, the UAV will remove the target from the N neighbor cells. The signal measurements of other neighbor cells other than the neighbor cell are changed to the target value to prohibit the handover of the drone from the serving cell to other target neighbor cells.

In this embodiment of the present application, L neighbor cells that are close to the UAV and M neighbor cells with the best signal measurement values are obtained from N neighbor cells, and the same neighbors in the L neighbor cells as in the M neighbor cells are obtained. Cell, determine the target neighbor cell from the same neighbor cell, and change the signal measurement value of other neighbor cells except the target neighbor cell among the N neighbor cells to the target value to prevent the UAV from switching to the signal measurement when the cell is switched. Neighbor cells with poor values and farther distances improve the reliability of the cell handover of the UAV and reduce the cell handover frequency of the UAV.

FIG. 11 is a schematic structural diagram of a communication apparatus provided by an embodiment of the present application. The communication device of the embodiment of the present application is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle and the control terminal are communicated and connected through a cellular network. Optionally, the communication device may be the unmanned aerial vehicle described in the foregoing embodiment, or may be a component of the unmanned aerial vehicle (for example, an integrated circuit, a chip, etc.), which is used to implement the above-mentioned FIG. 3 to FIG. 9 . Communication method embodiments. As shown in FIG. 11 , the communication apparatus 200 may include:

an acquisition module 210, configured to acquire signal measurement values and reference communication coverages of N neighbor cells, where N is a positive integer greater than or equal to 1; and acquire location information of the drone;

The first determination module 220 is configured to determine at least one first neighbor cell from the N neighbor cells according to the reference communication coverage of the N neighbor cells and the location information of the drone, and the first neighbor cell. The UAV is not covered by the reference communication coverage of a neighbor cell;

A modification module 230, configured to modify the signal measurement value of the at least one first neighbor cell to a target value, so as to prohibit the UAV from handing over from the serving cell to the first neighbor cell.

In a possible implementation manner, the above apparatus further includes a second determining module 240:

The second determining module 240 is configured to, if the N neighbor cells include at least one second neighbor cell, determine whether the at least one second neighbor cell includes a first neighbor cell whose signal measurement value satisfies the first preset condition. Two target neighbor cells, wherein the reference communication coverage of the second neighbor cell covers the drone;

The modifying module 230 is specifically configured to, when the second determining module 240 determines that the second neighbor cell includes a second target neighbor cell whose signal measurement value satisfies the first preset condition, change the at least one first The signal measurement value of the neighbor cell is modified to the target value.

In a possible implementation manner, the above modification module 230 is further configured to determine, in the second determination module 240, that the second neighbor cell does not include a second target neighbor cell whose signal measurement value satisfies the first preset condition When the signal measurement value of the first neighbor cell is not modified.

In a possible implementation manner, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes a signal measurement value in the at least one second neighbor cell that is greater than the signal measurement value of the serving cell of the UAV the second neighbor cell of ; or,

When the signal measurement value of each second neighbor cell in the at least one second neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes at least one A second neighbor cell whose signal measurement value is greater than the first signal threshold in the second neighbor cell.

In a possible implementation manner, the above-mentioned second determining module 240 is further configured to determine whether the at least one first neighbor cell includes a signal measurement value if the N neighbor cells do not include a second neighbor cell a first target neighbor cell that satisfies the second preset condition;

The modifying module 230 is specifically configured to, when the second determining module 240 determines that the at least one first neighbor cell includes a first target neighbor cell whose signal measurement value satisfies the second preset condition, the at least one first neighbor cell The signal measurement values of the first neighbor cells other than the first target neighbor cell in the first neighbor cell are modified to the target value.

In a possible implementation manner, the above modification module 230 is further configured to determine, by the second determination module, that the at least one first neighbor cell does not include a first target neighbor whose signal measurement value satisfies the second preset condition In the case of a cell, determine from the at least one first neighbor cell a first preset number of first neighbor cells with optimal signal measurement values and a second preset number of first neighbor cells closest to the UAV; If the first preset number of first neighbor cells with the optimal signal measurement value and the second preset number of first neighbor cells closest to the UAV include the same first neighbor cell, the at least The signal measurement values of other first neighbor cells other than the same first neighbor cell in one first neighbor cell are changed to the target value; if the same first neighbor cell is not included, the at least one first neighbor cell is changed to the target value. Signal measurement values of the first neighbor cells in a neighbor cell other than the first preset number of first neighbor cells and the second preset number of first neighbor cells are changed to the target value.

In a possible implementation manner, the first target neighbor cell whose signal measurement value satisfies the second preset condition includes a first neighbor cell whose signal measurement value is greater than the signal measurement value of the serving cell in the at least one first neighbor cell. neighbor cell; or,

When the signal measurement value of each first neighbor cell in the at least one first neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes the A first neighbor cell whose signal measurement value is greater than a first signal threshold in at least one first neighbor cell.

The communication apparatus of the embodiments of the present application can be used to implement the technical solutions of the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.

FIG. 12 is a schematic structural diagram of a communication apparatus provided by an embodiment of the present application. The communication device of the embodiment of the present application is applied to a drone. Optionally, the communication device may be the unmanned aerial vehicle described in the foregoing embodiment, or may be a component of the unmanned aerial vehicle (for example, an integrated circuit, a chip, etc.), which is used to implement the communication method described in FIG. 10 above. example. As shown in FIG. 12, the communication apparatus 300 may include:

an acquisition module 310, configured to acquire cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1; and acquire location information of the drone;

a first determining module 320, configured to determine, from N neighbor cells, L neighbor cells that are close to the UAV according to the location information of the neighbor cells and the location information of the UAV;

A second determining module 330, configured to determine M neighbor cells with optimal signal measurement values from the N neighbor cells;

a third determining module 340, configured to determine a target neighbor cell from the same neighbor cells when it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell;

A changing module 350, configured to change the signal measurement values of other neighbor cells in the N neighbor cells except the target neighbor cell to the target value, so as to prohibit the UAV from switching from the serving cell to the other neighbor cells neighbor neighborhood.

In a possible implementation manner, the above-mentioned first determining module 320 specifically determines, according to the location information of the neighbor cells and the location information of the UAV, whether each neighbor cell of the N neighbor cells is related to the The sum of the nearest K distance differences between UAVs, the distance difference is the difference between the distances between the neighbor cell and the UAV at adjacent moments; according to each of the N neighbor cells The sum of the nearest K distance differences between a neighbor cell and the UAV is used to determine the L neighbor cells with the smallest sum of distance differences.

In a possible implementation manner, the target neighbor cell is the neighbor cell with the smallest sum of K nearest distance differences with the UAV in the same neighbor cell.

In a possible implementation manner, the N neighbor cells are intra-frequency cells, or inter-frequency cells, or inter-system cells.

FIG. 13 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application. The unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, and the unmanned aerial vehicle is used to implement the embodiments shown in FIG. 3 to FIG. 9 . As shown in FIG. 13 , the drone 400 includes a memory 410 and a memory 420;

the memory 410 for storing computer programs;

The processor 420 is configured to execute the computer program, and is specifically configured to execute the following steps:

In some embodiments, the processor 420 is specifically configured to, if the N neighbor cells include at least one second neighbor cell, determine whether the signal measurement value included in the at least one second neighbor cell satisfies the first A second target neighbor cell with preset conditions, wherein the reference communication coverage of the second neighbor cell covers the drone; and determining that the second neighbor cell includes a signal measurement value that satisfies the first preset condition When the second target neighbor cell is the second target neighbor cell, the signal measurement value of the at least one first neighbor cell is modified to the target value.

In some embodiments, the processor 420 is further configured to, when it is determined that the second neighbor cell does not include a second target neighbor cell whose signal measurement value satisfies the first preset condition, not to the first neighbor cell to modify the measured value of the signal.

In some embodiments, the processor 420 is further configured to, if the N neighbor cells do not include the second neighbor cell, determine whether the signal measurement value included in the at least one first neighbor cell satisfies the second preset setting a conditional first target neighbor cell; and when determining that the at least one first neighbor cell includes a first target neighbor cell whose signal measurement value satisfies a second preset condition, dividing the at least one first neighbor cell The signal measurement value of the first neighbor cell other than the first target neighbor cell is modified to the target value.

In some embodiments, the processor 420 is further configured to, when it is determined that the at least one first neighbor cell does not include a first target neighbor cell whose signal measurement value satisfies a second preset condition, select from the at least one first neighbor cell In the first neighbor cell, determine a first preset number of first neighbor cells with the optimal signal measurement value and a second preset number of first neighbor cells closest to the UAV; if the signal measurement value is optimal The first preset number of first neighbor cells and the second preset number of first neighbor cells closest to the UAV include the same first neighbor cells, and the at least one first neighbor cell is divided by Change the signal measurement values of other first neighbor cells except the same first neighbor cell to the target value; if the same first neighbor area is not included, change the signal measurement values of the at least one first neighbor cell except the first neighbor cell Signal measurement values of a preset number of first neighbor cells and first neighbor cells other than the second preset number of first neighbor cells are changed to the target value.

In a possible implementation manner, the first target neighbor cell whose signal measurement value satisfies the second preset condition includes a first neighbor in the at least one first neighbor cell whose signal measurement value is greater than the signal measurement value of the serving cell community; or,

The unmanned aerial vehicle of the embodiment of the present application can be used to implement the technical solutions of the method embodiments described in the foregoing FIG. 3 to FIG. 9 , and the implementation principles and technical effects thereof are similar, and will not be repeated here.

FIG. 14 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application, and the unmanned aerial vehicle is used to implement the embodiment shown in FIG. 10 above. As shown in FIG. 14, the drone 500 includes a memory 510 and a memory 520;

The memory 510 is used to store computer programs;

The processor 520 is configured to execute the computer program, and is specifically configured to execute the following steps:

The signal measurements of other neighbor cells of the N neighbor cells other than the target neighbor cell are changed to target values to prohibit the handover of the drone from the serving cell to the other neighbor cells.

In some embodiments, the processor 520 is specifically configured to determine, according to the location information of the neighbor cells and the location information of the unmanned aerial vehicle, whether each neighbor cell of the N neighbor cells is related to the unmanned aerial vehicle. The sum of the nearest K distance differences between the drones, the distance difference is the difference between the distances between the neighbor cell and the drone at adjacent moments; according to each neighbor cell in the N neighbor cells The sum of the nearest K distance differences with the UAV is used to determine the L neighbor cells with the smallest sum of distance differences.

In some embodiments, the target neighbor cell is the neighbor cell with the smallest sum of K nearest distance differences with the UAV among the same neighbor cells.

Optionally, the N neighbor cells are intra-frequency cells, or inter-frequency cells, or inter-system cells.

The unmanned aerial vehicle of this embodiment of the present application can be used to execute the technical solution of the method embodiment described in FIG. 10 above, and its implementation principle and technical effect are similar, and details are not repeated here.

FIG. 15 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application. The unmanned aerial vehicle 10 shown in FIG. 15 may be various types of unmanned aerial vehicles such as multi-rotor and fixed-wing, wherein the multi-rotor unmanned aerial vehicle may include Quad-rotor, hexa-rotor, octa-rotor, etc. include UAVs with other numbers of rotors. In this embodiment, a rotary-wing unmanned aerial vehicle is used as an example for description.

The drone 10 may include a power system 150, a flight control system 160, a frame, and electronics 130 affixed to the frame.

The frame may include a fuselage and a foot stand (also known as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, the one or more arms extending radially from the center frame. The tripod is connected with the fuselage for supporting when the drone 10 is landed.

The power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153, wherein the electric motors 152 are connected to the Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the drone 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160, and provide driving according to the driving signal Electric current is supplied to the motor 152 to control the rotational speed of the motor 152 . The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 10, which enables the UAV 10 to achieve one or more degrees of freedom movement. In some embodiments, the drone 10 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

Flight control system 160 may include flight controller 161 and sensing system 162 . The sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the UAV 10 , for example, the flight of the UAV 110 can be controlled according to the attitude information measured by the sensing system 162 . It should be understood that the flight controller 161 can control the UAV 10 according to pre-programmed instructions, and can also control the UAV 10 by responding to one or more control instructions from the control terminal 140 .

The electronic device 130 is used to implement the communication method described in any one of the above-mentioned FIG. 3 to FIG. 10 .

The unmanned aerial vehicle of the embodiments of the present application can be used to implement the technical solutions of the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, which will not be repeated here.

FIG. 16 is a schematic structural diagram of a communication system provided by an embodiment of the application. As shown in FIG. 16 , the communication system 600 includes: an unmanned aerial vehicle 601, a control device 602, and a network device 603. The unmanned aerial vehicle 601 is connected to the The control device 602 communicates through the network device 603, and the drone 601 is configured to execute the communication method described in any one of the above-mentioned FIG. 3 to FIG. 10 .

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center is by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here. In addition, various method embodiments and various apparatus embodiments may also refer to each other, and the same or corresponding content in different embodiments may be referred to each other, and will not be repeated.

Claims

A communication method, characterized in that it is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, comprising:

Obtain signal measurement values and reference communication coverage of N neighbor cells, where N is a positive integer greater than or equal to 1;

Obtain the location information of the drone;

According to the reference communication coverage of the N neighbor cells and the location information of the UAV, at least one first neighbor cell is determined from the N neighbor cells, and the reference communication coverage of the first neighbor cell is the drone is not covered;

Changing the signal measurements of the at least one first neighbor cell to a target value to inhibit handover of the drone from a serving cell to the first neighbor cell.
The method according to claim 1, wherein the method further comprises:

If the N neighbor cells include at least one second neighbor cell, determine whether the at least one second neighbor cell includes a second target neighbor cell whose signal measurement value satisfies a first preset condition, wherein the first neighbor cell The reference communication coverage of the two neighbor cells covers the UAV;

The changing the signal measurement value of the at least one first neighbor cell to the target value includes:

If so, modify the signal measurement value of the at least one first neighbor cell to the target value.
The method according to claim 2, wherein the method further comprises: if not, not modifying the signal measurement value of the first neighbor cell.
The method according to claim 2 or 3, wherein the second target neighbor cell whose signal measurement value satisfies the first preset condition comprises that the signal measurement value in the at least one second neighbor cell is greater than that of the UAV. a second neighbor cell of the serving cell's signal measurements; or,

When the signal measurement value of each second neighbor cell in the at least one second neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes at least one A second neighbor cell whose signal measurement value is greater than the first signal threshold in the second neighbor cell.
The method according to any one of claims 2-4, wherein the method further comprises:

If the N neighbor cells do not include a second neighbor cell, determining whether the at least one first neighbor cell includes a first target neighbor cell whose signal measurement value satisfies a second preset condition;

The changing the signal measurement value of the at least one first neighbor cell to the target value includes:

If so, modify the signal measurement values of the first neighbor cells other than the first target neighbor cell in the at least one first neighbor cell to the target value.
The method according to claim 5, wherein the method further comprises:

If not, determine from the at least one first neighbor cell a first preset number of first neighbor cells with optimal signal measurement values and a second preset number of first neighbor cells closest to the UAV ;

If the first preset number of first neighbor cells with the optimal signal measurement value and the second preset number of first neighbor cells closest to the UAV include the same first neighbor cell, the at least The signal measurement values of other first neighbor cells other than the same first neighbor cell in one first neighbor cell are changed to the target value;

If the same first neighbor area is not included, the at least one first neighbor cell is excluding the first preset number of first neighbor cells and the second preset number of first neighbor cells The signal measurement value of the first neighbor cell is changed to the target value.
The method according to claim 5 or 6, wherein the first target neighbor cell whose signal measurement value satisfies the second preset condition includes a signal whose signal measurement value in the at least one first neighbor cell is greater than that of the serving cell the measured value of the first neighbor cell; or,

When the signal measurement value of each first neighbor cell in the at least one first neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes the A first neighbor cell whose signal measurement value is greater than a first signal threshold in at least one first neighbor cell.
A communication method, characterized in that, applied to unmanned aerial vehicles, comprising:

Obtain cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1;

Obtain the location information of the drone;

According to the location information of the neighbor cell and the location information of the UAV, determine L neighbor cells that the UAV is close to from the N neighbor cells;

Determine from the N neighbor cells the optimal M neighbor cells for signal measurement values;

When it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell, determining a target neighbor cell from the same neighbor cells;

The signal measurement values of other neighbor cells in the N neighbor cells other than the target neighbor cell are changed to target values to prohibit the UAV from handing over from the serving cell to the other neighbor cells.
The method according to claim 8, wherein, according to the location information of the neighbor cell and the location information of the UAV, the L neighbors that are close to the UAV are obtained from N neighbor cells community, including:

According to the location information of the neighbor cells and the location information of the UAV, determine the sum of the K nearest distance differences between each neighbor cell in the N neighbor cells and the UAV, and the distance The difference is the difference between the distances between the neighbor cell and the drone at adjacent moments;

According to the sum of the K nearest distance differences between each of the N neighbor cells and the UAV, L neighbor cells with the smallest sum of distance differences are determined.
The method according to claim 9, wherein the target neighbor cell is the neighbor cell with the smallest sum of K nearest distance differences with the UAV in the same neighbor cell.
The method according to any one of claims 8 to 10, wherein the N neighbor cells are intra-frequency cells, or inter-frequency cells, or inter-system cells.
A communication device, characterized in that it is applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, comprising:

an acquisition module for acquiring the signal measurement values and reference communication coverage of N neighbor cells, where N is a positive integer greater than or equal to 1; and acquiring the location information of the drone;

A first determination module, configured to determine at least one first neighbor cell from the N neighbor cells according to the reference communication coverage of the N neighbor cells and the location information of the UAV, and the first neighbor cell The UAV is not covered by the reference communication coverage of the neighbor cell;

A modification module, configured to modify the signal measurement value of the at least one first neighbor cell to a target value, so as to prohibit the UAV from handing over from the serving cell to the first neighbor cell.
The apparatus according to claim 12, wherein the apparatus further comprises a second determining module:

The second determining module is configured to, if the N neighbor cells include at least one second neighbor cell, determine whether the at least one second neighbor cell includes a second neighbor cell whose signal measurement value satisfies the first preset condition. a target neighbor cell, wherein the reference communication coverage of the second neighbor cell covers the drone;

The modification module is specifically configured to, when the second determination module determines that the second neighbor cell includes a second target neighbor cell whose signal measurement value satisfies the first preset condition, the at least one first neighbor cell. The measured value of the signal is modified to the target value.
The device of claim 13, wherein:

The modification module is further configured to, when the second determination module determines that the second neighbor cell does not include a second target neighbor cell whose signal measurement value satisfies the first preset condition, not to modify the first neighbor cell. The signal measurement value is modified.
The apparatus according to claim 13 or 14, wherein the second target neighbor cell whose signal measurement value satisfies the first preset condition comprises that the signal measurement value in the at least one second neighbor cell is greater than that of the unmanned aerial vehicle. a second neighbor cell of the serving cell's signal measurements; or,

When the signal measurement value of each second neighbor cell in the at least one second neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes at least one A second neighbor cell whose signal measurement value is greater than the first signal threshold in the second neighbor cell.
The device according to any one of claims 13-15, characterized in that,

The second determining module is further configured to, if the N neighbor cells do not include a second neighbor cell, determine whether the at least one first neighbor cell includes a first neighbor cell whose signal measurement value satisfies a second preset condition. target neighbor cell;

The modification module is specifically configured to, when the second determination module determines that the at least one first neighbor cell includes a first target neighbor cell whose signal measurement value satisfies the second preset condition, change the at least one first neighbor cell to the first target neighbor cell. The signal measurement values of the first neighbor cells other than the first target neighbor cell in the neighbor cells are modified to the target value.
The apparatus of claim 16, wherein:

The modification module is further configured to, when the second determination module determines that the at least one first neighbor cell does not include a first target neighbor cell whose signal measurement value satisfies the second preset condition, from the at least one first neighbor cell. In a neighbor cell, determine a first preset number of first neighbor cells with the best signal measurement value and a second preset number of first neighbor cells closest to the UAV; if the signal measurement value is the best The first preset number of first neighbor cells and the second preset number of first neighbor cells closest to the UAV include the same first neighbor cell, and the at least one first neighbor cell is divided by the The signal measurement values of other first neighbor cells other than the same first neighbor cell are changed to the target value; if the same first neighbor cell is not included, the at least one first neighbor cell except the first neighbor cell The signal measurement values of the preset number of first neighbor cells and the first neighbor cells other than the second preset number of first neighbor cells are changed to the target value.
The apparatus according to claim 16 or 17, wherein the first target neighbor cell whose signal measurement value satisfies the second preset condition includes a signal whose signal measurement value in the at least one first neighbor cell is greater than that of the serving cell the measured value of the first neighbor cell; or,

When the signal measurement value of each first neighbor cell in the at least one first neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes the A first neighbor cell whose signal measurement value is greater than a first signal threshold in at least one first neighbor cell.
A communication device, characterized in that, applied to unmanned aerial vehicles, comprising:

an acquisition module for acquiring cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1; and acquiring the location information of the drone;

a first determining module, configured to determine, from N neighbor cells, L neighbor cells that are close to the UAV according to the position information of the neighbor cell and the position information of the UAV;

a second determining module, configured to determine M neighbor cells with optimal signal measurement values from the N neighbor cells;

a third determining module, configured to determine a target neighbor cell from the same neighbor cells when it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell;

A changing module, configured to change the signal measurement values of other neighbor cells other than the target neighbor cell among the N neighbor cells to the target value, so as to prohibit the UAV from switching from the serving cell to the other neighbors community.
The apparatus of claim 19, wherein:

The first determining module is specifically configured to determine the closest distance between each neighbor cell in the N neighbor cells and the UAV according to the location information of the neighbor cells and the location information of the UAV. The sum of K distance differences, the distance difference is the difference between the distances between the neighbor cell and the UAV at adjacent moments; The sum of the nearest K distance differences between the cells is determined, and the L neighbor cells with the smallest sum of distance differences are determined.
The device according to claim 20, wherein the target neighbor cell is the neighbor cell with the smallest sum of K nearest distance differences with the UAV in the same neighbor cell.
The apparatus according to any one of claims 19 to 21, wherein the N neighbor cells are intra-frequency cells, or inter-frequency cells, or inter-system cells.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle and a control terminal are communicated and connected through a cellular network, and the unmanned aerial vehicle comprises a memory and a memory;

the memory for storing computer programs;

The processor is used to execute the computer program, and is specifically used to execute the following steps:

Obtain signal measurement values and reference communication coverage of N neighbor cells, where N is a positive integer greater than or equal to 1;

Obtain the location information of the drone;

According to the reference communication coverage of the N neighbor cells and the location information of the UAV, at least one first neighbor cell is determined from the N neighbor cells, and the reference communication coverage of the first neighbor cell is the drone is not covered;

Changing the signal measurements of the at least one first neighbor cell to a target value to inhibit handover of the drone from a serving cell to the first neighbor cell.
The unmanned aerial vehicle of claim 23, wherein the processor is further configured to:

If the N neighbor cells include at least one second neighbor cell, determine whether the at least one second neighbor cell includes a second target neighbor cell whose signal measurement value satisfies a first preset condition, wherein the first neighbor cell The reference communication coverage of the two neighbor cells covers the UAV;

When the processor changes the signal measurement value of the at least one first neighbor cell to a target value, it is specifically used for:

If it is determined that the second neighbor cell includes a second target neighbor cell whose signal measurement value satisfies the first preset condition, the signal measurement value of the at least one first neighbor cell is modified to a target value.
The unmanned aerial vehicle of claim 24, wherein:

The processor is also used to:

When it is determined that the second neighbor cell does not include a second target neighbor cell whose signal measurement value satisfies the first preset condition, the signal measurement value of the first neighbor cell is not modified.
The unmanned aerial vehicle according to claim 24 or 25, wherein the second target neighbor cell whose signal measurement value satisfies the first preset condition comprises that the signal measurement value in the at least one second neighbor cell is greater than that of the unmanned aerial vehicle. the second neighbor cell of the signal measurement value of the serving cell of the machine; or,

When the signal measurement value of each second neighbor cell in the at least one second neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes at least one A second neighbor cell whose signal measurement value is greater than the first signal threshold in the second neighbor cell.
The drone according to any one of claims 24-26, characterized in that,

The processor is further configured to, if the N neighbor cells do not include a second neighbor cell, determine whether the at least one first neighbor cell includes a first target neighbor whose signal measurement value satisfies a second preset condition community;

When the processor changes the signal measurement value of the at least one first neighbor cell to a target value, it is specifically used for:

If it is determined that the at least one first neighbor cell includes a first target neighbor cell whose signal measurement value satisfies the second preset condition, the at least one first neighbor cell except the first target neighbor cell The signal measurement value of the first neighbor cell is modified to the target value.
The drone of claim 27, wherein:

The processor is also used to:

When it is determined that the at least one first neighbor cell does not include a first target neighbor cell whose signal measurement value satisfies the second preset condition, determining a first target neighbor cell with an optimal signal measurement value from the at least one first neighbor cell Set a number of first neighbor cells and a second preset number of first neighbor cells closest to the drone;

If the first preset number of first neighbor cells with the optimal signal measurement value and the second preset number of first neighbor cells closest to the UAV include the same first neighbor cell, the at least The signal measurement values of other first neighbor cells other than the same first neighbor cell in one first neighbor cell are changed to the target value;

If the same first neighbor area is not included, the at least one first neighbor cell is excluding the first preset number of first neighbor cells and the second preset number of first neighbor cells The signal measurement value of the first neighbor cell is changed to the target value.
The unmanned aerial vehicle according to claim 27 or 28, wherein the first target neighbor cell whose signal measurement value satisfies the second preset condition comprises that the signal measurement value in the at least one first neighbor cell is greater than the serving cell The signal measurements of the first neighbor cell; or,

When the signal measurement value of each first neighbor cell in the at least one first neighbor cell is smaller than the signal measurement value of the serving cell, the second target neighbor cell whose signal measurement value satisfies the first preset condition includes the A first neighbor cell whose signal measurement value is greater than a first signal threshold in at least one first neighbor cell.
An unmanned aerial vehicle, characterized in that it includes:

the drone includes memory and storage;

the memory for storing computer programs;

The processor is used to execute the computer program, and is specifically used to execute the following steps:

Obtain cell location information and signal measurement values of N neighbor cells, where N is a positive integer greater than or equal to 1;

Obtain the location information of the drone;

According to the location information of the neighbor cell and the location information of the UAV, determine L neighbor cells that the UAV is close to from the N neighbor cells;

Determine from the N neighbor cells the optimal M neighbor cells for signal measurement values;

When it is determined that the L neighbor cells and the M neighbor cells have the same neighbor cell, determining a target neighbor cell from the same neighbor cells;

The signal measurement values of other neighbor cells in the N neighbor cells other than the target neighbor cell are changed to target values to prohibit the UAV from handing over from the serving cell to the other neighbor cells.
The drone of claim 30, wherein:

When the processor obtains the L neighbor cells that the UAV approaches from the N neighbor cells according to the position information of the neighbor cells and the position information of the UAV, it is specifically used for:

According to the location information of the neighbor cells and the location information of the UAV, determine the sum of the K nearest distance differences between each neighbor cell in the N neighbor cells and the UAV, and the distance The difference is the difference between the distances between the neighbor cell and the drone at adjacent moments;

According to the sum of the K nearest distance differences between each of the N neighbor cells and the UAV, L neighbor cells with the smallest sum of distance differences are determined.
The drone according to claim 31, wherein the target neighbor cell is the neighbor cell with the smallest sum of K nearest distance differences with the drone in the same neighbor cell.
The drone according to any one of claims 30 to 32, wherein the N neighbor cells are intra-frequency cells, or inter-frequency cells, or inter-system cells.
A communication system is characterized in that it comprises: a drone, a control device and a network device, the drone and the control device communicate through the network device.